CN205799547U - A kind of robot mouth action control system and robot - Google Patents
A kind of robot mouth action control system and robot Download PDFInfo
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- CN205799547U CN205799547U CN201620329632.7U CN201620329632U CN205799547U CN 205799547 U CN205799547 U CN 205799547U CN 201620329632 U CN201620329632 U CN 201620329632U CN 205799547 U CN205799547 U CN 205799547U
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Abstract
The utility model discloses a kind of robot mouth action control system, it includes sensing equipment, controller, driving equipment and mouth open/close mechanism；Wherein: described sensing equipment is connected with described controller；Described controller is connected with described driving equipment；Described driving equipment is connected with described mouth open/close mechanism；Described sensing equipment is for detecting the signal of speaking of driver；Described controller controls mouth open/close mechanism described in described driving device drives for signal of speaking described in basis and carries out corresponding mouth opening and closing movement.Such scheme can solve the mouth action of current robot and control problem that is delayed and that expend the bigger energy of driver.This utility model also provides for a kind of robot.
Description
Technical field
This utility model relates to technical field of robot control, particularly relate to a kind of robot mouth action control system and
Robot.
Background technology
Along with the development of science and technology, robot field is developed the most rapidly.Current robot kind is more, Ke Yifen
For Automatic Control robot, it is also possible to be divided into mabot.So-called mabot needs people to enter robot interior
Realize robot by manipulation to work.Mabot helps market, exhibitions to implement publicity, this kind usually used as amusement equipment
The robot of type is commonly referred to amusement robot.
The driver of current amusement robot enters robot interior and various piece is implemented manipulation.Generally robot
Height relatively big, and the height of driver is less, and therefore, driver typically requires control control system to control the mouth of robot
Portion's action, and then make robot mouth reach to simulate the purpose of speech act.It is known that driver once enters robot
Time internal, the part needing manipulation is more, and therefore driver manipulates robot mouth generation action and simulates to speak and can expend relatively
Big energy, and often exist and control delayed problem, do not reach the purpose of robot performance true to nature.
Utility model content
The purpose of this utility model is to provide a kind of robot mouth action control system, to solve current robot
Mouth action controls problem that is delayed and that expend the bigger energy of driver.
To achieve these goals, the following technical scheme of this utility model offer:
A kind of robot mouth action control system, including sensing equipment, controller, driving equipment and mouth opening and closing machine
Structure；Wherein:
Described sensing equipment is connected with described controller；Described controller is connected with described driving equipment；Described driving sets
For being connected with described mouth open/close mechanism；Described sensing equipment is for detecting the signal of speaking of driver；Described controller is used for
Control mouth open/close mechanism described in described driving device drives according to described signal of speaking and carry out corresponding mouth opening and closing movement.
Preferably, in above-mentioned control system, described sensing equipment is sound transducer, for obtaining the voice of driver
Tone signal, described voice tone signal be described in speak signal.
Preferably, in above-mentioned control system, described sound transducer is arranged at the fuselage of described robot and described driving
The relative position of mouth of member.
Preferably, in above-mentioned control system, described sensing equipment is mouth action sensor, for detecting the mouth of driver
Portion's actuating signal, described mouth action signal be described in speak signal.
Preferably, in above-mentioned control system, described mouth action sensor includes that head hoop, pendulum frame and signals collecting are launched
Device；Wherein:
Described pendulum frame is connected with the bottom of described head hoop, and can rotate relative to described head hoop；Use in the frame of described pendulum frame
In the face of the described driver of receiving, and the bottom frame of described pendulum frame is fitted for the chin with described driver, to accompany the emperor
The chin action of the person of sailing；Described signals collecting emitter is connected with described pendulum frame, and for gathering the action of described bottom frame
Signal is also transmitted to described controller.
Preferably, in above-mentioned control system, the top of described head hoop arranges limited top frame；Described limit top frame is used for and driving
The spacing laminating in the crown of member.
Preferably, in above-mentioned control system, described signals collecting emitter is by mounting seat and described head hoop and described pendulum
Frame connects, and the top of described mounting seat is fixedly linked with described head hoop, and the bottom of described mounting seat is formed with described pendulum frame and is connected
Revolute pair；Described mounting seat is provided with bar hole, and described head hoop is connected by bolt assembly with described bar hole；Described bar hole
One end near described head hoop, the other end is near described pendulum frame；Described bar hole is for regulating the bottom of pendulum frame away from described head hoop
Distance.
A kind of robot, including the control system described in as above any one.
In technique scheme, in the robot mouth action control system that this utility model provides, sensing equipment is examined
Measuring driver to speak, signal of then speaking is sent to controller, and controller is opened driving after receiving signal of speaking and set
Standby, drive the work of device drives mouth open/close mechanism, and then realize the mouth action of robot.Described in background technology
Manipulate for multiple control module realizes robot mouth action by driver, the robot mouth that this utility model provides
Motion control system can be carried out at any time, as long as driver loquiturs can realize the mouth action of robot, and can be the most slow
Solving the problem that robot mouth action is delayed, simultaneously, it is not necessary to driver consumes bigger energy, manipulation is simple, convenient.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only described in this utility model
Some embodiments, for those of ordinary skill in the art, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
A kind of structural representation of the robot mouth action control system that Fig. 1 provides for this utility model embodiment.
Fig. 2 is the another kind of structural representation of the robot mouth action control system that this utility model embodiment provides；
Fig. 3 is the yet another construction schematic diagram of the robot mouth action control system that this utility model embodiment provides；
Fig. 4 is the structural representation of a kind of concrete mouth action sensor that this utility model embodiment provides.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the technical solution of the utility model, below in conjunction with accompanying drawing pair
This utility model is further detailed.
Refer to Fig. 1, this utility model embodiment provides a kind of robot mouth action control system, the mouth provided
Motion control system includes sensing equipment 100, controller 200, driving equipment 300 and mouth open/close mechanism 400.
Whether sensing equipment 100 is connected with controller 200, speak for measuring robots driver, and robot once says
Words, sensing equipment 100 then can send signal of speaking and be connected with driving equipment 300 to controller 200, controller 200.Controller
200 are usually miniature PC or PLC control circuit.Driving equipment 300 is connected with mouth open/close mechanism 400, drives equipment 300 usual
It is to drive motor.Controller 200 is used for controlling driving equipment 300 and opens or quit work.Controller 200 receives sensing equipment
Controlling driving equipment 300 after 100 signals of speaking sent to start working, driving equipment 300 then can drive mouth opening and closing machine
Structure 400 action, reaches to realize the purpose of robot mouth action.
In the robot mouth action control system that this utility model embodiment provides, sensing equipment 100 detects driving
Member speaks, and then sends a signal to controller 200, and controller 200 opens driving equipment 300 after receiving signal of speaking,
Driving equipment 300 drives mouth open/close mechanism 400 to work, and then realizes the mouth action of robot.Compared to background technology institute
That states manipulates for multiple control module realizes robot mouth action by driver, the machine mouth that the present embodiment provides
Portion's motion control system can be carried out at any time, as long as driver loquiturs can realize the mouth action of robot, and can be preferably
Alleviating the problem that robot mouth action is delayed, simultaneously, it is not necessary to driver consumes bigger energy, manipulation is simple, convenient.
By described above, whether the control system that the present embodiment provides is spoken by detection driver controls machine
Device people's mouth action.Refer to Fig. 2, sensing equipment 100 can be sound transducer 500.Sound transducer 500 is driven for acquisition
The voice tone signal of the person of sailing, described voice tone signal is as signal of speaking.Voice tone signal is sent to controller
200 open subsequent control.Concrete, it is relative with the mouth of driver that sound transducer 500 is arranged at the fuselage of robot
Position, and then can preferably obtain the signal of speaking of driver.
It is known that driver once speaks, not only can be fed back by sound, it is also possible to come anti-by mouth action
Feedback.To this end, refer to Fig. 3, sensing equipment can be mouth action sensing 600.Mouth action sensor 600 is used for detecting driving
The mouth action signal of member, mouth action signal is sent to controller 200 as signal of speaking.
Refer to Fig. 4, the present embodiment provides the mouth action sensor 600 of a kind of concrete structure, and the mouth provided moves
Make sensor 600 and include head hoop 610, pendulum frame 620 and signals collecting emitter 630.Wherein, pendulum frame 620 and the bottom of head hoop 610
Connect, and can rotate relative to head hoop 610；For accommodating the face of driver in the frame of pendulum frame 620, and the bottom of pendulum frame 620
Frame is fitted for the chin with driver, with the chin action with driver；Signals collecting emitter 630 is with pendulum frame 620 even
Connect, and for gathering the actuating signal of bottom frame and being transmitted to controller 200.The work of above-mentioned mouth action sensor 600
During, along with when driver speaks, mouth action can drive the bottom frame of pendulum frame 620 to swing, bottom frame swing can make
Signals collecting emitter 630 gathers mouth action signal, and the mouth action signal of collection is sent to controller 200.
Above-mentioned mouth action sensor 600 is Wearable structure, and more specifically, the top of head hoop 610 is provided with restriction
Frame 640, limit top frame 640 coordinates for spacing with the crown of driver, is avoided that head hoop 610 is downward relative to the head of driver
Mobile.Preferably, above-mentioned head hoop 610 can be that elastomeric material, such as elastomeric material are made.
Referring again to Fig. 4, signals collecting emitter 630 is connected with head hoop 610 and pendulum frame 620 by mounting seat 650.Peace
The top of dress seat 650 is connected with head hoop 610, and the bottom of mounting seat 650 is formed with pendulum frame 620 and is connected revolute pair.It is more highly preferred to,
Mounting seat 650 is provided with bar hole 651, and head hoop 610 is connected by bolt assembly 660 with bar hole 651.The one of bar hole 651
End is near head hoop 610, and the other end is near pendulum frame 620, and bar hole 651 can regulate the bottom of pendulum frame 620 distance away from head hoop 610,
And then whole mouth action sensor 600 can be made to adapt to the driver that head size is different, mouth action sensor can be improved
The wearable performance of 600.
This utility model embodiment also provides for a kind of robot, and the robot provided includes in above-described embodiment any one
Item robot mouth action control system described in embodiment.
By the way of explanation, only describe some one exemplary embodiment of the present utility model above, undoubtedly, for
Those of ordinary skill in the art, in the case of without departing from spirit and scope of the present utility model, can be with various different
Described embodiment is modified by mode.Therefore, above-mentioned accompanying drawing and description are the most illustrative, should not be construed as
Restriction to this utility model claims.
Claims (8)
1. a robot mouth action control system, it is characterised in that include sensing equipment, controller, driving equipment and mouth
Portion's open/close mechanism；Wherein:
Described sensing equipment is connected with described controller；Described controller is connected with described driving equipment；Described driving equipment with
Described mouth open/close mechanism is connected；Described sensing equipment is for detecting the signal of speaking of driver；Described controller is used for basis
Described signal of speaking controls mouth open/close mechanism described in described driving device drives and carries out corresponding mouth opening and closing movement.
Control system the most according to claim 1, it is characterised in that described sensing equipment is sound transducer, is used for obtaining
Take the voice tone signal of driver, described voice tone signal be described in speak signal.
Control system the most according to claim 2, it is characterised in that described sound transducer is arranged at described robot
The position that fuselage is relative with the mouth of described driver.
Control system the most according to claim 1, it is characterised in that described sensing equipment is mouth action sensor, uses
In the mouth action signal of detection driver, described mouth action signal be described in speak signal.
Control system the most according to claim 4, it is characterised in that described mouth action sensor includes head hoop, pendulum frame
With signals collecting emitter；Wherein:
Described pendulum frame is connected with the bottom of described head hoop, and can rotate relative to described head hoop；It is used for holding in the frame of described pendulum frame
Receive the face of described driver, and the bottom frame of described pendulum frame is fitted, with driver for the chin with described driver
Chin action；Described signals collecting emitter is connected with described pendulum frame, and for gathering the actuating signal of described bottom frame
And it is transmitted to described controller.
Control system the most according to claim 5, it is characterised in that the top of described head hoop arranges limited top frame；Described
Limit top frame is for the spacing laminating with the crown of driver.
7. according to the control system described in claim 5 or 6, it is characterised in that described signals collecting emitter passes through mounting seat
Being connected with described head hoop and described pendulum frame, the top of described mounting seat is fixedly linked with described head hoop, the bottom of described mounting seat
Formed with described pendulum frame and be connected revolute pair；Described mounting seat is provided with bar hole, and described head hoop and described bar hole pass through bolt
Assembly connects；One end of described bar hole is near described head hoop, and the other end is near described pendulum frame；Described bar hole is used for regulating pendulum
The bottom of the frame distance away from described head hoop.
8. a robot, it is characterised in that include the control system according to any one of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620329632.7U CN205799547U (en) | 2016-04-18 | 2016-04-18 | A kind of robot mouth action control system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620329632.7U CN205799547U (en) | 2016-04-18 | 2016-04-18 | A kind of robot mouth action control system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799547U true CN205799547U (en) | 2016-12-14 |
Family
ID=58144011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620329632.7U Active CN205799547U (en) | 2016-04-18 | 2016-04-18 | A kind of robot mouth action control system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799547U (en) |
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2016
- 2016-04-18 CN CN201620329632.7U patent/CN205799547U/en active Active
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