CN115122350B - Bionic expression robot head device - Google Patents
Bionic expression robot head device Download PDFInfo
- Publication number
- CN115122350B CN115122350B CN202210785339.1A CN202210785339A CN115122350B CN 115122350 B CN115122350 B CN 115122350B CN 202210785339 A CN202210785339 A CN 202210785339A CN 115122350 B CN115122350 B CN 115122350B
- Authority
- CN
- China
- Prior art keywords
- piece
- eyelid
- eyebrow
- frame body
- fixedly arranged
- 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
- 230000014509 gene expression Effects 0.000 title claims abstract description 44
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 40
- 210000000744 eyelid Anatomy 0.000 claims abstract description 144
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 96
- 210000001508 eye Anatomy 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000007306 turnover Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 35
- 241000282414 Homo sapiens Species 0.000 abstract description 27
- 230000008921 facial expression Effects 0.000 description 9
- 210000003128 head Anatomy 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000008451 emotion 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
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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 bionic expression robot head device, which comprises an eyebrow component, an eye component and a mouth mechanism capable of carrying out 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 increase eyelid adjustment on the basis that the eyeball can rotate, and the upper eyelid piece and the lower eyelid piece sleeved outside the eyeball are convenient to simulate the eyelid of a human more truly.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bionic expression robot head device.
Background
The expression robot is an intelligent robot capable of simulating facial expression and emotion actions of a human, the appearance accords with the aesthetic point of the human to a certain extent, and the human can feel in a sense of relativity and a sense of trust; the whole or even partial size and the movement 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 the corresponding driving parts and transmission mechanisms are placed in the limited space close to the human brain; the action of the whole mechanism is coordinated, the motion law of the head and the face of a human is met, the motion transmission is required to be accurate and cannot be distorted, so that each motion unit can be accurately controlled to reach the required position, and the whole coordination is realized; because the sensors such as a camera, a miniature microphone and even a force sense are added to the robot during actual manufacturing, necessary space must be reserved during design, and the whole design has the characteristics of narrow space, small movement range, accurate movement and small load.
Chinese patent discloses a robot imitating human facial expression, comprising: the eye device comprises an upper and lower movable eyebrow component, a rotatable eye component, a openable mouth component, an eyebrow pneumatic source connected with the eyebrow component, an eye pneumatic source connected with the eye component, a mouth pneumatic source connected with the mouth component, a controller connected with the eyebrow pneumatic source, the eye pneumatic source and the mouth pneumatic source, and a visual sensor connected with the controller; the robot imitating facial expression of the human body comprises the eyebrow component: the eyebrow connecting assembly is connected between the eyebrow and the eyebrow pneumatic source, and the eyebrow fixing plate is used for fixing the connecting assembly and the eyebrow pneumatic source, but the eyebrow part of the head of the bionic expression robot can only swing up and down, so that the expression of the eyebrow part is lost like eyebrow fringing; the eyelid part only has the upper eyelid and does not have the lower eyelid, and the eye opening and closing actions are unnatural; in addition, the mouth can only move up and down, the facial expression is not natural enough, and more expression actions can not be realized.
Disclosure of Invention
The invention aims to provide a head device of a bionic expression robot, which aims to solve the problems that the prior bionic robot has unnatural eye opening and closing actions, the eyebrow expression is missing, the facial expression is unnatural enough and more expression actions cannot be realized.
The invention is realized in such a way that a bionic expression robot head device comprises: the eye part assembly comprises a supporting piece, an eyelid unit and an eyelid adjusting unit, wherein the supporting piece is fixedly arranged at the top of the eye part assembly and used for installing eyeballs, the eyelid unit is arranged at the top of the supporting piece and is connected with the eyelid unit, the eyelid unit comprises a mounting frame body fixedly arranged at the top of the supporting piece, an upper eyelid piece and a lower eyelid piece which are rotatably connected with the mounting frame body and sleeved on the outer side 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; the eyebrow part assembly comprises an eyebrow bionic part arranged at the top of the eyelid unit and an eyebrow adjusting assembly which is connected with the eyebrow bionic part and can drive the eyebrow bionic part to move up and down and rotate left and right.
According to the bionic expression robot head device, the eye assembly is arranged so that the adjustment of the eyelids can be increased on the basis that the eyeballs can rotate, the upper eyelid piece and the lower eyelid piece sleeved on the outer sides of the eyeballs are used for more truly simulating the eyelids of a human, 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 truly and naturally; and the eyelid is adjusted and combined with the existing eyeball rotation, so that more eye feelings can be displayed; the eyebrow adjusting assembly is convenient to adjust eyebrows so as to simulate human eyebrow creasing actions more truly, and more eyebrow actions can be formed after the eyebrows are combined by driving the eyebrows to move up and down and rotate left and right, so that the eyebrow actions are more vivid; the robot is convenient to drive by the mouth mechanism to adjust the mouth motion, so that the motion of human speaking is simulated, more expressions can be made after the mouth mechanism is combined with the eye component and the eyebrow component, the combination mode of the expression motion is further increased on the premise that the expression motion is natural enough, the defect of facial expression is avoided, and the expression robot is more personified.
Preferably, the mounting frame body comprises a first frame body and a second frame body which are fixedly arranged at the top of the supporting piece, and the upper eyelid piece and the lower eyelid piece are rotatably arranged between the first frame body and the second frame body.
Preferably, the eyelid adjustment unit comprises: the eyelid driving part is fixedly arranged at the top of the supporting part, the first rotating shaft is connected with the output end of the eyelid driving part, one end of the upper regulating part is rotatably connected with the first rotating shaft, the other end of the upper regulating part is rotatably connected with the upper eyelid part, and one end of the lower regulating part is rotatably arranged at one side of the upper regulating part, and the other end of the lower regulating part is rotatably connected with the lower eyelid part.
Preferably, the upper eyelid piece and the lower eyelid piece are respectively provided with an arc-shaped part, an outer ring part and a switching part, wherein the arc-shaped part and the outer ring part are sequentially connected, the switching part is fixedly arranged on one side of the outer ring part, which is close to the second frame body, the arc-shaped part is rotatably arranged between the first frame body and the second frame body, and the upper regulating piece and the lower regulating piece are respectively rotatably connected with the switching parts of the upper eyelid piece and the lower eyelid piece.
Preferably, the mouth mechanism comprises: the mouth angle adjusting device comprises a mouth angle connecting piece, a chin adjusting unit and mouth angle adjusting units, wherein the mouth angle 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 arranged at the bottom of the mouth angle connecting piece, and the mouth angle adjusting units are symmetrically arranged at two sides of the chin adjusting unit.
Preferably, the chin adjustment unit includes: the jaw plate is arranged at intervals from the mouth corner connecting piece and positioned at the bottom of the mouth corner connecting piece, a jaw driving piece fixedly arranged at the bottom of the mouth corner connecting piece, a jaw plate disc connected with the output end of the jaw driving piece, a connecting plate fixedly arranged inside the jaw plate and rotationally connected with the jaw plate disc, an upper tooth model fixedly arranged at the front end of the bottom of the mouth corner connecting piece and a lower tooth model fixedly arranged at the front end of the top of the jaw plate and matched with the upper tooth model.
Preferably, the mouth angle adjusting unit includes: the device comprises a first driving piece, a first rotating arm, a first pulling piece, a second driving piece, a second rotating arm and a second pulling piece, wherein the first driving piece is fixedly arranged at the top of a corner connector, the first rotating arm is connected with the output end of the first driving piece, one end of the first pulling piece is rotationally connected with the first rotating arm, the side surface of the first pulling piece is connected with an upper corner, the second driving piece is fixedly arranged at the bottom of the corner connector, the second rotating arm is connected with the output end of the second driving piece, and the two ends of the second pulling piece are rotationally connected with the second rotating arm and the first pulling piece respectively.
Preferably, the eyebrow adjusting assembly comprises: the eyebrow bionic part comprises a eyebrow part frame body fixedly arranged at the top of a supporting part, a rotating frame body rotatably arranged at the front end of the eyebrow part frame body, an up-down adjusting unit which is connected with the rotating frame body and can drive the rotating frame body to rotate up and down, and a left-right adjusting unit fixedly arranged at the top of the rotating frame body and connected with the eyebrow bionic part.
Preferably, the up-down adjusting unit includes: the upper driving part, the lower driving part, the switching part and the swinging part are fixedly arranged at the top of the eyebrow frame body, one end of the switching part is connected with the output end of the upper driving part and the output end of the lower driving part, the swinging part is rotatably connected with the other end of the switching part, and one end of the swinging part, which is far away from the switching part, is connected with the rotating frame body.
Preferably, the left-right adjusting unit includes: the eyebrow bionic part is fixedly arranged on one side of the middle rotating part.
Compared with the prior art, the invention has the beneficial effects that: the eye component is arranged so as to be convenient for increasing the adjustment of the eyelid on the basis that the eyeball can rotate, the eyelid of a human being can be more truly simulated by using the upper eyelid piece and the lower eyelid piece sleeved outside the eyeball, 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 truly natural; and the eyelid is adjusted and combined with the existing eyeball rotation, so that more eye feelings can be displayed; the eyebrow adjusting assembly is arranged to be convenient for adjusting the eyebrows so as to simulate the human eyebrow-tattooing action more truly, and more eyebrow actions can be formed after the eyebrows are combined by driving the eyebrows to move up and down and rotate left and right, so that the eyebrow actions are more vivid; the robot is convenient to drive by the mouth mechanism to adjust the mouth motion, so that the motion of human speaking is simulated, more expressions can be made after the mouth mechanism is combined with the eye component and the eyebrow component, the combination mode of the expression motion is further increased on the premise that the expression motion is natural enough, the defect of facial expression is avoided, and the expression robot is more personified.
Drawings
Fig. 1 is a perspective 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 bionic expression robot according to the present invention;
fig. 3 is a perspective view of a chin adjusting unit of a head device of a bionic expression robot according to the present invention;
fig. 4 is a perspective structure diagram of a mouth angle adjusting unit of a bionic expression robot head device provided by the invention;
fig. 5 is a perspective view of a brow component of a head device of a bionic expression robot according to the present invention.
In the accompanying drawings: 1 support, 2 brow component, 3 eye component, 4 mouth mechanism, 41 mouth angle connector, 42 chin adjustment unit, 421 lower jaw, 422 chin driver, 423 lower jaw plate, 424 connecting plate, 425 upper tooth model, 426 lower tooth model, 43 mouth angle adjustment unit, 431 first driver, 432 first rotating arm, 433 first pulling member, 434 second driver, 435 second rotating arm, 436 second pulling member, 5 eyelid unit, 51 mounting frame body, 511 first frame body, 512 second frame body, 52 upper eyelid member, 53 lower eyelid member, 6 eyelid adjustment unit, 61 eyelid driver, 62 first rotating shaft, 63 upper adjustment member, 64 lower adjustment member, 7 eyebrow adjustment component, 71 brow part frame body, 72 rotating frame body, 73 upper and lower adjustment unit, 733 switch, 732 swing member, 74 left and right adjustment unit, 741 left and right driving member, 742 rotating member, 743 switch member, 8 eyebrow bionic.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
Example 1
As shown in fig. 1-2, the structure diagram of the head device of the bionic expression robot provided by the invention comprises a 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, wherein the eye component 3 comprises a support member 1 fixedly arranged at the top of the mouth mechanism 4 and used for installing eyeballs, an eyelid unit 5 arranged at the top of the support member 1 and an eyelid adjusting unit 6 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 with the mounting frame body 51 and sleeved at the outer side of the eyeballs, and 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; the eyebrow part assembly 2 comprises an eyebrow bionic part 8 arranged at the top of the eyelid unit 5 and an eyebrow adjusting assembly 7 which is connected with the eyebrow bionic part 8 and can drive the eyebrow bionic part 8 to move up and down and rotate left and right.
In practical application, the eye component 3 is arranged so as to be convenient for increasing eyelid adjustment on the basis of rotatable eyeballs, the upper eyelid piece 52 and the lower eyelid piece 53 sleeved outside the eyeballs are used for more truly simulating the eyelids of human beings, and the upper eyelid piece 52 and the lower eyelid piece 53 can be driven to turn through the eyelid adjusting unit 6, so that the eye opening and closing actions are more truly and naturally; and the eyelid is adjusted and combined with the existing eyeball rotation, so that more eye feelings can be displayed; the eyebrow adjusting assembly 7 is arranged to be convenient for adjusting the eyebrows so as to simulate the human eyebrow tattooing action more truly, and more eyebrow actions can be formed after the eyebrows are driven to move up and down and rotate left and right, so that the eyebrow actions are more vivid; the mouth mechanism 4 is convenient to drive the robot to adjust the mouth action, so that the action of speaking by a human is simulated, more expressions can be made after the mouth mechanism 4 is combined with the eye component 3 and the eyebrow component 2, the combination mode of the expression action is further increased on the premise of ensuring that the expression action is natural enough, the defect of facial expression is avoided, and the expression robot is more personified.
Specifically, the mounting frame 51 includes a first frame 511 and a second frame 512 fixed on the top of the supporting member 1, and the upper eyelid member 52 and the lower eyelid member 53 are rotatably installed between the first frame 511 and the second frame 512.
It can be known that the mounting frame body 51 is convenient for mounting the upper eyelid piece 52 and the lower eyelid piece 53, and the eyelid units 5 are symmetrically arranged at two sides of the central axis of the supporting piece 1, so that the eyes at two sides can be independently adjusted, synchronous adjustment can be performed, and the expression combination mode is further increased.
Further, the eyelid adjusting unit 6 includes: the eyelid driving member 61 fixedly arranged at 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 with the first rotating shaft 62 and the other end rotatably connected with the upper eyelid member 52, and a lower adjusting member 64 with one end rotatably arranged at one side of the upper adjusting member 63 and the other end rotatably connected with the lower eyelid member 53.
It should be noted that, the eyelid adjusting unit 6 is provided to facilitate the adjustment of the upper eyelid member 52 and the lower eyelid member 53, and the eyelid driving member 61 is utilized 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 member 52 to flip upwards, the lower eyelid member 53 to flip downwards, or drive the upper eyelid member 52 to flip downwards, and the lower eyelid member 53 to flip upwards, thereby realizing different flipping actions of the eyelids.
Further, the upper eyelid member 52 and the lower eyelid member 53 are respectively provided with an arc portion, an outer ring portion and a connecting portion fixedly arranged at one side of the outer ring portion close to the second frame 512, the arc portion is rotatably arranged between the first frame 511 and the second frame 512, and the upper adjusting member 63 and the lower adjusting member 64 are respectively rotatably connected with the connecting portions of the upper eyelid member 52 and the lower eyelid member 53.
It can be known that the eyelid shape of different people can be simulated by providing the upper eyelid piece 52 and the lower eyelid piece 53 as arc-shaped parts so as to truly simulate the eyelid of a human, so that the angle and radian of the eyelid can be processed according to the real eyelid of the human; the outer ring part and the adapter part are arranged to be connected with the upper adjusting piece 63 and the lower adjusting piece 64 conveniently, so that the upper adjusting piece and the lower adjusting piece can be driven to turn up and down conveniently.
It should be noted that, during actual installation, two sides of the arc portion may be installed between the first frame 511 and the second frame 512 through pins, and the eyelid units 5 are symmetrically disposed on two sides of the center line of the support member 1; the upper and lower palpebral pieces 52 and 53 may take other shapes besides the structure of the present device, such as cutting the eyelids to distinguish between double eyelid and single eyelid, as long as the eyelid of a human can be more realistically simulated, and the shape of the eyelid of the present embodiment is not limited thereto.
The support 1 may be a support plate or a support table, and the shape of the support may be selected according to needs, and in this embodiment, a square shape is adopted; the first frame 511 and the second frame 512 may be mounting frames or fixing plates fixed on the top of the supporting member 1, and may be fixing rods, so long as the upper eyelid member 52 and the lower eyelid member 53 can be installed; the eyelid driving member 61 may be a steering engine or a servo motor, and 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 their shapes may be arc-shaped or straight rods, so long as the eyelid can be driven to turn up and down, which is not limited in this embodiment.
Example 2
As shown in fig. 1 and fig. 3 to 4, the mouth mechanism 4 includes, on the basis of embodiment 1: the support device comprises a mouth corner connecting piece 41 arranged at the bottom of the support piece 1 and separated from the support piece 1 by a certain distance, a chin adjusting unit 42 arranged at the bottom of the mouth corner connecting piece 41, and mouth corner adjusting units 43 symmetrically arranged at two sides of the chin adjusting unit 42.
In practical application, the mouth mechanism 4 is arranged to facilitate the adjustment of the mouth of the robot so as to facilitate the opening and closing actions; the installation of the chin is facilitated by providing the corner connector 41, and the nose of the robot can be installed between the corner connector 41 and the support member 1, the angle of the chin of the robot can be adjusted by the chin adjusting unit 42, and the smile or sad expression can be made by moving up the corner of the robot by the corner adjusting unit 43.
Further, the chin adjusting unit 42 includes: the jaw plate connecting piece 41 is arranged at intervals and is positioned at the bottom of the jaw plate connecting piece 41, a jaw driving piece 422 fixedly arranged at the bottom of the jaw plate connecting piece 41, a jaw plate disc 423 connected with the output end of the jaw driving piece 422, a connecting plate 424 fixedly arranged inside the jaw plate 421 and rotationally connected with the jaw plate disc 423, an upper tooth model 425 fixedly arranged at the front end of the bottom of the jaw plate connecting piece 41 and a lower tooth model 426 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 jaw 421 is provided to simulate the chin of a human body, and the jaw plate disc 423 is driven to rotate by the jaw driving member 422 fixed at the bottom of the corner connector 41, so as to drive the connecting plate 424 and the jaw 421 connected with the jaw plate disc to rotate, thereby realizing the opening and closing actions; by arranging the upper tooth model 425 and the lower tooth model 426, the teeth of a human being can be simulated truly, and the mouth structure of the human being can be simulated more truly after the lower jaw 421 is assembled, so that the bionic degree is higher.
It should be noted that, the corner connector 41 in the present device may be a middle plate or a fixed block located at the bottom of the support member 1, and is mounted on the head of the robot through a fixed structure; the chin driver 422 may be a steering engine or a motor, and the connection plate 424 may also be a rotating seat, and the chin driver 422 drives the rotation of the rotating seat to drive the rotation of the lower jaw 421; of course, besides the steering engine of the device is adopted to drive the lower jaw 421 to rotate, a telescopic rod or an electric cylinder can be adopted to drive the lower jaw 421 to rotate relative to the mouth corner connector 41, and the rotating structure of the embodiment is not limited.
Still further, the mouth angle adjusting unit 43 includes: the first driving part 431 fixed on the top of the corner connector 41, the first rotating arm 432 connected with the output end of the first driving part 431, the first pulling part 433 with one end rotatably connected to the first rotating arm 432 and the side surface connected with the upper corner, the second driving part 434 fixed on the bottom of the corner connector 41, the second rotating arm 435 connected with the output end of the second driving part 434, and the second pulling part 436 with two ends rotatably connected with the second rotating arm 435 and the first pulling part 433 respectively, wherein the side surface of the second pulling part 436 is connected with the lower corner.
It can be known that the mouth angle adjusting unit 43 is convenient for pulling the mouth angle of the robot, and the first driving member 431 can drive the first rotating arm 432 to rotate during actual operation, so as to drive the first pulling member 433 and the second pulling member 436 connected with the first rotating arm 432 to rotate upwards, and further drive the upper mouth angle and the lower mouth angle connected with the first pulling member 433 and the second pulling member 436 to rise upwards; the second driving member 434 may 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 corner and the lower corner connected thereto to move downwards, so as to simulate different expressions at the corner.
It should be noted that, in this installation, the first driving member 431 and the second driving member 434 are both driven by a unidirectional rotating steering engine or a servo motor, so that in the actual adjustment process, the two actions of lifting and moving down the mouth angle are performed respectively, and of course, the first driving member 431 and the second driving member 434 may also be provided as bi-directional rotating motors, so that the first traction member 433 and the second traction member 436 may be driven to implement more angle adjustment, so as to achieve more combinations of different mouth angle expressions, and the driving mode and the connection structure of this embodiment are not limited.
The first pulling member 433 and the second pulling member 436 may be, for example, a first pulling rod and a second pulling rod, respectively, and may be an arc-shaped rod or a curved rod, so that the angle change range is larger when the mouth angle is adjusted, which is not particularly limited herein.
Example 3
As shown in fig. 1 and 5, on the basis of embodiment 1 and embodiment 2, the eyebrow adjusting assembly 7 includes: the eyebrow bionic part comprises a eyebrow frame body 71 fixedly arranged at the top of the supporting part 1, a rotating frame body 72 rotatably arranged at the front end of the eyebrow frame body 71, an up-down adjusting unit 73 which is connected with the rotating frame body 72 and can drive the rotating frame body 72 to rotate up and down, and a left-right adjusting unit 74 fixedly arranged at the top of the rotating frame body 72 and connected with the eyebrow bionic part 8.
Specifically, the eyebrow adjusting assembly 7 is arranged to facilitate the adjustment of the expression of the eyebrow, and the upper and lower adjusting unit 73 is used to drive the rotating frame 72 to rotate up and down, so that the vertical height of the eyebrow fixing piece is adjusted to adapt to different expression adjustment requirements; by arranging the left-right adjusting unit 74, the eyebrow bionic piece 8 can be rotated at a left-right angle conveniently, more eyebrow-tattooing work can be completed conveniently, the movement of the eyebrow part is reproduced as much as possible, the combination of up-down movement and left-right movement is realized to reproduce the movement track of the eyebrow, and the produced eyebrow expression is more natural and vivid.
Further, the up-down adjusting unit 73 includes: the upper driving part 731, the lower driving part 731, the adapting part 732, the swinging part 733 is fixedly arranged on the top of the brow frame 71, one end of the swinging part 733 is connected with the output end of the upper driving part 731, and one end of the swinging part 733, which is far away from the adapting part 732, is connected with the rotating frame 72.
It can be known that the up-down driving part 731 drives the adapting part 732 to rotate, and then drives the swinging part 733 to swing, so as to adjust the vertical angle of the rotating frame 72, and then drive the eyebrow bionic part 8 to move up and down to adapt to different expression requirements.
The up-down driving member 731 may be a steering engine or a driving motor, the adapting member 732 may be a rotating rod or a rotating shaft, and the swinging member 733 may be an arc-shaped swinging rod or a straight rod, so long as the swinging member can drive the rotating frame 72 to rotate up and down; the up-down adjusting unit 73 may be fixed to the brow frame 71 or may be fixed to another position of the head of the robot, and the installation manner of the present embodiment is not limited thereto; the end of the swing piece 733 far away from the adapter 732 may be rotatably mounted on the top of the rotating frame 72 or may abut against the side surface thereof; besides the swing rod mechanism of the device, the device can also be driven by a traction rope and a winding motor, and the embodiment is not particularly limited herein;
still further, the left-right adjusting unit 74 includes: the eyebrow bionic part 8 is fixedly arranged on one side of the transferring part 743, and is rotatably arranged on the top of the rotating frame 72 and is rotatably connected with the transferring part 743.
It can be known that the left-right adjusting unit 74 is convenient for adjusting the left-right angle of the eyebrow bionic piece, and the left-right driving piece 741 is utilized to drive the rotating piece 742 to rotate, so that the swinging rod is utilized to drive the transferring piece 743 to rotate, and further the eyebrow bionic piece 8 connected with the swinging rod is driven to move left and right so as to adapt to different eyebrow rotation requirements.
The left and right driving members 741 may be servo motors or steering gears, the rotating members 742 may be connecting shafts, and the middle rotating member 743 may be a middle rotating rod, so long as the eyebrow bionic member 8 can be conveniently installed and rotated, and the embodiment is not particularly limited herein
In the embodiment of the invention, the eye component 3 is arranged so as to increase eyelid adjustment on the basis that the eyeball can rotate, the upper eyelid piece 52 and the lower eyelid piece 53 sleeved outside the eyeball are used for more truly simulating the eyelid of a human, and the upper eyelid piece 52 and the lower eyelid piece 53 can be driven to turn through the eyelid adjusting unit 6, so that the eye opening and closing actions are more truly and naturally; and the eyelid is adjusted and combined with the existing eyeball rotation, so that more eye feelings can be displayed; the eyebrow adjusting assembly 7 is arranged to be convenient for adjusting the eyebrows so as to simulate the human eyebrow tattooing action more truly, and more eyebrow actions can be formed after the eyebrows are driven to move up and down and rotate left and right, so that the eyebrow actions are more vivid; the mouth mechanism 4 is convenient to drive the robot to adjust the mouth action, so that the action of speaking by a human is simulated, more expressions can be made after the mouth mechanism 4 is combined with the eye component 3 and the eyebrow component 2, the combination mode of the expression action is further increased on the premise of ensuring that the expression action is natural enough, the defect of facial expression is avoided, and the expression robot is more personified.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. A biomimetic expression robotic head device, comprising: the eye part assembly comprises an eye part assembly (2), an eye part assembly (3) and a mouth mechanism (4) capable of adjusting the mouth motion, wherein the eye part assembly (3) comprises a supporting piece (1) fixedly arranged at the top of the mouth mechanism (4) and used for installing eyeballs, an eyelid unit (5) arranged at the top of the supporting piece (1) and an eyelid adjusting unit (6) connected with the eyelid unit (5), the eyelid unit (5) comprises a mounting frame body (51) fixedly arranged at the top of the supporting piece (1) and an upper eyelid piece (52) and a lower eyelid piece (53) rotatably connected with the mounting frame body (51) and sleeved on the outer side of the eyeballs, and 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 part assembly (2) comprises an eyebrow bionic part (8) arranged at the top of the eyelid unit (5) and an eyebrow adjusting assembly (7) which is connected with the eyebrow bionic part (8) and can drive the eyebrow bionic part (8) to move up and down and rotate left and right;
the mounting frame body (51) comprises a first frame body (511) and a second frame body (512) which are fixedly arranged at the top of the supporting piece (1), and the upper eyelid piece (52) and the lower eyelid piece (53) are rotatably arranged between the first frame body (511) and the second frame body (512);
the eyelid adjustment unit (6) comprises: an eyelid driving member (61) fixedly arranged at 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 with the first rotating shaft (62) and the other end rotatably connected with the upper eyelid member (52), and a lower adjusting member (64) with one end rotatably arranged at one side of the upper adjusting member (63) and the other end rotatably connected with the lower eyelid member (53);
the upper eyelid piece (52) and the lower eyelid piece (53) are respectively provided with an arc-shaped part, an outer ring part and a switching part, wherein the arc-shaped part and the outer ring part are sequentially connected, the switching part is fixedly arranged on one side of the outer ring part, which is close to the second frame body (512), the arc-shaped part is rotatably arranged between the first frame body (511) and the second frame body (512), and the upper regulating piece (63) and the lower regulating piece (64) are respectively rotatably connected with the switching parts of the upper eyelid piece (52) and the lower eyelid piece (53);
the mouth mechanism (4) comprises: the device comprises a mouth corner connecting piece (41) arranged at the bottom of the supporting piece (1) and separated from the supporting piece (1), a chin adjusting unit (42) arranged at the bottom of the mouth corner connecting piece (41), and mouth corner adjusting units (43) symmetrically arranged at two sides of the chin adjusting unit (42);
the chin adjustment unit (42) includes: the lower jaw plate (421) is arranged at intervals from the mouth corner connecting piece (41) and is positioned at the bottom of the mouth corner connecting piece, a lower jaw driving piece (422) fixedly arranged at the bottom of the mouth corner connecting piece (41), a lower jaw plate disc (423) connected with the output end of the lower jaw driving piece (422), a connecting plate (424) fixedly arranged inside 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 corner 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);
the mouth angle adjusting unit (43) includes: the device comprises a first driving piece (431) fixedly arranged at the top of a 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 to 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;
the eyebrow adjusting assembly (7) comprises: the eyebrow bionic part comprises a eyebrow frame body (71) fixedly arranged at the top of a supporting piece (1), a rotating frame body (72) rotatably arranged at the front end of the eyebrow frame body (71), an up-down adjusting unit (73) which is connected with the rotating frame body (72) and can drive the rotating frame body (72) to rotate up and down, and a left-right adjusting unit (74) fixedly arranged at the top of the rotating frame body (72) and connected with the eyebrow bionic piece (8);
the up-down adjustment unit (73) includes: the upper driving piece (731) is fixedly arranged at the top of the eyebrow frame body (71), a transfer piece (732) with one end connected with the output end of the upper driving piece (731) and a swinging piece (733) rotationally connected with the other end of the transfer piece (732), and one end of the swinging piece (733) far away from the transfer piece (732) is connected with the rotating frame body (72);
the left-right adjustment unit (74) includes: the eyebrow bionic part (8) is fixedly arranged on 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 CN115122350A (en) | 2022-09-30 |
| CN115122350B true 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) |
Families Citing this family (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 |
| 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 |
| CN117506950B (en) * | 2023-11-24 | 2024-06-21 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115122350A (en) | 2022-09-30 |
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 | |
| CN106426196B (en) | A kind of service-delivery machine head part | |
| CN112936308A (en) | Head structure of humanoid expression robot and robot | |
| CN112265007B (en) | Head of robot with human-face-expression imitation | |
| CN109822590B (en) | Robot eye movement device and control method | |
| WO2019001036A1 (en) | Head structure of biomimetic robot, and biomimetic robot | |
| CN206123670U (en) | Humanoid robot | |
| CN108818525B (en) | Robot face structure and robot | |
| CN215471165U (en) | Head structure of expression robot | |
| CN115533932A (en) | Mechanical structure of robot with multiple motion control points and expressions | |
| CN206066467U (en) | A kind of robot head and neck motion | |
| CN106426295A (en) | Mechanical bionic eye device | |
| WO2018113722A1 (en) | Eye structure of robot, head structure of robot, and robot | |
| CN111300449A (en) | Facial organ mechanism of humanoid expression robot | |
| CN210025312U (en) | Humanoid facial expression robot | |
| CN109968368B (en) | Robot bionic eye | |
| CN111531553B (en) | Humanoid robot head based on connecting rod smooth expression control mechanism | |
| CN218488410U (en) | Eye structure of simulation robot | |
| CN110549317A (en) | Multifunctional modular robot skull with dynamic expression | |
| CN212794971U (en) | Robot eye mechanism | |
| CN210836772U (en) | Eye simulation mechanism device for simulating human eyes | |
| TWI586415B (en) | Simulated eyeball apparatus | |
| CN218504529U (en) | Face device of bionic 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 |