CN115533932A - Mechanical structure of robot with multiple motion control points and expressions - Google Patents

Abstract

The invention discloses a mechanical structure of a robot with multiple motion control point expressions, which comprises a face structure of the robot, a neck mounting base plate, a support base and a head support upright post, wherein the face structure and the neck structure are connected into a whole through the head support upright post, the neck structure is mounted on the neck mounting base plate, and then the neck mounting base plate is fixed on the support base through screws. The advantages are that: according to the structure, a plurality of motion control points are designed on the whole face mechanism, so that opening and closing of eyelids, left and right movement of eyeballs, up and down movement of eyeballs, rotation movement of eyeballs, movement of lips and mouth corners, movement of cheeks, opening and closing of mouths and stretching of tongues can be realized, and a camera is designed in the eyeball structure and used for realizing a face recognition function; the neck mechanism is driven by a steering engine, and can realize the left-right rotation, the left-right swing, the front-back swing and the side-swinging motion of the neck.

Description

Mechanical structure of robot with multiple motion control points and expressions

Technical Field

The invention relates to a bionic robot capable of realizing multiple facial expressions through eye, face, mouth and neck movements, in particular to a mechanical structure of a robot with multiple motion control point expressions.

Background

As the population ages and birth rates decrease, the gradual reduction of labor has prompted the study of intelligent service robots. In order to expand the application scene of the service robot, the studied service robot is similar to a human in appearance, more importantly, has emotional communication with the human, and the most important expression in emotion is facial expression.

At present, the existing robot imitating human face expression has few expression driving points, so that the expression made by the robot is not vivid enough, and is far less than the expression presented by human. Secondly, the existing humanoid facial expression robot has no perception functions such as vision, hearing and the like, so that the emotional decision of the robot is insufficient, and the expression, the action and the behavior of human beings cannot be perceived, so that the corresponding expression feedback cannot be made through the expression, the action and the behavior of the human beings, and the facial expression robot cannot realize social contact with the human beings.

Disclosure of Invention

The invention aims to provide a mechanical structure of a multi-motion control point expression robot aiming at the problems in the background technology, which is used for solving the technical problems that the expression of a simulation robot is not vivid enough and the emotional decision is not enough; the technical scheme is as follows: a mechanical structure of a robot with multiple motion control point expressions comprises a face structure, a neck structure and a head supporting upright post connecting the face structure and the neck structure, wherein the neck structure is arranged on a neck mounting base plate; the face structure comprises an eyebrow driving mechanism, an eye driving mechanism and a mouth driving mechanism, wherein the eyebrow driving mechanism and the eye driving mechanism are both arranged on an eye mounting bottom plate, the eye mounting bottom plate is arranged on the mouth driving mechanism, and the mouth driving mechanism is arranged on a head supporting upright post.

Preferably, the mechanical structure of the multi-motion control point expression robot further comprises a shoulder shell and a face structure shell, wherein the shoulder shell is arranged on the neck installation bottom plate, and the face structure shell is arranged on the eye installation bottom plate. The shoulder shell is used for supporting the shoulder scarfskin, and the face structure shell is arranged outside the face structure and used for supporting the face silica gel scarfskin.

Preferably, the face structure shell comprises four parts: skull shell top, skull shell face, skull shell chin and skull shell back, skull shell back are installed on eye mounting plate, and skull shell top and skull shell face are installed on skull shell back, and skull shell chin sets up and realizes opening and shutting of mouth by two chin drive steering wheel direct drive, and two chin drive steering wheel settings are on mouth actuating mechanism.

Preferably, the mouth driving mechanism is integrally arranged on the head supporting upright post through a mouth frame, lower teeth in the mouth driving mechanism are arranged on a lower jaw of a skull shell, upper teeth in the mouth driving mechanism are arranged on the mouth frame, two side cheeks in the mouth driving mechanism are respectively provided with a motion control point, a steering engine drives a driving connecting rod to move, a skin connecting magnet is arranged on the driving connecting rod, and the skin connecting magnet drives a skin to move; the tongue component in the mouth driving mechanism is arranged on the mouth frame, and the tongue stretches and moves up and down; the lip mouth angular motion in the mouth driving mechanism comprises four motion control points, namely a control point at each of two side mouth angles and two control points at the upper lip, the four motion control points are driven by a steering engine to drive a driving connecting rod to move, and the end heads of the four driving connecting rods are provided with skin connecting magnets.

Preferably, the eyebrow driving mechanism comprises two eyebrow units which are symmetrically arranged on the two eyebrow supports, and the two eyebrow units are arranged on the eyebrow supports which are arranged on the eye mounting base plate; each eyebrow unit is driven by two eyebrow driving steering engines to attract eyebrow points on the outer skin of the robot through two first magnets.

According to the preferable technical scheme, the two eyebrow driving steering engines are arranged on the eyebrow support in an up-and-down mode, steering engine discs of the two eyebrow driving steering engines are respectively hinged with the upper eyebrow driving rod and the lower eyebrow driving rod, and the two first magnets are respectively arranged at the other ends of the upper eyebrow driving rod and the lower eyebrow driving rod.

In the preferable technical scheme of the invention, the upper eyebrow driving rod and the lower eyebrow driving rod are vertically and outwardly extended and provided with the eyebrow driving extension rod, and the first magnet is arranged at the end part of the eyebrow driving extension rod.

Preferably, the whole eye driving mechanism is connected with the eye mounting base plate through the eye mounting base, and each eyelid in the eye driving mechanism is driven by one steering engine independently to realize opening and closing of the eyelid and blinking; the two eyeballs in the eye driving mechanism move synchronously, and a camera is mounted in each of the two eyeballs to realize face recognition; the left and right synchronous motion of the two eyeballs is realized by a parallelogram mechanism, and the up and down motion of the two eyeballs adopts a crank-slider mechanism; the up-and-down movement and left-and-right movement mechanisms of the two eyeballs are in a linkage structure.

Preferably, each eye comprises two eyelids, the left side and the right side of the two eyelids are hinged to enable the upper eyelid and the lower eyelid to be in a hemispherical shape, and the hinged parts of the two eyelids are hinged to the supporting structure on the eye mounting base; a steering engine disc of the eyelid driving steering engine is hinged with the eyelid through an eyelid connecting rod; the eyeball motion comprises an eyeball left-right motion steering engine, two eyeballs, two eyeball mounting frames, two eyeball mounting forks, an eyeball mounting main support, an eyeball mounting connecting rod, an eyeball up-down motion steering engine, an eye up-down driving rod and an eye sliding shaft, wherein the two eyeballs are respectively arranged on the two eyeball mounting frames, every two eyeball mounting forks are respectively fixed on the two eyeball mounting frames, the two eyeball mounting forks are simultaneously hinged at two ends of the eyeball mounting connecting rod, two ends of the eyeball mounting main support are respectively hinged with the two eyeball mounting frames, the eyeball left-right motion steering engine is arranged on the eyeball left-right rotation steering engine mounting frame, and a steering wheel disc of the eyeball left-right motion steering engine is hinged with the eyeball mounting connecting rod; the steering engine disc of the eyeball up-and-down movement steering engine is fixedly connected with the eye up-and-down driving rod, a sliding groove for inserting the eye sliding shaft is formed in the eye up-and-down driving rod, the eye sliding shaft is arranged on the eyeball left-and-right rotation steering engine mounting frame, and the eyeball left-and-right rotation steering engine mounting frame is hinged with a supporting structure on the eye mounting base.

Preferably, the neck structure comprises a neck left-right rotating mechanism and a neck side swinging mechanism, wherein the neck left-right rotating mechanism is driven by a double-shaft steering engine to do rotating motion so as to perform head swinging motion; the neck side-sway mechanism is driven by two steering engines to move the differential mechanism to carry out front-back, left-right and side sway motions, and the neck left-right rotating mechanism is arranged on the neck side-sway mechanism and moves along with the neck side-sway mechanism.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, a plurality of motion control points are designed on the whole face mechanism, so that the opening and closing of eyelids, the left and right movement of eyeballs, the up and down movement of eyeballs, the rotation movement of eyeballs, the movement of lips and mouth corners, the movement of cheeks, the opening and closing of mouths and the expansion and contraction of tongues can be realized, and a camera is designed in an eyeball structure and is used for realizing the face recognition function; the neck mechanism is driven by a steering engine, and can realize the left-right rotation of the neck, the left-right swinging, the front-back swinging and the side-swinging movement of the neck.

Drawings

Fig. 1 is an overall structural schematic diagram of the present embodiment.

Fig. 2 is a schematic structural composition diagram of the robot of the present embodiment.

Fig. 3 is a first schematic view of the assembly structure of the face structure and the head support column.

Fig. 4 is a schematic view of the assembly structure of the face structure and the head support post.

Fig. 5 is a schematic view of the structure of the face structure housing.

Fig. 6 is a perspective view of the eyebrow drive mechanism.

Fig. 7 is a perspective view of the eye driving mechanism.

Fig. 8 is a second perspective view of the eye driving mechanism.

Fig. 9 is an exploded view of the eye drive mechanism (with the steering gear hidden).

Fig. 10 is a perspective view of the mouth drive mechanism.

Fig. 11 is a front view of the mouth drive mechanism.

FIG. 12 is a schematic illustration of the mounting of the tongue motion of the mouth drive mechanism.

Fig. 13 is an exploded view of the mouth drive mechanism.

Figure 14 is a schematic view of the assembled structural configuration of the neck structure, neck mounting base, support base and shoulder shells.

Fig. 15 is an exploded view of fig. 14.

Fig. 16 is a schematic structural view of the neck left-right rotation mechanism.

Fig. 17 is a schematic view of the installation of the neck roll mechanism and neck mounting base plate (a neck circular support frame is hidden in the figure).

Fig. 18 is a schematic view showing a state in which the neck roll mechanism is rolled on the neck attachment base plate.

Fig. 19 is a schematic diagram of the appearance structure of the outer skin connecting structure of the expression robot in the embodiment.

Fig. 20 is a cross-sectional view of fig. 19.

Fig. 21 is a schematic view showing the change of state of the connection point of the silicone sheath in fig. 19 under different motion states (α and β in the figure are two extreme position angles of motion, respectively).

Fig. 22 is a schematic view of a snap assembly within the skin attachment structure of an expressive robot.

Fig. 23 is a schematic diagram of the skin connecting structure of the expressive robot used on the head robot of the expressive robot (in the figure, the skin connecting structures of the expressive robot are mounted at positions I, II and III).

Detailed Description

The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.

In order to make the disclosure of the present invention more comprehensible, the following description is further made in conjunction with fig. 1 to 23 and the 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.

Example 1

As shown in fig. 1, the present embodiment provides an overall structure of a robot with simulated facial expression, which includes a face structure 1 of the robot, a neck structure 2 of the robot, a neck installation base plate 4, a support base 5 and a head support column 6, wherein the face structure 1 and the neck structure 2 are connected into a whole by the head support column 6, the neck structure 2 is installed on the neck installation base plate 4, and then the neck installation base plate 4 is fixed on the support base 5 by screws.

As shown in fig. 1, the present embodiment provides an overall structure of a robot with simulated facial expression, further comprising a mechanical structure, further comprising shoulder shells 3 and a face structure shell, wherein the two shoulder shells 3 are symmetrically fixed on a neck installation base plate 4, and the two shoulder shells 3 are used for supporting shoulder skins. Face's structure shell sets up on eye mounting plate 108, and face's structure shell is installed and is used for supporting face's silica gel crust outside the face's structure. As shown in fig. 5, the face structure shell is composed of four parts: skull shell top 104, skull shell face 105, skull shell chin 106 and skull shell back 107, the facial structure shell in this embodiment is completed using 3D printing. Skull shell back 107 is installed on eye mounting plate 108, skull shell top 104 and skull shell face 105 are installed on skull shell back 107, and skull shell chin 106 sets up and realizes opening and shutting of mouth by steering wheel direct drive on two chin drive steering wheel 10301, and two chin drive steering wheel settings are on second mouth installation frame 10312 in mouth actuating mechanism 103. Further, in this embodiment, skull shell chin 106 has designed the mounting groove with the steering wheel dish size assorted of chin drive steering wheel 10301, adopts the screw to fasten the steering wheel machine dish in the mounting groove of skull shell chin, and the chin is by two steering wheel direct drive, realizes opening and shutting of mouth.

As shown in fig. 2, the detailed composition of the robot with simulated facial expression of the present embodiment includes an eyebrow driving mechanism 101, an eye driving mechanism 102, a mouth driving mechanism 103, an eye mounting base plate 108, a neck left-right rotating mechanism 201 and a neck side swing mechanism 202 from a face structure 1 to a neck structure 2. The eyebrow driving mechanism 101 and the eye driving mechanism 102 are mounted on the eye mounting base plate 108, the head support upright 6 is used for connecting the eye mounting base plate 108 and the mouth driving mechanism 103 into a whole, and the face structure 1 is connected with the neck structure 2.

As shown in fig. 2, the eyebrow drive mechanism 101 and the eye drive mechanism 102 are both mounted on the eye mounting base plate 108 by screws, the eye mounting base plate 108 is screwed to the mouth movement mechanism 103, the mouth movement mechanism 103 is screwed to the head support post 6, the head support post 6 is further connected to the neck left-right rotation mechanism 201, the neck left-right rotation mechanism 201 is provided on the neck sway mechanism 202, and finally the neck sway mechanism 202 is mounted on the neck mounting base plate 4.

As shown in fig. 6, the eyebrow supports in the eyebrow driving mechanism 101 are respectively formed into a door-shaped eyebrow support by a first eyebrow support 10103 and two second eyebrow supports 10104, and the lower ends of the two second eyebrow supports 10104 are screwed onto the eye mounting base plate 108.

As shown in fig. 6, threaded holes are designed on two sides of the first eyebrow support 10103, waist-shaped holes are designed on the two second eyebrow supports 10104 to adjust the height of the eyebrows during the assembling process, and the two second eyebrow supports 10104 are installed on two sides of the first eyebrow support 10103 through the waist-shaped holes. Two eyebrow drive steering engines 10101 in every eyebrow unit all install on first eyebrow support 10103's front and back through eyebrow steering engine installation angle iron 10102, bolted connection between eyebrow steering engine installation angle iron 10102 and the first eyebrow support 10103.

As shown in fig. 6, four eyebrow driving steering engines 10101 in this embodiment are outsourcing members, eyebrow driving steering engine discs 10109 are all provided on the four eyebrow driving steering engines 10101, and the eyebrow driving steering engine discs 10109 on the four eyebrow driving steering engines 10101 are swing rods. The steering wheel plate of the eyebrow driving steering wheel 10101 arranged on the front side of the first eyebrow support 10103 is hinged with an upper eyebrow driving rod 10108, and the steering wheel plate of the eyebrow driving steering wheel 10101 arranged on the back side of the first eyebrow support 10103 is hinged with a lower eyebrow driving rod 10105.

As shown in fig. 6, the upper eyebrow driving bar 10108 and the lower eyebrow driving bar 10105 are both vertically and outwardly extended with the eyebrow driving extension bar 10106, the first magnet is matched and connected with the external thread on the eyebrow driving extension bar 10106 with the internal thread, the first magnet 10107 is magnetically attracted with the second magnet of the other half, and the second magnet of the other half is fixedly connected with the eyebrow movement control point on the robot crust; thereby the motion of connecting first magnet 10107 is realized to eyebrow actuating lever 10108 and lower eyebrow actuating lever 10105 motion in the rudder machine dish of eyebrow drive steering wheel 10101, and first magnet 10107 drives second half second magnet motion, and second half second magnet drives the motion of robot eyebrow motion point.

As shown in fig. 7, 8 and 9, the eye drive mechanism 102 is integrally connected to the eye mounting base 108 by an eye mounting base 10209.

As shown in fig. 7 and 9, each eyelid in the eye driving mechanism 102 is driven by a steering engine separately to realize opening and closing of the eyelid and blinking; each eye includes two eyelids, an upper eyelid 10203 and a lower eyelid 10208, wherein the left and right sides of the two eyelids are hinged to make the upper eyelid and the lower eyelid a hemisphere, and the hinge is hinged to the eye mounting base 10209.

As shown in fig. 7 and 9, the eyelid movement mechanism portion includes an eyelid driving steering engine bracket 10219 and an eyelid driving steering engine 10220, the eyelid driving steering engine 10220 is installed on the eyelid driving steering engine bracket 10219, and the eyelid driving steering engine bracket 10219 is fixed on the eye portion installation base 10209 by screws. Two eyelid driving steering engines 10220 are mounted on each eyelid driving steering engine support 10219, the eyelid driving steering engines 10220 are commercially available parts and are directly purchased, each eyelid driving steering engine 10220 is provided with a steering engine disk 10201 of the eyelid driving steering engine, the steering engine disk 10201 of the eyelid driving steering engine is a swing rod, the steering engine disk 10201 of the eyelid driving steering engine is hinged with an eyelid connecting rod 10202, the eyelid driving steering engine 10220 drives the steering engine disk 10201 of the eyelid driving steering engine to move, two ends of the eyelid connecting rod 10202 are hinged with the steering engine disk 10201 of the eyelid driving steering engine and an upper eyelid 10203 or a lower eyelid 10208 respectively, and eyelid opening and closing and blinking are achieved through power transmission.

As shown in fig. 7 and 9, the eyeball movement mechanism can realize up-down, left-right and rotation movements of the eyeball; each eyeball is internally provided with a camera and a human-computer interaction functional module for realizing face recognition, tracking and the like, and the camera and the human-computer interaction functional module are products known in the field and known by persons skilled in the art. The left and right movement of the eyeballs ensures the synchronization of the movement of the two eyeballs by a parallelogram mechanism consisting of a steering engine disk of an eyeball left and right movement steering engine 10207, an eyeball left and right rotation steering engine lengthened rod 10214, two eyeball mounting forks 10221 and an eyeball mounting connecting rod 10215; the up-and-down movement of the eyeball is completed by a crank-slider mechanism consisting of a steering engine disk, an eye up-and-down driving rod 10211, an eye sliding shaft 10210, an eyeball left-and-right rotating steering engine mounting rack 10206 and an eye mounting base 10209, and the up-and-down movement and the left-and-right movement of the eyeball are linked, so that the rotation of the eyeball can be realized.

As shown in fig. 7, 8 and 9, two eyeballs 10205 are respectively installed on two eyeball installation racks 10213, two eyeball installation forks 10221 are respectively and fixedly installed on the two eyeball installation racks 10213, the eyeball installation racks 10213 are hinged on an eyeball installation main bracket 10216, two eyeball installation forks 10221 are connected by an eyeball installation connecting rod 10215 to form a parallelogram mechanism so as to ensure that the two eyeballs move synchronously left and right, an eyeball left and right movement steering engine 10207 is arranged on the eyeball left and right rotation steering engine installation rack 10206, and a steering engine disk of the eyeball left and right movement steering engine 10207 is hinged with the eyeball installation connecting rod 10215. Furthermore, an eyeball left-right rotation steering engine extension bar 10214 is hinged between a steering engine disk of the eyeball left-right movement steering engine 10207 and the eyeball installation connecting rod 10215. The eyeball left-right movement steering engine 10207 is a commercially available part and is directly purchased, and a steering engine disk of the eyeball left-right movement steering engine 10207 is a swing rod.

As shown in fig. 7, 8 and 9, the up-and-down movement of the eyeball is driven by an eyeball up-and-down movement steering engine 10218, the eyeball up-and-down movement steering engine 10218 is installed on an eyeball up-and-down driving steering engine bracket 10217, the eyeball up-and-down driving steering engine bracket 10217 is fixed on an eye installation base 10209 through screws, the eyeball up-and-down movement steering engine 10218 is a commercially available part and is directly purchased, and a steering engine disk of the eyeball up-and-down movement steering engine 10218 is a swing link. Eye up-and-down driving rods 10211 are fixedly mounted on a steering engine disk of an eyeball up-and-down movement steering engine 10218, waist-shaped grooves are designed on the eye up-and-down driving rods 10211, an eye sliding shaft 10210 can slide in the waist-shaped grooves of the eye up-and-down driving rods 10211, the eye sliding shaft 10210 is connected with an eyeball left-and-right rotation steering engine mounting rack 10206, the eye sliding shaft 10210 can drive the eyeball left-and-right movement steering engine 10207 to rotate around a fixed point, and left-and-right movement of the eyeball can be achieved when the eyeball moves up and down.

As shown in fig. 10, 11, 12 and 13, the mouth drive mechanism 103 is integrally provided on the head support post by a mouth frame including a first mouth frame 10303 and a second mouth frame 10312, the first mouth frame 10303 and the second mouth frame 10312 being screw-fixed as a single body. The back surface of the second mouth frame 10312 is screwed to the head support posts 6. The eye mounting base plate 108 is screwed to the first mouth frame 10303.

As shown in fig. 10, 11, 12 and 13, the mouth driving mechanism 103 includes lip and mouth corner movement, cheek movement and tongue movement, the cheek movement, two sides of the face are respectively provided with a driving point, and the face driving steering engine 10311 drives the face muscle lifting connecting rod 10310 and the face epidermis connecting magnet 10309 to realize the movement of the outer skin of the face. A face drive steering gear 10311 is mounted on the second mouth frame 10312.

Lower teeth 10308 in the mouth driving mechanism 103 are arranged on a skull shell mandible 106, the skull shell mandible 106 is arranged on two mandible driving steering engines 10301 and is directly driven by the steering engines to realize opening and closing of the mouth, and the two mandible driving steering engines 10301 are both arranged on a second mouth frame 10312 through mandible driving steering engine mounting angle irons 10313 and screws.

The upper teeth 10307 in the mouth drive mechanism 103 are screwed to the upper tooth mounting plate 10305, and the upper tooth mounting plate 10305 is screwed to the first mouth frame 10303.

The lip mouth angle movement comprises two control point movements of the upper lip and two control point movements of two side mouth angles, and the upper lip is driven by two upper lip driving steering engines 10304 to drive lip skin connecting magnets arranged on a driving connecting rod; the two upper lip driving steering engines 10304 are arranged on the upper tooth mounting plate 10305 through angle irons and screws. The upper lip driving steering engine 10304 is a commercially available part and is directly purchased, the upper lip driving steering engine disk 10318 of the upper lip driving steering engine 10304 is a swing rod, the upper lip driving steering engine disk 10318 of the upper lip driving steering engine 10304 is hinged to the lip driving connecting rod 10317, the lip driving connecting rod 10317 is in threaded connection with the lip epidermis connecting magnet, and the epidermis is pulled to realize the movement of lips. As shown in fig. 11 and 13.

Two mouth angle driving steering engines are both mounted on the first mouth frame 10303 through angle irons and screws, mouth angle driving connecting rods 10315 are hinged to mouth angle driving steering engine disks 10316 of the two mouth angle driving steering engines, and the mouth angle driving connecting rods 10315 are in threaded connection with lip epidermis connecting magnets. The mouth angle driving steering engine is a commercially available part and is directly purchased, and the mouth angle driving steering engine disk 10316 of the mouth angle driving steering engine is a swing rod. The mouth angle of mouth angle drive steering wheel 10316 articulates mouth angle drive connecting rod 10315, and mouth angle drive connecting rod 10315 threaded connection epidermis connects magnet, pulls the epidermis, realizes the motion of mouth angle. As shown in fig. 11 and 13.

As shown in fig. 12 and 13, the tongue 10324 is mounted on the tongue fixing support 10322, the tongue mounting support 10323 is mounted on the first mouth frame 10303 by screws, the tongue fixing support 10322 is in threaded connection with the second tongue connecting rod 10321, the second tongue connecting rod 10321 is hinged to the first tongue connecting rod 10320, the tongue driving steering engine disk 10319 is hinged to the first tongue connecting rod 10320, the second tongue connecting rod 10321 penetrates through the tongue rotating shaft sleeve 10325, the second tongue connecting rod 10321 can slide in the tongue rotating shaft sleeve 10325, and the tongue rotating shaft sleeve 10325 is hinged to the tongue mounting support 10323. The second tongue link 10321 is driven by a tongue actuation steering engine 10327. The tongue actuator 10327 is secured to the first mouth frame 10303 by screws through the tongue actuator mounting bracket 10326.

As shown in fig. 14, 15, 16 and 17, the neck left-right rotating mechanism 201 is installed on the neck side swing mechanism 202, the neck side swing mechanism 202 moves to drive the whole neck left-right rotating mechanism 201 to move, the neck side swing mechanism 202 is arranged on the neck installation bottom plate 4, and a through hole for the neck side swing mechanism 202 to move is formed in the neck installation bottom plate 4.

The neck left-right rotating mechanism 201 comprises a neck cover plate 20108, a neck left-right rotating disk 20101, a neck left-right rotating shaft 20102, a neck rotating steering engine disk 20104, a neck rotating coupling 20103 and a neck rotating double-shaft steering engine 20105, wherein the neck left-right rotating mechanism 201 rotates by the neck rotating double-shaft steering engine 20105 through the neck rotating coupling 20103 to drive the neck left-right rotating shaft 20102 to rotate, the neck left-right rotating shaft 20102 penetrates through the neck cover plate 20108 to be connected with the neck left-right rotating disk 20101 through a key, and the head supporting upright 6 is fixed on the neck left-right rotating disk 20101, so that the whole face mechanism 1 is driven to rotate left and right, and the actions of the bionic facial expression robot shaking head are achieved.

An output rudder plate 20104 of a neck rotating double-shaft steering engine 20105 is connected with a neck rotating coupling 20103 through screws, a variable shaft hole of the neck rotating coupling 20103 is connected with a variable shaft end of a neck left and right rotating shaft 20102 in a matched mode, the other end of the neck left and right rotating shaft 20102 is connected with a neck left and right rotating disc 20101 through a flat key, the neck left and right rotating disc 20101 is connected with a head supporting upright post 6 through screws, and a mouth mechanism, an eye mechanism and an eyebrow mechanism are directly or indirectly fixed on the head supporting upright post 6, so that the steering engine drives the neck rotating shaft to rotate, and accordingly the whole head swings.

As shown in fig. 16, a neck rotation double-shaft steering engine 20105 is mounted on a neck rotation steering engine mounting frame 20106, the neck rotation steering engine mounting frame 20106 is fixed on a neck circular supporting frame 20107 through screws, a neck rotation steering engine disc 20104 of the neck rotation double-shaft steering engine 20105 is connected with a neck rotation shaft coupling 20103 through screws, the neck rotation shaft coupling 20103 is connected with flat shaft ends of a neck left and right rotation shaft 20102 in a matched mode, the neck left and right rotation shaft 20102 is connected with a neck left and right rotation disc 20101 through a flat key, and the neck left and right rotation disc 20101 is connected with a head supporting upright 6 through screws.

As shown in fig. 14, two neck circular support frames 20107 are provided, the two neck circular support frames 20107 are combined, the upper ends of the two neck circular support frames 20107 are fixed on the neck cover plate 20108, and the flat shaft holes at the lower ends of the two neck circular support frames 20107 are matched with the flat shaft end of the first differential shaft 20205 in the neck sidesway mechanism 202.

As shown in fig. 17, the neck sidesway mechanism 202 includes two bearing supports 20203, two first differential mechanism frames 20204, two second differential mechanism frames 20210, two neck circular support frames 20107, two first differential bevel gears 20206, a second differential bevel gear 20211, a third differential bevel gear 20212, a first neck differential shaft 20205, and two second neck differential shafts 20213.

As shown in fig. 17, in the neck sidesway mechanism 202, two neck sidesway driving steering engines 20201 drive two second neck differential shafts 20213, and first differential bevel gears 20206 on the two second neck differential shafts 20213 are engaged with a second differential bevel gear 20211 and a third differential bevel gear 20212. The two first differential mechanism frames 20204 and the two second differential mechanism frames 20210 form a rectangular frame structure as a frame of the differential bevel gear and the differential shaft, the neck circular support frame 20107 is mounted at two shaft ends of the first differential shaft 20205, and the neck circular support frame 20107 can drive the whole face mechanism to move in a moving manner, so that the head nodding, left-right swinging, head side swinging and other movements can be realized through differential movement.

As shown in fig. 17, two neck side swing drive steering engines 20201 are both mounted on the neck side swing drive steering engine mounting angle bar 20202, and the neck side swing drive steering engine mounting angle bar 20202 is mounted on the neck mounting base plate 4 by screws. The two neck side swing driving steering engines 20201 are connected to the shaft ends of the two second neck difference shafts 20213 through neck side swing couplings 20209, and the two neck bearing supports 20203 are used for mounting bearings 20207 and respectively supporting the two second neck difference shafts 20213. The two first differential mechanism frames 20204 and the two second differential mechanism frames 20210 are respectively provided with a bearing mounting hole, the two first differential mechanism frames 20204 and the two second differential mechanism frames 20210 are respectively provided with a bearing 20207 in the bearing mounting holes, the two first differential mechanism frames 20204 are used for supporting the first neck differential shaft 20205, and the two second differential mechanism frames 20210 are respectively used for supporting the two second neck differential shafts 20213. The second differential bevel gear 20211 and the third differential bevel gear 20212 are coaxially arranged on the first neck differential shaft 20205, the second differential bevel gear 20211 is sleeved on the first neck differential shaft 20205 in a hollow manner, the third differential bevel gear 20212 is in key connection with the first neck differential shaft 20205, the two first differential bevel gears 20206 are in key connection with the two second neck differential shafts 20213, and the two first differential bevel gears 20206 are meshed with the second differential bevel gear 20211 and the third differential bevel gear 20212 simultaneously.

In the neck structure 2, the neck circular support 20107 of the left and right neck rotation mechanism 201 is installed on the first differential shaft 20205 of the neck side swing mechanism 202, and the neck side swing mechanism 202 moves to directly drive the whole left and right neck rotation mechanism 201 to move. The mouth mechanism, the eye mechanism and the eyebrow mechanism are directly or indirectly fixed on the head supporting upright post 6, so that the steering engine drives the neck rotating shaft to rotate to realize the rotary motion of the whole head.

The neck left-right rotating mechanism 201 is driven by a double-shaft steering engine to complete rotating action, flat shaft holes at the lower ends of two neck circular supporting frames 20107 in the neck left-right rotating mechanism 201 are fixed with flat shaft holes at two ends of a first differential shaft 20205 in the neck side swinging mechanism 202, the neck side swinging mechanism 202 is moved by two steering engines driving differential gears through the differential shafts, and the neck moves back and forth, left and right and laterally.

In the mechanical structure of the multi-motion control point expression robot, the whole surface mechanism can realize the human-computer interaction functions of opening and closing of eyelids, left and right movement of eyeballs, up and down movement of eyeballs, rotation movement of eyeballs, movement of lips and mouth corners, movement of cheeks, opening and closing of mouths, face recognition, tracking and the like; the neck mechanism can realize the left-right rotation, the left-right swinging, the front-back swinging and the side swinging of the neck of the user.

As shown in fig. 19 to 23, the present embodiment also proposes a skin connection structure of an expression robot.

At present, most emulation people head robot comes pulling silica gel crust through the rope, and this drive mode drive accuracy is not enough, adopts rigid body transmission power to solve the shortcoming of rope drive, but adopts the rigid body to have the dismouting inconvenient and can only make the expression express lifelike shortcoming inadequately in the laminating of a fixed direction plane at the drive crust in-process tie point in the debugging process with being connected of silica gel crust.

The outer skin connecting structure 21 of the expression robot of the embodiment is arranged in such a way that one outer skin motion control point is provided with one outer skin connecting structure 21 of the expression robot.

As shown in fig. 19, an outer skin connecting structure 21 of an expression robot includes an outer skin driving mechanism 211, a silica gel outer skin connecting rod 212, and a silica gel outer skin 213 hinged at an end of the silica gel outer skin connecting rod. The outer skin driving mechanism 211 is arranged on the framework of the expression robot, and the corresponding position is the position of any outer skin movement control point. One end of the silica gel outer skin connecting rod 212 is hinged to the outer skin driving mechanism 211.

In this embodiment, the outer skin driving mechanism 211 preferably adopts a steering engine, the steering engine is installed on a corresponding steering engine support, and the steering engine support is installed on an inner framework of the expression robot. The steering wheel passes through the steering engine dish output power and gives silica gel crust connecting rod 212, thereby the curved surface radian of the one end that silica gel crust connecting rod 212 and silica gel crust 213 are connected according to the curved surface design of motion control point department silica gel skin more laminating with being connected of silica gel skin.

In this embodiment, the end of the outer skin connecting rod 2 connected to the outer skin 3 is a curved surface, and the curved surface needs to be the same as the curved surface of the current face driving point.

Silica gel crust connecting rod 212 is articulated with being connected of steering wheel dish, silica gel crust connecting rod 212 and silica gel crust 213 link design have a cylindrical recess, the design has spherical hinge groove in cylindrical recess, spherical hinge groove is connected with the spherical end cooperation on the first buckle 214, spherical hinge can avoid the connecting rod to develop the change because of the position of connecting rod and lead to not laminating with the silica gel crust at drive silica gel skin motion process, the advantage that first buckle 214 and second buckle 215 are connected through the mode of buckle is the dismouting of silica gel crust in the convenient expression robot debugging process, the second buckle adopts the special glue of silica gel to bond to silica gel crust 213.

The expression robot's crust connection structure 21 of this embodiment adopts rigid rod drive silica gel crust 213 to improve the controllability of motion, adopts buckle formula to be connected with in the middle of silica gel crust connecting rod 212 and silica gel crust 213 to do benefit to the dismouting of silica gel crust among the expression robot debugging process, adopts spherical articulated its advantage to lie in making silica gel crust and connecting rod drive point still keep laminating in the motion process between first buckle 214 and silica gel crust connecting rod 212.

The application of the outer skin connecting structure 21 of the expression robot improves the controllability of the silica gel outer skin driven by the facial expression robot, and facilitates the assembly and disassembly of the silica gel outer skin in the debugging process of the expression robot.

The parts not involved in the present invention are the same as or can be implemented using the prior art.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A mechanical structure of a robot with multiple motion control points and expressions is characterized by comprising a face structure (1), a neck structure (2) and a head supporting upright post (6) for connecting the face structure (1) and the neck structure (2), wherein the neck structure (2) is arranged on a neck mounting base plate (4); the face structure (1) comprises an eyebrow driving mechanism (101), an eye driving mechanism (102) and a mouth driving mechanism (103), the eyebrow driving mechanism (101) and the eye driving mechanism (102) are arranged on an eye mounting bottom plate (108), the eye mounting bottom plate (108) is arranged on the mouth driving mechanism (103), and the mouth driving mechanism (103) is arranged on a head supporting upright post (6).

2. The mechanical structure of a multi-motion control point expressive robot as claimed in claim 1, further comprising a shoulder shell (3) and a facial structure shell, wherein the shoulder shell (3) is disposed on the neck mounting plate (4) and the facial structure shell is disposed on the eye mounting plate (108).

3. The mechanical structure of a multi-motion control point expression robot of claim 2, wherein the face structure shell is composed of four parts: skull shell top (104), skull shell face (105), skull shell chin (106) and skull shell back (107), skull shell back (107) are installed on eye mounting plate (108), skull shell top (104) and skull shell face (105) are installed on skull shell back (107), skull shell chin (106) set up on two chin drive steering wheel (10301) and realize opening and shutting of mouth by chin drive steering wheel (10301) direct drive, two chin drive steering wheel (10301) set up on mouth actuating mechanism (103).

4. The mechanical structure of the robot with the multiple motion control points and the expression function as claimed in claim 3, wherein the mouth driving mechanism (103) is integrally arranged on the head supporting upright post (6) through a mouth frame, lower teeth (10308) in the mouth driving mechanism (103) are arranged on the lower jaw (106) of the skull shell, upper teeth (10307) in the mouth driving mechanism (103) are arranged on the mouth frame, two motion control points are respectively arranged on cheeks on two sides in the mouth driving mechanism (103), the steering engine drives the driving connecting rod to move, the driving connecting rod is provided with a skin connecting magnet, and the skin connecting magnet drives the skin to move; a tongue component in the mouth driving mechanism (103) is arranged on the mouth frame, and the tongue (10324) stretches and moves up and down; the lip mouth angle motion in the mouth driving mechanism (103) comprises four motion control points, namely a control point at each of two side mouth angles and two control points at the upper lip, the four motion control points are driven by a steering engine to drive a connecting rod to move, and the end parts of the four driving connecting rods are all provided with a skin connecting magnet.

5. The mechanical structure of a robot with multiple motion control points and expressions according to claim 1, wherein the eyebrow driving mechanism (101) comprises two symmetrical eyebrow units, both of which are arranged on an eyebrow support, which is arranged on the eye mounting base plate (108); each eyebrow unit is driven by two eyebrow driving steering engines (10101) to attract eyebrow points on the outer skin of the robot through two first magnets.

6. The mechanical structure of the robot with the multiple motion control points and the expression function according to claim 5, wherein two eyebrow driving steering engines (10101) are vertically arranged on the eyebrow support, steering engine discs of the two eyebrow driving steering engines (10101) are respectively hinged with an upper eyebrow driving rod (10108) and a lower eyebrow driving rod (10105), and the two first magnets are respectively arranged at the other ends of the upper eyebrow driving rod (10108) and the lower eyebrow driving rod (10105).

7. The mechanical structure of the robot with multiple motion control points and expressions according to claim 6, characterized in that the upper eyebrow driving rod (10108) and the lower eyebrow driving rod (10105) are vertically and outwardly extended with an eyebrow driving extension rod (10106), and the first magnet is arranged at the end of the eyebrow driving extension rod (10106).

8. The mechanical structure of the robot with the multiple motion control points and the expression function as claimed in claim 1, wherein the whole eye driving mechanism (102) is connected with the eye mounting base plate (108) through an eye mounting base (10209), and each eyelid in the eye driving mechanism (102) is driven by one steering engine independently to realize the opening and closing of the eyelid and the blinking of the eyelid; the two eyeballs in the eye driving mechanism (102) move synchronously, and a camera is mounted in each of the two eyeballs to realize face recognition; the left and right synchronous motion of the two eyeballs is realized by a parallelogram mechanism, and the up and down motion of the two eyeballs adopts a crank-slider mechanism; the up-and-down movement and left-and-right movement mechanisms of the two eyeballs are in a linkage structure.

9. The mechanical structure of a robot with multiple motion control points and expressions according to claim 8, wherein each eye comprises two eyelids, the left and right sides of the two eyelids are hinged to make the upper and lower eyelids a semi-sphere, and the hinged part of the two eyelids is hinged to the supporting structure on the eye mounting base (10209); a steering engine disk (10201) of the eyelid driving steering engine (10220) is hinged with the eyelid through an eyelid connecting rod (10202); the eyeball motion comprises an eyeball left-right motion steering engine (10207), two eyeballs (10205), two eyeball mounting frames (10213), two eyeball mounting forks (10221), an eyeball mounting main bracket (10216), an eyeball mounting connecting rod (10215), an eyeball up-down motion steering engine (10218), an eyeball up-down driving rod (10211) and an eyeball sliding shaft (10210), the two eyeballs (10205) are respectively arranged on the two eyeball mounting frames (10213), every two eyeball mounting forks (10221) are respectively fixed on the two eyeball mounting frames (10213), the two eyeball mounting forks (10221) are simultaneously hinged to two ends of the eyeball mounting connecting rod (10215), two ends of the eyeball mounting main bracket (10216) are respectively hinged to the two eyeball mounting frames (10213), the eyeball left-right motion steering engine (10207) is arranged on the eyeball left-right rotation steering engine (10206), and a steering wheel of the eyeball mounting frame (10207) is hinged to the eyeball mounting connecting rod (10215); the steering engine disk of the eyeball up-and-down movement steering engine (10218) is fixedly connected with an eye up-and-down driving rod (10211), a sliding groove for inserting an eye sliding shaft (10210) is formed in the eye up-and-down driving rod (10211), the eye sliding shaft (10210) is arranged on an eyeball left-and-right rotation steering engine mounting frame (10206), and the eyeball left-and-right rotation steering engine mounting frame (10206) is hinged to a supporting structure on an eye mounting base (10209).

10. The mechanical structure of the robot with the multiple motion control points and the expression function as claimed in claim 1, wherein the neck structure (2) comprises a neck left-right rotating mechanism (201) and a neck side swinging mechanism (202), and the neck left-right rotating mechanism is driven by a double-shaft steering engine to rotate and swing; the neck side-sway mechanism is driven by two steering engines to move the differential mechanism to carry out front-back, left-right and side sway motions, and the neck left-right rotating mechanism is arranged on the neck side-sway mechanism and moves along with the neck side-sway mechanism.

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