CN211030007U

CN211030007U - Robot facial expression control mechanism and robot with same

Info

Publication number: CN211030007U
Application number: CN201920640988.6U
Authority: CN
Inventors: 吴枫; 曹祥飞; 张家铭
Original assignee: Chinese University of Hong Kong CUHK
Current assignee: Chinese University of Hong Kong Shenzhen; Chinese University of Hong Kong CUHK
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-07-17
Anticipated expiration: 2029-05-06

Abstract

The utility model provides a robot facial expression control mechanism and have its robot. The robot facial expression control mechanism includes: the eyebrow motion control mechanism comprises a first mounting substrate, a first power output assembly and a first transmission assembly, the first power output assembly drives the first transmission assembly to move, and the first transmission assembly penetrates through an eyebrow track groove to be connected with an eyebrow part of the human-simulated silica gel skin; the lip motion control mechanism comprises a second mounting base plate, a second power output assembly and a second transmission assembly, the second power output assembly drives the second transmission assembly to move, and the second transmission assembly penetrates through the lip track groove to be connected with the lip part of the imitated human silica gel face skin. Use the technical scheme of the utility model the robot expression control mechanism is bulky and compressed the problem of other functions of robot among the prior art can be solved.

Description

Robot facial expression control mechanism and robot with same

Technical Field

The utility model belongs to the technical field of the application of human-computer interaction robot designs, especially, relate to a robot facial expression control mechanism and have its robot.

Background

The research of humanoid facial expression robots has been started in the nineties of the last century, and expression robots have been rapidly developed in the past decades from Kismet robots in the 90 s of the 20 th century to WR series robots developed by the university of early rice field in japan, SAYA robots developed by the university of tokyo physicists. Simulating humans to make some basic expressions is a large goal of expressive robot development. However, because the facial expression is complex, the expression motion units are controlled one by one in the current expression realization mode, so that complex structural design and control mode are often needed, the whole expression control mechanism is large in size, other functions of the robot are compressed, and meanwhile, the production cost of the robot is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a robot facial expression control mechanism and have its robot is provided, aim at solving among the prior art problem that robot expression control mechanism is bulky and compressed other functions of robot.

In order to solve the above technical problem, the utility model relates to a realize like this, a facial expression control mechanism of robot, include: the human-imitated skull shell is provided with a hollow installation space, eyebrow track grooves are formed in positions, corresponding to eyebrows, on the human-imitated skull shell, and lip track grooves are formed in positions, corresponding to mouths, on the human-imitated skull shell; the human-simulated silica gel skin covers the human-simulated skull shell; the eyebrow movement control mechanism is installed in the hollow installation space and comprises a first installation base plate, a first power output assembly and a first transmission assembly, the first power output assembly and the first transmission assembly are both connected to the first installation base plate, the first power output assembly drives the first transmission assembly to move, and the first transmission assembly penetrates through an eyebrow track groove and is connected with an eyebrow part of the imitated human silica gel skin; lip motion control mechanism, lip motion control mechanism installs in cavity installation space, and lip motion control mechanism includes second mounting substrate, second power take off subassembly and second transmission subassembly, and second power take off subassembly and second transmission subassembly are all connected on the second mounting substrate, and the motion of second power take off subassembly drive second transmission subassembly, and second transmission subassembly passes lip track groove and is connected with the lip position of imitative people's silica gel face skin.

Furthermore, the robot facial expression control mechanism comprises two eyebrow movement control mechanisms with the same structure, and the two eyebrow movement control mechanisms respectively correspond to two eyebrow parts of the human-simulated silica gel skin.

Furthermore, the eyebrow track groove comprises a first eyebrow groove section, a second eyebrow groove section and a third eyebrow groove section, the extending direction of the first eyebrow groove section and the extending direction of the third eyebrow groove section both imitate the extending direction of eyebrows, the second eyebrow groove section is positioned between the first eyebrow groove section and the third eyebrow groove section, and the second eyebrow groove section extends along the vertical direction; the first mounting substrate is provided with a first brow portion sliding groove, a second brow portion sliding groove and a third brow portion sliding groove, the first brow portion sliding groove corresponds to the first brow portion groove section and is identical in extending direction, the second brow portion sliding groove corresponds to the second brow portion groove section and is identical in extending direction, and the third brow portion sliding groove corresponds to the third brow portion groove section and is identical in extending direction; the first power output assembly comprises a first steering engine and a first driving connecting rod, the first steering engine is arranged on the first mounting substrate, and the first end of the first driving connecting rod is connected with the power output end of the first steering engine; the first transmission component comprises an extension rod in the middle of the brow part, first brow part side extension rods, second brow part side extension rods and two first transmission connecting rods, the first end of the extension rod in the middle of the brow part is connected with the second end of the first driving connecting rod, the extension rod in the middle of the brow part moves along the sliding groove of the second brow part, the first ends of the two first transmission connecting rods are connected with the first end of the extension rod in the middle of the brow part, the second end of the extension rod in the middle of the brow part passes through the second brow part groove section to be connected with the humanoid silica gel dough cover, the second ends of the two first transmission connecting rods are respectively connected with the first end of the extension rod in the side of the first brow part and the first end of the extension rod in the side of the second brow part, the first end of the extension rod in the side of the first brow part moves along the sliding groove of the first brow part, the second end of the extension rod in the side of the first brow part passes through the first brow part, the second end of the extension rod at the side edge of the second brow portion penetrates through the third brow portion groove section to be connected with the imitated human silica gel wrapper.

Further, first power take off subassembly still includes two first connecting blocks and two first steering engine that rotates, and two first connecting blocks are installed respectively in first brow portion sliding tray and third brow portion sliding tray correspondingly, and two first steering engine that rotate are installed respectively on two first connecting blocks correspondingly, and the first end of first brow portion side extension rod and the first end of second brow portion side extension rod are connected respectively on the power take off of two first steering engine that rotates correspondingly.

Furthermore, first power take off subassembly still includes second connecting block and second rotation steering wheel, and the second connecting block is installed in second brow portion sliding tray, and the second rotates the steering wheel and installs on the second connecting block, and the first end of extension rod in the middle of the brow portion is connected on the power take off of second rotation steering wheel.

Furthermore, the lip track groove comprises a first lip groove section, a second lip groove section and a third lip groove section, the first lip groove section and the third lip groove section are respectively positioned at the positions of lip angles at two sides of the human skull-imitating shell, the extending direction of the first lip groove section and the extending direction of the third lip groove section both imitate the extending direction of lips, the second lip groove section is positioned at the human middle position of the human skull-imitating shell, and the second lip groove section extends along the vertical direction; a first lip sliding groove, a second lip sliding groove and a third lip sliding groove are arranged on the second mounting substrate, the first lip sliding groove corresponds to the first lip groove section and has the same extension direction, the second lip sliding groove corresponds to the second lip groove section and has the same extension direction, and the third lip sliding groove corresponds to the third lip groove section and has the same extension direction; the second power output assembly comprises a second steering engine and a second driving connecting rod, the second steering engine is arranged on the second mounting substrate, and the first end of the second driving connecting rod is connected with the power output end of the second steering engine; the second transmission component comprises a middle extension rod of the lip, a first lip side extension rod, a second lip side extension rod and two second transmission connecting rods, the first end of the middle extension rod of the lip is connected with the second end of the second driving connecting rod, the middle extension rod of the lip moves along the second lip sliding groove, the first ends of the two second transmission connecting rods are connected with the first end of the middle extension rod of the lip, the second end of the middle extension rod of the lip passes through the second lip groove section to be connected with the humanoid silica gel dough sheet, the second ends of the two second transmission connecting rods are respectively connected with the first end of the first lip side extension rod and the first end of the second lip side extension rod, the first end of the first lip side extension rod moves along the first lip sliding groove, the second end of the first lip side extension rod passes through the first lip groove section to be connected with the humanoid silica gel dough sheet, the first end of the second lip side extension rod moves along the third lip sliding groove, the second end of the second lip side extension rod passes through the third lip groove section and is connected with the imitated human silica gel wrapper.

Further, the second power output assembly further comprises two third connecting blocks and two third rotating steering engines, the two third connecting blocks are correspondingly installed in the first lip sliding groove and the third lip sliding groove respectively, the two third rotating steering engines are correspondingly installed on the two third connecting blocks respectively, and the first end of the first lip side extending rod and the first end of the second lip side extending rod are correspondingly connected to power output shafts of the two third rotating steering engines respectively.

Furthermore, the second power output assembly further comprises a fourth connecting block and a fourth rotating steering engine, the fourth connecting block is installed in a second lip sliding groove, the fourth rotating steering engine is installed on the fourth connecting block, and the first end of the extension rod in the middle of the lip is connected to the power output end of the fourth rotating steering engine.

Furthermore, the robot facial expression control mechanism further comprises a controller, and the eyebrow movement control mechanism and the lip movement control mechanism are intelligently controlled by the controller.

According to another aspect of the present invention, a robot is provided. The robot comprises the robot facial expression control mechanism.

Compared with the prior art, the utility model, beneficial effect lies in:

adopt the utility model discloses a robot facial expression control mechanism when having realized making the robot face can demonstrate abundant expression state, has also realized simple structure's design purpose, for the control mechanism who has the same control function among the prior art, the utility model discloses a robot facial expression control mechanism has small in size's characteristics, can save more installation space for the assembly of other function components and parts of robot, and space utilization is more reasonable.

Drawings

Fig. 1 is a schematic exploded view of a human skull-imitated shell, an eyebrow movement control mechanism and a lip movement control mechanism in a robot facial expression control mechanism according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an eyebrow movement control mechanism in a robot facial expression control mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a lip motion control mechanism in a robot facial expression control mechanism according to an embodiment of the present invention.

In the drawings, each reference numeral denotes:

10. a human skull-imitating shell; 11. an eyebrow track groove; 111. a first brow portion trough section; 112. a second brow portion trough section; 113. a third brow portion trough section; 12. a lip track groove; 121. a first lip groove segment; 122. a second lip groove segment; 123. a third lip groove segment; 30. an eyebrow movement control mechanism; 31. a first mounting substrate; 311. a first brow portion sliding groove; 312. a second brow portion sliding groove; 313. a third brow portion sliding groove; 32. a first power take-off assembly; 321. a first steering engine; 322. a first drive link; 323. a first connection block; 324. a second connecting block; 33. a first transmission assembly; 331. an extension rod in the middle of the brow part; 332. a first brow part side extension rod; 333. a second brow part side extension rod; 334. a first drive link; 40. a lip movement control mechanism; 41. a second mounting substrate; 411. a first lip sliding groove; 412. a second lip sliding groove; 413. a third lip sliding groove; 42. a second power output assembly; 421. a second steering engine; 422. a second drive link; 423. a third connecting block; 424. a fourth connecting block; 43. a second transmission assembly; 431. a lip middle extension bar; 432. a first lip side extension bar; 433. a second lip side extension bar; 434. a second drive link.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in 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.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

As shown in fig. 1 to 3, the robot facial expression control mechanism of the present invention includes a human-imitated skull shell 10, a human-imitated silica gel skin (not shown), a lip motion control mechanism 40 and at least one eyebrow motion control mechanism 30, the human-imitated skull shell 10 has a hollow installation space, an eyebrow track groove 11 is disposed at a position corresponding to eyebrows on the human-imitated skull shell 10, a lip track groove 12 is disposed at a position corresponding to a mouth on the human-imitated skull shell 10, the human-imitated silica gel skin covers the human-imitated skull shell 10, the eyebrow motion control mechanism 30 is installed in the hollow installation space, the eyebrow motion control mechanism 30 includes a first installation substrate 31, a first power output component 32 and a first transmission component 33, the first power output component 32 and the first transmission component 33 are both connected to the first installation substrate 31, the first power output component 32 drives the first transmission component 33 to move, the first transmission assembly 33 penetrates through the eyebrow track groove 11 to be connected with the eyebrow part of the imitated human lip silica gel dough cover, the lip movement control mechanism 40 is installed in the hollow installation space, the lip movement control mechanism 40 comprises a second installation substrate 41, a second power output assembly 42 and a second transmission assembly 43, the second power output assembly 42 and the second transmission assembly 43 are both connected onto the second installation substrate 41, the second power output assembly 42 drives the second transmission assembly 43 to move, and the second transmission assembly 43 penetrates through the eyebrow track groove 12 to be connected with the lip part of the imitated human lip silica gel dough cover.

After the robot facial expression control mechanism of the utility model is assembled on the robot, the eyebrow part of the humanoid silica gel skin is driven to move through the matching of the first power output component 32 and the first transmission component 33 of the eyebrow movement control mechanism 30, so that the eyebrow part of the humanoid silica gel skin presents different shapes of movement, including the actions of picking up the eyebrow upwards, picking up the eyebrow downwards, flattening the eyebrow and the like; meanwhile, through the matching of the second power output assembly 42 and the second transmission assembly 43 of the lip motion control mechanism 40, the lip part of the imitated human silica gel face skin is driven to move, so that the lip part of the imitated human silica gel face skin presents different shapes of motions, including opening mouth, grinning, tightly closing the lips and the like. Therefore, when the eyebrow part and the lip part of the imitated human silica gel face skin simultaneously present different shapes of movement, different expression actions are presented in a matching manner, for example, expression actions such as calmness, happiness, sadness and the like are performed.

The embodiment of the utility model provides an in, imitative people's silica gel face skin adopts the 3D printing mode to make.

In the humanoid robot, the complete design of both eyes can be imitated, therefore, the robot facial expression control mechanism comprises two eyebrow movement control mechanisms 30 with the same structure, the two eyebrow movement control mechanisms 30 respectively correspond to two eyebrow parts of the humanoid silica gel dough cover, and the first mounting substrates 31 of the two eyebrow movement control mechanisms 30 are integrally formed and manufactured by adopting a 3D printing mode.

As shown in fig. 2, in the facial expression control mechanism of the robot, the eyebrow track groove 11 includes a first eyebrow groove section 111, a second eyebrow groove section 112, and a third eyebrow groove section 113, a first eyebrow sliding groove 311, a second eyebrow sliding groove 312, and a third eyebrow sliding groove 313 are disposed on the first mounting substrate 31, the first power output component 32 includes a first steering engine 321 and a first driving link 322, and the first transmission component 33 includes an eyebrow middle extension bar 331, a first eyebrow side extension bar 332, a second eyebrow side extension bar 333, and two first transmission links 334. The extending direction of the first brow portion groove section 111 and the extending direction of the third brow portion groove section 113 both follow the extending direction of the brow, in practical design, the extending shape of the brow is an arc shape around the center of the eye socket, the arc direction formed by the first brow portion groove section 111 and the third brow portion groove section 113 is opposite to the arc shape of the brow, the second brow portion groove section 112 is located between the first brow portion groove section 111 and the third brow portion groove section 113, and the second brow portion groove section 112 extends along the vertical direction. The first brow portion sliding groove 311 corresponds to the first brow portion groove section 111 and has the same extending direction, the second brow portion sliding groove 312 corresponds to the second brow portion groove section 112 and has the same extending direction, and the third brow portion sliding groove 313 corresponds to the third brow portion groove section 113 and has the same extending direction. The first steering engine 321 is installed on the first installation substrate 31, the first end of the first driving connecting rod 322 is connected with the power output end of the first steering engine 321, the first end of the middle extension rod 331 of the brow part is connected with the second end of the first driving connecting rod 322, the middle extension rod 331 of the brow part moves along the second brow part sliding groove 312, the first ends of the two first driving connecting rods 334 are connected with the first end of the middle extension rod 331 of the brow part, the second end of the middle extension rod 331 of the brow part passes through the second brow part groove section 112 to be connected with the human-imitated silica gel dough cover, the second ends of the two first driving connecting rods 334 are respectively connected with the first end of the first brow part side extension rod 332 and the first end of the second brow part side extension rod 333, the first end of the first brow part side extension rod 332 moves along the first brow part sliding groove 311, the second end of the first brow part side extension rod 332 passes through the first brow part groove section 111 to be connected with, the first end of the second brow side extension bar 333 moves along the third brow sliding groove 313, and the second end of the second brow side extension bar 333 passes through the third brow groove section 113 to be connected with the imitated silica gel wrapper.

When the first steering engine 321 outputs power, the first driving connecting rod 322 is driven to move, the middle extension rod 331 of the brow portion is driven to move along the second brow portion sliding groove 312, meanwhile, the middle extension rod 331 of the brow portion drives the two first driving connecting rods 334 to move, the side extension rods 332 of the first brow portion are driven to move along the first brow portion sliding groove 311, the side extension rods 333 of the second brow portion move along the third brow portion sliding groove 313, and therefore corresponding brow portions of the imitated human silica gel skins are driven to move correspondingly, different brow portions are formed, and different brow portion expression states are presented.

Specifically, the first power output assembly 32 further includes two first connecting blocks 323 and two first rotation steering engines (not shown), the two first connecting blocks 323 are respectively and correspondingly installed in the first brow portion sliding groove 311 and the third brow portion sliding groove 313, the two first rotation steering engines are respectively and correspondingly installed on the two first connecting blocks 323, and the first end of the first brow portion side extending rod 332 and the first end of the second brow portion side extending rod 333 are respectively and correspondingly connected to the power output ends of the two first rotation steering engines.

The first power output assembly 32 further comprises a second connecting block 324 and a second rotary steering gear (not shown), the second connecting block 324 is installed in the second brow portion sliding groove 312, the second rotary steering gear is installed on the second connecting block 324, and the first end of the middle extension rod 331 of the brow portion is connected to the power output end of the second rotary steering gear.

The corresponding eyebrow extension rod is driven to move by the second connecting block 324 and the two first connecting blocks 323 moving in the corresponding sliding grooves, and the corresponding eyebrow extension rod is driven to rotate correspondingly by the first rotating steering engine and the second rotating steering engine, so that the eyebrow part of the imitated silica gel face skin generates distorted deformation motion, when the distortion deformation motion amplitude is small and the frequency is high, the expression of the eyebrow part presented in the way is reflected as slight vibration of the eyebrow, and the expression state of the eyebrow part is further enriched.

In addition, even in the case where the first and second rotary steering gears are not assembled, the first and second connecting

blocks

323 and 324 are also assembled in the corresponding brow portion sliding grooves, and then the corresponding brow portion extension rods are connected to the corresponding sliding blocks, thereby completing the assembly.

As shown in fig. 3, in the facial expression control mechanism of the robot, the lip track groove 12 includes a first lip groove section 121, a second lip groove section 122 and a third lip groove section 123, a first lip sliding groove 411, a second lip sliding groove 412 and a third lip sliding groove 413 are provided on the second mounting substrate 41, the second power output assembly 42 includes a second steering engine 421 and a second driving link 422, and the second transmission assembly 43 includes a lip middle extension rod 431, a first lip side extension rod 432, a second lip side extension rod 433 and two second transmission links 434. The first lip groove section 121 and the third lip groove section 123 are respectively located at the positions of lip angles at two sides of the human skull-imitating shell 10, the extending direction of the first lip groove section 121 and the extending direction of the third lip groove section 123 both imitate the extending direction of lips, the second lip groove section 122 is located at the position of a human in the human skull-imitating shell 10, the second lip groove section 122 extends along the vertical direction, the first lip sliding groove 411 corresponds to the first lip groove section 121 and has the same extending direction, the second lip sliding groove 412 corresponds to the second lip groove section 122 and has the same extending direction, the third lip sliding groove 413 corresponds to the third lip groove section 123 and has the same extending direction, the second steering engine 421 is installed on the second installation base plate 41, the first end of the second driving connecting rod 422 is connected with the power output end of the second steering engine 421, the first end of the middle lip extending rod 431 is connected with the second end of the second driving connecting rod 422, the middle lip extending rod 431 moves along the second lip sliding groove 412, first ends of two second transmission connecting rods 434 all connect in the middle of the lip the first end of extension rod 431, the second end of extension rod 431 passes second lip groove section 122 and is connected with imitative people's silica gel face skin in the middle of the lip, the second end of two second transmission connecting rods 434 respectively with the first end of first lip side extension rod 432, the first end of second lip side extension rod 433 is connected, the first end of first lip side extension rod 432 moves along first lip sliding tray 411, the second end of first lip side extension rod 432 passes first lip groove section 121 and is connected with imitative people's silica gel face skin, the first end of second lip side extension rod 433 moves along third lip sliding tray 413, the second end of second lip side extension rod 433 passes third lip groove section 123 and is connected with imitative people's silica gel face skin.

When second steering wheel 421 output power, drive second drive connecting rod 422 action, then drive extension rod 431 in the middle of the lip and remove along second lip sliding tray 412, extension rod 431 drives two second transmission connecting rod 434 actions and drives first lip side extension rod 432 and remove along first lip sliding tray 411 in the middle of the lip simultaneously, second lip side extension rod 433 removes along third lip sliding tray 413, just so driven the corresponding lip position of imitative people's silica gel face skin and produced corresponding motion, thereby form different lip actions, demonstrate different lip expression states.

Specifically, the second power output assembly 42 further includes two third connecting blocks 423 and two third rotary steering engines (not shown), the two third connecting blocks 423 are respectively and correspondingly installed in the first lip sliding groove 411 and the third lip sliding groove 413, the two third rotary steering engines are respectively and correspondingly installed on the two third connecting blocks 423, and the first end of the first lip side extending rod 432 and the first end of the second lip side extending rod 433 are respectively and correspondingly connected to the power output shafts of the two third rotary steering engines.

The second power output assembly 42 further comprises a fourth connecting block 424 and a fourth rotary steering gear (not shown), the fourth connecting block 424 is installed in the second lip sliding groove 412, the fourth rotary steering gear is installed on the fourth connecting block 424, and a first end of the lip middle extension rod 431 is connected to a power output end of the fourth rotary steering gear.

Remove and drive corresponding lip extension rod through fourth connecting block 424 and two third connecting blocks 423 at corresponding sliding tray and remove to rotate the steering wheel through the third and fourth and drive corresponding lip extension rod and carry out corresponding rotation, so just make the lip position of imitative people's silica gel face skin produce distortion motion, when distortion motion amplitude is little and the frequency is very fast, the lip position expression that presents like this then embodies and shakes slightly for the lip, the expression state at lip position has further been enriched.

In addition, even in the case where the third and fourth rotary steering gears are not assembled, the third and fourth connection blocks 423 and 424 are also assembled in the respective lip sliding grooves, and then the respective lip extension bars are coupled to the respective sliding blocks, thereby completing the assembly.

Specifically, the second end of the extension rod 331 in the middle of the brow portion, the second end of the extension rod 332 on the side of the first brow portion, the second end of the extension rod 333 on the side of the second brow portion, the second end of the extension rod 431 in the middle of the lip portion, the second end of the extension rod 432 on the side of the first lip portion and the second end of the extension rod 433 on the side of the second lip portion are all connected with an oval piece, and the oval piece is fixedly bonded with the imitated human silica gel skin through strong glue.

The robot facial expression control mechanism further comprises a controller (not shown), and the eyebrow movement control mechanism 30 and the lip movement control mechanism 40 are intelligently controlled by the controller, namely: the first steering engine 321, the two first rotating steering engines, the second rotating steering engine, the second steering engine 421, the two third rotating steering engines and the fourth rotating steering engine are intelligently controlled by the equal-priority controller. In fact, the controller adopted by the robot facial expression control mechanism is the central processing unit of the robot.

According to another aspect of the present invention, there is provided a robot including the aforementioned robot facial expression control mechanism.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot facial expression control mechanism, comprising:

the human-imitated skull shell (10) is provided with a hollow mounting space, eyebrow track grooves (11) are formed in positions, corresponding to eyebrows, on the human-imitated skull shell (10), and lip track grooves (12) are formed in positions, corresponding to mouths, on the human-imitated skull shell (10);

the human-simulated silica gel dough cover is covered on the human-simulated skull shell (10);

at least one eyebrow movement control mechanism (30), eyebrow movement control mechanism (30) are installed in cavity installation space, eyebrow movement control mechanism (30) include first mounting substrate (31), first power take off subassembly (32) and first transmission assembly (33), first power take off subassembly (32) with first transmission assembly (33) all connect on first mounting substrate (31), first power take off subassembly (32) drive first transmission assembly (33) motion, first transmission assembly (33) pass eyebrow track groove (11) with the eyebrow position connection of imitative people's silica gel face skin;

lip motion control mechanism (40), lip motion control mechanism (40) are installed in the cavity installation space, lip motion control mechanism (40) include second mounting substrate (41), second power take off subassembly (42) and second transmission assembly (43), second power take off subassembly (42) with second transmission assembly (43) all connect on second mounting substrate (41), second power take off subassembly (42) drive second transmission assembly (43) motion, second transmission assembly (43) pass lip track groove (12) with the lip position of imitative people's silica gel face skin is connected.

2. The facial expression control mechanism of robot as claimed in claim 1, wherein the facial expression control mechanism of robot comprises two eyebrow movement control mechanisms (30) with the same structure, and the two eyebrow movement control mechanisms (30) correspond to two eyebrow parts of the human-imitated silica gel skin respectively.

3. The robotic facial expression control mechanism of claim 2,

the eyebrow track groove (11) comprises a first eyebrow groove section (111), a second eyebrow groove section (112) and a third eyebrow groove section (113), the extension direction of the first eyebrow groove section (111) and the extension direction of the third eyebrow groove section (113) both imitate the eyebrow extension direction, the second eyebrow groove section (112) is positioned between the first eyebrow groove section (111) and the third eyebrow groove section (113), and the second eyebrow groove section (112) extends along the vertical direction;

a first brow portion sliding groove (311), a second brow portion sliding groove (312) and a third brow portion sliding groove (313) are formed in the first mounting substrate (31), the first brow portion sliding groove (311) corresponds to the first brow portion groove section (111) and has the same extending direction, the second brow portion sliding groove (312) corresponds to the second brow portion groove section (112) and has the same extending direction, and the third brow portion sliding groove (313) corresponds to the third brow portion groove section (113) and has the same extending direction;

the first power output assembly (32) comprises a first steering engine (321) and a first driving connecting rod (322), the first steering engine (321) is mounted on the first mounting base plate (31), and the first end of the first driving connecting rod (322) is connected with the power output end of the first steering engine (321);

first transmission assembly (33) including extension pole (331) in the middle of the eyebrow portion, first eyebrow portion side extension pole (332), second eyebrow portion side extension pole (333) and two first transmission connecting rods (334), the first end of extension pole (331) in the middle of the eyebrow portion with the second end of first drive connecting rod (322) is connected, extension pole (331) is followed in the middle of the eyebrow portion second eyebrow portion sliding tray (312) removes, two the first end of first transmission connecting rod (334) all connect in the first end of extension pole (331) in the middle of the eyebrow portion, the second end of extension pole (331) in the middle of the eyebrow portion passes second eyebrow portion groove section (112) with imitative people's silica gel face skin is connected, two the second end of first transmission connecting rod (334) respectively with the first end of first eyebrow portion side extension pole (332), the first end of second eyebrow portion side extension pole (333) is connected, first end of first eyebrow portion side extension rod (332) is followed first eyebrow portion sliding tray (311) removes, the second end of first eyebrow portion side extension rod (332) passes first eyebrow portion groove section (111) with imitative people's silica gel face skin is connected, the first end of second eyebrow portion side extension rod (333) is followed third eyebrow portion sliding tray (313) removes, the second end of second eyebrow portion side extension rod (333) passes third eyebrow portion groove section (113) with imitative people's silica gel face skin is connected.

4. The facial expression control mechanism of the robot as claimed in claim 3, wherein the first power output assembly (32) further comprises two first connecting blocks (323) and two first rotation actuators, the two first connecting blocks (323) are respectively and correspondingly installed in the first brow portion sliding groove (311) and the third brow portion sliding groove (313), the two first rotation actuators are respectively and correspondingly installed on the two first connecting blocks (323), and the first ends of the first brow portion side extending rods (332) and the second brow portion side extending rods (333) are respectively and correspondingly connected to the power output ends of the two first rotation actuators.

5. The facial expression control mechanism of robot of claim 4, characterized in that, the first power output assembly (32) further comprises a second connecting block (324) and a second rotary steering engine, the second connecting block (324) is installed in the second brow sliding groove (312), the second rotary steering engine is installed on the second connecting block (324), and the first end of the brow middle extension rod (331) is connected to the power output end of the second rotary steering engine.

6. The robot facial expression control mechanism of any one of claims 1 to 5,

the lip track groove (12) comprises a first lip groove section (121), a second lip groove section (122) and a third lip groove section (123), the first lip groove section (121) and the third lip groove section (123) are respectively located at the positions of the labial angles on the two sides of the humanoid skull shell (10), the extending direction of the first lip groove section (121) and the extending direction of the third lip groove section (123) both follow the extending direction of lips, the second lip groove section (122) is located at the position in the middle of the human of the humanoid skull shell (10), and the second lip groove section (122) extends along the vertical direction;

a first lip sliding groove (411), a second lip sliding groove (412) and a third lip sliding groove (413) are formed in the second mounting substrate (41), the first lip sliding groove (411) corresponds to the first lip groove section (121) and has the same extending direction, the second lip sliding groove (412) corresponds to the second lip groove section (122) and has the same extending direction, and the third lip sliding groove (413) corresponds to the third lip groove section (123) and has the same extending direction;

the second power output assembly (42) comprises a second steering engine (421) and a second driving connecting rod (422), the second steering engine (421) is installed on the second installation substrate (41), and the first end of the second driving connecting rod (422) is connected with the power output end of the second steering engine (421);

the second transmission component (43) comprises a lip middle extension rod (431), a first lip side extension rod (432), a second lip side extension rod (433) and two second transmission connecting rods (434), wherein the first end of the lip middle extension rod (431) is connected with the second end of the second driving connecting rod (422), the lip middle extension rod (431) moves along the second lip sliding groove (412), the first ends of the two second transmission connecting rods (434) are connected with the first end of the lip middle extension rod (431), the second end of the lip middle extension rod (431) passes through the second lip groove section (122) to be connected with the humanoid silica gel dough cover, and the second ends of the two second transmission connecting rods (434) are respectively connected with the first end of the first side extension rod (432) and the first end of the second lip side extension rod (433), first end edge of first lip side extension rod (432) first lip sliding tray (411) remove, the second end of first lip side extension rod (432) passes first lip groove section (121) with imitative people's silica gel face skin is connected, the first end edge of second lip side extension rod (433) third lip sliding tray (413) remove, the second end of second lip side extension rod (433) passes third lip groove section (123) with imitative people's silica gel face skin is connected.

7. The facial expression control mechanism of robot of claim 6, characterized in that the second power output assembly (42) further comprises two third connecting blocks (423) and two third rotary steering engines, the two third connecting blocks (423) are respectively and correspondingly installed in the first lip sliding groove (411) and the third lip sliding groove (413), the two third rotary steering engines are respectively and correspondingly installed on the two third connecting blocks (423), and the first end of the first lip side extending rod (432) and the first end of the second lip side extending rod (433) are respectively and correspondingly connected to the power output shafts of the two third rotary steering engines.

8. The mechanism of claim 7, wherein the second power output assembly (42) further comprises a fourth connecting block (424) and a fourth rotary actuator, the fourth connecting block (424) is mounted in the second lip sliding groove (412), the fourth rotary actuator is mounted on the fourth connecting block (424), and a first end of the lip middle extension rod (431) is connected to a power output end of the fourth rotary actuator.

9. The robotic facial expression control mechanism of claim 1, further comprising a controller, wherein the eyebrow movement control mechanism (30) and the lip movement control mechanism (40) are intelligently controlled by the controller.

10. A robot characterized by comprising the robot facial expression control mechanism according to any one of claims 1 to 9.