CN110125947B - Robot facial expression control mechanism and robot with same - Google Patents
Robot facial expression control mechanism and robot with same Download PDFInfo
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- CN110125947B CN110125947B CN201910371523.XA CN201910371523A CN110125947B CN 110125947 B CN110125947 B CN 110125947B CN 201910371523 A CN201910371523 A CN 201910371523A CN 110125947 B CN110125947 B CN 110125947B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 76
- 230000008921 facial expression Effects 0.000 title claims abstract description 36
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 123
- 230000005540 biological transmission Effects 0.000 claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims abstract description 46
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 39
- 239000000741 silica gel Substances 0.000 claims abstract description 39
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 39
- 239000000758 substrate Substances 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims description 22
- 210000003625 skull Anatomy 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 8
- 210000003128 head Anatomy 0.000 claims description 8
- 230000014509 gene expression Effects 0.000 abstract description 17
- 238000013461 design Methods 0.000 description 4
- 229920001296 polysiloxane Polymers 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003292 glue Substances 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
- 210000004279 orbit Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Abstract
The invention provides a robot facial expression control mechanism and a robot with the same. The robot facial expression control mechanism includes: the eyebrow movement control mechanism comprises a first mounting substrate, a first power output assembly and a first transmission assembly, wherein the first power output assembly drives the first transmission assembly to move, and the first transmission assembly penetrates through an eyebrow track groove to be connected with an eyebrow part of the imitation human silica gel face skin; the lip motion control mechanism comprises a second mounting substrate, a second power output assembly and a second transmission assembly, the second power output assembly drives the second transmission assembly to move, and the second transmission assembly penetrates through the lip track groove to be connected with the lip part of the imitation human silica gel face skin. By applying the technical scheme of the invention, the problem that the expression control mechanism of the robot in the prior art is huge in size and other functions of the robot are compressed can be solved.
Description
Technical Field
The invention belongs to the technical field of application design of man-machine interaction robots, and particularly relates to a robot facial expression control mechanism and a robot with the same.
Background
Research on humanoid facial expression robots has been started in nineties of the last century, from Kismet robots in the 90 th century of the 20 th century to WR series robots developed by the university of Paddy field in Japan, SAYA robots developed by the university of Tokyo, and expression robots have been rapidly developed in the past decade. Simulating humans to make some basic expressions is a big goal of expression robot development. However, as the facial expression is complex, the expression movement units are controlled one by one in the current expression realization mode, so that complex structural design and control modes are often needed, the whole expression control mechanism is huge in size, other functions of the robot are compressed, and meanwhile, the production cost of the robot is increased.
Disclosure of Invention
The invention aims to solve the technical problem that the robot expression control mechanism is huge in size and other functions of the robot are compressed in the prior art.
In order to solve the technical problems, the invention is realized by a robot facial expression control mechanism, comprising: the artificial head bone shell is provided with a hollow installation space, an eyebrow track groove is formed in the artificial head bone shell at the position corresponding to the eyebrow, and a lip track groove is formed in the artificial head bone shell at the position corresponding to the mouth; the human-simulated silica gel face skin is covered on the human-simulated skull shell; the eyebrow movement control mechanism is arranged in the hollow installation space and comprises a first installation substrate, a first power output assembly and a first transmission assembly, the first power output assembly and the first transmission assembly are connected to the first installation substrate, the first power output assembly drives the first transmission assembly to move, and the first transmission assembly penetrates through the eyebrow track groove and is connected with the eyebrow part of the humanoid silica gel face skin; the lip motion control mechanism is arranged in the hollow installation space and comprises a second installation base plate, a second power output assembly and a second transmission assembly, the second power output assembly and the second transmission assembly are both connected to the second installation base plate, the second power output assembly drives the second transmission assembly to move, and the second transmission assembly penetrates through the lip track groove to be connected with the lip part of the imitation silica gel face skin.
Further, the robot facial expression control mechanism comprises two eyebrow motion control mechanisms with the same structure, and the two eyebrow motion control mechanisms respectively correspond to two eyebrow positions of the humanoid silica gel face skin.
Further, the eyebrow track groove comprises a first eyebrow groove section, a second eyebrow groove section and a third eyebrow groove section, the extending direction of the first eyebrow groove section and the extending direction of the third eyebrow groove section both imitate the extending direction of the eyebrows, the second eyebrow groove section is positioned between the first eyebrow groove section and the third eyebrow groove section, and the second eyebrow groove section extends along the vertical direction; the first mounting substrate is provided with a first brow part sliding groove, a second brow part sliding groove and a third brow part sliding groove, the first brow part sliding groove corresponds to the first brow part groove section and has the same extending direction, the second brow part sliding groove corresponds to the second brow part groove section and has the same extending direction, and the third brow part sliding groove corresponds to the third brow part groove section and has the same extending direction; the first power output assembly comprises a first steering engine and a first driving connecting rod, the first steering engine is arranged on the first mounting substrate, and the first end of the first driving connecting rod is connected with the power output end of the first steering engine; the first transmission assembly comprises a middle eyebrow extension rod, a first eyebrow side extension rod, a second eyebrow side extension rod and two first transmission connecting rods, wherein the first end of the middle eyebrow extension rod is connected with the second end of the first driving connecting rod, the middle eyebrow extension rod moves along the second eyebrow sliding groove, the first ends of the two first transmission connecting rods are all connected with the first end of the middle eyebrow extension rod, the second end of the middle eyebrow extension rod passes through the second eyebrow groove section to be connected with the imitation human silica gel skin, the second ends of the two first transmission connecting rods are respectively connected with the first end of the first eyebrow side extension rod and the first end of the second eyebrow side extension rod, the first end of the first eyebrow side extension rod moves along the first eyebrow sliding groove, the second end of the first eyebrow side extension rod passes through the first eyebrow groove section to be connected with the imitation human silica gel skin, and the second end of the second eyebrow side extension rod passes through the third eyebrow groove section to be connected with the imitation human silica gel skin.
Further, the first power output assembly further comprises two first connecting blocks and two first rotating steering gears, the two first connecting blocks are respectively and correspondingly arranged in the first brow sliding groove and the third brow sliding groove, the two first rotating steering gears are respectively and correspondingly arranged on the two first connecting blocks, and the first end of the first brow side extension rod and the first end of the second brow side extension rod are respectively and correspondingly connected to the power output ends of the two first rotating steering gears.
Further, the first power output assembly further comprises a second connecting block and a second rotating steering engine, the second connecting block is arranged in the second eyebrow sliding groove, the second rotating steering engine is arranged on the second connecting block, and the first end of the extension rod in the middle of the eyebrow is connected to the power output end of the second rotating steering engine.
Further, the lip track groove comprises a first lip groove section, a second lip groove section and a third lip groove section, the first lip groove section and the third lip groove section are respectively positioned at lip angle positions at two sides of the humanoid skull shell, the extending direction of the first lip groove section and the extending direction of the third lip groove section both imitate the extending direction of lips, the second lip groove section is positioned at the middle position of the humanoid skull shell, and the second lip groove section extends along the vertical direction; the second mounting substrate is provided with a first lip sliding groove, a second lip sliding groove and a third lip sliding groove, the first lip sliding groove corresponds to the first lip groove section and has the same extending direction, the second lip sliding groove corresponds to the second lip groove section and has the same extending direction, and the third lip sliding groove corresponds to the third lip groove section and has the same extending direction; the second power output assembly comprises a second steering engine and a second driving connecting rod, the second steering engine is arranged on the second mounting substrate, and the first end of the second driving connecting rod is connected with the power output end of the second steering engine; the second transmission assembly comprises a lip middle extension rod, a first lip side extension rod, a second lip side extension rod and two second transmission connecting rods, wherein the first end of the lip middle extension rod is connected with the second end of the second driving connecting rod, the lip middle extension rod moves along the second lip sliding groove, the first ends of the two second transmission connecting rods are connected with the first end of the lip middle extension rod, the second end of the lip middle extension rod passes through the second lip groove section to be connected with the humanoid silica gel skin, the second ends of the two second transmission connecting rods are respectively connected with the first end of the first lip side extension rod and the first end of the second lip side extension rod, the first end of the first lip side extension rod moves along the first lip sliding groove, the second end of the first lip side extension rod passes through the first lip groove section to be connected with the humanoid silica gel skin, and the first end of the second lip side extension rod moves along the third lip sliding groove, and the second end of the second lip side extension rod passes through the third lip groove section to be connected with the humanoid silica gel skin.
Further, the second power output assembly further comprises two third connecting blocks and two third rotating steering gears, the two third connecting blocks are respectively and correspondingly arranged in the first lip sliding groove and the third lip sliding groove, the two third rotating steering gears are respectively and correspondingly arranged on the two third connecting blocks, and the first end of the first lip side extension rod and the first end of the second lip side extension rod are respectively and correspondingly connected to the power output shafts of the two third rotating steering gears.
Further, the second power output assembly further comprises a fourth connecting block and a fourth rotating steering engine, the fourth connecting block is arranged in the second lip sliding groove, the fourth rotating steering engine is arranged on the fourth connecting block, and the first end of the lip middle extension rod is connected to the power output end of the fourth rotating steering engine.
Further, the robot facial expression control mechanism further comprises a controller, and the eyebrow movement control mechanism and the lip movement control mechanism are intelligently controlled by the controller.
According to another aspect of the present invention, a robot is provided. The robot comprises the robot facial expression control mechanism.
Compared with the prior art, the invention has the beneficial effects that:
The robot facial expression control mechanism designed by the invention realizes the aim of simple structure while realizing the condition that the robot face can present rich expression, and compared with the control mechanism with the same control function in the prior art, the robot facial expression control mechanism has the characteristic of small volume, can save more installation space for the assembly of other functional components of the robot, and has more reasonable space utilization.
Drawings
Fig. 1 is a schematic diagram showing the disassembly of a humanoid skull shell, an eyebrow movement control mechanism and a lip movement control mechanism in a robot facial expression control mechanism according to an embodiment of the present invention;
fig. 2 is a schematic view of the structure of an eyebrow movement control mechanism in the robot facial expression control mechanism according to the embodiment of the present invention;
fig. 3 is a schematic structural view of a lip motion control mechanism in a robot facial expression control mechanism according to an embodiment of the present invention.
In the drawings, each reference numeral denotes:
10. A humanoid skull shell; 11. eyebrow rail groove; 111. a first brow channel section; 112. a second brow portion channel section; 113. a third brow portion channel section; 12. a lip rail groove; 121. a first lip groove section; 122. a second lip groove section; 123. a third lip groove section; 30. an eyebrow movement control mechanism; 31. a first mounting substrate; 311. a first brow portion sliding groove; 312. a second brow portion sliding groove; 313. a third brow portion sliding groove; 32. a first power take-off assembly; 321. the first steering engine; 322. a first drive link; 323. a first connection block; 324. a second connection block; 33. a first transmission assembly; 331. an extension bar in the middle of the eyebrow; 332. a first brow portion side extension bar; 333. a second brow portion side extension bar; 334. a first drive link; 40. a lip movement control mechanism; 41. a second mounting substrate; 411. a first lip sliding groove; 412. a second lip sliding groove; 413. a third lip sliding groove; 42. a second power take-off assembly; 421. the second steering engine; 422. a second drive link; 423. a third connecting block; 424. a fourth connecting block; 43. a second transmission assembly; 431. a lip intermediate extension bar; 432. a first lip side extension bar; 433. a second lip side extension bar; 434. and a second transmission link.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
As shown in fig. 1 to 3, the facial expression control mechanism of the robot of the present invention comprises a humanoid skull shell 10, a humanoid silica gel face skin (not shown), a lip motion control mechanism 40 and at least one eyebrow motion control mechanism 30, wherein the humanoid skull shell 10 is provided with a hollow installation space, an eyebrow track groove 11 is arranged at a position corresponding to the eyebrow on the humanoid skull shell 10, a lip track groove 12 is arranged at a position corresponding to the mouth on the humanoid skull shell 10, the humanoid silica gel face skin covers the humanoid skull shell 10, the eyebrow motion control mechanism 30 is installed in the hollow installation space, the eyebrow motion control mechanism 30 comprises a first installation base plate 31, a first power output assembly 32 and a first transmission assembly 33, the first power output assembly 32 and the first transmission assembly 33 are both connected to the first installation base plate 31, the first transmission assembly 32 drives the first transmission assembly 33 to move, the first transmission assembly 33 is connected to the lip part of the humanoid silica gel face skin through the eyebrow track groove 11, the motion control mechanism 40 is installed in the hollow installation space, the eyebrow motion control mechanism 40 comprises a second transmission assembly 40, a second transmission assembly 42 is connected to the second transmission assembly 43 and the second transmission assembly 42, and the second transmission assembly 43 is connected to the second transmission assembly 42 through the second transmission assembly 43, and the second transmission assembly 43 is connected to the second transmission assembly 42.
After the facial expression control mechanism of the robot is assembled on the robot, the eyebrow part of the imitation human silica gel face skin is driven to act through the cooperation of the first power output component 32 and the first transmission component 33 of the eyebrow movement control mechanism 30, so that the eyebrow part of the imitation human silica gel face skin presents different shapes of movements, including the actions of upwards picking eyebrows, downwards picking eyebrows, flattening eyebrows and the like; meanwhile, the second power output assembly 42 and the second transmission assembly 43 of the lip motion control mechanism 40 are matched, so that the lip part of the humanoid silica gel face skin is driven to act, and the lip part of the humanoid silica gel face skin presents different shapes of motions, including the actions of opening a large mouth, smiling a small mouth, closing the lips and the like. Thus, when the eyebrow part and the lip part of the imitation human silica gel face skin simultaneously show different shapes of motions, the eyebrow part and the lip part are matched to show different expression motions, such as calm, happy, sad and the like.
The robot facial expression control mechanism designed by the invention realizes the aim of simple structure while realizing the condition that the robot face can present rich expression, and compared with the control mechanism with the same control function in the prior art, the robot facial expression control mechanism has the characteristic of small volume, can save more installation space for the assembly of other functional components of the robot, and has more reasonable space utilization.
In the embodiment of the invention, the humanoid silica gel skin is manufactured by adopting a 3D printing mode.
In the humanoid robot, the whole design of both eyes is imitated, so that the robot facial expression control mechanism comprises two eyebrow motion control mechanisms 30 with the same structure, the two eyebrow motion control mechanisms 30 respectively correspond to two eyebrow parts of the humanoid silica gel face skin, and the first mounting base plates 31 of the two eyebrow motion control mechanisms 30 are integrally formed and manufactured in a 3D printing mode.
As shown in fig. 2, in the robot facial expression control mechanism, the eyebrow rail groove 11 includes a first eyebrow groove section 111, a second eyebrow groove section 112, and a third eyebrow groove section 113, a first mounting substrate 31 is provided with a first eyebrow sliding groove 311, a second eyebrow sliding groove 312, and a third eyebrow sliding groove 313, the first power output assembly 32 includes a first steering engine 321 and a first driving link 322, and the first transmission assembly 33 includes a eyebrow middle extension rod 331, a first eyebrow side extension rod 332, a second eyebrow side extension rod 333, and two first transmission links 334. The extending direction of the first brow portion groove section 111 and the extending direction of the third brow portion groove section 113 both follow the extending direction of the eyebrows, in practical design, the extending shape of the eyebrows is arc-shaped around the center of the eye socket, and the arc-shaped direction formed by the first brow portion groove section 111 and the third brow portion groove section 113 is opposite to the arc-shaped shape of the eyebrows, the second brow portion groove section 112 is located between the first brow portion groove section 111 and the third brow portion groove section 113, and the second brow portion groove section 112 extends along the vertical direction. The first brow portion sliding groove 311 corresponds to the first brow portion groove section 111 and has the same extending direction, the second brow portion sliding groove 312 corresponds to the second brow portion groove section 112 and has the same extending direction, and the third brow portion sliding groove 313 corresponds to the third brow portion groove section 113 and has the same extending direction. The first steering engine 321 is mounted on the first mounting substrate 31, the first end of the first driving connecting rod 322 is connected with the power output end of the first steering engine 321, the first end of the brow middle extending rod 331 is connected with the second end of the first driving connecting rod 322, the brow middle extending rod 331 moves along the second brow sliding groove 312, the first ends of the two first driving connecting rods 334 are connected with the first end of the brow middle extending rod 331, the second end of the brow middle extending rod 331 passes through the second brow groove section 112 and is connected with the imitation silica gel skin, the second ends of the two first driving connecting rods 334 are respectively connected with the first end of the first brow side extending rod 332 and the first end of the second brow side extending rod 333, the first end of the first brow side extending rod 332 moves along the first brow sliding groove 311, the second end of the first brow side extending rod 332 passes through the first brow groove section 111 and is connected with the imitation silica gel skin, and the first end of the second brow side extending rod 333 moves along the third brow sliding groove 313, and the second end of the second brow side extending rod 333 passes through the third brow side section 113 and is connected with the imitation silica gel skin.
When the first steering engine 321 outputs power, the first driving connecting rod 322 is driven to act, the middle eyebrow extension rod 331 is driven to move along the second eyebrow sliding groove 312, meanwhile, the middle eyebrow extension rod 331 drives the two first driving connecting rods 334 to act, the first eyebrow side extension rod 332 is driven to move along the first eyebrow sliding groove 311, the second eyebrow side extension rod 333 is driven to move along the third eyebrow sliding groove 313, and accordingly corresponding eyebrow parts of the corresponding humanoid silica gel face skin are driven to move correspondingly, different eyebrow actions are formed, and different eyebrow expression states are presented.
Specifically, the first power output assembly 32 further includes two first connection blocks 323 and two first rotating steering gears (not shown), the two first connection blocks 323 are respectively and correspondingly installed in the first brow sliding groove 311 and the third brow sliding groove 313, the two first rotating steering gears are respectively and correspondingly installed on the two first connection blocks 323, and the first ends of the first brow side extension rod 332 and the second brow side extension rod 333 are respectively and correspondingly connected to the power output ends of the two first rotating steering gears.
The first power output assembly 32 further includes a second connection block 324 and a second rotation steering engine (not shown), the second connection block 324 is mounted in the second brow portion sliding groove 312, the second rotation steering engine is mounted on the second connection block 324, and the first end of the brow portion middle extension rod 331 is connected to the power output end of the second rotation steering engine.
The corresponding eyebrow extension rod is driven to move through the second connecting block 324 and the two first connecting blocks 323 in the corresponding sliding grooves, and the corresponding eyebrow extension rod is driven to perform corresponding rotation through the first rotation steering engine and the second rotation steering engine, so that the eyebrow portion of the humanoid silica gel face skin generates distortion movement, when the distortion movement amplitude is tiny and the frequency is fast, the expression of the eyebrow portion is expressed as the vibration of the eyebrow slightly, and the expression state of the eyebrow portion is further enriched.
In addition, even in the case where the first and second rotational steering engines are not assembled, the first and second connection blocks 323 and 324 are assembled in the corresponding brow portion sliding grooves, and then the corresponding brow portion extension bars are connected to the corresponding sliding blocks, thereby completing the assembly.
As shown in fig. 3, in the robot facial expression control mechanism, the lip rail groove 12 includes a first lip groove section 121, a second lip groove section 122, and a third lip groove section 123, a first lip sliding groove 411, a second lip sliding groove 412, and a third lip sliding groove 413 are provided on the second mounting base plate 41, the second power output assembly 42 includes a second steering engine 421 and a second driving link 422, and the second transmission assembly 43 includes a lip middle extension rod 431, a first lip side extension rod 432, a second lip side extension rod 433, and two second transmission links 434. The first lip slot section 121 and the third lip slot section 123 are respectively positioned at the two side lip angle positions of the humanoid skull shell 10, the extending direction of the first lip slot section 121 and the extending direction of the third lip slot section 123 are both imitated to the extending direction of lips, the second lip slot section 122 is positioned at the human position of the humanoid skull shell 10, the second lip slot section 122 extends along the vertical direction, the first lip sliding slot 411 corresponds to the first lip slot section 121 and has the same extending direction, the second lip sliding slot 412 corresponds to the second lip slot section 122 and has the same extending direction, the third lip sliding slot 413 corresponds to the third lip slot section 123 and has the same extending direction, the second steering engine 421 is mounted on the second mounting substrate 41, the first end of the second driving connecting rod 422 is connected with the power output end of the second steering engine 421, the first end of the lip middle extending rod 431 is connected with the second end of the second driving connecting rod 422, the first ends of the two second transmission links 434 are connected to the first ends of the lip middle extension bars 431, the second ends of the lip middle extension bars 431 are connected to the humanoid silicone skin through the second lip groove sections 122, the second ends of the two second transmission links 434 are respectively connected to the first ends of the first lip side extension bars 432 and the first ends of the second lip side extension bars 433, the first ends of the first lip side extension bars 432 are moved along the first lip sliding groove 411, the second ends of the first lip side extension bars 432 are connected to the humanoid silicone skin through the first lip groove sections 121, the first ends of the second lip side extension bars 433 are moved along the third lip sliding groove 413, and the second ends of the second lip side extension bars 433 are connected to the humanoid silicone skin through the third lip groove sections 123.
When the second steering engine 421 outputs power, the second driving link 422 is driven to act, the lip middle extension rod 431 is driven to move along the second lip sliding groove 412, and meanwhile, the lip middle extension rod 431 drives the two second driving links 434 to act, so that 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 driven to move along the third lip sliding groove 413, and thus, the lip part of the corresponding imitation human silica gel face skin is driven to move correspondingly, different lip actions are formed, and different lip expression states are presented.
Specifically, the second power output assembly 42 further includes two third connecting blocks 423 and two third rotating steering gears (not shown), the two third connecting blocks 423 are respectively and correspondingly installed in the first lip sliding groove 411 and the third lip sliding groove 413, the two third rotating steering gears are respectively and correspondingly installed on the two third connecting blocks 423, and the first ends of the first lip side extension rod 432 and the second lip side extension rod 433 are respectively and correspondingly connected to the power output shafts of the two third rotating steering gears.
The second power output assembly 42 further includes a fourth connection block 424 and a fourth rotary steering engine (not shown), the fourth connection block 424 is installed in the second lip sliding groove 412, the fourth rotary steering engine is installed on the fourth connection block 424, and a first end of the lip middle extension rod 431 is connected to a power output end of the fourth rotary steering engine.
The fourth connecting block 424 and the two third connecting blocks 423 move in corresponding sliding grooves to drive corresponding lip extension rods to move, and the third rotating steering engine and the fourth rotating steering engine drive corresponding lip extension rods to correspondingly rotate, so that the lip parts of the imitation human silica gel face skin generate distortion movement, and when the distortion movement amplitude is tiny and the frequency is faster, the expression of the lip parts presented in the way is reflected as the lip slightly vibrates, and the expression state of the lip parts is further enriched.
In addition, even in the case where the third and fourth rotary steering engines are not assembled, the third and fourth connection blocks 423 and 424 are assembled in the respective lip sliding grooves, and then the respective lip extension rods are connected to the respective sliding blocks, thereby completing the assembly.
Specifically, the second end of the brow middle extension rod 331, the second end of the first brow side extension rod 332, the second end of the second brow side extension rod 333, the second end of the lip middle extension rod 431, the second end of the first lip side extension rod 432, and the second end of the second lip side extension rod 433 are all connected with an oval sheet, and are adhered and fixed with the humanoid silicone skin by strong glue.
The robot facial expression control mechanism further includes a controller (not shown), and the eyebrow movement control mechanism 30 and the lip movement control mechanism 40 are both intelligently controlled by the controller, that is: the first steering engine 321, the two first rotating steering engines, the second steering engines 421, the two third rotating steering engines and the fourth rotating steering engines are intelligently controlled by the equal optimal controller. In practice, the controller adopted by the facial expression control mechanism of the robot is the central processing unit of the robot.
According to another aspect of the present invention, there is provided a robot including the aforementioned robot facial expression control mechanism.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. A robot facial expression control mechanism, comprising:
the human-simulated head bone comprises a human-simulated head bone shell (10), wherein the human-simulated head bone shell (10) is provided with a hollow installation space, an eyebrow track groove (11) is formed in the position, corresponding to the eyebrow, of the human-simulated head bone shell (10), and a lip track groove (12) is formed in the position, corresponding to the mouth, of the human-simulated head bone shell (10);
A human-like silica gel face skin which is covered on the human-like skull shell (10);
The device comprises at least one eyebrow movement control mechanism (30), wherein the eyebrow movement control mechanism (30) is arranged in a hollow installation space, the eyebrow movement control mechanism (30) comprises a first installation base plate (31), a first power output assembly (32) and a first transmission assembly (33), the first power output assembly (32) and the first transmission assembly (33) are both connected to the first installation base plate (31), the first power output assembly (32) drives the first transmission assembly (33) to move, and the first transmission assembly (33) penetrates through the eyebrow track groove (11) to be connected with an eyebrow part of the imitation human silica gel face skin;
The lip motion control mechanism (40), the lip motion control mechanism (40) is arranged in the hollow installation space, the lip motion control mechanism (40) comprises a second installation base plate (41), a second power output assembly (42) and a second transmission assembly (43), the second power output assembly (42) and the second transmission assembly (43) are both connected to the second installation base plate (41), the second power output assembly (42) drives the second transmission assembly (43) to move, and the second transmission assembly (43) penetrates through the lip track groove (12) to be connected with the lip part of the imitation silica gel face skin;
the robot facial expression control mechanism comprises two eyebrow movement control mechanisms (30) with the same structure, wherein the two eyebrow movement control mechanisms (30) respectively correspond to two eyebrow parts of the humanoid silica gel face skin;
the robot facial expression control mechanism further comprises a controller, and the eyebrow movement control mechanism (30) and the lip movement control mechanism (40) are intelligently controlled by the controller.
2. The robotic facial expression control mechanism of claim 1,
The eyebrow track groove (11) comprises a first eyebrow groove section (111), a second eyebrow groove section (112) and a third eyebrow groove section (113), wherein the extending direction of the first eyebrow groove section (111) and the extending direction of the third eyebrow groove section (113) both imitate the extending direction of eyebrows, the second eyebrow groove section (112) is positioned between the first eyebrow groove section (111) and the third eyebrow groove section (113), and the second eyebrow groove section (112) extends along the vertical direction;
The first mounting substrate (31) is provided with a first brow sliding groove (311), a second brow sliding groove (312) and a third brow sliding groove (313), the first brow sliding groove (311) corresponds to the first brow groove section (111) and has the same extending direction, the second brow sliding groove (312) corresponds to the second brow groove section (112) and has the same extending direction, and the third brow sliding groove (313) corresponds to the third brow groove section (113) and has the same extending direction;
The first power output assembly (32) comprises a first steering engine (321) and a first driving connecting rod (322), the first steering engine (321) is arranged on the first mounting substrate (31), and a first end of the first driving connecting rod (322) is connected with a power output end of the first steering engine (321);
The first transmission component (33) comprises a middle extension rod (331), a first lateral extension rod (332), a second lateral extension rod (333) and two first transmission connecting rods (334), the first end of the eyebrow middle extension rod (331) is connected with the second end of the first driving connecting rod (322), the middle extension rod (331) of the brow part moves along the second brow part sliding groove (312), the first ends of the two first transmission connecting rods (334) are connected with the first ends of the middle extension rod (331) of the brow part, the second ends of the middle eyebrow extension rods (331) penetrate through the second eyebrow groove sections (112) to be connected with the humanoid silica gel face skin, the second ends of the two first transmission connecting rods (334) are respectively connected with the first ends of the first eyebrow side extension rods (332) and the second eyebrow side extension rods (333), a first end of the first brow side extension bar (332) moves along the first brow sliding groove (311), the second end of the first brow side extension rod (332) passes through the first brow groove section (111) to be connected with the humanoid silica gel face skin, the first end of the second brow portion side extension rod (333) moves along the third brow portion sliding groove (313), the second end of the second brow side extension rod (333) passes through the third brow groove section (113) to be connected with the humanoid silica gel face skin.
3. The robot facial expression control mechanism of claim 2, wherein the first power take-off assembly (32) further comprises two first connection blocks (323) and two first rotation steering gears, the two first connection blocks (323) are respectively and correspondingly installed in the first brow sliding groove (311) and the third brow sliding groove (313), the two first rotation steering gears are respectively and correspondingly installed on the two first connection blocks (323), and the first ends of the first brow side extension bar (332) and the second brow side extension bar (333) are respectively and correspondingly connected to the power take-off ends of the two first rotation steering gears.
4. The robot facial expression control mechanism of claim 3, wherein the first power take-off assembly (32) further comprises a second connection block (324) and a second rotary steering engine, the second connection block (324) being mounted in the second brow sliding slot (312), the second rotary steering engine being mounted on the second connection block (324), the first end of the brow middle extension rod (331) being connected to the power take-off end of the second rotary steering engine.
5. The robotic facial expression control mechanism of any one of claims 1-4,
The lip track groove (12) comprises a first lip groove section (121), a second lip groove section (122) and a third lip groove section (123), wherein the first lip groove section (121) and the third lip groove section (123) are respectively positioned at two side lip angle positions of the humanoid skull shell (10), the extending direction of the first lip groove section (121) and the extending direction of the third lip groove section (123) both imitate the extending direction of lips, the second lip groove section (122) is positioned at the middle position of the humanoid skull shell (10), and the second lip groove section (122) extends along the vertical direction;
The second mounting substrate (41) is provided with a first lip sliding groove (411), a second lip sliding groove (412) and a third lip sliding groove (413), the first lip sliding groove (411) corresponds to the first lip groove section (121) and has the same extending direction, the second lip sliding groove (412) corresponds to the second lip groove section (122) and has the same extending direction, and the third lip sliding groove (413) corresponds to the third lip groove section (123) and has the same extending direction;
the second power output assembly (42) comprises a second steering engine (421) and a second driving connecting rod (422), the second steering engine (421) is installed on the second installation substrate (41), and a first end of the second driving connecting rod (422) is connected with a power output end of the second steering engine (421);
The second transmission assembly (43) comprises a lip middle extension rod (431), a first lip side extension rod (432), a second lip side extension rod (433) and two second transmission links (434), a first end of the lip intermediate extension rod (431) is connected to a second end of the second drive link (422), the lip middle extension rod (431) moves along the second lip sliding groove (412), the first ends of the two second transmission links (434) are connected to the first ends of the lip middle extension rod (431), the second ends of the lip middle extension rods (431) penetrate through the second lip groove sections (122) to be connected with the humanoid silica gel face skin, the second ends of the two second transmission connecting rods (434) are respectively connected with the first ends of the first lip side extension rods (432) and the first ends of the second lip side extension rods (433), a first end of the first lip side extension bar (432) moves along the first lip sliding groove (411), the second end of the first lip side extension rod (432) passes through the first lip groove section (121) to be connected with the humanoid silica gel face skin, the first end of the second lip side extension rod (433) moves along the third lip sliding groove (413), the second end of the second lip side extension rod (433) penetrates through the third lip groove section (123) to be connected with the humanoid silica gel face skin.
6. The robot facial expression control mechanism as recited in claim 5, said second power take-off assembly (42) further comprising two third connection blocks (423) and two third rotation steering gears, said two third connection blocks (423) being respectively and correspondingly mounted in said first lip sliding groove (411) and said third lip sliding groove (413), said two third rotation steering gears being respectively and correspondingly mounted on said two third connection blocks (423), said first ends of said first lip side extension bars (432) and said first ends of said second lip side extension bars (433) being respectively and correspondingly connected to power take-off shafts of said two third rotation steering gears.
7. The robotic facial expression control mechanism of claim 6, wherein the second power take off assembly (42) further comprises a fourth connection block (424) and a fourth rotary steering engine, the fourth connection block (424) being mounted in the second lip slide slot (412), the fourth rotary steering engine being mounted on the fourth connection block (424), the first end of the lip intermediate extension rod (431) being connected to the power take off end of the fourth rotary steering engine.
8. A robot comprising the robot facial expression control mechanism according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371523.XA CN110125947B (en) | 2019-05-06 | Robot facial expression control mechanism and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910371523.XA CN110125947B (en) | 2019-05-06 | Robot facial expression control mechanism and robot with same |
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| Publication Number | Publication Date |
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| CN110125947A CN110125947A (en) | 2019-08-16 |
| CN110125947B true CN110125947B (en) | 2024-06-07 |
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