CN214643676U - Head structure of humanoid expression robot and robot - Google Patents

Abstract

The utility model provides a head structure and robot of imitative human expression robot, wherein, head structure, include: facial expression implementation mechanism, neck mechanism and base, wherein, facial expression implementation mechanism is connected with neck mechanism, neck mechanism and base are connected, neck mechanism includes differential bevel gear structure based on parallelogram, neck mechanism be used for and realize neck gyration, every single move and side pendulum motion, facial expression implementation mechanism includes many connecting rod drive structure and outside silica gel skin, facial expression implementation mechanism is used for realizing facial crinkle, the eyelid opens and shuts, eyeball rotation, the tensile and the motion that opens and shuts of mouth. The utility model discloses simple structure is compact, and the action is nimble, can imitate human head swing, shake head and nod action really to realize that frown, eyelid open and shut, eyeball rotate, the tensile and the motion that opens and shuts of mouth, make humanoid robot personified more, thereby carry out human-computer interaction activity with people more easily.

Description

Head structure of humanoid expression robot and robot

Technical Field

The utility model relates to an intelligent machine technical field, concretely relates to head structure and a robot of imitative human expression robot.

Background

With the development of the robot industry, service robots are rapidly developed, and a humanoid robot as one of the service robots has appearance characteristics similar to those of human beings, and can realize some simple basic actions simulating human beings while serving people. Psychological studies have shown that more than 60% of human emotional expression and information exchange is achieved by non-languages, such as expression, eye spirit, head movements, etc., wherein head movements and facial expressions account for a large part of the proportion. Therefore, in the research of the humanoid robot, the realization of the head action and the facial expression is an important basis of anthropomorphic, and the design of the robot head capable of easily expressing the humanoid expression action has important significance.

In the related technology, scholars at home and abroad design a great deal of research on the structure of the humanoid-expression robot, but the study is only limited to the laboratory level, the expression simulation degree is not high, the structure is complex, the realization is difficult, and the cost is high.

SUMMERY OF THE UTILITY MODEL

For solving the technical problem, the utility model aims to provide a head structure of imitative people's expression robot, the utility model discloses a neck mechanism adopts based on parallelogram modified differential bevel gear structure, can realize the gyration of neck, every single move and side pendulum coupled motion, and strengthen the stationarity of neck motion, reduce the influence that the gear clearance produced, facial expression realization mechanism adopts bionical design's many link mechanism, realize the eye in making the narrow and small space of head, the action change of eyebrow and mouth, thereby form various expression actions, moreover, the steam generator is simple in structure, the flexible action, can really imitate mankind's yaw, shake head and nodding the head action, and realize the winkle head, the eyelid opens and shuts, eyeball rotation, the tensile and the motion that opens and shuts of mouth, make imitative people's robot personification more, thereby carry out human-computer interaction activity with people more easily.

The utility model adopts the technical scheme as follows:

the utility model provides a head structure of imitative human expression robot, include: facial expression implementation mechanism 1, neck mechanism 2 and base 3, wherein, facial expression implementation mechanism 1 with neck mechanism 2 is connected, neck mechanism 2 with base 3 is connected, neck mechanism 2 includes differential bevel gear structure based on parallelogram, neck mechanism 2 is used for and realizes neck gyration, every single move and side pendulum motion, facial expression implementation mechanism 1 includes many connecting rod drive structure and outside silica gel skin, facial expression implementation mechanism 1 is used for realizing facial frown, the eyelid opens and shuts, eyeball rotation, the tensile and the motion of opening and shutting of mouth.

The utility model discloses the head structure of above-mentioned imitative mankind expression robot that proposes can also have following additional technical characterstic:

specifically, the neck mechanism 2 comprises a neck pitching and side swinging mechanism and a neck rotating mechanism, wherein the neck pitching and side swinging mechanism comprises a neck steering engine I201, a neck supporting plate I202, a neck supporting plate III 206, a parallelogram bevel gear structure 208, a neck steering engine II 209, a pinion I2010, a bull gear I2011, a bull gear II 2012 and a pinion II 2013, and the neck steering engine I201 and the neck steering engine II 209 are connected with the pinion I2010 and the pinion II 2013 through transmission shaft key slots; the first pinion 2010 and the second pinion 2013 are respectively in meshing transmission with the first gearwheel 2011 and the second gearwheel 2012; the bull gear I2011 and the bull gear II 2012 are connected with the parallelogram bevel gear structure 208; the first gearwheel 2011 and the second gearwheel 2012 do not have teeth at extreme positions so as to realize the functions of mechanical limiting and self-locking; the parallelogram bevel gear structure 208 is fixedly connected with the first neck support plate 202 and the third neck support plate 206; neck rotation mechanism includes three neck steering wheel 207, two neck backup pads 203, revolving axle 204, neck connecting plate 205, three neck steering wheel 207 with revolving axle 204 fixed connection, and with tapered roller bearing transition fit in two neck backup pads 203, revolving axle 204 is fixed through holding screw clamp fastening with the neck connecting plate, thereby with facial expression realizes that mechanism 1 is connected.

Further, the parallelogram bevel gear structure 208 includes: a first quadrilateral frame plate 20801, a second quadrilateral frame plate 20802, a third quadrilateral frame plate 20807, a fourth quadrilateral frame plate 20808, a full bevel gear shaft 20803, a first bevel gear half shaft 20806, a second bevel gear half shaft 20812, a first bevel gear 20804, a second bevel gear 20809, a third bevel gear 20810, a first bearing seat 20805 and a second bearing seat 20811, wherein the first quadrilateral frame plate 20801 and the third quadrilateral frame plate 20807 are in transmission connection with the first bevel gear 20804 and the third bevel gear 20810 through the first bevel gear half shaft 20806 and the second bevel gear half shaft 20812, and the first bevel gear half shaft 20806 and the second bevel gear half shaft 20812 are in transition fit by adopting three deep groove ball bearings, the second quadrilateral frame plate 20802 and the fourth quadrilateral frame plate 20808 are in transmission connection with the second bevel gear 20809 through the full bevel gear shaft 20803, and the full bevel gear shaft 20803 adopts two deep groove ball bearings in transition fit.

Specifically, facial expression implementation mechanism 1 includes facial skeleton 101, facial shell 102, eyebrow motion 103, eye motion 104 and mouth motion 105, wherein, facial skeleton 101 passes through bolted connection facial shell 102 eyebrow motion 103 eye motion 104 with mouth motion 105, mouth motion 105 through both sides back shaft with facial shell 102 connects, facial shell includes outside silica gel skin.

Further, the eyebrow movement mechanism 103 includes an eyebrow 10301, two eyebrows 10309, an eyebrow horizontal support 10302, a vertical eyebrow support 10305, two eyebrow vertical supports 10306, a first eyebrow steering engine 10303, a second eyebrow steering engine 10304, a third eyebrow steering engine 10307 and a fourth eyebrow steering engine 10308, wherein the second eyebrow steering engine 10304 and the third eyebrow steering engine 10307 are connected with the face framework 101 through the first eyebrow vertical support 10305, the second eyebrow vertical support 10306 and the face framework 101, and output steering arms are connected with the horizontal eyebrow support 10302, the horizontal eyebrow support 10302 supports the first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308, the first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308 are connected with the first eyebrow steering engine 10301 and the second eyebrow steering engine 10309 respectively, so as to drive the first eyebrow 10301 and the second eyebrow 10309 to move.

Specifically, the eye movement mechanism 104 comprises a first eyeball 10401, a second eyeball 10411, an eye support 10406, a first eyelid steering gear 10405, a second eyelid steering gear 10404, a third eyelid steering gear 10408, a fourth eyelid steering gear 10409, a first upper eyelid 10403, a second upper eyelid 10410, a first lower eyelid 10402, a second lower eyelid 10412, a first eyeball upper and lower steering gear 10407 and a left eyeball steering gear 10413, wherein the first eyelid steering gear 10405, the second eyelid steering gear 10404, the third eyelid steering gear 10408, the fourth eyelid steering gear 10409 and the first eyeball upper and lower steering gear 10407 are fixed on the eye support 10406, and the left eyeball steering gear 10413 moves up and down along with the eyeball; the eyelid steering engine II 10404 and the eyelid steering engine IV 10409 drive the upper eyelid I10403 and the upper eyelid II 10410 to open and close; the eyelid steering engine I10405 and the eyelid steering engine III 10408 drive the lower eyelid I10402 and the lower eyelid II 10412 to open and close; the eyeball up-down steering gear 10407 drives the eyeball one 10401, the eyeball two 10411 and the eyeball left-right steering gear 10413 to move up and down; the left-right eyeball steering engine 10413 drives the first eyeball 10401 and the second eyeball 10411 to move left and right.

Furthermore, in the eye movement mechanism 104, the up-down and left-right coupled movements of the eyeball adopt the coupling transmission of a parallel rod and a crank rocker, the eye movement mechanism 104 comprises a first eyeball 10401, a first eyeball up-down steering engine 10407, a second eyeball 10411, a left eyeball left-right steering engine 10413, a parallel connecting rod 10414, a first eyeball left-right rod 10415, a first eyeball up-down rod 10416, a second eyeball up-down rod 10417, a second eyeball left-right rod 10418 and a third eyeball up-down rod 10419, wherein the left eyeball steering engine 10413 is hinged with the parallel connecting rod 10414, the parallel connecting rod 10414 is hinged with the first eyeball left-right rod 10415 and the second eyeball left-right rod 10418, the first eyeball left-right rod 10415 and the second eyeball left-right rod 10418 are respectively and fixedly connected with the first eyeball 10401 and the second eyeball 10411, the upper and lower eyeball steering engines 10407 are transmitted with the first eyeball up-down rod 10416, the second eyeball up-down rod 10417 and the third eyeball 10419, a swing guide rod structure is formed to drive the first eyeball 10401, the second eyeball 10411 and the left and right eyeball steering gear 10413 to move up and down.

Specifically, the mouth movement mechanism 105 includes a lower mouth 10501, a first mouth angle 10502, a second mouth angle 10509, a first lower mouth angle steering engine 10503, a second lower mouth angle steering engine 10508, a first upper mouth angle steering engine 10504, a second upper mouth angle steering engine 10507, a first lower mouth angle steering engine 10505 and a second lower mouth angle steering engine 10506, wherein the first lower mouth angle steering engine 10503, the second lower mouth angle steering engine 10508, the first upper mouth angle steering engine 10504, the second upper mouth angle steering engine 10507, the first lower mouth angle steering engine 10505 and the second lower mouth steering engine 10506 are all mounted on the facial skeleton 101; the lower mouth angle steering engine I10503 and the upper mouth angle steering engine I10504 drive the mouth angle I10502 to move in two directions of the cheek xy; the lower mouth angle steering engine II 10508 and the upper mouth angle steering engine II 10507 drive the mouth angle II 10509 to move in two directions of the cheek xy; the first jaw steering engine 10505 and the second jaw steering engine 10506 drive the jaws 10501 to move in an opening and closing mode, and the first mouth angle 10502 and the second mouth angle 10509 are connected with a teethridge through elastic materials.

The utility model also provides a robot, include the utility model discloses foretell humanoid expression robot's head structure.

The utility model has the advantages that:

the utility model discloses a neck mechanism adopts based on the differential bevel gear structure of parallelogram improvement, can realize the gyration of neck, every single move and side pendulum coupling motion, and strengthen the stationarity of neck motion, reduce the influence that the gear clearance produced, facial expression realization mechanism adopts the many link mechanism of bionical design, make and realize the eye in the narrow and small space of head, the action of eyebrow and mouth changes, thereby form various expression actions, moreover, the steam generator is simple in structure, the action is nimble, can imitate mankind yaw really on the spot, shake head and nod action, and realize the fold eyebrow, the eyelid opens and shuts, the eyeball rotates, the tensile and the motion that opens and shuts of mouth, make humanoid robot personification, thereby carry out human-computer interaction activity with people more easily.

Drawings

Fig. 1 is a schematic structural diagram of a head structure of a humanoid expression robot according to an embodiment of the present invention;

fig. 2 is a perspective view of a neck mechanism according to an embodiment of the present invention;

fig. 3 is an elevation view of a neck mechanism according to an embodiment of the present invention;

Fig. 4 is a right side view of a neck mechanism according to an embodiment of the present invention;

fig. 5 is a schematic view of a parallelogram bevel gear structure according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a facial expression implementation mechanism according to an embodiment of the present invention;

fig. 7 is a schematic view of an eyebrow movement mechanism according to an embodiment of the present invention;

fig. 8 is a schematic view of an eye movement mechanism according to an embodiment of the present invention;

fig. 9 is a schematic view of an eye movement mechanism according to an embodiment of the present invention;

fig. 10 is a schematic view of a mouth movement mechanism according to an embodiment of the present invention.

Detailed Description

The utility model discloses a utility model people is based on research and the cognition to following problem and is made:

to the neck structure of imitative human expression robot, the neck motion is realized to the link mechanism that mostly adopts at present, however, link mechanism can not provide great moment and realize the every single move and the side pendulum of head, this is because during the head motion, the moment that the neck received is the moment after enlarging through neck lever principle, hardly settles big moment motor in the so narrow and small space of neck. In the related art, although a differential bevel gear mechanism is also provided, the head of the structure can generate a large shaking phenomenon when moving, because all the weight of the head is concentrated at the meshing position of the bevel gears, the neck of the structure is very unstable when moving by means of transmission of the meshing part, and the transverse arrangement of the motor in the structure greatly affects the bionic design of the neck.

For the facial structure, when the current facial expression motion mechanism adopts a pulley and flexible cable mode to pull the skin, however, the motion direction of the mode is not easy to control, the stable expression change action is difficult to realize, the required structure is too complex to realize, and the expression imitation degree is not high. Although expression transformation is realized by adopting a pneumatic muscle mode, the pneumatic muscle mode has higher cost, and the pneumatic artificial muscle which can be similar to human facial muscle movement is difficult to manufacture by the current level, and the mode has no practical value.

Generally, the realization of the head with human expression is divided into three degrees of freedom of neck and the realization of facial expression movement. The key point of neck realization lies in overcoming the moment of head weight after the lever principle is enlarged under the condition that the size of the motor and the appearance of the neck meet the requirements of anthropomorphic simulation. The key point for realizing the facial expression lies in the driving mode of external skin, a proper and stable structure is needed, and the motion change of human-simulated organs and skin is realized in a narrow space of the head.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The head structure and the robot of the humanoid expression robot provided by the utility model are described below with the accompanying drawings.

Fig. 1 is a schematic structural diagram of a head structure of a humanoid expression robot according to an embodiment of the present invention. As shown in fig. 1, the head structure of the humanoid expression robot includes: facial expression realization mechanism 1, neck mechanism 2 and base 3. Wherein the content of the first and second substances,

facial expression implementation mechanism 1 is connected with neck mechanism 2, and neck mechanism 2 is connected with base 3, and neck mechanism 2 includes differential bevel gear structure based on parallelogram, and neck mechanism 2 is used for and realizes neck gyration, every single move and side pendulum motion, and facial expression implementation mechanism 1 includes many connecting rod drive structure and outside silica gel skin, and facial expression implementation mechanism 1 is used for realizing facial frown, the eyelid opens and shuts, eyeball rotation, the tensile and the motion that opens and shuts of mouth.

Specifically, the neck mechanism adopts a differential bevel gear structure improved based on a parallelogram, can realize the rotation, pitching and sidesway coupled motion of the neck, enhances the stability of the neck motion, and reduces the influence generated by gear gaps. The facial expression realization mechanism adopts a multi-link mechanism with bionic design, the motion direction of the mechanism is adapted to the human facial expression action direction, and the combination of two driving structures of a parallel four-link, a swing guide rod and a four-link is applied to drive the external silica gel skin to deform, so that the action change of eyes, eyebrows and mouths is realized in a narrow space of the head, and various expression actions are formed.

The head structure is provided with the three-degree-of-freedom neck mechanism and the facial expression realizing mechanism, the structure is simple and compact, the performance is reliable, the cost is low, various facial expression actions can be flexibly realized, the head swinging, head shaking and head nodding actions of human beings can be really simulated, the opening and closing of frown heads, eyelids, eyeball rotation, mouth stretching and opening and closing movements are realized, the humanoid robot is more anthropomorphic, and the human-computer interaction activity with people can be more easily carried out.

Fig. 2 is a perspective view of a neck mechanism according to an embodiment of the present invention, and fig. 3 is a front view of the neck mechanism according to an embodiment of the present invention; fig. 4 is a right side view of a neck mechanism according to an embodiment of the present invention. As shown in fig. 2-4, the neck mechanism 2 includes a neck pitch and roll mechanism and a neck swing mechanism. The neck pitching and side swinging mechanism comprises a neck steering engine I201, a neck supporting plate I202, a neck supporting plate III 206, a parallelogram bevel gear structure 208, a neck steering engine II 209, a pinion I2010, a bull gear I2011, a bull gear II 2012 and a pinion II 2013, wherein the neck steering engine I201 and the neck steering engine II 209 are connected with the pinion I2010 and the pinion II 2013 through transmission shaft key grooves; the first pinion 2010 and the second pinion 2013 are respectively in meshing transmission with the first gearwheel 2011 and the second gearwheel 2012; the bull gear I2011 and the bull gear II 2012 are connected with the parallelogram bevel gear structure 208; the first gearwheel 2011 and the second gearwheel 2012 do not have teeth at extreme positions so as to realize the functions of mechanical limiting and self-locking; the parallelogram bevel gear structure 208 is fixedly connected with the first neck support plate 202 and the third neck support plate 206;

The neck slewing mechanism comprises: the neck steering engine III 207, the neck supporting plate II 203, the rotating shaft 204 and the head and neck connecting plate 205 are fixedly connected, the neck steering engine III 207 is fixedly connected with the rotating shaft 204 and is in transition fit with a tapered roller bearing in the neck supporting plate II 203, and the rotating shaft 204 is fixedly clamped with the head and neck connecting plate through a fastening screw so as to be connected with the facial expression realizing mechanism 1.

Specifically, as shown in fig. 2 to 4, the first neck steering engine 201 and the second neck steering engine 209 drive the first pinion 2010 and the second pinion 2013 to rotate, and then the first pinion 2010 and the second pinion 2013 are respectively in meshing transmission with the first gearwheel 2011 and the second gearwheel 2012, so that the parallelogram bevel gear structure 208 is driven to operate, the differential characteristic is realized, and the motion in two directions is output.

Further, according to an embodiment of the present invention, as shown in fig. 5, the parallelogram bevel gear structure 208 combines the stable characteristics of the quadrilateral frame to improve the differential bevel gear mechanism, and the parallelogram bevel gear structure 208 includes: a first quadrilateral frame plate 20801, a second quadrilateral frame plate 20802, a third quadrilateral frame plate 20807, a fourth quadrilateral frame plate 20808, a full bevel gear shaft 20803, a first bevel gear half shaft 20806, a second bevel gear half shaft 20812, a first bevel gear 20804, a second bevel gear 20809, a third bevel gear 20810, a first bearing seat 20805 and a second bearing seat 20811, wherein,

The first quadrilateral frame plate 20801 and the third quadrilateral frame plate 20807 are in transmission connection with the first bevel gear 20804 and the third bevel gear 20810 through the first bevel gear half shaft 20806 and the second bevel gear half shaft 20812, the first bevel gear half shaft 20806 and the second bevel gear half shaft 20812 are in transition fit through three deep groove ball bearings, the second quadrilateral frame plate 20802 and the fourth quadrilateral frame plate 20808 are in transmission connection with the second bevel gear 20809 through the full bevel gear shaft 20803, and the full bevel gear shaft 20803 is in transition fit through two deep groove ball bearings.

Specifically, as shown in FIG. 5, the parallelogram bevel gear structure 208 is a schematic diagram of a quadrilateral modified differential bevel gear structure. The sum of the rotation angles of the first bevel gear 20804 and the third bevel gear 20810 is the rotation angle of the second bevel gear 20809 around the first bevel gear half shaft 20806 and the second bevel gear half shaft 20812, so that the neck sidesway motion is output; the difference between the two is the rotation angle of the second bevel gear 20809, so that the pitching motion of the neck is output. The neck steering engine III 207 drives the rotating shaft 204 to drive the head and neck connecting plate 205 to rotate.

The neck mechanism uses the parallelogram frame to improve the differential bevel gear mechanism, enhances the stability of neck movement, reduces the influence of gear gaps on three-degree-of-freedom neck movement, concentrates the weight of the head on the parallelogram frame, and reduces the head torque born by the bevel gears during meshing transmission, thereby eliminating the shake of the neck during movement, smoothing the movement and realizing vivid three-degree-of-freedom neck movement. And a gear transmission mode is adopted, the motor is horizontally placed and transferred from two sides to be vertically placed, the torque of the motor is amplified through a transmission ratio, and the gear is not arranged at the limit position, so that the mechanical limiting and self-locking functions are realized.

According to an embodiment of the present invention, as shown in fig. 6, the facial expression realization mechanism 1 is designed according to a bionic mechanism, and adopts a stable and reliable multi-link rod to drive the external silica gel skin to move, the facial expression realization mechanism 1 includes a facial skeleton 101, a facial shell 102, an eyebrow movement mechanism 103, an eye movement mechanism 104 and a mouth movement mechanism 105, wherein,

face skeleton 101 is as whole support, connects face portion shell 102, eyebrow motion 103, eye motion 104 and mouth motion 105 through the bolt, and mouth motion 105 is connected with face shell 102 through both sides back shaft, and face shell includes outside silica gel skin, accomplishes whole facial expression and realizes the mechanism.

Specifically, the facial expression implementation mechanism 1 adopts a stable and reliable mode of driving the external silica gel skin to move by multiple connecting rods. The eyebrow movement mechanism 103, the eye movement mechanism 104 and the mouth movement mechanism 105 output corresponding movements of each organ, thereby driving the silica gel skin attached to the face shell 102 to generate corresponding deformation to simulate the human-like movement.

According to an embodiment of the present invention, as shown in fig. 7, the eyebrow movement mechanism 103 is designed by simulating the motion mechanism of human eyebrow, and the eyebrow movement mechanism 103 comprises a first eyebrow 10301, a second eyebrow 10309, a horizontal eyebrow support 10302, a first vertical eyebrow support 10305, a second vertical eyebrow support 10306, a first eyebrow steering gear 10303, a second eyebrow steering gear 10304, a third eyebrow steering gear 10307, and a fourth eyebrow steering gear 10308, wherein,

The second eyebrow steering engine 10304 and the third eyebrow steering engine 10307 are fixedly connected with the face framework 101 through the first eyebrow vertical support 10305 and the second eyebrow vertical support 10306, the output rudder arms are connected with the second eyebrow horizontal support 10302, the first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308 are supported by the second eyebrow horizontal support 10302, and the first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308 are respectively connected with the first eyebrow 10301 and the second eyebrow 10309 to drive the first eyebrow 10301 and the second eyebrow 10309 to move.

Specifically, the eyebrow movement mechanism 103 adopts a mechanism simulating the motion of human eyebrows to design a link mechanism. The second eyebrow steering engine 10304 and the third eyebrow steering engine 10307 drive the horizontal eyebrow support 10302 to swing up and down, so that the first eyebrow 10301, the second eyebrow 10309, the first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308 are driven to swing up and down together, external silica gel skin is driven to extrude up and down, and the eyebrow can be simulated to lift up and press the eyebrow. The first eyebrow steering engine 10303 and the fourth eyebrow steering engine 10308 respectively drive the first eyebrow 10301 and the second eyebrow 10309 to swing left and right to drive external skin to squeeze and deform left and right, and therefore the eyebrow wrinkle is achieved.

According to an embodiment of the present invention, as shown in fig. 8, the eye movement mechanism 104 includes a first eyeball 10401, a second eyeball 10411, an eye support 10406, a first eyelid steering engine 10405, a second eyelid steering engine 10404, a third eyelid steering engine 10408, a fourth eyelid steering engine 10409, a first upper eyelid 10403, a second upper eyelid 10410, a first lower eyelid 10402, a second lower eyelid 10412, a first upper and lower eyeball steering engine 10407, and a left and right eyeball steering engine 10413, wherein,

An eyelid steering engine I10405, an eyelid steering engine II 10404, an eyelid steering engine III 10408, an eyelid steering engine IV 10409 and an eyeball up-down steering engine 10407 are fixed on the eye support 10406, and the eyeball left-right steering engine 10413 moves up and down along with the eyeball; the eyelid steering engine II 10404 and the eyelid steering engine IV 10409 drive the upper eyelid I10403 and the upper eyelid II 10410 to open and close; the eyelid first steering engine 10405 and the eyelid third steering engine 10408 drive the lower eyelid first 10402 and the lower eyelid second 10412 to open and close; the eyeball up-down steering gear 10407 drives the eyeball one 10401, the eyeball two 10411 and the eyeball left-right steering gear 10413 to move up and down; the eyeball left-right steering gear 10413 drives the eyeball I10401 and the eyeball II 10411 to move left and right.

Specifically, the eye movement mechanism adopts a crank rocker and a parallel four-bar linkage mechanism to simulate the eye movement. The eyelid steering engine II 10404 and the eyelid steering engine IV 10409 drive the upper eyelid I10403 and the upper eyelid II 10410 to open and close; the eyelid first steering engine 10405 and the eyelid third steering engine 10408 drive the lower eyelid first 10402 and the lower eyelid second 10412 to open and close; the eyeball up-down steering gear 10407 drives the eyeball one 10401, the eyeball two 10411 and the eyeball left-right steering gear 10413 to move up and down; the eyeball left-right steering gear 10413 drives the eyeball I10401 and the eyeball II 10411 to move left and right.

According to an embodiment of the present invention, as shown in fig. 9, in the eye movement mechanism 104, the up-down and left-right coupling movements of the eyeball adopt the coupling transmission of a parallel rod and a crank rocker, and the eye movement mechanism 104 comprises a first eyeball 10401, a first up-down eyeball steering gear 10407, a second eyeball 10411, a left-right eyeball steering gear 10413, a parallel connecting rod 10414, a first left-right eyeball rod 10415, a first up-down eyeball rod 10416, a second up-down eyeball rod 10417, a second left-right eyeball rod 10418 and a third up-down eyeball rod 10419, wherein,

The eyeball left-right steering gear 10413 is hinged to the parallel connecting rod 10414, the parallel connecting rod 10414 is hinged to the eyeball left-right rod I10415 and the eyeball left-right rod II 10418, the eyeball left-right rod I10415 and the eyeball left-right rod II 10418 are fixedly connected with the eyeball first 10401 and the eyeball second 10411 correspondingly, and the eyeball up-down steering gear 10407 is in transmission with the eyeball up-down rod III 10419 through the eyeball up-down rod I10416 and the eyeball up-down rod II 10417 to form a swing guide rod structure to drive the eyeball first 10401, the eyeball second 10411 and the eyeball left-right steering gear 10413 to move up and down.

Specifically, the left-right eyeball steering gear 10413 drives the first left-right eyeball rod 10415, the second left-right eyeball rod 10418, the first eyeball 10401 and the second eyeball 10411 to move simultaneously through the parallel connecting rod 10414, and the up-down eyeball steering gear 10407 drives the first up-down eyeball rod 10416, the second up-down eyeball rod 10417 and the third up-down eyeball rod 10419 to form a swing guide rod structure, so as to drive the first eyeball rod 10401, the second eyeball rod 10411 and the left-right eyeball steering gear 10413 to move up and down, thereby realizing the up-down, left-right eyeball coupling motion and flexible movement.

According to an embodiment of the present invention, as shown in fig. 9, the mouth movement mechanism 105 includes a chin 10501, a first mouth angle 10502, a second mouth angle 10509, a first lower mouth angle steering engine 10503, a second lower mouth angle steering engine 10508, a first upper mouth angle steering engine 10504, a second upper mouth angle steering engine 10507, a first lower mouth angle steering engine 10505, and a second lower mouth angle steering engine 10506, wherein the first lower mouth angle steering engine 10503, the second lower mouth angle steering engine 10508, the first upper mouth angle steering engine 10504, the second upper mouth angle steering engine 10507, the first lower mouth angle steering engine 10505, and the second lower mouth steering engine 10506 are all mounted on the face skeleton 101; the lower mouth angle steering engine I10503 and the upper mouth angle steering engine I10504 drive the mouth angle I10502 to move in the two directions of the xy cheek; the lower mouth angle steering engine II 10508 and the upper mouth angle steering engine II 10507 drive the mouth angle II 10509 to move in the two directions of the xy cheek; the first jaw steering engine 10505 and the second jaw steering engine 10506 drive the jaws 10501 to move in an opening and closing mode, the first mouth angle 10502 and the second mouth angle 10509 are connected with the teethridge through elastic materials and connected with the teethridge through special elastic materials, so that actions are mutually coupled, and diversified mouth changes are realized by combining the opening and closing movement of the jaws.

Specifically, the x, y directions refer to x, y directions in a three-dimensional space coordinate system, i.e., the up-down direction and the left-right direction. The lower mouth angle steering engine I10503 and the upper mouth angle steering engine I10504 drive the mouth angle I10502 to move in a coupling manner in the xy directions of the cheeks; the lower mouth angle steering engine II 10508 and the upper mouth angle steering engine II 10507 drive the mouth angle II 10509 to move in a coupling manner in the xy directions of the cheeks; the jaw 10501 is driven to open and close by the first jaw steering engine 10505 and the second jaw steering engine 10506, and the three actions are mutually coupled to realize various structural motion changes, so that the elastic material and the external silica gel skin are driven to deform to realize action changes of the mouth.

The facial expression realization mechanism is provided with an eyebrow movement mechanism, an eye movement mechanism and a mouth movement mechanism, and can realize the movements of frown head, eyelid opening and closing, eyeball rotation, mouth stretching and opening and closing. The eyebrow movement mechanism adopts a four-steering engine three-connecting-rod structure to realize the coupled movement of the upper and lower eyebrows and the left and right eyebrows, and the movement direction simulates the movement direction of the real eyebrows on the face; the eye movement mechanism is combined with the parallel four-bar linkage and the swing guide rod to realize the opening and closing of the upper eyelid and the lower eyelid and the up-down, left-right and coupled movement of the eyeball; the mouth movement mechanism adopts a four-connecting-rod two-driving mechanism, simulates stretching movement of mouth angles at two sides in the x and y directions of the face, and combines opening and closing of the chin to form various movement combinations, so that the mouth silica gel skin is driven to deform, and various mouth changes are simulated. The facial expression implementation mechanism realizes vivid expression actions in a narrow head space by taking the basic expression organ action change of human as reference, has a simple structure, adopts rigid connection transmission, runs stably and has lower cost.

To sum up, according to the utility model discloses head structure of imitative people's expression robot, neck mechanism adopts the differential bevel gear structure based on parallelogram improvement, can realize the gyration of neck, every single move and side pendulum coupled motion, and strengthen the stationarity of neck motion, reduce the influence that the gear clearance produced, facial expression realization mechanism adopts the many link mechanism of bionical design, realize the eye in the narrow and small space of messenger's head, the action of glabella and mouth changes, thereby form various expression actions, moreover, the steam generator is simple in structure, the action is nimble, can really imitate mankind's yaw, shake head and nodding action, and realize the crinkle, the eyelid opens and shuts, eyeball rotation, mouth stretching and the motion that opens and shuts, make imitative people's robot more anthropomorphic, thereby carry out human-computer interaction activity with people more easily.

Furthermore, the utility model discloses still provide a robot, include the utility model discloses foretell humanoid expression robot's head structure.

According to the utility model discloses the robot, head structure through foretell imitative people expression robot, neck mechanism adopts the differential bevel gear structure based on parallelogram improvement, can realize the gyration of neck, every single move and side pendulum coupled motion, and strengthen the stationarity of neck motion, reduce the influence that the gear clearance produced, facial expression realization mechanism adopts the many link mechanism of bionical design, realize the eye in making the narrow and small space of head, the action of glabella and mouth changes, thereby form various expression actions, moreover, the steam generator is simple in structure and compact, the action is nimble, can really imitate mankind's yaw, shake head and nodding action, and realize the crinkle, the eyelid opens and shuts, eyeball rotation, mouth is tensile and the motion of opening and shutting, make the robot more personification, thereby carry out human-machine interaction activity with people more easily.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two components can be directly connected with each other or indirectly connected with each other through an intermediate medium, and can be communicated with each other in the compartment or the interaction relation of the two components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. A head structure of a humanoid expression robot, comprising:

a facial expression realizing mechanism (1), a neck mechanism (2) and a base (3), wherein,

facial expression implementation mechanism (1) with neck mechanism (2) are connected, neck mechanism (2) with base (3) are connected, neck mechanism (2) are including the differential bevel gear structure based on parallelogram, neck mechanism (2) are used for and realize neck gyration, every single move and side pendulum motion, facial expression implementation mechanism (1) includes many connecting rod drive structure and outside silica gel skin, facial expression implementation mechanism (1) is used for realizing that facial frown head, eyelid open and shut, eyeball are rotated, the mouth is tensile and open and shut the motion.

2. The head structure of a humanoid robot as claimed in claim 1, wherein said neck mechanism (2) comprises a neck pitch-yaw mechanism and a neck roll-mechanism, wherein,

The neck pitch and roll mechanism comprises: a neck steering engine I (201), a neck supporting plate I (202), a neck supporting plate III (206), a parallelogram bevel gear structure (208), a neck steering engine II (209), a pinion I (2010), a bull gear I (2011), a bull gear II (2012) and a pinion II (2013),

the neck steering engine I (201), the neck steering engine II (209), the pinion I (2010) and the pinion II (2013) are connected through transmission shaft key grooves; the pinion gear I (2010) and the pinion gear II (2013) are in meshed transmission with the bull gear I (2011) and the bull gear II (2012), respectively; the first gearwheel (2011) and the second gearwheel (2012) are connected with the parallelogram bevel gear structure (208); the first gearwheel (2011) and the second gearwheel (2012) do not have teeth at extreme positions so as to realize mechanical limiting and self-locking functions; the parallelogram bevel gear structure (208) is fixedly connected with the neck support plate I (202) and the neck support plate III (206);

neck rotation mechanism includes neck steering wheel three (207), neck backup pad two (203), revolving axle (204), neck connecting plate (205), neck steering wheel three (207) with revolving axle (204) fixed connection, and with tapered roller bearing transition fit in the neck backup pad two (203), revolving axle (204) and neck connecting plate are fixed through tight set screw clamp, thereby with facial expression realizes that mechanism (1) is connected.

3. The head structure of a humanoid robot as claimed in claim 2, wherein said parallelogram bevel gear structure (208) comprises: a first quadrilateral frame plate (20801), a second quadrilateral frame plate (20802), a third quadrilateral frame plate (20807), a fourth quadrilateral frame plate (20808), a full bevel gear shaft (20803), a first bevel gear half shaft (20806), a second bevel gear half shaft (20812), a first bevel gear (20804), a second bevel gear (20809), a third bevel gear (20810), a first bearing seat (20805) and a second bearing seat (20811), wherein,

the first quadrilateral frame plate (20801) and the third quadrilateral frame plate (20807) are in transmission connection with the first bevel gear half shaft (20806), the second bevel gear half shaft (20812) and the first bevel gear (20804) and the third bevel gear (20810), the first bevel gear half shaft (20806) and the second bevel gear half shaft (20812) adopt three deep groove ball bearing transition fit, the second quadrilateral frame plate (20802) and the fourth quadrilateral frame plate (20808) are in transmission connection with the second bevel gear (20809) through the full bevel gear shaft (20803), and the full bevel gear shaft (20803) adopts two deep groove ball bearing transition fit.

4. The head structure of a humanoid robot of claim 1, wherein the facial expression realization mechanism (1) comprises a facial skeleton (101), a facial shell (102), an eyebrow movement mechanism (103), an eye movement mechanism (104), and a mouth movement mechanism (105), wherein,

Facial skeleton (101) pass through bolted connection facial shell (102) eyebrow motion (103) eye motion (104) with mouth motion (105), mouth motion (105) through both sides back shaft with facial shell (102) are connected, facial shell includes outside silica gel skin.

5. The head structure of the robot with the humanoid expression as in claim 4, wherein the eyebrow movement mechanism (103) comprises a first eyebrow (10301), a second eyebrow (10309), a horizontal eyebrow bracket (10302), a first vertical eyebrow bracket (10305), a second vertical eyebrow bracket (10306), a first eyebrow steering engine (10303), a second eyebrow steering engine (10304), a third eyebrow steering engine (10307) and a fourth eyebrow steering engine (10308), wherein,

eyebrow steering wheel two (10304), eyebrow steering wheel three (10307) passes through eyebrow vertical support one (10305), eyebrow vertical support two (10306) with facial skeleton (101) fixed connection to output rudder arm with eyebrow horizontal support (10302) link to each other, eyebrow horizontal support (10302) support eyebrow steering wheel one (10303), eyebrow steering wheel four (10308), eyebrow steering wheel one (10303), eyebrow steering wheel four (10308) rudder arm is connected respectively eyebrow one (10301), eyebrow two (10309), in order to drive eyebrow one (10301) with eyebrow two (10309) motions.

6. The head structure of the humanoid robot of claim 4, wherein the eye movement mechanism (104) comprises a first eyeball (10401), a second eyeball (10411), an eye support (10406), a first eyelid steering engine (10405), a second eyelid steering engine (10404), a third eyelid steering engine (10408), a fourth eyelid steering engine (10409), a first upper eyelid (10403), a second upper eyelid (10410), a first lower eyelid (10402), a second lower eyelid (10412), an upper and lower eyeball steering engine (10407), and a left and right eyeball steering engine (10413), wherein,

the eyelid steering engine I (10405), the eyelid steering engine II (10404), the eyelid steering engine III (10408), the eyelid steering engine IV (10409) and the eyeball up-down steering engine (10407) are fixed on the eye support (10406), and the eyeball left-right steering engine (10413) moves up and down along with eyeballs; the eyelid steering engine II (10404) and the eyelid steering engine IV (10409) drive the upper eyelid I (10403) and the upper eyelid II (10410) to open and close; the eyelid steering engine I (10405) and the eyelid steering engine III (10408) drive the lower eyelid I (10402) and the lower eyelid II (10412) to open and close; the eyeball up-down steering engine (10407) drives the eyeball I (10401), the eyeball II (10411) and the eyeball left-right steering engine (10413) to move up and down; the eyeball left-right steering engine (10413) drives the eyeball I (10401) and the eyeball II (10411) to move left and right.

7. The head structure of a robot with human expression according to claim 6, wherein the up-down and left-right coupling motion of the eyeball in the eye movement mechanism (104) adopts the coupling transmission of a parallel rod and a crank rocker, the eye movement mechanism (104) comprises a first eyeball (10401), a first up-down eyeball steering gear (10407), a second eyeball (10411), a left-right eyeball steering gear (10413), a parallel connecting rod (10414), a first left-right eyeball rod (10415), a first up-down eyeball rod (10416), a second up-down eyeball rod (10417), a second left-right eyeball rod (10418) and a third up-down eyeball rod (10419), wherein,

steering wheel (10413) about eyeball with parallel connecting rod (10414) are articulated, parallel connecting rod (10414) with pole one (10415) about the eyeball about, pole two (10418) are articulated about the eyeball, pole one (10415) about the eyeball about, pole two (10418) about the eyeball correspond respectively with eyeball one (10401), eyeball two (10411) fixed connection, eyeball steering wheel (10407) about the eyeball passes through pole one (10416) about the eyeball, pole two (10417) about the eyeball with pole three (10419) transmission about the eyeball, form the swing guide arm structure, drive eyeball one (10401), eyeball two (10411) with steering wheel (10413) about the eyeball move from top to bottom.

8. The head structure of the humanoid robot as claimed in claim 4, wherein the mouth movement mechanism (105) comprises a lower mouth (10501), a first mouth angle (10502), a second mouth angle (10509), a first lower mouth angle steering engine (10503), a second lower mouth angle steering engine (10508), a first upper mouth angle steering engine (10504), a second upper mouth angle steering engine (10507), a first lower mouth angle steering engine (10505), and a second lower mouth steering engine (10506), wherein the first lower mouth angle steering engine (10503), the second lower mouth angle steering engine (10508), the first upper mouth angle steering engine (10504), the second upper mouth angle steering engine (10507), the first lower mouth angle steering engine (10505), and the second lower mouth steering engine (10506) are all mounted on the face skeleton (101); the lower mouth angle steering engine I (10503) and the upper mouth angle steering engine I (10504) drive the mouth angle I (10502) to move in two directions of the cheek xy; the lower mouth angle steering engine II (10508) and the upper mouth angle steering engine II (10507) drive the mouth angle II (10509) to move in the two directions of the cheek xy; the jaw is characterized in that the jaw is provided with a first jaw steering engine (10505) and a second jaw steering engine (10506) which drive the jaw (10501) to move in an opening and closing mode, and the first mouth angle (10502) and the second mouth angle (10509) are connected with a teethridge through elastic materials.

9. A robot characterized by comprising the head structure of the humanoid-expression robot as claimed in any one of claims 1-8.

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