CN211806165U - Robot expression simulation mechanism - Google Patents
Robot expression simulation mechanism Download PDFInfo
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- CN211806165U CN211806165U CN201921875556.XU CN201921875556U CN211806165U CN 211806165 U CN211806165 U CN 211806165U CN 201921875556 U CN201921875556 U CN 201921875556U CN 211806165 U CN211806165 U CN 211806165U
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Abstract
The utility model discloses a robot expression simulation mechanism. The mouth angle moving device comprises a steering engine, the steering engine is connected with a guide rod through a crank, a fixing shaft is arranged in the middle of the guide rod, a long groove is formed in the guide rod, one end of the crank is arranged in the long groove, the lower jaw moving device comprises an arc support, a first fixing shaft is arranged on the arc support, a first long groove is arranged at the rear end of the arc support, the first long groove is connected with one end of a first curved rod, the other end of the first curved rod is connected with the first steering engine, the eyelid moving device comprises two circular rings, the circular rings are perpendicularly connected with the arc rod, a rotating shaft is arranged between the circular rings and the arc rod, a second long groove is formed in the rear end of the arc rod, the second long groove is connected with one end of a second curved rod, and the other end of the second curved rod is connected with a second steering engine. The utility model discloses simple structure through the motion of control steering wheel, realizes the motion of mouth angle, the motion of eyelid and the motion of chin.
Description
Technical Field
The utility model relates to a robot expression simulation mechanism belongs to the robotechnology field.
Background
The eye action of robot generally is blink and eyes rotate, according to actual conditions, can combine together robot blink action and eyes from top to bottom to realize that eyes are closed or the action and the eyes pivoted condition of loosening, along with the development of artificial intelligence and intelligent house, can carry out the robot that the emotion exchanged and information interacted with the people and receive everybody's liking more and more, then the robot that can blink, the sense organ is stronger, more can express some emotions.
Meanwhile, the facial expression can express the emotion of the robot and is more appetitive when the robot communicates with people, but the existing expression simulation system is complex in structure.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a robot expression simulation mechanism, simple structure through the motion of control steering wheel, realizes the motion of mouth angle, the motion of eyelid and the motion of chin.
The utility model discloses an above-mentioned technical problem is solved to following technical means:
the utility model provides a robot expression simulation mechanism, includes mouth angle mobile device, chin mobile device, eyelid mobile device, mouth angle mobile device includes the steering wheel, the steering wheel passes through the crank and is connected with the guide arm, and the guide arm middle part is provided with the fixed axle, is provided with the elongated slot in the guide arm, and articulate one end sets up in the elongated slot, and chin mobile device includes that the arc holds in the palm, the arc holds in the palm and is provided with first fixed axle, and the rear end that the arc held in the palm is provided with first elongated slot, and first elongated slot is connected with first curved bar one end, and the first curved bar other end is connected with first steering wheel, and eyelid mobile device includes two circular rings, circular ring is connected with the arc pole is perpendicular, is provided with the pivot between circular ring and the arc pole, and the arc pole rear end is provided with the second elongated slot, and the second elongated slot is connected with the one end of second.
The steering engine, the first steering engine and the second steering engine are all controlled by the single chip microcomputer.
The front end of the guide rod is connected with the mouth angle mechanism, the arc support is connected with the chin mechanism, and the circular ring is connected with the eyelid structure.
An eyeball mechanism is arranged in the circular ring.
The utility model discloses simple structure through steering wheel, curved bar and guide arm, can realize various actions, including reciprocating of eyelid, the up-and-down motion of mouth angle and the motion of chin.
The utility model has the advantages that: simple structure, through the motion of control steering wheel, realize the motion of mouth angle, the motion of eyelid and the motion of chin.
Drawings
Fig. 1 is a schematic structural view of the nozzle angle moving device of the present invention.
Fig. 2 is a schematic structural view of the lower jaw moving device of the present invention.
Fig. 3 is a schematic structural diagram of the eyelid moving device of the present invention.
Fig. 4 is a schematic structural diagram of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific embodiments and accompanying drawings, as shown in fig. 1, 2, 3 and 4, the robot expression simulation mechanism of this embodiment includes a mouth angle moving device 1, a chin moving device 2 and an eyelid moving device 3, the mouth angle moving device 1 includes a steering engine 4, the steering engine 4 is connected to a guide rod 6 through a crank 5, a fixed shaft 7 is disposed in the middle of the guide rod 6, a long groove 8 is disposed in the guide rod 6, one end of the crank 5 is disposed in the long groove 8, the chin moving device 2 includes an arc support 9, a first fixed shaft 10 is disposed on the arc support 9, a first long groove 11 is disposed at the rear end of the arc support 9, the first long groove 11 is connected to one end of a first curved rod 12, the other end of the first curved rod 12 is connected to a first steering engine 13, the eyelid moving device 3 includes two circular rings 14, the circular rings 14 are perpendicularly connected to the arc rod 15, a rotating shaft 16 is arranged between the circular ring 14 and the arc-shaped rod 15, a second long groove 17 is arranged at the rear end of the arc-shaped rod 15, the second long groove 17 is connected with one end of a second curved rod 18, and the other end of the second curved rod 18 is connected with a second steering engine 19.
The front end of the guide rod 6 is connected with a mouth corner mechanism, the arc-shaped support 9 is connected with a chin mechanism, and the circular ring 14 is connected with an eyelid structure.
An eyeball mechanism is arranged in the circular ring 14.
As shown in figure 1, the mechanism adopts the design of a swinging guide rod, a steering engine drives a crank to move, the crank drives the guide rod to swing around a shaft, and the top end of the guide rod is fixedly connected with control points such as eyebrow angles, so that the displacement of the control points can be realized. If the eyebrow and the mouth are made of elastic materials, the displacement of the eyebrow and the mouth corner can be simulated along with the displacement of the control point.
As shown in figure 2, the human mouth skeleton has the upper jaw and the lower jaw, the upper jaw is fixed, the lower jaw controls the mouth to close through rotation, and the crank guide rod is also adopted.
As shown in figure 3, when people express, the left eyelid and the right eyelid do asynchronous movement, the two upper eyelids are designed into two degrees of freedom, the mechanism adopts a crank guide rod mechanism, a steering engine drives a crank to rotate, and a guide rod rotates around a shaft, so that the movement of the upper eyelid is realized.
As shown in fig. 4, the single chip microcomputer is used for controlling the steering engine 4, the first steering engine 13 and the second steering engine 19, so that the coordination and synchronization of each action can be controlled, and various expressions can be realized.
For example, to realize smiling expression, the mouth angle can be raised, the structure shown in fig. 2 is adopted, the other end of the first curved rod 12 is connected with the first steering engine 13, the lower jaw controls the mouth to be opened through the first steering engine 13, meanwhile, the eyelid moving device 3 is started, the mechanism adopts a crank guide rod mechanism, the steering engine drives a crank to rotate, and the guide rod rotates around a shaft, so that the movement of the upper eyelid is realized.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.
Claims (4)
1. The utility model provides a robot expression simulation mechanism which characterized in that: the mouth angle moving device comprises a mouth angle moving device (1), a lower jaw moving device (2) and an eyelid moving device (3), wherein the mouth angle moving device (1) comprises a steering engine (4), the steering engine (4) is connected with a guide rod (6) through a crank (5), a fixed shaft (7) is arranged in the middle of the guide rod (6), a long groove (8) is arranged in the guide rod (6), one end of the crank (5) is arranged in the long groove (8), the lower jaw moving device (2) comprises an arc support (9), a first fixed shaft (10) is arranged on the arc support (9), a first long groove (11) is arranged at the rear end of the arc support (9), the first long groove (11) is connected with one end of a first curved rod (12), the other end of the first curved rod (12) is connected with a first steering engine (13), the eyelid moving device (3) comprises two circular rings (14), and the circular rings (14) are vertically connected with the arc rod (15, a rotating shaft (16) is arranged between the circular ring (14) and the arc-shaped rod (15), a second long groove (17) is arranged at the rear end of the arc-shaped rod (15), the second long groove (17) is connected with one end of a second curved rod (18), and the other end of the second curved rod (18) is connected with a second steering engine (19).
2. The robotic expression simulation mechanism of claim 1, wherein: the steering engine (4), the first steering engine (13) and the second steering engine (19) are controlled by a single chip microcomputer.
3. The robotic expression simulation mechanism of claim 1, wherein: the front end of the guide rod (6) is connected with the mouth corner mechanism, the arc support (9) is connected with the chin mechanism, and the circular ring (14) is connected with the eyelid structure.
4. The robotic expression simulation mechanism of claim 1, wherein: an eyeball mechanism is arranged in the circular ring (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921875556.XU CN211806165U (en) | 2019-11-04 | 2019-11-04 | Robot expression simulation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921875556.XU CN211806165U (en) | 2019-11-04 | 2019-11-04 | Robot expression simulation mechanism |
Publications (1)
| Publication Number | Publication Date |
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| CN211806165U true CN211806165U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921875556.XU Active CN211806165U (en) | 2019-11-04 | 2019-11-04 | Robot expression simulation mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847394A (en) * | 2021-01-04 | 2021-05-28 | 唐山海容机器人应用技术研究院 | Human eye and head movement simulating mechanism |
-
2019
- 2019-11-04 CN CN201921875556.XU patent/CN211806165U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847394A (en) * | 2021-01-04 | 2021-05-28 | 唐山海容机器人应用技术研究院 | Human eye and head movement simulating mechanism |
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