CN110181524B - Humanoid robot mouth mechanism - Google Patents
Humanoid robot mouth mechanism Download PDFInfo
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- CN110181524B CN110181524B CN201910363571.4A CN201910363571A CN110181524B CN 110181524 B CN110181524 B CN 110181524B CN 201910363571 A CN201910363571 A CN 201910363571A CN 110181524 B CN110181524 B CN 110181524B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 129
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 23
- 230000009471 action Effects 0.000 abstract description 22
- 238000010586 diagram Methods 0.000 description 5
- 239000003292 glue Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of intelligent robots, in particular to a mouth mechanism of a humanoid robot, which comprises a lip model, an upper jaw supporting plate and a chin model, wherein the lip model and the upper jaw supporting plate are arranged above the chin model; the lip model comprises an upper lip, a lower lip and a mouth corner, wherein the upper lip is arranged above the lower lip, and the mouth corner is connected between the upper lip and the lower lip; the upper lip is connected with an upper lip driving mechanism, the lower lip is connected with a lower lip driving mechanism, the mouth corner is connected with a mouth corner driving mechanism, and the chin model is connected with a chin driving mechanism for driving the chin model to rotate. The invention adopts the connecting rod structure to drive the lip model, under the combined action of the upper lip driving mechanism, the lower lip driving mechanism, the mouth corner driving mechanism and the chin driving mechanism, the mouth corner driving mechanism can interfere the upper lip driving point and the lower lip driving point, the chin driving mechanism can interfere the mouth corner driving point, six driving points for driving the lip model realize more complex mouth shape movements such as speaking, and the like, and the mouth shape changing frequency is higher.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a mouth mechanism of a humanoid robot.
Background
The head movements of the humanoid robot mainly comprise eyes, a mouth, a neck and the like, wherein the mouth movements are indispensable in the speech expression of the humanoid robot. At present, most of humanoid robots only have jaw movement mechanisms, only can make simple lip opening and closing movements, but cannot make speaking mouth shapes, and the fidelity of reproducing the mouth shapes of human beings is low. Although the applicant has developed a humanoid robot capable of reproducing the speaking mouth shape, the lip control mechanism has the problems of low mouth shape changing speed, small change amplitude and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a mouth mechanism of a humanoid robot, which can realize the action of speaking mouth shape, has higher mouth shape transformation frequency and realizes the complex speaking mouth shape action.
In order to solve the technical problems, the invention adopts the following technical scheme:
the mouth mechanism of the humanoid robot comprises a lip model, an upper jaw supporting plate and a chin model, wherein the lip model and the upper jaw supporting plate are arranged above the chin model; the lip model comprises an upper lip, a lower lip and a mouth corner, wherein the upper lip is arranged above the lower lip, and the mouth corner is connected between the upper lip and the lower lip; the upper lip is connected with an upper lip driving mechanism, the lower lip is connected with a lower lip driving mechanism, the mouth corner is connected with a mouth corner driving mechanism, the chin model is connected with a chin driving mechanism for driving the chin model to rotate, the upper lip driving mechanism and the mouth corner mechanism are arranged on the upper jaw supporting plate, and the lower lip driving mechanism and the chin driving mechanism are arranged between the upper jaw supporting plate and the chin model.
According to the mouth mechanism of the humanoid robot, the lip model is adopted to simulate the real lips, so that the actual movement effect of the lip model can be conveniently observed; the mouth shape action of the humanoid robot is divided into four large motion control areas of an upper lip, a lower lip, a mouth angle and a chin, and the four large motion control areas are respectively controlled by an upper lip driving mechanism, a lower lip driving mechanism, a mouth angle driving mechanism and a chin driving mechanism, so that the mouth shape simulation robot has higher mouth shape transformation frequency and can realize complex speaking mouth shape action.
Further, the upper lip is provided with an upper lip driving point connected with the upper lip driving mechanism, the lower lip is provided with a lower lip driving point connected with the lower lip driving mechanism, and the mouth corner is provided with a mouth corner driving point connected with the mouth corner driving mechanism. The upper lip driving point, the lower lip driving point and the mouth corner driving point are two groups and are respectively connected with the same upper lip driving mechanism, the lower lip driving mechanism and the mouth corner driving mechanism, and the two driving points are controlled by a single driving mechanism to synchronously move, so that the occupied volume of each driving mechanism is reduced.
Further, the upper lip driving mechanism comprises a first steering engine, a first steering wheel, a first connecting rod, a first transmission rod and a first connecting rod which are sequentially connected, wherein the first connecting rod, the first transmission rod and the first connecting rod are two groups, the two groups of first connecting rods are symmetrically connected to the first steering wheel, the two groups of first connecting rods rotate inwards, the first transmission rod is hinged with the first connecting rod, one ends, close to the first connecting rods, of the two groups of first transmission rods are provided with first bending sections which are oppositely arranged, and the first connecting rods are connected to an upper lip driving point. The two groups of first connecting rods are respectively connected to two bosses of the first steering wheel, and the two bosses are symmetrically arranged so as to ensure that the rotation angles of the two groups of first connecting rods and the first transmission rod are the same; under the drive of steering wheel and steering wheel, under the drive action of first connecting rod, first transfer line, head rod, drive the action of upper lip driving point.
Further, the first transmission rod comprises a first driving rod connected with the first connecting rod and a first driven rod connected with the first connecting rod: the first driving rod and the first driven rod of one group of first transmission rods are connected; the first driving rod of the other group of first transmission rods is connected with a first reversing gear, the first driven rod is connected with a second reversing gear, and the first reversing gear is meshed with the second reversing gear. The first driving rod and the first driven rod are connected in a way of screwing screws on the through holes of the first driving rod and the first driven rod, so that the first driving rod and the first driven rod can synchronously rotate; the first reversing gear and the second reversing gear are connected between the other group of first driving rods and the first driven rods, so that the two groups of first connecting rods synchronously drive the two groups of upper lip driving points to synchronously move. In addition, the first driven rod and the first connecting rod are connected in a hinge mode, so that the upper lip driving point can realize transverse movement under the interference of the mouth angle driving mechanism.
Further, the first steering engine is fixedly arranged on the upper jaw supporting plate through a first fixing plate, the two groups of first driving rods are fixedly arranged on the upper jaw supporting plate through a first fixing frame, and the two groups of first driven rods are fixedly arranged on the upper jaw supporting plate through a second fixing frame. The first fixing frame and the second fixing frame are used for fixing the rotation centers of the first driving rod and the first driven rod, and the action stability of the upper lip driving mechanism is guaranteed.
Further, the lower lip driving mechanism and the upper lip driving mechanism have the same structure and comprise a second steering engine, a second steering wheel, a second connecting rod, a second transmission rod and a second connecting rod which are sequentially connected, wherein the second connecting rod, the second transmission rod and the second connecting rod are two groups, the two groups of second connecting rods are symmetrically arranged on the second steering wheel, the two groups of second connecting rods rotate inwards, and the second connecting rod is connected with a lower lip driving point; the second connecting rod is staggered with the first connecting rod. The arrangement of the second connecting rod and the first connecting rod is opposite, and the first connecting rod and the second connecting rod move inwards, so that excessive occupation of external space is avoided; meanwhile, the thickness, the length and the like of the lower lip driving mechanism can be adjusted to adapt to the size and the structure of the chin model.
Further, the mouth angle driving mechanism comprises a third steering engine, a steering wheel, a third universal joint, a fourth universal joint, a third transmission rod and a third connecting rod which are sequentially connected, wherein the third universal joint, the fourth universal joint, the third transmission rod and the third connecting rod are two groups which are symmetrically arranged, and the third connecting rod is connected to a mouth angle driving point. The third steering engine adopts a double-output steering engine to drive two groups of third universal joints, fourth universal joints and third transmission rods to move and drive a third connecting rod to drive a mouth angle driving point to act.
Further, the steering wheel comprises a third steering wheel connected with a forward output shaft of the third steering engine and a fourth steering wheel connected with a reverse output shaft of the third steering engine, and a D-shaped shaft is connected between the reverse output shaft of the third steering engine and the fourth steering wheel. Because the reverse output shaft and the forward output shaft of the third steering engine are different in structure, the reverse output shaft and the fourth steering wheel are connected by adopting a D-shaped shaft, an annular groove is arranged on a boss of the third steering wheel and is connected with a pin hole of a third universal joint, and annular grooves are respectively arranged at two ends of a middle rod and are respectively connected with the third universal joint and the fourth universal joint; an annular groove is also arranged at the end part of the third driving rod and is connected with the fourth universal joint.
Further, an intermediate rod is connected between the third universal joint and the fourth universal joint, the third transmission rod comprises a third driving rod connected with the fourth universal joint and a third driven rod connected with the third connecting rod, and the third driven rod is connected with the third connecting rod through a hinge. The third driving rod is embedded with the third driven rod, a through hole is formed in the connecting part, fixing pieces such as screws are screwed on the through hole to enable the third driving rod and the third driven rod to synchronously rotate, and a boss can be arranged on the third driven rod to prevent the third driven rod from moving in series; the third driven rod is connected with the third connecting rod in a hinged connection mode, the third connecting rod is connected with the mouth angle driving point through glue or a screw, and the action of the mouth angle driving point can interfere the actions of the upper lip driving point and the lower lip driving point.
Further, the chin driving mechanism comprises a fourth steering engine and a flange coupler connected to an output shaft of the fourth steering engine, and the flange coupler is connected with the chin model through a first connecting piece. The chin model has the chin shape, and the fidelity of the mouth shape action is increased.
Compared with the prior art, the invention has the beneficial effects that:
the mouth shape action of the humanoid robot is divided into four large motion control areas, namely an upper lip, a lower lip, a mouth angle and a chin, and the four large motion control areas are respectively controlled by an upper lip driving mechanism, a lower lip driving mechanism, a mouth angle driving mechanism and a chin driving mechanism, so that the mouth shape action simulation robot has higher mouth shape changing frequency and can realize complex speaking mouth shape action;
the invention adopts a connecting rod structure to control a driving point and endows a mouth mechanism with higher mouth-shaped variable frequency; the driving points are connected in a hinged mode, so that better flexibility is provided for the driving points;
the invention adopts a mode of synchronously controlling two driving points by a single steering engine, can effectively reduce the volume of the mouth mechanism and improve the applicability of the mouth mechanism.
Drawings
FIG. 1 is a schematic diagram of a humanoid robot mouth mechanism;
FIG. 2 is a schematic diagram of a lip model;
fig. 3 is a schematic view of the structure of the upper jaw support plate.
FIG. 4 is a schematic view of an upper lip drive mechanism;
FIG. 5 is a schematic diagram of the motion of the upper lip drive mechanism;
FIG. 6 is a schematic view of a lower lip drive mechanism;
FIG. 7 is a schematic diagram of the motion of the lower lip drive mechanism;
FIG. 8 is a schematic view of a corner of mouth drive mechanism;
FIG. 9 is a schematic view of the portion A of FIG. 8;
FIG. 10 is a schematic view of the portion B of FIG. 8;
FIG. 11 is a schematic diagram of the motion of the corner of mouth drive mechanism;
fig. 12 is a schematic structural view of a chin driving mechanism;
fig. 13 is a motion schematic of the chin drive mechanism.
In the accompanying drawings: 1-a lip model; 11-upper lip; 12-lower lip; 13-mouth angle; 14-upper lip drive point; 15-lower lip drive point; 16-mouth angle driving point; 2-an upper jaw support plate; 3-chin model; 4-upper lip driving mechanism; 41-a first steering engine; 42-a first rudder disk; 43-first link; 44-a first active lever; 45-a first driven rod; 46-a first connecting rod; 47-a first reversing gear; 48-a second reversing gear; 49-a first fixing plate; 410-a first mount; 411-a second mount; 5-a lower lip drive mechanism; 51-a second steering engine; 52-a second rudder disk; 53-a second link; 54-a second active lever; 55-a second driven rod; 56-a second connecting rod; 57-a third reversing gear; 58-fourth reversing gear; 6-a mouth angle driving mechanism; 61-a third steering engine; 62-a third steering wheel; 63-a fourth steering wheel; 64-a third universal joint; 65-an intermediate lever; 66-fourth universal joint; 67-a third active lever; 68-a third follower lever; 69-D type shaft; 610-a third connecting rod; 7-a chin drive mechanism; 71-a fourth steering engine; 72-flange coupling; 73-a first connector; 74-second connector.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Examples
Referring to fig. 1 to 12, an embodiment of a mouth mechanism of a humanoid robot of the present invention includes a lip model 1, a jaw support plate 2 and a chin model 3, wherein the lip model 1 and the jaw support plate 2 are both disposed above the chin model 3; the lip model 1 comprises an upper lip 11, a lower lip 12 and a mouth corner 13, wherein the upper lip 11 is arranged above the lower lip 12, and the mouth corner 13 is connected between the upper lip 11 and the lower lip 12; the upper lip 11 is connected with an upper lip driving mechanism 4, the lower lip 12 is connected with a lower lip driving mechanism 5, the mouth corner 13 is connected with a mouth corner 13 driving mechanism, the chin model 3 is connected with a chin driving mechanism 7 for driving the chin model 3 to rotate, the upper lip driving mechanism 4 and the mouth corner 13 are arranged on the upper jaw supporting plate 2, and the lower lip driving mechanism 5 and the chin driving mechanism 7 are arranged between the upper jaw supporting plate 2 and the chin model 3. In this embodiment: as shown in fig. 2, the upper lip 11 is provided with an upper lip driving point 14 connected to the upper lip driving mechanism 4, the lower lip 12 is provided with a lower lip driving point 15 connected to the lower lip driving mechanism 5, and the mouth corner is provided with a mouth corner driving point 16 connected to the mouth corner 13 driving mechanism; the upper lip driving point 14, the lower lip driving point 15 and the mouth angle driving point 16 are two groups and are respectively connected with the same upper lip driving mechanism 4, the lower lip driving mechanism 5 and the mouth angle 13 driving mechanism, and the embodiment adopts a mode that a single driving mechanism controls the two driving points to synchronously move, so that the occupied volume of each driving mechanism is reduced; the upper jaw support plate 2 serves as a support frame for the mouth mechanism for fixing the upper lip drive mechanism 4, the mouth corner 13 drive mechanism and the chin drive mechanism 7, as shown in fig. 3.
In the embodiment, the mouth shape motion of the humanoid robot is divided into four large motion control areas, namely an upper lip 11, a lower lip 12, a mouth corner 13 and a chin, and the four large motion control areas are respectively controlled by an upper lip driving mechanism 4, a lower lip driving mechanism 5, a mouth corner 13 driving mechanism and a chin driving mechanism 7, so that the mouth shape motion has high mouth shape changing frequency and can realize complex speaking mouth shape motion.
As shown in fig. 4 and 5, the upper lip driving mechanism 4 includes a first steering engine 41, a first steering wheel 42, a first connecting rod 43, a first transmission rod and a first connecting rod 46 which are sequentially connected, wherein the first connecting rod 43, the first transmission rod and the first connecting rod 46 are two groups, the two groups of first connecting rods 43 are symmetrically connected to the first steering wheel 42, the two groups of first connecting rods 43 rotate inwards, the first transmission rod is hinged with the first connecting rod 46, one ends of the two groups of first transmission rods, which are close to the first connecting rod 46, are provided with first bending sections which are oppositely arranged, and the first connecting rod 46 is connected to the upper lip driving point 14. In this embodiment, the two sets of first connecting rods 43 are respectively connected to two bosses of the first steering wheel 42, and the two bosses are symmetrically arranged so as to ensure that the rotation angles of the two sets of first connecting rods 43 and the first transmission rod are the same.
The first driving rod includes a first driving rod 44 connected to the first connecting rod 43 and a first driven rod 45 connected to the first connecting rod 46: the first driving rod 44 and the first driven rod 45 of one group of first transmission rods are connected; the first driving rod 44 of the other group of first transmission rods is connected with a first reversing gear 47, the first driven rod 45 is connected with a second reversing gear 48, and the first reversing gear 47 is meshed with the second reversing gear 48. Wherein, a group of first driving rod 44 and first driven rod 45 are provided with through holes at the connecting part, and the two are connected by screwing screws and other fixing modes on the through holes of the two, so that the first driving rod 44 and the first driven rod 45 rotate synchronously; the first reversing gear 47 and the second reversing gear 48 are connected between the other group of first driving rods 44 and the first driven rods 45, so that the two groups of first connecting rods 46 synchronously drive the two groups of upper lip driving points 14 to synchronously move. The first connecting rod 46 of the present embodiment may be connected to the upper lip driving point 14 by means of glue connection or screw connection, etc., and the first driven rod 45 is connected to the first connecting rod 46 by means of a hinge, so that the upper lip driving point 14 moves up and down under the action of the upper lip driving mechanism 4, and the upper lip driving point 14 can implement lateral movement under the interference of the driving mechanism of the mouth corner 13.
In addition, the first steering engine 41 is fixed to the upper jaw support plate 2 through a first fixing plate 49, the two sets of first driving rods 44 are fixed to the upper jaw support plate 2 through a first fixing frame 410, and the two sets of first driven rods 45 are fixed to the upper jaw support plate 2 through a second fixing frame 411. The upper jaw support plate 2 serves as a support frame for the mouth mechanism; the first fixing frame 410 and the second fixing frame 411 are used for fixing the rotation centers of the first driving rod 44 and the first driven rod 45, so as to ensure the stability of the action of the upper lip driving mechanism 4.
In this embodiment, when the first steering engine 41 works to drive the first steering wheel 42 to rotate, the first steering wheel 42 drives the two groups of first connecting rods 43 to rotate synchronously, one group of first connecting rods 43 drives the first driven rod 45 to rotate through the first driving rod 44, the other group of first connecting rods 43 drives the first driving rod 44 to rotate, the power of the first driving rod 44 is transmitted to the first driven rod 45 through the first reversing gear 47 and the second reversing gear 48, the first driven rod 45 is connected with the first connecting rod 46 in a hinged manner, the first connecting rod 46 can drive the upper lip driving point 14 to move up and down, and lateral movement can be achieved under the interference of the driving mechanism of the mouth corner 13, as shown in fig. 5.
As shown in fig. 6 and 7, the lower lip driving mechanism 5 has the same structure as the upper lip driving mechanism 4, and comprises a second steering engine 51, a second steering wheel 52, a second connecting rod 53, a second transmission rod and a second connecting rod 56 which are sequentially connected, wherein the second connecting rod 53, the second transmission rod and the second connecting rod 56 are respectively in two groups, the two groups of second connecting rods 53 are symmetrically arranged on the second steering wheel 52, the two groups of second connecting rods 53 rotate inwards, and the second connecting rod 56 is connected with the lower lip driving point 15; the second link 53 is offset from the first link 43. The arrangement of the second connecting rod 53 is opposite to that of the first connecting rod 43, and the first connecting rod 43 and the second connecting rod 53 move inwards, so that excessive occupation of external space is avoided; while the thickness, length, etc. of the lower lip driving mechanism 5 can be adjusted to suit the size and structure of the chin model 3.
The second driving rod includes a second driving rod 54 connected to the second connecting rod 53 and a second driven rod 55 connected to the second connecting rod 56: the second driving rod 54 and the second driven rod 55 of one group of second transmission rods are connected; the second driving rod 54 of the other group of second transmission rods is connected with a third reversing gear 57, the second driven rod 55 is connected with a fourth reversing gear 58, and the third reversing gear 57 is meshed with the fourth reversing gear 58. Wherein, a group of second driving rod 54 and second driven rod 55 are provided with through holes at the connecting part, and the two are connected by screwing screws and other fixing modes on the through holes of the two, so that the second driving rod 54 and the second driven rod 55 rotate synchronously; and a third reversing gear 57 and a fourth reversing gear 58 are connected between the other group of second driving rods 54 and the second driven rods 55, so that the two groups of second connecting rods 56 synchronously drive the two groups of lower lip driving points 15 to synchronously move. The second connecting rod 56 of the present embodiment may be connected to the lower lip driving point 15 by means of glue connection or screw connection, etc., and the second driven rod 55 is connected to the second connecting rod 56 by means of a hinge, so that the lower lip driving point 15 moves up and down under the action of the lower lip driving mechanism 5, and the lower lip driving point 15 can implement lateral movement under the interference of the driving mechanism of the mouth corner 13.
In this embodiment, when the second steering engine 51 works to drive the second steering wheel 52 to rotate, the second steering wheel 52 drives the two sets of second connecting rods 53 to rotate synchronously, one set of second connecting rods 53 drives the second driven rod 55 to rotate through the second driving rod 54, the other set of second connecting rods 53 drives the second driving rod 54 to rotate, the power of the second driving rod 54 is transmitted to the second driven rod 55 through the third reversing gear 57 and the fourth reversing gear 58, the second driven rod 55 is connected with the second connecting rod 56 through a hinge, the second connecting rod 56 can drive the lower lip driving point 15 to move up and down, and lateral movement can be achieved under the interference of the driving mechanism of the mouth corner 13, as shown in fig. 7.
As shown in fig. 8 to 11, the driving mechanism for the nozzle angle 13 includes a third steering engine 61, a steering wheel, a third universal joint 64, a fourth universal joint 66, a third transmission rod and a third connecting rod which are sequentially connected, wherein the third universal joint 64, the fourth universal joint 66, the third transmission rod and the third connecting rod are two groups symmetrically arranged, and the third connecting rod is connected to the nozzle angle driving point 16. The third steering engine 61 adopts a double-output steering engine to drive two groups of third universal joints 64, fourth universal joints 66 and third transmission rods to move so as to drive the third connecting rod to drive the mouth angle driving point 16 to act.
Specifically, the steering wheel comprises a third steering wheel 62 connected to a forward output shaft of the third steering engine 61 and a fourth steering wheel 63 connected to a reverse output shaft of the third steering engine 61, and a D-shaped shaft 69 is connected between the reverse output shaft of the third steering engine 61 and the fourth steering wheel 63, as shown in fig. 9; because the structure of the reverse output shaft and the forward output shaft of the third steering engine 61 is different, a D-shaped shaft 69 is adopted to connect the reverse output shaft and the fourth steering wheel 63, an annular groove is arranged on a boss of the third steering wheel 62 and is connected with a pin hole of a third universal joint 64, and annular grooves are respectively arranged at two ends of a middle rod 65 and are respectively connected with the third universal joint 64 and a fourth universal joint 66, as shown in fig. 10; an annular groove is likewise provided at the end of the third drive rod 67, which is connected to the fourth universal joint 66.
Wherein, be connected with intermediate lever 65 between third universal joint 64 and the fourth universal joint 66, the third transfer line includes the third driving lever 67 that is connected with fourth universal joint 66 and the third driven lever 68 that is connected with third connecting rod 610, and third driven lever 68 passes through hinged joint with the third connecting rod. In this embodiment, the third driving rod 67 is embedded with the third driven rod 68, a through hole is provided at the connection part, a fixing piece such as a screw is screwed at the through hole part to make the third driving rod 67 and the third driven rod 68 rotate synchronously, or a boss is provided on the third driven rod 68 to prevent the third driven rod 68 from moving in series; the third driven rod 68 is connected to the third connecting rod 610 by a hinged connection, the third connecting rod is connected to the mouth-angle driving point 16 by glue or screws, and the action of the mouth-angle driving point 16 can interfere the actions of the upper lip driving point 14 and the lower lip driving point 15.
In this embodiment, when the third steering engine 61 works to drive the third steering wheel 62 to rotate, the third steering wheel 62 drives the two sets of third universal joints 64 to rotate synchronously, the third universal joints 64 can rotate relative to the third steering wheel 62, the third universal joints 64 transmit power to the fourth universal joints 66 through the middle rod 65, the fourth universal joints 66 are connected with the third driving rod 67, the third driving rod 67 and the third driven rod 68 transmit power to the third connecting rod 610, and the third connecting rod drives the mouth corner driving point 16 to act and simultaneously interfere the actions of the upper lip driving point 14 and the lower lip driving point 15, as shown in fig. 11.
As shown in fig. 12 to 13, the chin driving mechanism 7 includes a fourth steering engine 71 and a flange coupling 72 connected to an output shaft of the fourth steering engine 71, the flange coupling 72 is connected to the chin model 3 through a first connecting member 73, and a second connecting member 74 for fixing the lower lip driving mechanism 5 is provided at the bottom of the chin model 3. The chin model 3 has a structure similar to the chin shape, which can increase the fidelity of the mouth shape action. In the implementation of this embodiment, as shown in fig. 13, the fourth steering engine 71 works to drive the chin model 3 to rotate under the action of the flange coupling 72.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. The mouth mechanism of the humanoid robot comprises a lip model (1), an upper jaw supporting plate (2) and a chin model (3), wherein the lip model (1) and the upper jaw supporting plate (2) are arranged above the chin model (3); the lip model (1) is characterized by comprising an upper lip (11), a lower lip (12) and a mouth corner (13), wherein the upper lip (11) is arranged above the lower lip (12), and the mouth corner (13) is connected between the upper lip (11) and the lower lip (12); the upper lip (11) is connected with an upper lip driving mechanism (4), the lower lip (12) is connected with a lower lip driving mechanism (5), the mouth corner (13) is connected with a mouth corner driving mechanism (6), the chin model (3) is connected with a chin driving mechanism (7) for driving the chin model (3) to rotate, the upper lip driving mechanism (4) and the mouth corner driving mechanism (6) are arranged on the upper jaw supporting plate (2), and the lower lip driving mechanism (5) and the chin driving mechanism (7) are arranged between the upper jaw supporting plate (2) and the chin model (3); the upper lip (11) is provided with an upper lip driving point (14) connected with the upper lip driving mechanism (4), the lower lip (12) is provided with a lower lip driving point (15) connected with the lower lip driving mechanism (5), and the mouth corner (13) is provided with a mouth corner driving point (16) connected with the mouth corner driving mechanism (6); the upper lip driving mechanism (4) comprises a first steering engine (41), a first steering wheel (42), a first connecting rod (43), a first transmission rod and a first connecting rod (46) which are sequentially connected, wherein the first connecting rod (43), the first transmission rod and the first connecting rod (46) are two groups, the two groups of first connecting rods (43) are symmetrically connected to the first steering wheel (42), the two groups of first connecting rods (43) rotate inwards, the first transmission rod is hinged with the first connecting rod (46), one ends of the two groups of first transmission rods, which are close to the first connecting rod (46), are provided with first bending sections which are oppositely arranged, and the first connecting rod (46) is connected to an upper lip driving point (14); the lower lip driving mechanism (5) and the upper lip driving mechanism (4) have the same structure and comprise a second steering engine (51), a second steering wheel (52), a second connecting rod (53), a second transmission rod and a second connecting rod (56) which are sequentially connected, wherein the second connecting rod (53), the second transmission rod and the second connecting rod (56) are two groups, the two groups of second connecting rods (53) are symmetrically arranged on the second steering wheel (52), the two groups of second connecting rods (53) rotate inwards, and the second connecting rod (56) is connected to a lower lip driving point (15); the second connecting rod (53) is staggered with the first connecting rod (43).
2. The humanoid robot mouth mechanism of claim 1, wherein the first transmission rod includes a first driving rod (44) connected with a first link (43) and a first driven rod (45) connected with a first connecting rod (46): the first driving rod (44) and the first driven rod (45) of one group of the first transmission rods are connected; the first driving rod (44) of the other group of first transmission rods is connected with a first reversing gear (47), the first driven rod (45) is connected with a second reversing gear (48), and the first reversing gear (47) is meshed with the second reversing gear (48).
3. The humanoid robot mouth mechanism according to claim 1, wherein the first steering engine (41) is fixedly mounted on the upper jaw support plate (2) through a first fixing plate (49), the two sets of first driving rods (44) are fixedly mounted on the upper jaw support plate (2) through a first fixing frame (410), and the two sets of first driven rods (45) are fixedly mounted on the upper jaw support plate (2) through a second fixing frame (411).
4. The humanoid robot mouth mechanism according to claim 1, wherein the mouth-angle driving mechanism (6) comprises a third steering engine (61), a steering wheel, a third universal joint (64), a fourth universal joint (66), a third transmission rod and a third connecting rod (610) which are sequentially connected, the third universal joint (64), the fourth universal joint (66), the third transmission rod and the third connecting rod (610) are two groups symmetrically arranged, and the third connecting rod is connected to the mouth-angle driving point (16).
5. The humanoid robot mouth mechanism according to claim 4, wherein the steering wheel comprises a third steering wheel (62) connected to a forward output shaft of a third steering wheel (61), and a fourth steering wheel (63) connected to a reverse output shaft of the third steering wheel (61), and a D-shaped shaft (69) is connected between the reverse output shaft of the third steering wheel (61) and the fourth steering wheel (63).
6. The humanoid robot mouth mechanism of claim 4, wherein an intermediate lever (65) is connected between the third universal joint (64) and the fourth universal joint (66), the third transmission lever includes a third driving lever (67) connected with the fourth universal joint (66) and a third driven lever (68) connected with a third connecting lever (610), and the third driven lever (68) is connected with the third connecting lever through a hinge.
7. Humanoid robot mouth mechanism according to any of claims 1-6, characterized in that the chin drive mechanism (7) comprises a fourth steering engine (71) and a flange coupling (72) connected to the output shaft of the fourth steering engine (71), the flange coupling (72) being connected to the chin model (3) by a first connection (73).
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| CN117124343B (en) * | 2023-09-25 | 2024-02-23 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
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