CN115122350A - Bionic expression robot head device - Google Patents
Bionic expression robot head device Download PDFInfo
- Publication number
- CN115122350A CN115122350A CN202210785339.1A CN202210785339A CN115122350A CN 115122350 A CN115122350 A CN 115122350A CN 202210785339 A CN202210785339 A CN 202210785339A CN 115122350 A CN115122350 A CN 115122350A
- Authority
- CN
- China
- Prior art keywords
- piece
- eyelid
- mouth
- eyebrow
- bionic
- 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.)
- Granted
Links
- 230000014509 gene expression Effects 0.000 title claims abstract description 58
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 44
- 210000000744 eyelid Anatomy 0.000 claims abstract description 146
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 95
- 210000001508 eye Anatomy 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 30
- 238000012546 transfer Methods 0.000 claims description 10
- 230000007306 turnover Effects 0.000 claims description 7
- 230000003592 biomimetic effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 24
- 241000282414 Homo sapiens Species 0.000 abstract description 23
- 230000008921 facial expression Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 210000003128 head Anatomy 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008451 emotion Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 210000001331 nose Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of robots, and particularly relates to a head device of a bionic expression robot, which comprises an eyebrow component, an eye component and a mouth mechanism capable of conducting mouth action adjustment, wherein the eyebrow component, the eye component and the mouth mechanism are sequentially connected from top to bottom; the eye assembly is convenient to adjust eyelids on the basis that eyeballs can rotate, and the upper eyelid piece and the lower eyelid piece which are arranged on the outer sides of the eyeballs are convenient to simulate eyelids of human beings more truly by the aid of the eye assembly.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a head device of a robot with bionic expression.
Background
The expression robot is an intelligent robot capable of simulating human facial expressions and emotional actions, the appearance of the robot accords with human aesthetic viewpoints to a great extent, and the robot can give people a sense of intimacy and a sense of trueness; the overall or even local size and the motion amplitude of each organ are close to the human head, that is, the organs such as eyes, ears, nose, mouth, eyebrows and the like, and corresponding driving parts and transmission mechanisms are placed in the limited space close to the human brain; the actions of the whole mechanism need to be coordinated, the motion transmission needs to be accurate and cannot be distorted in order to meet the motion rules of the head and the face of a human being, so that each motion unit can be accurately controlled to reach the required position, and the overall coordination is realized; because a camera, a micro microphone and even a force sense sensor are added to the robot in the actual manufacturing process, a necessary space is required to be reserved in the design process, and the whole design has the characteristics of narrow space, small movement range, accurate movement and small load.
The chinese patent discloses a robot with humanoid facial expression, including: the eyebrow and mouth pneumatic source device comprises an eyebrow component, a rotatable eye component, a mouth component, an eyebrow pneumatic source, an eye pneumatic source, a mouth pneumatic source, a controller and a visual sensor, wherein the eyebrow component moves up and down, the mouth component can be opened and closed, the eyebrow pneumatic source is connected with the eyebrow component, the eye pneumatic source is connected with the eye component, the mouth pneumatic source is connected with the mouth component, the controller is connected with the eyebrow pneumatic source, the eye pneumatic source and the mouth pneumatic source, and the visual sensor is connected with the controller; in the robot with human-simulated facial expression, the eyebrow component comprises: the bionic expression robot comprises eyebrows, an eyebrow connecting assembly connected between the eyebrows and an eyebrow pneumatic source, and an eyebrow fixing plate for fixing the connecting assembly and the eyebrow pneumatic source, wherein the eyebrows of the head of the bionic expression robot can only swing up and down, so that eyebrow expressions such as frown and the like are lost; the eyelid part only has the upper eyelid and does not have the lower eyelid, and the opening and closing actions are not natural; in addition, the mouth can only move up and down, the facial expression is not natural enough, and more expression actions cannot be realized.
Disclosure of Invention
The invention aims to provide a head device of a bionic expression robot, and aims to solve the problems that the eyes of the existing bionic robot are not natural in opening and closing, the expression of eyebrows is lost, the facial expression is not natural enough, and more expressions and movements cannot be realized.
The invention is realized in this way, a bionic expression robot head device, comprising: the eye adjusting device comprises an eyebrow component, an eye component and a mouth mechanism, wherein the eyebrow component, the eye component and the mouth mechanism can be used for mouth action adjustment, the eye component comprises a support piece which is fixedly arranged at the top of the mouth mechanism and is used for installing eyeballs, an eyelid unit which is arranged at the top of the support piece and an eyelid adjusting unit which is connected with the eyelid unit, the eyelid unit comprises an installation frame body which is fixedly arranged at the top of the support piece and an upper eyelid piece and a lower eyelid piece which are rotatably connected to the installation frame body and are sleeved on the outer sides of the eyeballs, and the eyelid adjusting unit is respectively connected with the upper eyelid piece and the lower eyelid piece and can drive the upper eyelid piece and the lower eyelid piece to turn over; the eyebrow part assembly comprises an eyebrow bionic piece arranged at the top of the eyelid unit and an eyebrow adjusting assembly which is connected with the eyebrow bionic piece and can drive the eyebrow bionic piece to move up and down and rotate left and right.
According to the head device of the bionic expression robot, the adjustment of eyelids is increased on the basis that eyeballs can rotate by arranging the eye component, the upper eyelid piece and the lower eyelid piece which are sleeved on the outer sides of the eyeballs are convenient to simulate the eyelids of human beings more really, and the upper eyelid piece and the lower eyelid piece can be driven to turn over by the eyelid adjusting unit, so that the actions of opening and closing the eyes are more real and natural; and the eyelid is adjusted and the existing eyeball rotation is combined, so that more eye emotions can be displayed; the eyebrow adjusting component is arranged to adjust the eyebrows conveniently so as to simulate the eyebrow wrinkling action of human beings more truly, and the eyebrows are driven to move up and down and rotate left and right to form more eyebrow actions after combination, so that the eyebrow actions are more vivid; the mouth mechanism is arranged, so that the robot can be conveniently driven to adjust mouth movements, human speaking movements are simulated, more expressions can be made after the mouth mechanism is combined with the eye assembly and the eyebrow assembly, the combination mode of the expression movements is further increased on the premise that the expression movements are natural enough, the loss of facial expressions is avoided, and the expression robot is more anthropomorphic.
Preferably, the installation frame body comprises a first frame body and a second frame body which are fixedly arranged at the top of the support piece, and the upper eyelid piece and the lower eyelid piece are both rotatably installed between the first frame body and the second frame body.
Preferably, the eyelid adjustment unit includes: the eyelid fixing device comprises an eyelid driving part fixedly arranged at the top of the supporting part, a first rotating shaft connected with the output end of the eyelid driving part, an upper adjusting part with one end rotatably connected to the first rotating shaft and the other end rotatably connected with the upper eyelid part, and a lower adjusting part with one end rotatably arranged on one side of the upper adjusting part and the other end rotatably connected with the lower eyelid part.
Preferably, the upper eyelid piece and the lower eyelid piece are respectively provided with an arc part, an outer ring part and an adapter part, wherein the arc part, the outer ring part and the adapter part are sequentially connected, the adapter part is fixedly arranged on one side, close to the second frame body, of the outer ring part, the arc part is rotatably installed between the first frame body and the second frame body, and the upper adjusting piece and the lower adjusting piece are respectively rotatably connected with the adapter parts of the upper eyelid piece and the lower eyelid piece.
Preferably, the mouth mechanism comprises: the mouth corner adjusting unit comprises a mouth corner connecting piece, a chin adjusting unit and mouth corner adjusting units, wherein the mouth corner connecting piece is arranged at the bottom of the supporting piece and is separated from the supporting piece by a certain distance, the chin adjusting unit is installed at the bottom of the mouth corner connecting piece, and the mouth corner adjusting units are symmetrically arranged on two sides of the chin adjusting unit.
Preferably, the chin adjusting unit includes: the jaw angle connecting piece is arranged at a certain interval and is positioned at the bottom of the jaw angle connecting piece, the jaw driving piece is fixedly arranged at the bottom of the jaw angle connecting piece, the jaw plate disc is connected with the output end of the jaw driving piece, the connecting plate is fixedly arranged in the jaw plate and is rotatably connected with the jaw plate disc, the upper tooth model is fixedly arranged at the front end of the bottom of the jaw angle connecting piece, and the lower tooth model is fixedly arranged at the front end of the top of the jaw plate and is matched with the upper tooth model.
Preferably, the mouth angle adjusting unit includes: the first driving piece is fixedly arranged at the top of the nozzle angle connecting piece, the first rotating arm is connected with the output end of the first driving piece, one end of the first driving piece is rotatably connected with the first rotating arm, the side face of the first driving piece is connected with the upper nozzle angle, the second driving piece is fixedly arranged at the bottom of the nozzle angle connecting piece, the second rotating arm is connected with the output end of the second driving piece, the two ends of the second driving piece are respectively rotatably connected with the second rotating arm and the first driving piece, and the side face of the second driving piece is connected with the lower nozzle angle.
Preferably, the eyebrow adjusting assembly includes: set firmly in the eyebrow portion support body at support piece top, rotate install in the rotation support body of eyebrow portion support body front end, with rotate the support body and link to each other and can drive and rotate the support body and carry out upper and lower pivoted from top to bottom the regulation unit, set firmly in rotate the support body top and with the bionic piece of eyebrow links to each other controls the regulation unit.
Preferably, the up-down adjusting unit includes: the rotary eyebrow scraper comprises an eyebrow portion support body, an upper driving piece, a lower driving piece, an adapter piece and a swinging piece, wherein the upper driving piece and the lower driving piece are arranged at the top of the eyebrow portion support body, one end of the upper driving piece is connected with the output end of the upper driving piece, the other end of the upper driving piece is connected with the adapter piece, the swinging piece is connected with the rotating support body, and one end of the adapter piece is far away from the swinging piece.
Preferably, the left-right adjusting unit includes: set firmly in rotate the driving piece about the support body top, with control the rotation piece that the driving piece output links to each other, with rotate the piece keep away from about the transfer piece that driving piece one end links to each other, rotate install in rotate the support body top and with transfer piece rotate the pendulum rod that links to each other, the bionic of eyebrow is fixed mounting in one side of transfer piece.
Compared with the prior art, the invention has the beneficial effects that: the eyelid adjusting device is convenient for increasing eyelid adjustment on the basis that eyeballs can rotate, the upper eyelid piece and the lower eyelid piece which are sleeved on the outer sides of the eyeballs are convenient for simulating the eyelids of human beings more truly, and the upper eyelid piece and the lower eyelid piece can be driven to turn through the eyelid adjusting unit, so that the eye opening and closing actions are more real and natural; the eyelid is adjusted by combining the existing eyeball rotation, so that more eye expression can be shown; the eyebrow adjusting component is arranged to adjust the eyebrows conveniently so as to simulate the eyebrow wrinkling action of human beings more truly, and the eyebrows are driven to move up and down and rotate left and right to form more eyebrow actions after combination, so that the eyebrow actions are more vivid; the mouth mechanism is arranged, so that the robot can be conveniently driven to adjust mouth movements, human speaking movements are simulated, more expressions can be made after the mouth mechanism is combined with the eye assembly and the eyebrow assembly, the combination mode of the expression movements is further increased on the premise that the expression movements are natural enough, the loss of facial expressions is avoided, and the expression robot is more anthropomorphic.
Drawings
Fig. 1 is a three-dimensional structure diagram of a head device of a bionic expression robot provided by the invention;
FIG. 2 is a perspective view of an eye assembly of a head device of a robot with bionic expression according to the present invention;
fig. 3 is a three-dimensional structure diagram of a chin adjusting unit of a head device of a bionic expression robot provided by the invention;
fig. 4 is a three-dimensional structure diagram of a mouth angle adjusting unit of a head device of a bionic expression robot provided by the invention;
fig. 5 is a three-dimensional structure diagram of an eyebrow assembly of a head device of a bionic expression robot provided by the invention.
In the drawings: 1 support member, 2 brow member, 3 eyes member, 4 mouth member, 41 mouth angle connector, 42 chin adjustment unit, 421 chin plate, 422 chin driving member, 423 chin plate, 424 connection plate, 425 upper teeth member, 426 lower teeth member, 43 mouth angle adjustment unit, 431 first driving member, 432 first rotation arm, 433 first pulling member, 434 second driving member, 435 second rotation arm, 436 second pulling member, 5 eyelid unit, 51 mounting frame, 511 first frame, 512 second frame, 52 upper eyelid member, 53 lower eyelid member, 6 eyelid adjustment unit, 61 eyelid driving member, 62 first rotation shaft, 63 upper adjustment member, 64 lower adjustment member, 7 brow adjustment member, 71 brow frame, 72 rotation frame, 73 upper and lower adjustment unit, 731 driving member upper and lower, 732 adaptor, 733 swinging member, 74 left and right adjustment unit, 741 left and right adjustment unit, 742 driving member, 421 rotation member, 743 middle rotating part, 8 eyebrow bionic part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Example 1
As shown in fig. 1-2, the structure diagram of a head device of a robot with bionic expression provided by the present invention includes an eyebrow component 2, an eye component 3 and a mouth mechanism 4 capable of adjusting mouth movements, which are sequentially connected from top to bottom, where the eye component 3 includes a support 1 fixed on the top of the mouth mechanism 4 and used for mounting an eyeball, an eyelid unit 5 arranged on the top of the support 1, and an eyelid adjusting unit 6 connected to the eyelid unit 5, the eyelid unit 5 includes a mounting frame 51 fixed on the top of the support 1, and an upper eyelid piece 52 and a lower eyelid piece 53 rotatably connected to the mounting frame 51 and sleeved outside the eyeball, and the eyelid adjusting unit 6 is respectively connected to the upper eyelid piece 52 and the lower eyelid piece 53 and can drive the upper eyelid piece 52 and the lower eyelid piece 53 to turn over; the eyebrow component 2 comprises an eyebrow bionic piece 8 arranged at the top of the eyelid unit 5 and an eyebrow adjusting component 7 which is connected with the eyebrow bionic piece 8 and can drive the eyebrow bionic piece 8 to move up and down and rotate left and right.
In practical application, the eye component 3 is arranged to increase eyelid adjustment on the basis that the eyeballs can rotate, the upper eyelid piece 52 and the lower eyelid piece 53 which are sleeved on the outer sides of the eyeballs are used to simulate the eyelids of human beings more really, and the eyelid adjusting unit 6 can drive the upper eyelid piece 52 and the lower eyelid piece 53 to turn over, so that the actions of opening and closing the eyes are more real and natural; the eyelid is adjusted by combining the existing eyeball rotation, so that more eye expression can be shown; the eyebrow adjusting component 7 is arranged to facilitate adjustment of eyebrows so as to simulate the eyebrow creasing action of human beings more truly, and the eyebrows are driven to move up and down and rotate left and right to form more eyebrow actions after combination, so that the eyebrow actions are more vivid; the mouth mechanism 4 is convenient to drive the robot to adjust mouth movements, so that the speaking movements of a human can be simulated, the mouth mechanism 4 can make more expressions after being combined with the eye assembly 3 and the eyebrow assembly 2, the expression movements are guaranteed to be natural, the combination mode of the expression movements is further increased, the loss of facial expressions is avoided, and the expression robot is more anthropomorphic.
Specifically, the mounting frame body 51 comprises a first frame body 511 and a second frame body 512 fixedly arranged on the top of the support member 1, and the upper eyelid element 52 and the lower eyelid element 53 are rotatably mounted between the first frame body 511 and the second frame body 512.
It can be known that, be convenient for install upper eyelid spare 52 and lower eyelid spare 53 through setting up installation support body 51, eyelid unit 5 symmetry is laid in the both sides of support piece 1 axis, and then has guaranteed that the eye on both sides both can not only carry out independent control, can carry out the synchronization regulation again, has further increased the compound mode of expression.
Further, the eyelid adjustment unit 6 includes: an eyelid driving member 61 fixedly arranged on the top of the supporting member 1, a first rotating shaft 62 connected with the output end of the eyelid driving member 61, an upper adjusting member 63 with one end rotatably connected to the first rotating shaft 62 and the other end rotatably connected to the upper eyelid member 52, and a lower adjusting member 64 with one end rotatably arranged on one side of the upper adjusting member 63 and the other end rotatably connected to the lower eyelid member 53.
It should be noted that the eyelid adjusting unit 6 is arranged to facilitate adjustment of the upper eyelid piece 52 and the lower eyelid piece 53, and the eyelid driving member 61 is used to drive the first rotating shaft 62 to rotate, so as to drive the upper adjusting member 63 and the lower adjusting member 64 to rotate respectively, so as to drive the upper eyelid piece 52 to turn upwards and the lower eyelid piece 53 to turn downwards, or drive the upper eyelid piece 52 to turn downwards and the lower eyelid piece 53 to turn upwards, so as to realize different turning actions of the eyelid.
Furthermore, the upper eyelid member 52 and the lower eyelid member 53 are respectively provided with an arc portion, an outer ring portion and an adapter portion fixedly arranged on one side of the outer ring portion close to the second frame body 512, the arc portion is rotatably arranged between the first frame body 511 and the second frame body 512, and the upper adjusting member 63 and the lower adjusting member 64 are respectively rotatably connected with the adapter portions of the upper eyelid member 52 and the lower eyelid member 53.
It can be known that the arrangement of the upper eyelid piece 52 and the lower eyelid piece 53 as the arc parts facilitates the real simulation of the eyelids of human beings, so that the processing of the angle and the radian thereof can be performed according to the real eyelids of human beings to simulate the eyelid shapes of different people; the outer ring part and the switching part are arranged to be conveniently connected with the upper adjusting piece 63 and the lower adjusting piece 64, so that the upper adjusting piece and the lower adjusting piece can be conveniently driven to turn over up and down.
It should be noted that, during actual installation, two sides of the arc-shaped portion may be installed between the first frame body 511 and the second frame body 512 through a pin, and the eyelid units 5 are symmetrically arranged on two sides of the central line of the support 1; the upper eyelid member 52 and the lower eyelid member 53 may take on other shapes than the configuration of the device, such as cutting the eyelid to distinguish between double and single eyelids, as long as the shape of the eyelid is more faithfully simulated in humans, and the shape of the eyelid is not a limiting specification.
For example, the support 1 may be a support plate or a support table, and the shape thereof may be selected according to the requirement, and a square shape is adopted in the present scheme; the first frame body 511 and the second frame body 512 may be mounting frames or fixing plates fixed on the top of the support 1, or may be fixing rods as long as the upper eyelid element 52 and the lower eyelid element 53 can be mounted; the eyelid driving member 61 may be a steering engine or a servo motor, the upper adjusting member 63 and the lower adjusting member 64 may be an upper eyelid connecting rod and a lower eyelid connecting rod, respectively, and may be arc-shaped or straight rods as long as the eyelid can be driven to flip up and down, which is not limited in this embodiment.
Example 2
As shown in fig. 1 and fig. 3 to 4, in embodiment 1, the mouth mechanism 4 includes: the mouth corner adjusting device comprises a mouth corner connecting piece 41 which is arranged at the bottom of the supporting piece 1 and is at a distance from the supporting piece 1, a jaw adjusting unit 42 which is arranged at the bottom of the mouth corner connecting piece 41, and mouth corner adjusting units 43 which are symmetrically arranged at two sides of the jaw adjusting unit 42.
In practical application, the mouth mechanism 4 is arranged to facilitate adjustment of the mouth of the robot, so as to facilitate opening and closing actions; the installation of the chin is facilitated by providing the mouth corner connector 41, and the nose of the robot can be installed between the mouth corner connector 41 and the support 1, the adjustment of the angle of the chin of the robot is facilitated by the chin adjustment unit 42, and the mouth corner of the robot is moved up and down by the mouth corner adjustment unit 43 to make a smiling or sad expression.
Further, the chin adjusting unit 42 includes: the jaw plate 421 is arranged at a distance from the mouth corner connector 41 and located at the bottom of the mouth corner connector 41, the jaw driving member 422 is fixedly arranged at the bottom of the mouth corner connector 41, the jaw plate disc 423 is connected with the output end of the jaw driving member 422, the connecting plate 424 is fixedly arranged in the jaw plate 421 and rotatably connected with the jaw plate disc 423, the upper tooth model 425 is fixedly arranged at the front end of the bottom of the mouth corner connector 41, and the lower tooth model 426 is fixedly arranged at the front end of the top of the jaw plate 421 and matched with the upper tooth model 425.
It can be known that the chin plate 421 is provided to simulate the chin of a human body, and the chin plate disc 423 is driven to rotate by the chin driving member 422 fixed at the bottom of the mouth corner connecting member 41, and the connecting plate 424 and the chin plate 421 which are connected with the mouth corner connecting member rotate to realize the opening and closing actions; the upper tooth model 425 and the lower tooth model 426 are arranged to simulate the teeth of a human body, and the lower jaw plate 421 is assembled to simulate the mouth structure of the human body more truly, so that the bionic degree is higher.
It should be noted that the nozzle corner connecting piece 41 in the present device may be an intermediate plate or a fixed block located at the bottom of the supporting piece 1, and is mounted on the robot head through a fixed structure; the chin driving component 422 can be a steering engine or a motor, the connecting plate 424 can also be a rotating seat, and the chin driving component 422 drives the connecting plate to rotate so as to drive the lower jaw plate 421 to rotate; of course, in addition to the steering engine of the present device being used to drive the lower jaw plate 421 to rotate, an expansion link or an electric cylinder may be used to drive the lower jaw plate 421 to rotate relative to the mouth corner connector 41, and the rotating structure of the present embodiment is not limited to the specific specification.
Further, the mouth angle adjusting unit 43 includes: the nozzle angle adjusting device comprises a first driving piece 431 fixedly arranged at the top of the nozzle angle connecting piece 41, a first rotating arm 432 connected with the output end of the first driving piece 431, a first traction piece 433 with one end rotatably connected with the first rotating arm 432 and the side surface connected with an upper nozzle angle, a second driving piece 434 fixedly arranged at the bottom of the nozzle angle connecting piece 41, a second rotating arm 435 connected with the output end of the second driving piece 434, and a second traction piece 436 with two ends rotatably connected with the second rotating arm 435 and the first traction piece 433 respectively, wherein the side surface of the second traction piece 436 is connected with a lower nozzle angle.
It can be known that the mouth angle adjusting unit 43 is convenient to pull the mouth angle of the robot, and in actual operation, the first driving part 431 can drive the first rotating arm 432 to rotate, so as to drive the first pulling part 433 and the second pulling part 436 connected with the first rotating arm to rotate upwards, and further drive the upper mouth angle and the lower mouth angle connected with the first pulling part to lift upwards; the second driving member 434 can also drive the second rotating arm 435 to rotate, so as to drive the first pulling member 433 and the second pulling member 436 to rotate downwards, and further drive the upper mouth corner and the lower mouth corner connected therewith to move downwards, so as to simulate different expressions at the mouth corner.
It should be noted that, in this installation, the first driving element 431 and the second driving element 434 both use a steering engine or a servo motor with unidirectional rotation, so that in the actual adjustment process, two actions of raising and lowering the mouth angle are performed respectively, of course, the first driving element 431 and the second driving element 434 may also be set as motors with bidirectional rotation, so as to drive the first pulling element 433 and the second pulling element 436 to realize adjustment of more angles, so as to achieve a combination of more different mouth angle expressions, and the driving manner and the connection structure of this embodiment are not restrictive regulations.
For example, the first pulling member 433 and the second pulling member 436 may be a first pulling rod and a second pulling rod, respectively, and may be an arc-shaped rod or a bent rod, so that the angle change range is wider when the mouth angle is adjusted, and the embodiment is not limited in this embodiment.
Example 3
As shown in fig. 1 and 5, the eyebrow adjusting assembly 7 includes, in addition to embodiments 1 and 2: set firmly in brow portion support body 71 at support piece 1 top, rotate install in the rotation support body 72 of brow portion support body 71 front end, with rotate support body 72 and link to each other and can drive and rotate support body 72 and carry out upper and lower pivoted from top to bottom adjustment unit 73, set firmly in rotate support body 72 top and with the bionical piece 8 of brow links to each other controls adjustment unit 74.
Specifically, the eyebrow adjusting assembly 7 is arranged to facilitate the adjustment of the expression of the eyebrow, and the vertical height of the eyebrow fixing piece is adjusted by driving the rotating frame body 72 to rotate up and down through the up-down adjusting unit 73, so as to meet the adjustment requirements of different expressions; by arranging the left-right adjusting unit 74, the eyebrow bionic piece 8 can be conveniently rotated at left and right angles, so that more eyebrow wrinkling work can be conveniently completed, the motion of the eyebrow part is reproduced as much as possible, the track of the eyebrow motion is reproduced by the combination of the up-down motion and the left-right motion, and the expression of the made eyebrow is more natural and vivid.
Further, the up-down adjusting unit 73 includes: an up-down driving member 731 fixed on the top of the brow portion frame body 71, an adaptor 732 with one end connected to the output end of the up-down driving member 731, and a swinging member 733 rotatably connected to the other end of the adaptor 732, wherein one end of the swinging member 733 far away from the adaptor 732 is connected to the rotating frame body 72.
It can be known that, drive adaptor 732 through upper and lower driving piece 731 and rotate, and then drive swinging member 733 swing to adjust the vertical angle that rotates support body 72, and then drive eyebrow bionic piece 8 and carry out the up-and-down motion in order to adapt to different expression demands.
For example, the upper and lower driving part 731 may be a steering engine or a driving motor, the adaptor 732 may be a rotating rod or a rotating shaft, the oscillating part 733 may be an arc oscillating rod 744 or a straight rod, as long as it can drive the rotating frame body 72 to rotate up and down; the up-down adjusting unit 73 can be fixed on the brow portion frame body 71, or can be fixed at other positions of the head of the robot, and the installation mode of the embodiment is not limited to the regulation; the end of the swinging component 733 far from the adapter 732 may be rotatably mounted on the top of the revolving frame 72, or may abut against the side surface thereof; besides the oscillating bar 744 mechanism of the device, a traction rope and a winding motor can be used for driving, and the embodiment is not specifically limited herein;
further, the left-right adjusting unit 74 includes: the eyebrow bionic part 8 comprises a left driving part 741, a right driving part 741, a rotating part 742, a transfer part 743 and a swing rod 744, wherein the left driving part and the right driving part 741 are fixedly arranged at the top of the rotating frame body 72, the rotating part 742 is connected with the output end of the left driving part and the right driving part 741, the transfer part 743 is connected with one end, far away from the left driving part and the right driving part 741, of the rotating part 742, the swing rod 744 is rotatably arranged at the top of the rotating frame body 72 and is rotatably connected with the transfer part 743, and the eyebrow bionic part 8 is fixedly arranged on one side of the transfer part 743.
It can be known that the left-right adjusting unit 74 is provided to facilitate the left-right angle adjustment of the eyebrow biomimetic element, and the left-right driving element 741 drives the rotating element 742 to rotate, so as to drive the swinging rod 744 to drive the transferring element 743 to rotate, and further drive the eyebrow biomimetic element 8 connected with the swinging rod to move left and right, so as to meet different eyebrow rotation requirements.
For example, the left and right driving members 741 may be a servo motor or a steering engine, the rotating member 742 may be a connecting shaft, and the middle rotating member 743 may be a middle rotating rod, as long as the eyebrow biomimetic member 8 can be conveniently mounted and rotated, which is not specifically limited herein in this embodiment
The embodiment of the invention provides a bionic expression robot head device, which is characterized in that the eye component 3 is arranged to increase the adjustment of eyelids on the basis that eyeballs can rotate, the upper eyelid piece 52 and the lower eyelid piece 53 which are sleeved on the outer sides of the eyeballs are used for simulating the eyelids of human beings more really, and the eyelid adjusting unit 6 can drive the upper eyelid piece 52 and the lower eyelid piece 53 to turn over, so that the eyes can be opened and closed more really and naturally; and the eyelid is adjusted and the existing eyeball rotation is combined, so that more eye emotions can be displayed; the eyebrow adjusting component 7 is arranged to facilitate adjustment of eyebrows so as to simulate the human frown action more truly, and the eyebrows are driven to move up and down and rotate left and right to form more eyebrow actions after combination, so that the eyebrow actions are more vivid; the mouth mechanism 4 is arranged, so that the robot can be conveniently driven to adjust mouth movements, human speaking movements are simulated, more expressions can be made after the mouth mechanism 4 is combined with the eye assembly 3 and the eyebrow assembly 2, on the premise that the expressions and movements are natural enough, the combination mode of the expressions and movements is further increased, the loss of partial expressions of the face is avoided, and the expression robot is more anthropomorphic.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A bionic expression robot head device is characterized by comprising: an eyebrow component (2), an eye component (3) and a mouth mechanism (4) which can adjust mouth movements, the eye component (3) comprises a support piece (1) which is fixedly arranged at the top of the mouth mechanism (4) and is used for installing eyeballs, an eyelid unit (5) which is arranged at the top of the support piece (1) and an eyelid adjusting unit (6) which is connected with the eyelid unit (5), the eyelid unit (5) comprises a mounting frame body (51) fixedly arranged at the top of the support member (1), an upper eyelid piece (52) and a lower eyelid piece (53) which are rotatably connected to the mounting frame body (51) and sleeved outside the eyeball, the eyelid adjusting unit (6) is respectively connected with the upper eyelid piece (52) and the lower eyelid piece (53) and can drive the upper eyelid piece (52) and the lower eyelid piece (53) to turn over; the eyebrow component (2) comprises an eyebrow bionic piece (8) arranged at the top of the eyelid unit (5) and an eyebrow adjusting component (7) which is connected with the eyebrow bionic piece (8) and can drive the eyebrow bionic piece (8) to move up and down and rotate left and right.
2. The head device of a robot with bionic expression as claimed in claim 1, wherein the mounting frame body (51) comprises a first frame body (511) and a second frame body (512) which are fixedly arranged on the top of the support member (1), and the upper eyelid member (52) and the lower eyelid member (53) are rotatably arranged between the first frame body (511) and the second frame body (512).
3. The biomimetic expression robot head device according to claim 2, wherein the eyelid adjustment unit (6) includes: the eyelid fixing device comprises an eyelid driving part (61) fixedly arranged at the top of the supporting part (1), a first rotating shaft (62) connected with the output end of the eyelid driving part (61), an upper adjusting part (63) with one end rotatably connected to the first rotating shaft (62) and the other end rotatably connected with the upper eyelid part (52), and a lower adjusting part (64) with one end rotatably arranged at one side of the upper adjusting part (63) and the other end rotatably connected with the lower eyelid part (53).
4. The head device of the robot with the bionic expression as claimed in claim 3, wherein the upper eyelid member (52) and the lower eyelid member (53) are respectively provided with an arc part, an outer ring part and an adapter part fixedly arranged on one side of the outer ring part close to the second frame body (512), the arc part is rotatably arranged between the first frame body (511) and the second frame body (512), and the upper adjusting member (63) and the lower adjusting member (64) are respectively rotatably connected with the adapter parts of the upper eyelid member (52) and the lower eyelid member (53).
5. A biomimetic expression robot head device according to claim 1, wherein the mouth mechanism (4) comprises: the mouth corner adjusting device comprises a mouth corner connecting piece (41) which is arranged at the bottom of the supporting piece (1) and is separated from the supporting piece (1) by a certain distance, a jaw adjusting unit (42) which is arranged at the bottom of the mouth corner connecting piece (41), and mouth corner adjusting units (43) which are symmetrically arranged at two sides of the jaw adjusting unit (42).
6. The biomimetic expression robot head device according to claim 5, wherein the chin adjustment unit (42) includes: the jaw angle connecting piece comprises a lower jaw plate (421) which is arranged at a distance from the mouth angle connecting piece (41) and is positioned at the bottom of the mouth angle connecting piece, a jaw driving piece (422) fixedly arranged at the bottom of the mouth angle connecting piece (41), a lower jaw plate disc (423) connected with the output end of the jaw driving piece (422), a connecting plate (424) fixedly arranged in the lower jaw plate (421) and rotationally connected with the lower jaw plate disc (423), an upper tooth model (425) fixedly arranged at the front end of the bottom of the mouth angle connecting piece (41), and a lower tooth model (426) fixedly arranged at the front end of the top of the lower jaw plate (421) and matched with the upper tooth model (425).
7. A robot head device with bionic expression according to claim 5, characterized in that the mouth angle adjusting unit (43) comprises: the mouth corner connecting piece comprises a first driving piece (431) fixedly arranged at the top of the mouth corner connecting piece (41), a first rotating arm (432) connected with the output end of the first driving piece (431), a first pulling piece (433) with one end rotatably connected with the first rotating arm (432) and the side surface connected with an upper mouth corner, a second driving piece (434) fixedly arranged at the bottom of the mouth corner connecting piece (41), a second rotating arm (435) connected with the output end of the second driving piece (434), and a second pulling piece (436) with two ends rotatably connected with the second rotating arm (435) and the first pulling piece (433) respectively, wherein the side surface of the second pulling piece (436) is connected with a lower mouth corner.
8. A robot head device with bionic expression according to any one of claims 1-7, characterized in that the eyebrow adjusting assembly (7) comprises: set firmly in brow portion support body (71), the rotation at support piece (1) top install in rotation support body (72) of brow portion support body (71) front end, with rotate support body (72) and link to each other and can drive and rotate support body (72) and carry out upper and lower pivoted from top to bottom regulation unit (73) and set firmly in rotate support body (72) top and with regulation unit (74) about brow bionic piece (8) link to each other.
9. The head device of a robot with bionic expression as claimed in claim 8, wherein the up-down adjusting unit (73) comprises: the device comprises an upper and lower driving part (731) fixedly arranged at the top of the brow part frame body (71), an adapter part (732) with one end connected with the output end of the upper and lower driving part (731), and a swinging part (733) rotationally connected with the other end of the adapter part (732), wherein one end of the swinging part (733) far away from the adapter part (732) is connected with a rotating frame body (72).
10. The head device of a robot with bionic expression as claimed in claim 9, wherein the left-right adjusting unit (74) comprises: the eyebrow bionic part comprises a left driving part (741) and a right driving part (741) which are fixedly arranged at the top of the rotating frame body (72), a rotating part (742) which is connected with the output end of the left driving part (741) and the right driving part (741), a transfer part (743) which is far away from one end of the left driving part and the right driving part (742), and a swinging rod (744) which is rotatably arranged at the top of the rotating frame body (72) and is rotatably connected with the transfer part (743), wherein the eyebrow bionic part (8) is fixedly arranged at one side of the transfer part (743).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785339.1A CN115122350B (en) | 2022-07-05 | 2022-07-05 | Bionic expression robot head device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785339.1A CN115122350B (en) | 2022-07-05 | 2022-07-05 | Bionic expression robot head device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115122350A true CN115122350A (en) | 2022-09-30 |
| CN115122350B CN115122350B (en) | 2024-04-09 |
Family
ID=83382902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210785339.1A Active CN115122350B (en) | 2022-07-05 | 2022-07-05 | Bionic expression robot head device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115122350B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890704A (en) * | 2022-12-08 | 2023-04-04 | 上海清芸机器人有限公司 | Mouth opening and closing structure of simulation robot |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic robot |
| CN117506950A (en) * | 2023-11-24 | 2024-02-06 | 深圳市小全科技文化有限公司 | Diversified flexible bionic expression robot, control method and control system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150071198A (en) * | 2013-12-18 | 2015-06-26 | 주식회사 아이모션 | Face robot assembling and separating type of exterior skin |
| CN108656151A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | The eye structure of robot, the head construction of robot and robot |
| CN108714902A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | Apery expression robot head construction and robot head control system |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| CN110103234A (en) * | 2019-04-30 | 2019-08-09 | 广东工业大学 | A kind of robot with humanoid facial expression |
| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
| CN112936308A (en) * | 2021-03-03 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Head structure of humanoid expression robot and robot |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
-
2022
- 2022-07-05 CN CN202210785339.1A patent/CN115122350B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150071198A (en) * | 2013-12-18 | 2015-06-26 | 주식회사 아이모션 | Face robot assembling and separating type of exterior skin |
| CN108656151A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | The eye structure of robot, the head construction of robot and robot |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
| CN108714902A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | Apery expression robot head construction and robot head control system |
| CN110103234A (en) * | 2019-04-30 | 2019-08-09 | 广东工业大学 | A kind of robot with humanoid facial expression |
| CN111300449A (en) * | 2020-03-12 | 2020-06-19 | 河海大学常州校区 | Facial organ mechanism of humanoid expression robot |
| CN112936308A (en) * | 2021-03-03 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Head structure of humanoid expression robot and robot |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890704A (en) * | 2022-12-08 | 2023-04-04 | 上海清芸机器人有限公司 | Mouth opening and closing structure of simulation robot |
| CN117124343A (en) * | 2023-09-25 | 2023-11-28 | 深圳无芯科技有限公司 | Head and neck structure of bionic robot and bionic 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 |
| CN117506950A (en) * | 2023-11-24 | 2024-02-06 | 深圳市小全科技文化有限公司 | Diversified flexible bionic expression robot, control method and control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115122350B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115122350B (en) | Bionic expression robot head device | |
| CN110103234B (en) | Humanoid facial expression robot | |
| CN106272459B (en) | A kind of anthropomorphic robot | |
| CN112265007B (en) | Head of robot with human-face-expression imitation | |
| CN109822590B (en) | Robot eye movement device and control method | |
| CN112936308A (en) | Head structure of humanoid expression robot and robot | |
| CN108818525B (en) | Robot face structure and robot | |
| WO2019001036A1 (en) | Head structure of biomimetic robot, and biomimetic robot | |
| CN215471165U (en) | Head structure of expression robot | |
| WO2018113722A1 (en) | Eye structure of robot, head structure of robot, and robot | |
| WO2019114143A1 (en) | Robot head structure and robot having same | |
| CN106426295A (en) | Mechanical bionic eye device | |
| CN115533932A (en) | Mechanical structure of robot with multiple motion control points and expressions | |
| CN111300449A (en) | Facial organ mechanism of humanoid expression robot | |
| CN210025312U (en) | Humanoid facial expression robot | |
| CN111531553B (en) | Humanoid robot head based on connecting rod smooth expression control mechanism | |
| CN109968368B (en) | Robot bionic eye | |
| CN110549317A (en) | Multifunctional modular robot skull with dynamic expression | |
| CN218504529U (en) | Face device of bionic robot | |
| CN112847394A (en) | Human eye and head movement simulating mechanism | |
| TWI586415B (en) | Simulated eyeball apparatus | |
| CN218488410U (en) | Eye structure of simulation robot | |
| CN212794971U (en) | Robot eye mechanism | |
| CN113319869B (en) | Welcome robot system with emotion interaction function | |
| CN216099030U (en) | Mouth moving mechanism of humanoid expression robot |
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 |