CN205766181U - A kind of emulated robot - Google Patents
A kind of emulated robot Download PDFInfo
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- CN205766181U CN205766181U CN201620612879.XU CN201620612879U CN205766181U CN 205766181 U CN205766181 U CN 205766181U CN 201620612879 U CN201620612879 U CN 201620612879U CN 205766181 U CN205766181 U CN 205766181U
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- auricularis
- module
- direction unit
- auris dextra
- horizontal direction
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Abstract
This utility model provides a kind of emulated robot, and it has facial contours；Facial contours arranges mouth shape structure；Mouth shape position arranges simulation mouth shape control module, upper lip and lower lips；Simulation mouth shape control module connects upper lip and lower lips respectively, is used for controlling to draw upper lip and/or lower lips, so that upper lip and/or lower lips deform upon.Using such scheme, this utility model is by the design of upper lip with lower lips so that the facial contours of robot has more the characteristic that personalizes so that the sound of robot not only spreads out of from stiff gap；Further, upper lip and/or lower lips is made to deform upon by simulation mouth shape control module, it is possible to realize the true property of plan of robot mouth so that it is closer in real human.
Description
Technical field
This utility model relates to Robot Design field, in particular, a kind of emulated robot.
Background technology
Existing robot details is the most perfect, it is possible to realize hands grab, language communication, the function such as walking, but, for mouth
The control of shape, often uses simple lines or gap performance, and therefore, prior art needs to improve.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of new emulated robot.
The technical solution of the utility model is as follows: a kind of emulated robot, it has facial contours；Described facial contours sets
Put mouth shape structure；Described mouth shape position arranges simulation mouth shape control module, upper lip and lower lips；Described simulation mouth shape controls mould
Block connects described upper lip and described lower lips respectively, is used for controlling to draw described upper lip and/or described lower lips, so that institute
State upper lip and/or described lower lips deforms upon.
Preferably, described facial contours also sets up ear shape structure；Described ear shape structure arranges simulation ear shape control module, a left side
Ear and auris dextra portion；Described simulation ear shape control module connects described left ear and described auris dextra portion respectively, is used for controlling traction
Described left ear and/or described auris dextra portion, so that described left ear and/or described auris dextra portion deform upon.
Preferably, described simulation ear shape control module arranges auricularis module and auricularis controller thereof；Described auricularis module is divided
Not connecting described left ear and described auris dextra portion, described auricularis controller is connected with described auricularis module, is used for controlling described ear
Flesh module is to draw described left ear and/or described auris dextra portion.
Preferably, described auricularis module arranges auricularis vertical direction unit and auricularis horizontal direction unit；Described auricularis hangs down
Nogata connects described left ear and described auris dextra portion respectively to unit；Described auricularis horizontal direction unit connects described left ear respectively
Portion and described auris dextra portion；Described auricularis controller respectively with described auricularis vertical direction unit, described auricularis horizontal direction unit
Connect, be used for controlling described auricularis vertical direction unit and move in vertical direction to draw described left ear and/or described auris dextra portion
Dynamic, and control described auricularis horizontal direction unit and move in the horizontal direction to draw described left ear and/or described auris dextra portion.
Preferably, described auricularis vertical direction unit arranges the vertical step device of auricularis, be used for drawing described left ear and/
Or described auris dextra portion is in vertical direction stepping.
Preferably, described auricularis horizontal direction unit arranges the horizontal step device of auricularis, be used for drawing described left ear and/
Or the stepping in the horizontal direction of described auris dextra portion.
Preferably, described auricularis module also sets up auricularis rotation direction unit；Described auricularis rotation direction unit connects respectively
Meet described left ear and described auris dextra portion；Described auricularis controller is also connected with described auricularis rotation direction unit, is used for controlling
Described auricularis rotation direction unit rotates in the range of preset first angle to draw described left ear and/or described auris dextra portion.
Preferably, described auricularis rotation direction unit arranges auricularis and rotates step device, be used for drawing described left ear and/
Or described auris dextra portion rotates preset second angle every time.
Preferably, described auricularis module also sets up auricularis directional trim unit, and it connects described auricularis vertical direction respectively
Unit, described auricularis horizontal direction unit, for finely tuning the lead of described auricularis vertical direction unit, described auricularis level
The lead of direction unit.
Preferably, described auricularis module also sets up auricularis displacement fine-adjusting unit, and it connects described auricularis vertical direction respectively
Unit, described auricularis horizontal direction unit, for finely tuning the traction displacement of described auricularis vertical direction unit, described auricularis level
The traction displacement of direction unit.
Using such scheme, this utility model is by the design of upper lip with lower lips so that the facial contours of robot
Have more the characteristic that personalizes so that the sound of robot not only spreads out of from stiff gap；Further, by simulation mouth shape control
Molding block makes described upper lip and/or described lower lips deform upon, it is possible to realize the true property of plan of robot mouth so that it is more paste
It is bordering on real human.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of this utility model one embodiment.
Fig. 2 is the schematic diagram of the another embodiment of this utility model.
Fig. 3 is the schematic diagram of the another embodiment of this utility model.
Fig. 4 is the schematic diagram of the another embodiment of this utility model.
Fig. 5 is the schematic diagram of the another embodiment of this utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, being described in detail this utility model, the following examples can group
Close and use, and, this utility model may utilize various forms and realizes, and is not limited to this specification each concrete enforcement described
Example, it is provided that the purpose of these embodiments is more thoroughly to readily appreciate disclosure of the present utility model all sidedly.Further
It should be noted that when a certain structure is fixed on another structure, be directly or indirectly fixed on this another including by this structure
Structure, or this structure is fixed on this another structure by other intermediate structures one or more.When a structure connects
Another structure, including this structure is directly or indirectly connected to this another structure, or by this structure by one or many
Other intermediate structure individual is connected to this another structure.Further, described "and/or" include " with " possible with "or" two kinds
Embodiment.
An example of the present utility model is, a kind of emulated robot, it has facial contours；Described facial contours is arranged
Mouth shape structure；Described mouth shape position arranges simulation mouth shape control module, upper lip and lower lips；Described simulation mouth shape control module
Connect described upper lip and described lower lips respectively, be used for controlling to draw described upper lip and/or described lower lips, so that described
Upper lip and/or described lower lips deform upon.
Such as, a kind of emulated robot, it has facial contours.Such as, a kind of emulated robot with facial contours.
Depending on described facial contours can be according to different designs, such as, described facial contours is oval face, round face or oval face etc..
Such as, described facial contours arranges mouth shape structure；Described mouth shape position arranges simulation mouth shape control module, upper lip
With lower lips；Described simulation mouth shape control module is arranged at inside described facial contours, such as, in described facial contours is provided with
Chamber, described simulation mouth shape control module is arranged at described inner chamber；And for example, described inner chamber has been also housed within power module, and it connects institute
State simulation mouth shape control module.Such as, described inner chamber is equipped with set of cells, and it connects described simulation mouth shape control module.
Such as, described emulated robot also has the wireless communication module being arranged within described facial contours, and it connects
Described simulation mouth shape control module, is used for receiving wireless signal, is transferred to described simulation mouth shape control module, such as, described mould
Intend mouth shape control module to control to draw described upper lip and/or described lower lips according to described wireless signal, so that described upper lip
Portion and/or described lower lips deform upon.Such as, described wireless communication module is placed in described inner chamber.
Such as, described emulated robot also has the voice output module being arranged within described facial contours, and it connects
Described simulation mouth shape control module, is used for exporting sound, and when exporting sound, by described simulation mouth shape control module control
System draws described upper lip and/or described lower lips, so that described upper lip and/or described lower lips deform upon.Such as, institute
State voice output module and be placed in described inner chamber；Preferably, described voice output module is also connected with described wireless communication module, uses
In the wireless signal received according to described wireless communication module, export sound.Such as, described wireless communication module receives language
Sound wireless signal or song wireless signal, be transferred to described voice output module, corresponding by the output of described voice output module
Voice or song.
Such as, described emulated robot also has the lighting module being arranged within described facial contours, described face shape
Shape is provided with photic zone, and the light emission direction of described lighting module is used for controlled luminescence towards described photic zone, described lighting module,
And by described photic zone transmission；Such as, described lighting module arranges some LED illuminator, and and for example, described photic zone is eyes
Position, described lighting module is arranged at inside ofeye.Such as, described lighting module is placed in described inner chamber；Preferably, described photograph
Bright module is also connected with described wireless communication module, carries out luminescence for the wireless signal received according to described wireless communication module
Control；Such as, described wireless communication module receives Lighting control wireless signal, is transferred to described lighting module, by described photograph
Bright module carries out luminescence, such as permanent light or flicker etc.；Or, described lighting module carry out lighting-off.So, reality is contributed to
The expression shape change of existing skin, such as shy blushes, the blue or green face etc. of indignation.
Such as, described emulated robot also has head shape, and it arranges installation site and is removably mounted to described
The hair portion of installation site.Such as, described head shape is arranged at the top of described facial contours；And for example, described installation position
Being set to screw, described hair portion is bolted in described installation site；And for example, described installation site arranges VELCRO, described hair portion
Detachably adhere on described installation site.It is removably mounted to the hair portion of described installation site by setting, can adopt flexibly
With long hair or bob, can also adjust the hair style of described emulated robot so that one set of die is applicable to various image, advantageous particularly
In the manufacturing.
Such as, described simulation mouth shape control module connects described upper lip and described lower lips respectively, is used for controlling traction
Described upper lip and/or described lower lips, so that described upper lip and/or described lower lips deform upon, such as, described simulation
Mouth shape control module controls to draw described upper lip and/or described lower lips so that described upper lip and described lower lips folding
And there is various folding degree, so that the control for mouth shape is the truest, the degree that personalizes is higher.
Such as, described simulation mouth shape control module arranges some mouth shape control units, some described mouth shape control unit bags
Include mouth shape control unit, lower mouth shape control unit, left mouth shape control unit and right mouth shape control unit, each described mouth shape
Control unit connects described upper lip and described lower lips respectively, for from corresponding direction controlling draw described upper lip and/
Or described lower lips so that described upper lip and/or described lower lips simultaneously by one, two, three or four direction pull strength, thus
Described upper lip and/or described lower lips is made to have various folding degree and various profile variation so that for the control of mouth shape
Make the truest, and make the degree that personalizes of described emulated robot higher.
Such as, described simulation mouth shape control module arranges orbicularis oris module and orbicularis oris controller, left buccinator muscle mould
Block and left buccinator muscle controller thereof and right buccinator muscle module and right buccinator muscle controller thereof；Described orbicularis oris module connects described respectively
Upper lip and described lower lips, described left buccinator muscle module connects the upper lip position, left side of described upper lip and described lower lips respectively
Lower lip position, left side, described right buccinator muscle module connects the upper lip position, right side of described upper lip and the right side lower lip of described lower lips respectively
Position；Described orbicularis oris controller is connected with described orbicularis oris module, is used for controlling described orbicularis oris module to draw institute
State upper lip and/or described lower lips；Described left buccinator muscle controller is connected with described left buccinator muscle module, is used for controlling described left cheek
Flesh module is with traction upper lip position, described left side and/or lower lip position, described left side；Described right buccinator muscle controller and described right buccinator muscle mould
Block connects, and is used for controlling described right buccinator muscle module with traction upper lip position, described right side and/or lower lip position, described right side.
Preferably, described simulation mouth shape control module also sets up musculus quadratus labii inferioris module and musculus quadratus labii inferioris controller thereof, described
Musculus quadratus labii inferioris module connects described lower lips, and described musculus quadratus labii inferioris controller is connected with described musculus quadratus labii inferioris module, is used for controlling
Described musculus quadratus labii inferioris module is to draw described lower lips.
Described simulation mouth shape control module also sets up musculus quadratus labii superioris module and musculus quadratus labii superioris controller thereof, described musculus quadratus labii superioris
Module connects described upper lip, and described musculus quadratus labii superioris controller is connected with described musculus quadratus labii superioris module, is used for controlling described upper lip
Quadratus module is to draw described upper lip.
Preferably, described emulated robot also has voice output controller, and it is placed in described inner chamber, and with described mould
Intending mouth shape control module to connect, described voice output controller arranges voice mouth shape memory element, and it is used for storing some voices
Corresponding mouth deformation, such as, it stores each simple or compound vowel of a Chinese syllable and each mouth deformation corresponding to each initial consonant；Such as, described voice mouth shape
Memory element (includes 9 diphtongs and 4 three conjunction units for storage 6 single vowels a, o, e, i, u and ü, 13 compound vowels
Sound), 9 vowel followed by a nasal consonants, 1 special simple or compound vowel of a Chinese syllable and 23 initial consonants are distinguished corresponding each mouth deformation etc.；Described voice output control
Device processed is used for when exporting voice, and the mouth deformation stored according to described voice mouth shape memory element controls described simulation mouth
Shape control module draws described upper lip and/or described lower lips, so that described upper lip and/or described lower lips are mated
Deformation in the voice exported.And for example, described voice output controller connects described voice output module, for by described
Voice output module output sound.
The various embodiments described above design, by the mouth shape expression muscle on the face of simulation normal human, it is achieved having of mouth shape
Effect analog variation, improves the emulator of the mouth shape of described emulated robot so that the mouth shape of emulated robot is more like true man.
Preferably, described facial contours also sets up ear shape structure；Described ear shape structure arranges simulation ear shape control module, a left side
Ear and auris dextra portion；Described simulation ear shape control module connects described left ear and described auris dextra portion respectively, is used for controlling traction
Described left ear and/or described auris dextra portion, so that described left ear and/or described auris dextra portion deform upon.Such as, described simulation
Ear shape control module is placed in described inner chamber, and connects described wireless communication module, for according to described wireless communication module
Ear portion shape wireless signal controls to draw described left ear and/or described auris dextra portion, so that described left ear and/or described auris dextra
Portion deforms upon.
Preferably, described emulated robot also has sound receiver, and it is placed in described inner chamber, and with described simulation ear
Shape control module connects, and described sound receiver is used for receiving external voice, and controls the traction of described simulation ear shape control module
Described left ear and/or described auris dextra portion, so that described left ear and/or described auris dextra portion deform upon.Preferably, described sound
Sound receptor arranges resolution module, for when described sound receiver receives external voice, differentiating the source side of external voice
To, described sound receiver controls described simulation ear shape control module and draws described left ear and/or described auris dextra portion, so that institute
Shu Zuo ear and/or described auris dextra portion are matched with the deformation of described source direction.
Preferably, described simulation ear shape control module arranges auricularis module and auricularis controller thereof；Described auricularis module is divided
Not connecting described left ear and described auris dextra portion, described auricularis controller is connected with described auricularis module, is used for controlling described ear
Flesh module is to draw described left ear and/or described auris dextra portion.
Preferably, described auricularis module arranges auricularis vertical direction unit and auricularis horizontal direction unit；Described auricularis hangs down
Nogata connects described left ear and described auris dextra portion respectively to unit；Described auricularis horizontal direction unit connects described left ear respectively
Portion and described auris dextra portion；Described auricularis controller respectively with described auricularis vertical direction unit, described auricularis horizontal direction unit
Connect, be used for controlling described auricularis vertical direction unit and move in vertical direction to draw described left ear and/or described auris dextra portion
Dynamic, and control described auricularis horizontal direction unit and move in the horizontal direction to draw described left ear and/or described auris dextra portion.
Preferably, described auricularis vertical direction unit arranges the vertical step device of auricularis, be used for drawing described left ear and/
Or described auris dextra portion is in vertical direction stepping.Preferably, described auricularis horizontal direction unit arranges the horizontal step device of auricularis, uses
In drawing described left ear and/or the stepping in the horizontal direction of described auris dextra portion.Such as, each stepping 0.5 millimeter to 1.5 millimeters.
And for example, each stepping 1 millimeter.
Preferably, described auricularis module also sets up auricularis rotation direction unit；Described auricularis rotation direction unit connects respectively
Meet described left ear and described auris dextra portion；Described auricularis controller is also connected with described auricularis rotation direction unit, is used for controlling
Described auricularis rotation direction unit rotates in the range of preset first angle to draw described left ear and/or described auris dextra portion.
Such as, preset first angle scope is 1 to 5 degree angle.And for example, preset first angle scope is 4 degree of angles.Preferably, described auricularis
Rotation direction unit arranges auricularis and rotates step device, is used for drawing described left ear and/or described auris dextra portion rotates pre-every time
If the second angle.Such as, preset second angle is 0.5 degree of angle or 1 degree of angle.
Preferably, described auricularis module also sets up auricularis directional trim unit, and it connects described auricularis vertical direction respectively
Unit, described auricularis horizontal direction unit, for finely tuning the lead of described auricularis vertical direction unit, described auricularis level
The lead of direction unit.Such as, finely tune described lead to change in 0.5 degree of angle to 5 degree of angle ranges.Preferably, institute
Stating auricularis module and also set up auricularis displacement fine-adjusting unit, it connects described auricularis vertical direction unit, described auricularis level respectively
Direction unit, for finely tuning traction displacement, the traction position of described auricularis horizontal direction unit of described auricularis vertical direction unit
Move.Such as, finely tune described traction displacement to change in the range of 0.2 millimeter to 1.2 millimeter.
The various embodiments described above design, by the ear portion shape on the face of simulation normal human, it is achieved effective mould of ear shape
Intend change, improve the emulator of the ear shape of described emulated robot so that the ear shape of emulated robot is more like true man.
Preferably, described facial contours also sets up cheekbone shape structure；Described cheekbone shape structure arranges simulation cheekbone shape control module, a left side
Cheekbone portion and right cheekbone portion；Described simulation cheekbone shape control module connects described left cheekbone portion and described right cheekbone portion respectively, is used for controlling traction
Described left cheekbone portion and/or described right cheekbone portion, so that described left cheekbone portion and/or described right cheekbone portion deform upon.Such as, described simulation
Cheekbone shape control module is placed in described inner chamber, and connects described wireless communication module, for according to described wireless communication module
Cheekbone portion shape wireless signal controls to draw described left cheekbone portion and/or described right cheekbone portion, so that described left cheekbone portion and/or described right cheekbone
Portion deforms upon.
Preferably, described simulation cheekbone shape control module arranges musculus module and musculus controller thereof；Described musculus module is divided
Not connecting described left cheekbone portion and described right cheekbone portion, described musculus controller is connected with described musculus module, is used for controlling described cheekbone
Flesh module is to draw described left cheekbone portion and/or described right cheekbone portion.
Preferably, described musculus module arranges musculus vertical direction unit and musculus horizontal direction unit；Described musculus hangs down
Nogata connects described left cheekbone portion and described right cheekbone portion respectively to unit；Described musculus horizontal direction unit connects described left cheekbone respectively
Portion and described right cheekbone portion；Described musculus controller respectively with described musculus vertical direction unit, described musculus horizontal direction unit
Connect, be used for controlling described musculus vertical direction unit to draw described left cheekbone portion and/or described right cheekbone portion in vertical direction shape
Become, and control described musculus horizontal direction unit to draw described left cheekbone portion and/or described right cheekbone portion deformation in the horizontal direction.
As such, it is possible to be better achieved described facial contours cheekbone portion change so that described emulated robot expression changeable, cheekbone portion more like
True man.
Preferably, described musculus vertical direction unit arranges the vertical step device of musculus, be used for drawing described left cheekbone portion and/
Or described right cheekbone portion is in vertical direction stepping deformation.Preferably, described musculus horizontal direction unit arranges musculus horizontal stepping dress
Put, be used for drawing described left cheekbone portion and/or described right cheekbone portion stepping deformation in the horizontal direction.Such as, each stepping 0.2 millimeter is extremely
0.5 millimeter.And for example, each stepping 0.3 millimeter.
Preferably, described musculus module also sets up musculus directional trim unit, and it connects described musculus vertical direction unit,
For finely tuning the lead of described musculus vertical direction unit.Preferably, described musculus directional trim unit is also connected with described
Musculus horizontal direction unit, for finely tuning the lead of described musculus horizontal direction unit.Such as, described lead is finely tuned
Change in 0.5 degree of angle to 5 degree of angle ranges.Preferably, described musculus module also sets up musculus displacement fine-adjusting unit, and it connects institute
State musculus vertical direction unit, for finely tuning the traction displacement of described musculus vertical direction unit.Preferably, described musculus displacement
Fine-adjusting unit is also connected with described musculus horizontal direction unit, for finely tuning the traction displacement of described musculus horizontal direction unit.Example
As, finely tune described traction displacement and change in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, by the cheekbone portion shape on the face of simulation normal human, it is achieved effective mould of cheekbone shape
Intend change, improve the emulator of the cheekbone shape of described emulated robot so that the cheekbone shape of emulated robot is more like true man.
Preferably, described facial contours also sets up chin shape structure；Described chin shape structure arrange simulation chin shape control module with
Chin portion；Described simulation chin shape control module connects described chin portion, is used for controlling to draw described chin portion, so that described chin portion occurs shape
Become.Such as, described simulation chin shape control module is placed in described inner chamber, and connects described wireless communication module, for according to institute
The chin portion shape wireless signal stating wireless communication module controls to draw described chin portion, so that described chin portion deforms upon.
Preferably, described simulation chin shape control module arranges mentalis module and mentalis controller thereof；Described mentalis module is even
Meeting described chin portion, described mentalis controller is connected with described mentalis module, is used for controlling described mentalis module to draw described chin
Portion.
Preferably, described mentalis module arranges mentalis vertical direction unit and mentalis horizontal direction unit；Described mentalis hangs down
Nogata connects described chin portion respectively to unit；Described mentalis horizontal direction unit connects described chin portion respectively；Described mentalis controls
Device is connected with described mentalis vertical direction unit, described mentalis horizontal direction unit respectively, is used for controlling described mentalis Vertical Square
To unit with the described chin portion of traction in vertical direction deformation, and control described mentalis horizontal direction unit to draw described chin portion
Deformation in the horizontal direction.As such, it is possible to the chin portion change of described facial contours is better achieved so that described emulated robot table
Feelings are changeable, and chin portion is more like true man.
Preferably, described mentalis vertical direction unit arranges the vertical step device of mentalis, is used for drawing described chin portion and is hanging down
Nogata is to stepping deformation.Preferably, described mentalis horizontal direction unit arranges the horizontal step device of mentalis, is used for drawing described chin
Portion's stepping deformation in the horizontal direction.Such as, each stepping 0.2 millimeter to 0.5 millimeter.And for example, each stepping 0.3 millimeter.Preferably
, described mentalis module also sets up mentalis directional trim unit, and it connects described mentalis vertical direction unit, is used for finely tuning described
The lead of mentalis vertical direction unit.Preferably, described mentalis directional trim unit is also connected with described mentalis horizontal direction
Unit, for finely tuning the lead of described mentalis horizontal direction unit.Such as, described lead is finely tuned at 0.5 degree of angle to 5
Change in degree angle range.
Preferably, described mentalis module also sets up mentalis displacement fine-adjusting unit, and it connects described mentalis vertical direction unit,
For finely tuning the traction displacement of described mentalis vertical direction unit.Preferably, described mentalis displacement fine-adjusting unit is also connected with described
Mentalis horizontal direction unit, for finely tuning the traction displacement of described mentalis horizontal direction unit.Such as, described traction displacement is finely tuned
Change in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, by the chin portion shape on the face of simulation normal human, it is achieved effective mould of chin shape
Intend change, improve the emulator of the chin shape of described emulated robot so that the chin shape of emulated robot is more like true man.
Preferably, described facial contours also sets up nose-shaped structure；Described nose-shaped structure arrange simulation nose-shaped control module with
Nose；Described simulation nose-shaped control module connects described nose, is used for controlling to draw described nose, so that described nose generation shape
Become.Such as, described simulation nose-shaped control module is placed in described inner chamber, and connects described wireless communication module, for according to institute
The nose shape wireless signal stating wireless communication module controls to draw described nose, so that described nose deforms upon.
Preferably, described simulation nose-shaped control module arranges nasalis module and nasalis controller thereof；Described nasalis module is even
Connecing described nose, described nasalis controller is connected with described nasalis module, is used for controlling described nasalis module to draw described nose
Portion.
Preferably, described nasalis module arranges nasalis vertical direction unit and nasalis horizontal direction unit；Described nasalis hangs down
Nogata connects described nose respectively to unit；Described nasalis horizontal direction unit connects described nose respectively；Described nasalis controls
Device is connected with described nasalis vertical direction unit, described nasalis horizontal direction unit respectively, is used for controlling described nasalis Vertical Square
To unit with the described nose of traction in vertical direction deformation, and control described nasalis horizontal direction unit to draw described nose
Deformation in the horizontal direction.As such, it is possible to the nose change of described facial contours is better achieved so that described emulated robot table
Feelings are changeable, and nose is more like true man.
Preferably, described nasalis vertical direction unit arranges the vertical step device of nasalis, is used for drawing described nose and is hanging down
Nogata is to stepping deformation.Preferably, described nasalis horizontal direction unit arranges the horizontal step device of nasalis, is used for drawing described nose
Portion's stepping deformation in the horizontal direction.Such as, each stepping 0.1 millimeter to 0.4 millimeter.And for example, each stepping 0.2 millimeter.Preferably
, described nasalis module also sets up nasalis directional trim unit, and it connects described nasalis vertical direction unit, is used for finely tuning described
The lead of nasalis vertical direction unit.Preferably, described nasalis directional trim unit is also connected with described nasalis horizontal direction
Unit, for finely tuning the lead of described nasalis horizontal direction unit.Such as, described lead is finely tuned at 0.2 degree of angle to 2
Change in degree angle range.Such as, finely tuning described lead is 0.5 degree of angle.
Preferably, described nasalis module also sets up nasalis displacement fine-adjusting unit, and it connects described nasalis vertical direction unit,
For finely tuning the traction displacement of described nasalis vertical direction unit.Preferably, described nasalis displacement fine-adjusting unit is also connected with described
Nasalis horizontal direction unit, for finely tuning the traction displacement of described nasalis horizontal direction unit.Such as, described traction displacement is finely tuned
Change in the range of 0.1 millimeter to 0.6 millimeter.
The various embodiments described above design, by the nose shape on the face of simulation normal human, it is achieved effective mould of nose-shaped
Intend change, improve the emulator of the nose-shaped of described emulated robot so that the nose-shaped of emulated robot is more like true man.
Preferably, described facial contours also sets up eye-shaped structure；Described eye-shaped structure arranges simulation eye-shaped control module, a left side
Eye and right eye portion；Described simulation eye-shaped control module connects described left eye portion and described right eye portion respectively, is used for controlling traction
Described left eye portion and/or described right eye portion, so that described left eye portion and/or described right eye portion change.Such as, described simulation
Eye-shaped control module is placed in described inner chamber, and connects described wireless communication module, for according to described wireless communication module
Eye shape wireless signal controls to draw described left eye portion and/or described right eye portion, so that described left eye portion and/or described right eye
Portion changes.
Preferably, described simulation eye-shaped control module arranges eye rotation module and eye rotation controller thereof；Described eye
Eyeball rotating module connects left eye in described left eye portion and the right eye in described right eye portion respectively, described eye rotation controller with
Described eye rotation module connects, and is used for controlling described eye rotation module to drive described left eye and/or described right eye to occur
Rotate.
Preferably, described eye rotation module arranges eyes vertical direction unit and eye level direction unit；Described eye
Eyeball vertical direction unit is rotationally connected described left eye and described right eye respectively；Described eye level direction unit is rotationally connected respectively
Described left eye and described right eye；Described eyes controller respectively with described eyes vertical direction unit, described eye level direction
Unit connects, and is used for controlling described eyes vertical direction unit and vertically exists to draw described left eye and/or described right eye
Rotate in preset vertical rotational angle range, and control described eye level direction unit to draw described left eye and/or institute
State right eye to rotate in preset level rotational angle range in the horizontal direction.As such, it is possible to described facial contours is better achieved
Eye change so that described emulated robot expression changeable, eyes are more like true man.
Preferably, described eyes vertical direction unit arranges vertical direction and rotates step device, is used for drawing described left eye
And/or described right eye each vertical rotation preset vertical angle.Such as, preset vertical angle is 0.1 to 80 degree；And for example, preset
Vertical angle is 5 to 10 degree；And for example, preset vertical angle is 1 to 2 degree；In this manner it is achieved that the rotating upwardly and downwardly of eyes.
Preferably, described eye level direction unit arranges horizontal direction and rotates step device, is used for drawing described left eye
And/or described right eye horizontally rotates preset level angle every time.Such as, preset level angle is 0.1 to 80 degree；And for example, preset
Level angle is 5 to 10 degree；And for example, preset level angle is 1 to 2 degree；In this manner it is achieved that the left-right rotation of eyes.
Preferably, described simulation eye-shaped control module arranges eye muscle module and eye muscle controller thereof；Described eye muscle module is divided
Not connecting described left eye portion and described right eye portion, described eye muscle controller is connected with described eye muscle module, is used for controlling described eye
Flesh module changes to draw described left eye portion and/or described right eye portion.
Preferably, described eye muscle module includes that orbicularis oculi module, described eye muscle controller include orbicularis oculi controller；
Described orbicularis oculi module connects described left eye portion and described right eye portion respectively, and described orbicularis oculi controller takes turns circle with described eye
Flesh module connects, and is used for controlling described eye muscle module and changes to draw described left eye portion and/or described right eye portion.And/or,
Described eye muscle module also includes that corrugator supercilii module, described eye muscle controller also include corrugator supercilii controller；Described corrugator supercilii module
Connecting the left eye position, right side in described left eye portion and the right eye position, left side in described right eye portion respectively, described corrugator supercilii controller is with described
Corrugator supercilii module connects, and is used for controlling described corrugator supercilii module with traction left eye position, described right side and/or right eye position, described left side
Change.And/or, described eye muscle module also includes that frontalis module, described eye muscle controller also include frontalis controller；Described
Frontalis module connects the left eye position, top in described left eye portion and the right eye position, top in described right eye portion, described frontalis controller respectively
It is connected with described frontalis module, is used for controlling described frontalis module with traction left eye position, described top and/or described top right eye
Position changes.
Above-mentioned each eyes related embodiment designs, by the eye shape on the face of simulation normal human, it is achieved eyes
Effective analog variation, improve the emulator of the eyes of described emulated robot so that the eyes of emulated robot more like
True man.
In the various embodiments described above, concrete control module can be selected for existing microprocessor or integrated circuit realizes, specifically
Control mode also corresponding microprocessor or integrated circuit software program or solidification software can be used to realize, the tool of these hardware
The particular content of body structure or software is not emphasis of the present utility model, same, and the muscle module in the various embodiments described above is also
Improved shape can be made further in existing anthropometric dummy.The each embodiment of this utility model is to its connected applications, by various miniature
Hardware controls is embodied in the facial contours of robot, it is possible to the effectively facial controllability of hoisting machine people, for the day of robot
Often life application provides unlimited possibility.
Continue with and combine accompanying drawing described emulated robot is illustrated.Such as, as it is shown in figure 1, one emulates
Robot, it has facial contours 100；Described facial contours arrange mouth shape structure 110, ear shape structure 120, chin shape structure 140,
Nose-shaped structure 150, eye-shaped structure 160, camber structure 170；Mouth shape position arranges simulation mouth shape control module 111, upper lip 112
With lower lips 113；Simulation mouth shape control module connects upper lip and lower lips respectively.In Fig. 1, described emulated robot also has
Neck shaped 300, it is arranged at below facial contours 100.Preferably, described emulated robot is provided with nose shape, described
Facial contours is positioned at described nose shape, and described nose shape is fixed or rotated and is arranged at described neck shaped.And for example, such as Fig. 2
Shown in, described facial contours also has cheekbone shape structure 130；Such as, described facial contours has a mouth shape structure, two ear shapes
Structure, two cheekbone shape structures, a chin shape structure, a nose-shaped structure, two eye-shaped structures and two camber structures；Camber is tied
Structure is positioned at eye-shaped superstructure.As in figure 2 it is shown, described emulated robot also has the wireless telecommunications being arranged within facial contours
Module 400, it connects simulation mouth shape control module 111.And for example, as it is shown on figure 3, described emulated robot also has is arranged at face
The voice output module 500 of portion's shaped interior, it connects simulation mouth shape control module 111.And for example, as shown in Figure 4, described emulation
Robot also has the lighting module 600 being arranged within described facial contours, and described facial contours is provided with photic zone 610,
The light emission direction of described lighting module is towards described photic zone.Such as, as shown in Figure 4, described emulated robot has three groups of photographs
Bright module and three photic zones of correspondence thereof, described photic zone is circular, and often group lighting module is provided with 7 LED illuminator.Again
As, as shown in Fig. 2, Fig. 3 and Fig. 5, described facial contours also has head shape 200, and it arranges installation site and detachable
It is installed on the hair portion 210 of described installation site.
Further, embodiment of the present utility model also includes, each technical characteristic of the various embodiments described above, is mutually combined shape
Become emulated robot, there is the robot of facial contours or there is the robot of mouth shape structure.Each reality of the present utility model
Execute the part such as example lip-syncing, eye, nose, ear, cheekbone, chin (i.e. chin) to have carried out designing in detail and improving, significant increase robot
Facial controllability, control of especially expressing one's feelings, thus improve the simulated effect of robot so that the facial contours of robot
Have more the characteristic that personalizes, closer in real human.
It should be noted that above-mentioned each technical characteristic continues to be mutually combined, form various embodiments the most enumerated above,
It is accordingly to be regarded as the scope that this utility model description is recorded；Further, for those of ordinary skills, can according on state
Bright improved or converted, and all these modifications and variations all should be belonged to the protection model of this utility model claims
Enclose.
Claims (10)
1. an emulated robot, it is characterised in that there is facial contours；
Described facial contours arranges mouth shape structure；
Described mouth shape position arranges simulation mouth shape control module, upper lip and lower lips；
Described simulation mouth shape control module connects described upper lip and described lower lips respectively, is used for controlling to draw described upper lip
And/or described lower lips, so that described upper lip and/or described lower lips deform upon.
Emulated robot the most according to claim 1, it is characterised in that described facial contours also sets up ear shape structure；
Described ear shape structure arranges simulation ear shape control module, left ear and auris dextra portion；
Described simulation ear shape control module connects described left ear and described auris dextra portion respectively, is used for controlling to draw described left ear
And/or described auris dextra portion, so that described left ear and/or described auris dextra portion deform upon.
Emulated robot the most according to claim 2, it is characterised in that described simulation ear shape control module arranges auricularis module
And auricularis controller；
Described auricularis module connects described left ear and described auris dextra portion respectively, and described auricularis controller is with described auricularis module even
Connect, be used for controlling described auricularis module to draw described left ear and/or described auris dextra portion.
Emulated robot the most according to claim 3, it is characterised in that described auricularis module arranges auricularis vertical direction unit
And auricularis horizontal direction unit；
Described auricularis vertical direction unit connects described left ear and described auris dextra portion respectively；
Described auricularis horizontal direction unit connects described left ear and described auris dextra portion respectively；
Described auricularis controller is connected with described auricularis vertical direction unit, described auricularis horizontal direction unit respectively, is used for controlling
Make described auricularis vertical direction unit and move in vertical direction to draw described left ear and/or described auris dextra portion, and control
Described auricularis horizontal direction unit moves in the horizontal direction to draw described left ear and/or described auris dextra portion.
Emulated robot the most according to claim 4, it is characterised in that it is vertical that described auricularis vertical direction unit arranges auricularis
Step device, is used for drawing described left ear and/or described auris dextra portion in vertical direction stepping.
Emulated robot the most according to claim 4, it is characterised in that described auricularis horizontal direction unit arranges auricularis level
Step device, is used for drawing described left ear and/or the stepping in the horizontal direction of described auris dextra portion.
Emulated robot the most according to claim 4, it is characterised in that described auricularis module also sets up auricularis rotation direction list
Unit；
Described auricularis rotation direction unit connects described left ear and described auris dextra portion respectively；
Described auricularis controller is also connected with described auricularis rotation direction unit, be used for controlling described auricularis rotation direction unit with
Draw described left ear and/or described auris dextra portion rotates in the range of preset first angle.
Emulated robot the most according to claim 7, it is characterised in that described auricularis rotation direction unit arranges auricularis and rotates
Step device, is used for drawing described left ear and/or described auris dextra portion rotates preset second angle every time.
Emulated robot the most according to claim 4, it is characterised in that described auricularis module also sets up auricularis directional trim list
Unit, it connects described auricularis vertical direction unit, described auricularis horizontal direction unit respectively, is used for finely tuning described auricularis Vertical Square
To the lead of unit, the lead of described auricularis horizontal direction unit.
Emulated robot the most according to claim 9, it is characterised in that described auricularis module also sets up auricularis displacement fine setting
Unit, it connects described auricularis vertical direction unit, described auricularis horizontal direction unit respectively, is used for finely tuning described auricularis vertical
Traction displacement, the traction displacement of described auricularis horizontal direction unit of direction unit.
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| CN201620612879.XU CN205766181U (en) | 2016-06-21 | 2016-06-21 | A kind of emulated robot |
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| CN201620612879.XU CN205766181U (en) | 2016-06-21 | 2016-06-21 | A kind of emulated robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881556A (en) * | 2016-06-21 | 2016-08-24 | 深圳爱易瑞科技有限公司 | Simulation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881556A (en) * | 2016-06-21 | 2016-08-24 | 深圳爱易瑞科技有限公司 | Simulation robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20170621 |