CN111421558B - Robot with anthropomorphic expression based on electroactive polymer driver - Google Patents
Robot with anthropomorphic expression based on electroactive polymer driver Download PDFInfo
- Publication number
- CN111421558B CN111421558B CN202010194085.7A CN202010194085A CN111421558B CN 111421558 B CN111421558 B CN 111421558B CN 202010194085 A CN202010194085 A CN 202010194085A CN 111421558 B CN111421558 B CN 111421558B
- Authority
- CN
- China
- Prior art keywords
- eyelid
- eyebrow
- eyeball
- electroactive polymer
- lower jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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 invention discloses an electro-active polymer driver-based robot with anthropomorphic expressions, which comprises a head-shaped robot consisting of a head skull cover, an upper jaw part, an eyebrow part, an eyelid part, an eyeball part, a lower jaw part and a mouth part, wherein the left eyebrow and the right eyebrow of the eyebrow part are respectively provided with an independent eyebrow driving component which drives the left eyebrow and the right eyebrow to move up and down and/or rotate left and right; the left eyelid and the right eyelid of the eyelid part are respectively provided with independent eyelid driving components, and the eyelid driving components drive the left eyelid or the right eyelid to open and close up and down; the left eyeball and the right eyeball of the eyeball part are respectively provided with an independent eyeball driving component, and the eyeball driving component drives the left eyeball or the right eyeball to rotate; the lower jaw and the mouth part comprise a lower jaw, a mouth and a lower jaw driving component, and the lower jaw driving component drives the lower jaw to open and close to drive the mouth to open and close. The invention has the advantages of light and compact structure, no noise, low energy consumption, etc.
Description
Technical Field
The invention relates to the field of anthropomorphic robots, in particular to an anthropomorphic robot based on an electroactive polymer driver.
Background
With the development of artificial intelligence, robots are more and more widely applied, the robots are more and more deeply researched, and the requirements on robot personification are higher and higher. The expression robot is the intelligent robot that can simulate human facial expression and mood action, and mechanical expression robot carries out the expression through participant and robot and is interactive, has demonstrated the imitativeness of robot, lets the robot more natural with the exchange of people, and it is better to exchange experience. The expression robot has important significance and effect in the field of human-computer interaction. However, most of the driving parts of the robot expression robots in the prior art are driven by motors (as disclosed in the patent CN 201821018065.9), and the motion fault feeling is too large, so that the expressions are stiff, the rotation is not flexible, and the personification effect is not ideal. And because motor drive, every motion all needs solitary motor and motor controller, has that energy consumption is big, and whole mechanism is too huge, and many motors have the quality heavy, control and maintenance difficult problem.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot with anthropomorphic expressions based on an electroactive polymer driver, which is flexible in expression, light in structure, low in energy consumption and convenient to maintain.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot with anthropomorphic expressions based on an electroactive polymer driver comprises a head-shaped robot consisting of a head skull cover, an upper jaw, an eyebrow part, an eyelid part, an eyeball part, a lower jaw and a mouth part, wherein the eyebrow part comprises a left eyebrow and a right eyebrow which are respectively provided with an independent eyebrow driving component, and the eyebrow driving component drives the left eyebrow or the right eyebrow to move up and down and/or rotate left and right; the eyelid part comprises a left eyelid and a right eyelid, the left eyelid and the right eyelid are respectively provided with independent eyelid driving components, and the eyelid driving components drive the left eyelid or the right eyelid to open and close up and down; the eyeball part comprises a left eyeball and a right eyeball, the left eyeball and the right eyeball are respectively provided with an independent eyeball driving component, and the eyeball driving component drives the left eyeball or the right eyeball to rotate; the lower jaw and the mouth part comprise a lower jaw, a mouth and a lower jaw driving component, and the lower jaw driving component drives the lower jaw to open and close to drive the mouth to open and close;
the eyebrow drive assembly, eyelid drive assembly, and chin drive assembly each include an electroactive polymer driver.
Further, the left eyebrow and the right eyebrow move up to the top, the left eyelid and the right eyelid are completely opened, and the lower jaw and the mouth are completely opened to form a surprise expression; the left eyebrow and the right eyebrow rotate inwards, and the left eyelid and the right eyelid are opened to form angry expressions; the left eyebrow and the right eyebrow rotate outwards, the left eyelid and the right eyelid are partially opened, and the jaw and the mouth are opened to form a fear expression; the left eyebrow and the right eyebrow descend and rotate outwards, the left eyeball and the right eyeball rotate downwards, the upper eyelids of the left eyelid and the right eyelid are folded downwards, and the lower jaw and the mouth are folded to form the expression of hurting heart; the left eyebrow and the right eyebrow move up to the middle part, the left eyelid and the right eyelid are closed, and the lower jaw and the mouth are opened to form the happy expression.
Further, skull cap and palate are equipped with the vertical guide slot that supplies left eyebrow and right eyebrow to remove, eyebrow drive assembly is equipped with the mount, and eyebrow drive assembly includes two sets of pulley type stroke amplification mechanisms, two sets of eyebrow elevating system and two sets of electroactive polymer driver, the both sides of left eyebrow and right eyebrow all are equipped with a set of eyebrow elevating system, and every group eyebrow elevating system below all is equipped with pulley type stroke amplification mechanism and electroactive polymer driver, and electroactive polymer driver drives pulley type stroke amplification mechanism drive eyebrow elevating system and goes up and down.
Further, the pulley type stroke amplification mechanism is a 4-time type stroke amplification mechanism and comprises a fixed base, a bearing connecting rod, a rolling bearing, two-stage amplification assemblies and a pull wire, wherein the two-stage amplification assemblies are pulleys with the diameters of 2:1 and are connected with two axial surfaces, the two sides of the fixed base are connected with the bearing connecting rod, the rolling bearing is sleeved on the bearing connecting rod, the two-stage amplification assemblies are reversely sleeved on the rolling bearing, namely, a small-diameter roller of one-side two-stage amplification assembly faces inwards, a small-diameter roller of the other-side two-stage amplification assembly faces outwards, a large-diameter roller on the outer side and the small-diameter roller are connected through the pull wire winding, a small-diameter roller on the inner side is connected with the winding wire of the electroactive polymer driver through the pull wire, and a large-diameter roller on the inner side is connected with the winding wire of the lifting mechanism through the pull wire.
Further, all be equipped with the guide way behind left eyebrow and the right eyebrow, elevating system includes the eyebrow connecting rod, removes slider, eyebrow answer spring, spout piece, the spout piece is fixed on the mount, it locates in the spout of spout piece to remove slider slidable, in the guide way is located on eyebrow connecting rod upper portion, eyebrow connecting rod lower extreme is connected with the removal slider, spout piece top is fixed with the spring fixed block, eyebrow answer spring one end and connects on the spring fixed block, and the other end is connected on removing the slider.
Furthermore, skull lid and palate part are equipped with the eyelid and the eyeball motion opening that supply left eyelid and right eyelid to open and shut, and left eyelid and right eyelid all include upper eyelid and lower eyelid, and eyelid drive assembly includes two sets of electroactive polymer drivers, eyelid support and eyelid connecting rod, and upper eyelid and lower eyelid all open-close type rotate to be connected on the eyelid support, and upper eyelid and lower eyelid all are equipped with an electroactive polymer driver, eyelid connecting rod one end is connected with upper eyelid or lower eyelid, and the other end is connected with the electroactive polymer driver.
Furthermore, eyelids and eyeball motion openings for rotating the left eyeball and the right eyeball are arranged on the head skull cover and the palate part, the eyeball driving assembly is arranged on the eyeball fixing rack and comprises a spherical hinge mechanism arranged behind the eyeball, two wire pulling direction conversion mechanisms arranged behind the spherical hinge mechanism and four groups of stroke amplification mechanisms, each group of stroke amplification mechanisms is provided with an electroactive polymer driver, and the electroactive polymer drivers drive the stroke amplification mechanisms to drive the left eyeball or the right eyeball to rotate through the wire pulling direction conversion mechanisms.
Furthermore, the rear of the left eyeball and the rear of the right eyeball are respectively provided with four pull line fixing points with equal distance, one end of the ball hinge mechanism is connected to the middle part of the rear of the left eyeball or the right eyeball, the other end of the ball hinge mechanism is fixed on the eyeball fixing frame, the pull line direction switching mechanism comprises a bearing mounting base and a reversing pulley assembly, the bearing mounting base is internally provided with a cross groove, the reversing pulley assembly is arranged in each direction of the cross groove, four pull line equal winding wires at the rear of the eyeballs penetrate through the reversing pulley assemblies in the two groups of pull line direction switching mechanisms and are respectively connected with the stroke amplification mechanism, and the stroke amplification mechanism is connected with the electroactive polymer driver through the pull lines.
Furthermore, the lower jaw and the mouth part comprise a lower jaw and lips formed by rotationally connecting a plurality of connecting rods, the top end of the upper part of each lip is fixed at the lower part of the skull cap, the lower parts of the lips are fixed at the center of the front side of the lower jaw, the lower jaw driving assembly comprises a connecting rod assembly and an electroactive polymer driver, the lower jaw is rotatably fixed on the lower jaw fixing rack through the lower jaw connecting rod assembly, and the electroactive polymer driver drives the lower jaw connecting rod assembly to contract up and down to drive the lower jaw to rotate in an opening and closing mode.
Further, electroactive polymer driver includes drive shell, drive main part and rotation drive connecting portion, drive shell fixed mounting is inside head type robot, the drive main part is located in the drive shell, drive main part tip is equipped with rotation drive connecting portion, rotation drive connecting portion and last jaw, eyebrow portion, eyelid portion, bulbus oculi portion and chin and mouth are connected.
By adopting the technical scheme of the invention, the invention has the beneficial effects that: compared with the prior art, the invention provides the expression robot based on the electroactive polymer driver as the power source, aiming at the defects of the prior art. Based on the ergonomic size design, the movement of eyebrows, eyeballs, eyelids, chin and lips can be realized independently, the movement range of each part is the same as that of corresponding parts of human, and various basic expressions of human can be simulated flexibly.
The invention adopts the electroactive polymer driver to provide softer and more gentle power, and can make the action of the expression robot more natural and vivid and anthropomorphic. Meanwhile, the device has the advantages of light and compact structure, no noise, low energy consumption and the like.
The invention can be used for human-computer interaction of household and medical accompanying robots, commercial service robots, vehicle-mounted voice robots, educational teaching robots and the like, effectively improves the affinity between the robots and the people, and has great significance for putting the service robots into operation in society.
Drawings
FIG. 1 is a structural diagram of a robot with anthropomorphic expressions based on an electroactive polymer driver, provided by the invention;
FIG. 2 is an internal structure diagram of a robot with anthropomorphic expressions based on an electroactive polymer driver, provided by the invention;
fig. 3 is a structural diagram of an electroactive polymer actuator unit based on a mesh-shaped and concave-convex-shaped electrode provided by the invention;
FIG. 4 is a structural diagram of a unit of an electroactive polymer actuator based on flexible electrodes according to the present invention;
FIG. 5 is a schematic diagram of a surprising expression of a robot with an anthropomorphic expression based on an electroactive polymer driver according to the present invention;
FIG. 6 is a schematic diagram of an angry expression of an anthropomorphic robot based on an electroactive polymer driver according to the present invention;
FIG. 7 is a schematic diagram of a fear expression of a robot with anthropomorphic expressions based on an electroactive polymer driver provided by the invention;
FIG. 8 is a schematic diagram of a wounded expression of a robot with anthropomorphic expression based on an electroactive polymer driver, provided by the invention;
FIG. 9 is a schematic diagram of an open expression of a robot with anthropomorphic expressions based on an electroactive polymer driver according to the present invention;
FIG. 10 is a schematic diagram of the head skull cap and palate structure of a robot with anthropomorphic expression based on an electroactive polymer driver;
FIG. 11 is a structural diagram of an eyebrow and eyebrow driving component of a robot with anthropomorphic expression based on an electroactive polymer driver, provided by the invention;
FIG. 12 is a structural diagram of an eyebrow lifting mechanism of a robot with anthropomorphic expressions based on an electroactive polymer driver, provided by the invention;
FIG. 13 is an exploded view of an eyebrow lifting mechanism of a robot with anthropomorphic expressions based on an electroactive polymer driver, provided by the invention;
FIG. 14 is a block diagram of a pulley type stroke enlarging mechanism of a robot with anthropomorphic expressions based on an electroactive polymer actuator, provided by the invention;
FIG. 15 is an exploded view of a pulley type stroke enlarging mechanism of a robot with anthropomorphic expressions based on an electroactive polymer actuator, provided by the invention;
FIG. 16 is a schematic diagram of the back of an eyebrow of a robot with anthropomorphic expressions based on an electroactive polymer driver, according to the present invention;
FIG. 17 is a schematic diagram of the eyelid and eyelid driving components of a humanoid robot based on an electroactive polymer driver according to the present invention;
fig. 18 is a structural diagram of an eyeball part and an eyeball driving component of a robot with anthropomorphic expressions based on an electroactive polymer driver, which is provided by the invention;
fig. 19 is an exploded view of a eyeball driver component and a eyeball driver of a robot with anthropomorphic expression based on an electroactive polymer driver provided by the invention;
FIG. 20 is an exploded view of a guy wire direction switching mechanism of a robot with anthropomorphic expressions based on electroactive polymer actuators according to the present invention;
fig. 21 is a structure diagram of a lower jaw and a lower jaw driving component of a robot with anthropomorphic expression based on an electroactive polymer driver.
Wherein, 1, skull cap and palate part, 2, eyebrow part, 3, eyelid part, 4, eyeball part, 5, chin and mouth part, 11, vertical guide groove, 12, eyelid and eyeball motion opening, 21, left eyebrow, 22, pulley type stroke amplification mechanism, 23, eyebrow lifting mechanism, 24, right eyebrow, 25, fixing frame, 221, two-stage amplification component, 222, fixing base, 223, rolling bearing, 224, bearing link, 231, eyelid link, 232, moving slide block, 233, link connecting pin, 234, link rolling bearing, 235, bearing rod, 236, chute block, 237, eyebrow restoring spring, 238, spring fixing block, 241, guide groove, 242, slide column, 31, upper eyelid, 32, lower eyelid, 33, eyelid support, 34, eyelid link, 41, left eyeball, 42, right eyeball, 43, ball hinge mechanism, 44, string direction, 45, eye ball hinge mechanism, Stroke amplification mechanism, 46, eyeball fixation frame, 411, bearing mounting base, 412, steering pulley, 413 steering bearing, 414, steering bearing rod, 51, mandible, 52, lip, 53, mandible fixation frame, 54, mandible connecting rod assembly, 6, electroactive polymer driver, 61, driving shell, 62, driving body, 63, rotation driving connecting part, 7 and pull wire.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the robot with anthropomorphic expression based on the electroactive polymer driver 6 comprises a head-shaped robot consisting of a head skull cover and an upper jaw part 1, an eyebrow part 2, an eyelid part 3, an eyeball part 4 and a lower jaw and mouth part 5, wherein the eyebrow part 2 comprises a left eyebrow 21 and a right eyebrow 24, the left eyebrow 21 and the right eyebrow 24 are respectively provided with an independent eyebrow driving component, and the eyebrow driving components drive the left eyebrow 21 or the right eyebrow 24 to move up and down and/or rotate left and right; the eyelid part 3 comprises a left eyelid and a right eyelid which are respectively provided with independent eyelid driving components, and the eyelid driving components drive the left eyelid or the right eyelid to open and close up and down; the eyeball part 4 comprises a left eyeball 41 and a right eyeball 42, the left eyeball 41 and the right eyeball 42 are respectively provided with an independent eyeball driving component, and the eyeball driving component drives the left eyeball 41 or the right eyeball 42 to rotate; the lower jaw and mouth part 5 comprises a lower jaw, a mouth and a lower jaw driving component, and the lower jaw driving component drives the lower jaw to open and close to drive the mouth to open and close. The anthropomorphic expression robot can realize the independent movement of each part, the movement range of the robot can be similar to the movement range of human organs to the maximum extent, and the robot can accurately restore human expressions.
The eyebrow drive assembly, eyelid drive assembly, and chin drive assembly each include an electroactive polymer driver. The electroactive polymer actuator 6 includes an actuating housing 61, an actuating body 62, and a rotational actuating connection 63, wherein the actuating housing 61 is fixedly mounted inside the head robot, fixed to the frame, housing proper portions behind each desired actuating portion, and the like. The driving body 62 is arranged in the driving shell 61, the end of the driving body 62 is provided with a rotation driving connecting part 63, and the rotation driving connecting part 63 is connected with the upper jaw part, the eyebrow part 2, the eyelid part 3, the eyeball part 4, the lower jaw part and the mouth part 5.
The electroactive polymer actuator 6 has two configurations, one being an actuator cell configuration based on mesh-like, concavo-convex electrodes, as shown in figure 3.
The other is a flexible electrode-based driver unit structure, as shown in fig. 4, the two structures are stacked to form a driving body 62, and contract when a voltage is applied and recover when the voltage is removed, thereby achieving a reciprocating linear motion in the vertical direction.
The drive body 62 has a strain amount of 10% or more and a strain force of 90kPa or more.
The driving body 62 includes a plurality of gel layers, and metal electrodes are disposed between the gel layers, the metal electrodes including anode plates and cathode plates, the anode plates and the cathode plates being staggered.
The polymer film layer of the electroactive polymer actuator may be made of PVC (polyvinyl chloride) or CPVC (chlorinated polyvinyl chloride) gel film material, polymethacrylate (polymethyl methacrylate), polyurethane (polyurethane), polystyrene (polystyrene), polyvinyl acetate (polyvinylacetate), PA6 (nylon 6), PVA (polyvinyl alcohol), polycarbonate (polycarbonate), polyethylene terephthalate (PET), polyacrylonitrile (polyacrylonitrile), silicone (silicone), and the like, which are directly provided with an electro-deformable material and a dielectric elastomer material that can generate electro-deformation after electro-deformation or gelation. The thickness of the polymer film is 50-150 microns.
Plasticizers used for the polymer film materials: besides DBA (di-n-butyl adipate), other plasticizers with similar effects such as DMA (dimethylacetamide), DES (diethyl sebacate), DEA (diethanol amine), DOS (dioctyl sebacate), DOA (dioctyl adipate), DMP (dimethyl phthalate), DBP (dibutyl phthalate), DOP (dioctyl phthalate), DEHP (di-2-ethyl hexyl phthalate), ATBC (acetyl tributyl citrate) and the like are added, and the ratio of the polymer material to the plasticizer is 1: 2-1: 8.
Besides the metal mesh electrode, the metal electrode with a concave-convex structure (such as a metal flat electrode with uniformly distributed columnar bosses on the flat electrode) is added, and the mesh electrode woven by resin is plated with a conductive metal layer on the surface, so that the electrode quality and the overall quality of the driver can be greatly reduced on the premise of not affecting the performance. The thickness of the electrode is 100-200 microns. The wire diameter of the mesh electrode is 50-100 microns.
The flexible cathode and anode electrode material adopts a conductive film electrode (the thickness is less than tens of microns), and comprises a film and powder metal material, a conductive high polymer material, a graphene electrode, a conductive resin material and the like. The applied DC voltage is in the range of 50V-1000V.
As shown in fig. 5, the left and right eyebrows 21 and 24 move up to the top, the left and right eyelids are fully opened, and the chin and mouth are fully opened to form a surprise expression.
As shown in fig. 6, the left and right eyebrows 21 and 24 rotate inward, and the left and right eyelids open to form an angry expression. As shown in fig. 7, the left and right eyebrows 21, 24 are rotated outward, the left and right eyelids are partially opened, and the chin and mouth are opened to form a fear expression. As shown in fig. 8, the left eyebrow 21 and the right eyebrow 24 descend and rotate outward, the left eyeball 41 and the right eyeball 42 rotate downward, the upper eyelids 31 of the left eyelid and the right eyelid fold downward, and the chin and the mouth fold to form a casual expression. As shown in fig. 9, the left and right eyebrows 21 and 24 move up to the middle, the left and right eyelids are closed, and the chin and mouth are partially opened to create a happy expression.
The robot can realize the expression of six expressions of basic normality (shown in figure 1), surprise, anger, panic, worry and joy of human beings, and has higher anthropomorphic degree. The eyebrow and eyeball parts can independently act, the expression range is not limited to the six exemplified expressions, and various slightly different expressions can be formed through parameter setting.
Meanwhile, richer and more vivid expression display can be realized by modifying parameters such as the shapes of eyebrows, lips 52, the skull and the jaw and the hairstyle thereof.
As shown in fig. 10 and 11, the skull cap and the maxilla portion 1 are provided with vertical guide grooves 6 for the left eyebrow 21 and the right eyebrow 24 to move, the eyebrow driving assembly is provided with a fixing frame 25, the eyebrow driving assembly includes two sets of pulley type stroke amplification mechanisms 22, two sets of eyebrow lifting mechanisms 23 and two sets of electroactive polymer drivers, two sides of the left eyebrow 21 and the right eyebrow 24 are respectively provided with one set of eyebrow lifting mechanism 23, the pulley type stroke amplification mechanisms 22 and the electroactive polymer drivers are arranged below each set of eyebrow lifting mechanisms 23, and the electroactive polymer drivers drive the pulley type stroke amplification mechanisms 22 to drive the eyebrow lifting mechanisms 23 to lift.
As shown in fig. 14 and 15, the pulley type stroke amplifying mechanism 22 is a 4-time type stroke amplifying mechanism, and includes a fixed base 222, a bearing connecting rod 224, a rolling bearing 223, two-stage amplifying assemblies 221 and a pull wire 7, wherein the two-stage amplifying assemblies 221 are pulleys with a diameter of 2:1, two sides of the fixed base 222 are connected with the bearing connecting rod 224, the rolling bearing 223 is sleeved on the bearing connecting rod 224, the two-stage amplifying assemblies 221 are reversely sleeved on the rolling bearing 223, that is, a small-diameter roller of one-side two-stage amplifying assembly 221 faces inwards, a small-diameter roller of the other-side two-stage amplifying assembly 221 faces outwards, a large-diameter roller and a small-diameter roller on the outer side are connected through the pull wire 7, a small-diameter roller on the inner side is connected with a winding of an electroactive polymer driver through the pull wire 7, and a large-diameter roller on the inner side is connected with a winding of a lifting mechanism through the pull wire 7.
As shown in fig. 12, 13 and 16, guide grooves 241 are respectively formed behind the left eyebrow 21 and the right eyebrow 24, the lifting mechanism includes an eyebrow link 231, a moving slider 232, an eyebrow restoring spring 237 and a chute block 236, and the chute block 236 is fixed on the fixing frame 25. The eyebrow connecting rod 231 is in a zigzag shape as shown in the figure, the end part of the eyebrow connecting rod is connected with a sliding column 242 in the eyebrow, the moving sliding block 232 is slidably arranged in a sliding groove of the sliding groove block 236, the upper part of the eyebrow connecting rod 231 is arranged in the guide groove 241, the lower end of the eyebrow connecting rod 231 is connected with the moving sliding block 232, a spring fixing block 238 is fixed above the sliding groove block 236, one end of an eyebrow restoring spring 237 is connected on the spring fixing block 238, and the other end of the eyebrow restoring spring is connected on the moving sliding block 232.
The moving slider 232 is connected to the eyebrow link 231 via a link connecting pin 233, and is connected to the chute block 236 via a link rolling bearing 234 and a bearing rod 235.
When the electroactive polymer driver drives the two ends of the eyebrow to move up and down, the eyebrow connecting rod 231 is enabled to be linked with the sliding column 242 to slide in the guide groove 241 of the eyebrow due to the limitation of the vertical guide groove 6, so that the eyebrow is raised and lowered, or the eyebrow is enabled to rotate inwards or outwards, and various expressions are formed in a matching manner.
As shown in fig. 17, the skull cap and the palate part 1 are provided with eyelid and eyeball movement openings 12 for opening and closing of a left eyelid and a right eyelid, each of the left eyelid and the right eyelid comprises an upper eyelid 31 and a lower eyelid 32, each eyelid driving assembly comprises two groups of electroactive polymer drivers, an eyelid support 33 and an eyelid connecting rod 34, each of the upper eyelid 31 and the lower eyelid 32 is rotatably connected to the eyelid support 33 in an opening and closing manner, each of the upper eyelid 31 and the lower eyelid 32 is provided with one electroactive polymer driver, one end of each eyelid connecting rod 34 is connected to the upper eyelid 31 or the lower eyelid 32, and the other end of each eyelid connecting rod is connected to the electroactive polymer driver.
The eyelid support 33 has a U-shape, and both ends of the eyelid support 33 are connected to the upper eyelid 31 and the lower eyelid 32, respectively, and the upper eyelid 31 and the lower eyelid 32 are rotatable around the connection.
The electroactive polymer actuator is horizontally disposed so as to contract the eyelid linkage 34 and pull the upper eyelid 31 or the lower eyelid 32 open and close. The eyelid connecting rod 34 and the eyelid form a crank rocker mechanism to convert the linear motion of the driver into reciprocating rotation of the eyelid, so that the eyelid is opened and closed.
Specifically, the size of the electroactive polymer actuator body is 5x5x30mm (length, width and height), the contraction stroke is about 3mm (deformation 10%), and the upper eyelid 32 and the lower eyelid 32 are respectively rotated by 60 degrees up and down (around the upper eyelid 31 and the lower eyelid 32) through a crank and rocker mechanism, so that the eyelids are opened and closed.
As shown in fig. 10, 18, 19 and 20, the skull cap and palate part 1 is provided with an eyelid and eyeball movement opening 12 for rotating the left eyeball 41 and the right eyeball 42, the eyeball driving assembly is arranged on an eyeball fixing frame 46, the eyeball driving assembly comprises a spherical hinge mechanism 43 arranged behind the eyeball, two pull wire 7 direction conversion mechanisms 44 arranged behind the spherical hinge mechanism 43, and four sets of stroke amplification mechanisms 45, each set of stroke amplification mechanism 45 is provided with an electroactive polymer driver, and the electroactive polymer driver drives the stroke amplification mechanism 45 to drive the left eyeball 41 or the right eyeball 42 to rotate through the pull wire 7 direction conversion mechanism 44.
The stroke enlarging mechanism 45 is similar to the pulley type stroke enlarging mechanism 22 of the eyebrow portion 2, and will not be described in detail. The arrangement direction and position are shown in the figure.
Four pull wire 7 fixing points which are equidistant are arranged behind the left eyeball 41 and the right eyeball 42, one end of a ball hinge mechanism 43 is connected with the middle part behind the left eyeball 41 or the right eyeball 42, the other end of the ball hinge mechanism is fixed on an eyeball fixing rack 46, a pull wire 7 direction conversion mechanism 44 comprises a bearing mounting base 411 and a reversing pulley component, the bearing mounting base and the reversing pulley component are provided with cross grooves inside, the reversing pulley component is arranged in each direction of the cross grooves, the four pull wires 7 behind the eyeballs penetrate through the reversing pulley components in the two groups of pull wire 7 direction conversion mechanisms 44 in a winding mode and are respectively connected with a stroke amplification mechanism 45, and the stroke amplification mechanism 45 is connected with an electroactive polymer driver through the pull wires 7. The reversing pulley assembly comprises a diverting pulley 412, a diverting bearing 413 and a diverting bearing rod 414, the diverting bearing rod 414 is fixed in the cross groove, and the diverting pulley 412 is rotationally connected with the diverting bearing rod 414 through the diverting bearing 413.
The reversing pulley assembly is vertically arranged along four directions of the cross groove, and particularly as shown in the figure, and the pull wire 7 penetrates through the reversing pulley in a manner as particularly shown in the figure.
The eyeball part 4 independently controls the horizontal contraction movement of the four drivers in a stay wire 7 mode, so that the up-down and left-right rotation of the eyeball is realized, the rotation of the eyeball in any direction can be realized by simultaneously controlling the four electroactive polymer drivers in a matching way, various expressions are realized, and the sight tracking of an object is performed through the feedback of the camera. Specifically, each actuator body has a size of 10x1Ox30mm (length, width and height), a contraction stroke of about 3mm (deformation 10%), and a stroke amplification mechanism 45 amplifies the stroke to about 12mm, so that the up-and-down (around the Y axis) and the left-and-right (around the Z axis) rotation motions of 60 ° at most of the eyeball are respectively realized.
As shown in fig. 21, the chin and mouth 5 includes a chin 51 and a plurality of lips 52 formed by connecting a plurality of connecting rods in a rotating manner, the top end of the upper portion of the lips 52 is fixed at the lower portion of the skull cap, the lower portion of the lips 52 is fixed at the center of the front side of the chin 51, the chin driving assembly includes a connecting rod assembly and an electroactive polymer driver, the chin 51 is rotatably fixed on a chin fixing frame 53 through the chin connecting rod assembly 54, and the electroactive polymer driver drives the chin connecting rod assembly 54 to contract up and down to drive the chin 51 to rotate in an opening and closing manner.
The lips 52 are a flexible five-bar linkage mechanism, the links are connected by revolute pairs, and the mouth is fixed at the front end of the chin 51.
The lips 52 are not limited to this structure, and may be increased or decreased in structure and changed in shape according to the actual expression effect. The lower jaw 51 is connected with the machine frame through a revolute pair, and the electroactive polymer driver is connected with one end of the lower jaw 51 through a connecting rod to form a lever amplification structure, so that the vertical contraction motion of the driver is converted into the rotation motion of the lower jaw 51.
The jaw 51 rotates to drive the mouth to open and close, so that mouth movements in various expressions are realized.
The specific size of the driver main body is 60x20x50mm (length, width and height), the contraction stroke is about 5mm (deformation 10%), and the opening and closing stroke is enlarged to about 50mm through a 10-time lever stroke enlarging mechanism 45, so that the rotary opening and closing movement of 60 degrees (around the Y axis) of the maximum underforehead is realized respectively.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. The robot with the anthropomorphic expression based on the electroactive polymer driver is characterized by comprising a head-shaped robot consisting of a head skull cover, an upper jaw, an eyebrow part, an eyelid part, an eyeball part, a lower jaw and a mouth part, wherein the eyebrow part comprises a left eyebrow and a right eyebrow, the left eyebrow and the right eyebrow are respectively provided with an independent eyebrow driving component, and the eyebrow driving component drives the left eyebrow or the right eyebrow to move up and down and/or rotate left and right; the eyelid part comprises a left eyelid and a right eyelid, the left eyelid and the right eyelid are respectively provided with independent eyelid driving components, and the eyelid driving components drive the left eyelid or the right eyelid to open and close up and down; the eyeball part comprises a left eyeball and a right eyeball, the left eyeball and the right eyeball are respectively provided with an independent eyeball driving component, and the eyeball driving component drives the left eyeball or the right eyeball to rotate; the lower jaw and the mouth part comprise a lower jaw, a mouth and a lower jaw driving component, and the lower jaw driving component drives the lower jaw to open and close to drive the mouth to open and close;
the eyebrow drive assembly, eyelid drive assembly, and chin drive assembly each comprise an electroactive polymer driver;
the eyebrow driving assembly is provided with a fixed frame and comprises two pulley type stroke amplification mechanisms, two eyebrow lifting mechanisms and two electroactive polymer drivers, a group of eyebrow lifting mechanisms are arranged on two sides of the left eyebrow and the right eyebrow, the pulley type stroke amplification mechanisms and the electroactive polymer drivers are arranged below each group of eyebrow lifting mechanisms, and the electroactive polymer drivers drive the pulley type stroke amplification mechanisms to drive the eyebrow lifting mechanisms to lift;
the pulley type stroke amplification mechanism is a 4-time stroke amplification mechanism and comprises a fixed base, a bearing connecting rod, a rolling bearing, two-stage amplification components and a pull wire, wherein the two-stage amplification components are pulleys with the diameters of 2:1 and are connected with two axial surfaces, the bearing connecting rod is connected with two sides of the fixed base, the rolling bearing is sleeved on the bearing connecting rod, the two-stage amplification components are reversely sleeved on the rolling bearing, namely, a small-diameter roller of one two-stage amplification component faces inwards, a small-diameter roller of the other two-stage amplification component faces outwards, a large-diameter roller on the outer side is connected with the small-diameter roller through the pull wire, the small-diameter roller on the inner side is connected with an electroactive polymer driver through the pull wire, and the large-diameter roller on the inner side is connected with an eyebrow lifting mechanism through the pull wire.
2. The humanoid robot of claim 1, wherein the left and right eyebrows move up to the top, the left and right eyelids are fully open, and the chin and mouth are fully open to form a surprise expression; the left eyebrow and the right eyebrow rotate inwards, and the left eyelid and the right eyelid are opened to form angry expressions; the left eyebrow and the right eyebrow rotate outwards, the left eyelid and the right eyelid are partially opened, and the jaw and the mouth are opened to form a fear expression; the left eyebrow and the right eyebrow descend and rotate outwards, the left eyeball and the right eyeball rotate downwards, the upper eyelids of the left eyelid and the right eyelid are folded downwards, and the lower jaw and the mouth are folded to form the expression of hurting heart; the left eyebrow and the right eyebrow move up to the middle part, the left eyelid and the right eyelid are closed, and the lower jaw and the mouth are opened to form the happy expression.
3. The robot with anthropomorphic expressions based on the electroactive polymer driver as claimed in claim 1, wherein a guide groove is formed behind each of the left and right eyebrows, the lifting mechanism comprises an eyebrow connecting rod, a moving slide block, an eyebrow restoring spring and a slide groove block, the slide groove block is fixed on the fixing frame, the moving slide block is slidably arranged in a slide groove of the slide groove block, the upper part of the eyebrow connecting rod is arranged in the guide groove, the lower end of the eyebrow connecting rod is connected with the moving slide block, a spring fixing block is fixed above the slide groove block, one end of the eyebrow restoring spring is connected to the spring fixing block, and the other end of the eyebrow restoring spring is connected to the moving slide block.
4. The anthropomorphic robot of claim 1, wherein the skull cap and the upper jaw are provided with eyelid and eyeball motion openings for opening and closing of a left eyelid and a right eyelid, each of the left eyelid and the right eyelid comprises an upper eyelid and a lower eyelid, the eyelid driving component comprises two groups of electroactive polymer drivers, an eyelid support and an eyelid connecting rod, each of the upper eyelid and the lower eyelid is rotatably connected to the eyelid support in an opening and closing manner, each of the upper eyelid and the lower eyelid is provided with one electroactive polymer driver, and one end of the eyelid connecting rod is connected with the upper eyelid or the lower eyelid while the other end is connected with the electroactive polymer driver.
5. The robot of claim 1, wherein the skull cap and the palate part are provided with an eyelid and an eyeball motion opening for rotating the left eyeball and the right eyeball, the eyeball driving assembly is arranged on the eyeball fixing frame and comprises a ball hinge mechanism arranged behind the eyeball, two pull wire direction conversion mechanisms arranged behind the ball hinge mechanism and four groups of stroke amplification mechanisms, each group of stroke amplification mechanisms is provided with an electroactive polymer driver, and the electroactive polymer driver drives the stroke amplification mechanisms to drive the left eyeball or the right eyeball to rotate through the pull wire direction conversion mechanisms.
6. The anthropomorphic robot of claim 5, wherein the left eyeball and the right eyeball are provided with four pull line fixing points at equal intervals, one end of the ball hinge mechanism is connected to the middle part of the rear part of the left eyeball or the right eyeball, the other end of the ball hinge mechanism is fixed on the eyeball fixing frame, the pull line direction switching mechanism comprises a bearing mounting base with a cross groove inside and a reversing pulley component, the reversing pulley component is arranged in each direction of the cross groove, the four pull lines at the rear part of the eyeball pass through the reversing pulley components in the two groups of pull line direction switching mechanisms and are respectively connected with the stroke amplifying mechanism, and the stroke amplifying mechanism is connected with the electroactive polymer driver through the pull lines.
7. The robot with anthropomorphic expressions based on the electroactive polymer driver as claimed in claim 1, wherein the lower jaw and the mouth part comprise a lower jaw and a plurality of lips which are rotationally connected through a connecting rod, the top end of the upper part of the lips is fixed at the lower part of the skull cap, the lower part of the lips is fixed at the center of the front side of the lower jaw, the lower jaw driving assembly comprises a connecting rod assembly and an electroactive polymer driver, the lower jaw is rotationally fixed on the lower jaw fixing frame through the lower jaw connecting rod assembly, and the electroactive polymer driver drives the lower jaw connecting rod assembly to contract up and down to drive the lower jaw to rotate in an opening and closing manner.
8. The anthropomorphic robot of claim 1 wherein the electroactive polymer actuator comprises an actuator housing, an actuator body and a rotation actuator connecting part, the actuator housing is fixedly installed inside the head robot, the actuator body is arranged inside the actuator housing, the end of the actuator body is provided with the rotation actuator connecting part, and the rotation actuator connecting part is connected with the upper jaw part, the eyebrow part, the eyelid part, the bulbus part, the lower jaw part and the mouth part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010194085.7A CN111421558B (en) | 2020-03-19 | 2020-03-19 | Robot with anthropomorphic expression based on electroactive polymer driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010194085.7A CN111421558B (en) | 2020-03-19 | 2020-03-19 | Robot with anthropomorphic expression based on electroactive polymer driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111421558A CN111421558A (en) | 2020-07-17 |
| CN111421558B true CN111421558B (en) | 2021-10-08 |
Family
ID=71553761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010194085.7A Active CN111421558B (en) | 2020-03-19 | 2020-03-19 | Robot with anthropomorphic expression based on electroactive polymer driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111421558B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894821B (en) * | 2021-11-12 | 2022-11-25 | 重庆理工大学 | Head structure of humanoid expression robot and robot |
| 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 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003230770A (en) * | 2002-02-12 | 2003-08-19 | Chubu Kagaku Gijutsu Center | Robot showing expression |
| US7834527B2 (en) * | 2005-05-05 | 2010-11-16 | SmartMotion Technologies, Inc. | Dielectric elastomer fiber transducers |
| EP2239793A1 (en) * | 2009-04-11 | 2010-10-13 | Bayer MaterialScience AG | Electrically switchable polymer film structure and use thereof |
| CN203344065U (en) * | 2013-07-24 | 2013-12-18 | 蔡继文 | Human-simulated robot head |
| CN109177146B (en) * | 2018-07-18 | 2020-05-22 | 西安交通大学 | Preparation method of PVC-gel mesh electro-driver |
| CN209496613U (en) * | 2018-11-28 | 2019-10-15 | 江西兴泰科技有限公司 | A kind of Electronic Paper drive substrate |
| CN109822590B (en) * | 2019-03-19 | 2023-05-05 | 华南理工大学 | Robot eye movement device and control method |
| CN110103234A (en) * | 2019-04-30 | 2019-08-09 | 广东工业大学 | A kind of robot with humanoid facial expression |
-
2020
- 2020-03-19 CN CN202010194085.7A patent/CN111421558B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111421558A (en) | 2020-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203344065U (en) | Human-simulated robot head | |
| CN111421558B (en) | Robot with anthropomorphic expression based on electroactive polymer driver | |
| CN112936308A (en) | Head structure of humanoid expression robot and robot | |
| CN109822590B (en) | Robot eye movement device and control method | |
| CN112265007B (en) | Head of robot with human-face-expression imitation | |
| CN106426196A (en) | Service robot head | |
| CN101670585A (en) | Double eyelid eye part movement mechanism of bionic robot | |
| CN115533932A (en) | Mechanical structure of robot with multiple motion control points and expressions | |
| CN205651333U (en) | Guest -meeting robot | |
| CN106122694A (en) | Adjustable TV set rack | |
| CN210025312U (en) | Humanoid facial expression robot | |
| CN115122350B (en) | Bionic expression robot head device | |
| CN210025294U (en) | Mouth mechanism driven by flexible cable | |
| CN214870607U (en) | Internet education service intelligent robot | |
| CN111531553B (en) | Humanoid robot head based on connecting rod smooth expression control mechanism | |
| CN113319869B (en) | Welcome robot system with emotion interaction function | |
| CN212794971U (en) | Robot eye mechanism | |
| CN109015598B (en) | Facial expression bionic mechanism based on SMA | |
| CN211030007U (en) | Robot facial expression control mechanism and robot with same | |
| CN212039003U (en) | Bionic bird robot head device and bionic bird robot head | |
| CN211806165U (en) | Robot expression simulation mechanism | |
| CN212241060U (en) | Deformation dancing robot imitating orchid mantis | |
| CN106625710A (en) | Robot | |
| CN112171683B (en) | Bionic eye eyebrow device for bionic robot | |
| CN106826794A (en) | A kind of adaptive robot visual inspection webcam driver structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |