KR100806126B1 - Emotion expressing human robot - Google Patents

Abstract

An emotion expressing human robot is provided to remarkably enhance performance of products since whole lips smoothly and harmoniously curve by interlocking corner of the lips according to center parts of the lips. An emotion expressing human robot includes a lip module(1A), an eyelid module, and an eyebrows module. The lip module includes an upper lip, a lower lip, a pair of link devices(30A,30B), four corner of lip supports(40A,40B,40C,40D), a pair of driving control units(50A,50B), and a pair of frames(60A,60B). Center parts of the upper and lower lips are supported by the link devices. Left and right corner of the upper and lower lips are supported by the corner of lip supports. Shaft support units of the pair of link devices are coupled with a first shaft(21) in an X shape. Center supports are formed at upper parts of the pair of link devices to support the center parts of the upper and lower lips. The four corner of lip supports support the left and right corners of the upper lip and the left and right corners of the lower lip respectively. A lower part of the corner of lip support is rotatably supported by a second shaft(22) and a corner of lip fixing unit is formed at an upper part of the corner of lip support. The pair of driving units are provided with motors, control units, and encoders. The pair of frames are installed on a base to support the first shaft and the second shaft and support the driving control units.

Description

Emotion expression human robot {EMOTION EXPRESSING HUMAN ROBOT}

1 is a perspective view showing the configuration of an embodiment according to the present invention

Figure 2 is a perspective view of the lip module of Figure 1

3 is a perspective view of a part of Figure 2 excerpt

4 is a plan view of FIG.

5 is a cross-sectional view taken along the line A-A of FIG.

6 is a cross-sectional view taken along the line B-B of FIG.

7 is a cross-sectional view taken along the line C-C of FIG.

8 to 10 is a lip variable state diagram

* Explanation of symbols for the main parts of the drawings

1: Emotional expression human robot of the present invention

1A: Lip Module 10A: Upper Lip 10B: Lower Lip

11: (lip) center 111: (lip) center high government 13: lip tail

131: tail fixing stone 21: first shaft 22: second shaft

30A, 30B: Link device 31: First pin 32: Second pin

35: main link 351: shaft portion 353: central pillar

36: intermediate link 37: base link

40A, 40B, 40C, 40D: Lip Tail Support 41: Column

43: downward 431: stopper protrusion 45: fixed part

50A, 50B: drive control means 51: motor 55: encoder

551: prime mover 553: driven gear 555: optical sensor

557: Shading piece 60A, 60B: Frame 61: First shaft support

62: internal space 65: elastic member mounting portion 67: second shaft mounting portion

69: cover 71: base 81: elastic member

49, B: Bearing

The present invention relates to a human robot, in particular, in a state in which the lips are closed with a single one, the upper lip and the lower lip are opened in accordance with a control signal input in response to an emotional situation, or the center of the upper and lower lips is simultaneously variably moved up and down. It expresses various emotions by raising or squeezing the lip tail relatively, and the lip tail is linked according to the movement of the center of the lips so that the entire lip movement is made flexible and harmonious. It is about.

With the development of technology, human robots are being researched and developed to be as close as possible to humans in expressing emotions, and will be further developed in the future.

Among the technologies that make the emotion expression of the robot as natural as possible, for example, a technology such as kissme of MIT, which depicts the muscles of the face, has been disclosed, but the price is so high that it has not been put to practical use.

Therefore, the emotion expression of the robot which is currently put to practical use mainly consists of the combination of each module which shows the movement of eyelid, eyebrow, and lips through a mechanical apparatus.

The eyelid module indicating the movement of the eye is configured to control the opening and closing of the eyelid, the eyebrow module is rotationally controlled relative to the side of the brow so that the eyebrow tail is raised or sag.

In addition, the lip module for opening or closing the mouth is represented by the lower lip to move in conjunction with the jaw and the lower lip integrally formed on the upper part of the jaw.

In the prior art, in particular, the mouth module has a problem in that the movement of the lips depends only on the vertical movement of the lower lip moving together with the jaw, and thus the lips shape is very rigid and incongruous and unnatural.

The present invention has been made to solve the above problems,

The purpose of the present invention is to open the upper and lower lip in a state where the lips are closed in one letter, and according to the control signal input according to the emotional situation, rounding or variablely moving the core in the up and down directions at the same time in the upper and lower lip to relatively lip It expresses various emotions by raising or striking the tail and at this time, the lip tail is interlocked according to the movement of the center of the lips so that the entire lip movement is flexible and harmonious. .

Emotional expression human robot according to the present invention for achieving the above object,

In the emotion-expressing human robot including a lip module, an eyelid module, and an eyebrow module that are variably operated by a mechanical device,

The lip module is

The center is a linkage device, the left and right tails are supported by the lip tail support, and the upper and lower lips are made of a flexible material;

A pair of linkage devices configured to include a main link formed on the first shaft and having a center pillar supporting a central portion of the lip on the upper portion of the axial portion, and cranked by a motor rotation;

A lip tail support provided with four pillars arranged to support the upper lip left and right tails and the lower lip left and right tails opposite to the center pillar, the lower lip being axially rotatable on a second shaft to be freely rotated;

A pair of drive control means comprising each motor for driving the link device, a control unit for driving control of the motor, and an encoder for detecting a rotation of the motor and signaling the control unit to:

And a frame installed on the base to support the first shaft and the second shaft on both sides of the first shaft, and receiving and supporting the driving control means.

Hereinafter, an embodiment of the emotion-expressing human robot of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a perspective view showing the configuration of an embodiment according to the invention, Figure 2 is a perspective view of the lip module of Figure 1, Figure 3 is a partial perspective view of Figure 2, Figure 4 is a plan view of Figure 2, Figure 5 of Figure 4 AA line sectional drawing, FIG. 6 is BB line sectional drawing of FIG. 4, FIG. 7 is CC sectional drawing of FIG.

As shown in Figures 1 to 7, the emotion expression human robot 1 of the embodiment according to the present invention is a lip module (1A), eyelid module (1B), eyebrow module (1C) that is variable operation by a mechanical device In the emotional expression human robot including,

The lip module (1A) is the center 11 is a linkage device (30A) (30B), the left and right lip tails (13) are supported by the lip tail support 40, the upper lip (10A) and the lower lip (10B) made of a flexible material ),

Including a main link 35 to the first shaft 21, the bearing portion 351 is coupled to each other in an X-shape and a central column 353 for supporting the center of the lips 10A and 10B is formed thereon. A pair of linkages 30A and 30B configured and cranked by rotation of the motor 51,

The lower pillar 43 is provided with four pillars 41 disposed to support the left and right tails of the upper lip 10A and the left and right tails of the lower lip 10B to face each other at both sides of the center pillar 353. Lip tail supports 40A, 40B, 40C, 40D, which are squeezed by 22A) and 22B and are provided with a lip tail fixing part 45 thereon.

Each motor 51 for driving the link devices 30A and 30B, a controller (not shown) for driving control of the motor 51, and an encoder for detecting rotation of the motor 51 and signaling the controller to the controller. A pair of drive control means (50A) (50B) consisting of (55) and

Frames installed on the base 71 to support the first shaft 21 and the second shaft 22 on both sides of the first shaft 21 and accommodating and supporting the driving control means 50A and 50B ( 60A) and 60B.

Herein, the soft material forming the lips 10A and 10B is preferably formed of silicon.

The lips 10A and 10B are formed with a central fixing part 111 fitted into the main link center pillar 353 below the center and a tail fixing protrusion 131 under the left and right lip tails, and the lip tail support 40A. The fixing portion 45 of the 40B is formed with a groove 451 corresponding to the tail fixing protrusion 131, and for preventing separation and sliding of the tail fixing protrusion 131 toward one side of the groove 451. Bearing 49 may be provided.

The tail fixing protrusion 131 has a bearing coupling portion 133 is formed in the middle of the recess.

That is, the lip is supported over the linkage device 30 and the lip tail support in which the center 11 and the lip tail 13 are made separately, respectively.

The linkages 30A and 30B are proximal end portions 355 extending from the top of the bearing portion 351 of the main link 35 vertically to form a central pillar 353 and extending below the bearing portion 351. ) Is inserted into the first pin 31 so as to be freely rotated, and the intermediate link 36 and the intermediate link having one end rotatably coupled to the first pin 31 at the base end 355 of the main link. 36 is preferably configured to include a base link 37 having one end freely coupled to the other end of the second pin 32 and the other end integrally coupled to the shaft of the motor 51.

The second pin 32 may be integrally formed with the base link 37.

In addition, the lip tail support 40A, 40B, 40C, 40D is preferably supported by the column 41 is pushed outwardly away from the center column 353 in the return direction by the elastic member (81).

The lip tail support 40A, 40B, 40C, 40D is formed with a stopper protrusion 431 on one side of the lower 43 which is coupled to the second shaft 22A, 22B, and is provided below the lip tail support. The inner space 62 of the frame in which the 43 is accommodated is preferably formed to limit the rotation range of the lip tail support by the stopper protrusion 431.

The stopper protrusion 431 of the lip tail support becomes a shape gathered to one side in a circular downward 43, and the inner space 62 of the frame in which the lower 43 including the stopper protrusion is accommodated is the lip tail support. 40A, 40B, 40C, and 40D are formed so as to limit the rotation in the rotational direction and the outwardly extending direction to be pinched toward the center within a predetermined angle.

In addition, the frames 60A and 60B may be formed as a resilient member 81 outside of the first shaft support 61 and the first shaft support 61 which are recessed to support the first shaft 21. An elastic member mounting portion 65 is provided with a torsion spring for pressurizing the tail supports 40A, 40B, 40C, 40D in the return direction, and is provided in a second orthogonal direction below the first shaft 21 support. Preferably, the shaft mounting portion 67 is formed.

That is, the inclination of the lip tail support 40A, 40B, 40C, 40D is controlled by the lower stopper protrusion 431 and the inner space 62 structure of the frame and the torsion spring which is an elastic member 81. .

In addition, the frames 60A and 60B may be fastened and fixed to the cover 69 for fixing the first shaft 21 and the elastic member 81 on the elastic member installation part 65.

On the other hand, in the drive control means (50A) (50B), the encoder 55 is driven gear 551 is installed on the shaft of the motor (51), driven gear (553) engaged with the drive gear 551, the driven It is preferably configured to include a light shielding piece 557 that is fixed to the shaft 554 of the gear and sensitizes the light sensor 555.

The light shielding piece 557 may set a forward / reverse rotation range of the motor and may be formed in a 180 degree fan shape.

In addition, between the first shaft 21 and the main link shaft portion 351 to be freely rotated, between the second shaft 22 and the lower 43 of the lip tail support, the pin 31, 32 is coupled It is preferable that the bearing B is provided to a part.

It looks at the action state of the emotion-expressing human robot 1 according to the present invention having such a configuration.

Lip module (1A) of the present invention to express the emotion by operating the upper lip (10A) and lower lip (10B) in a variety of ways, while the central portion (11) of the lips moves in the vertical direction by the link device (30) 4) freely expressing emotions such as laughing or speaking (see FIG. 8), pleasure or joy (see FIG. 9), displeasure or sadness (see FIG. 10).

The upper lip 10A and the lower lip 10B are respectively connected to the link device 30 and the lip tail supports 40A, 40B, 40C, and 40D in which the center 11 and the lip tail 13 are separately operated. As supported throughout, the central operation of the lips 10A and 10B is such that the base link 37 is rotated by the drive of the motor 51 and coupled to the base link 37 and the second pin 32. As the intermediate link 36 and the main link 35 coupled to the intermediate link 36 and the first pin 31 are crank-rotated, the shaft portion 351 and the central column 353 of the main link 35 are formed. 1 Shaft 21 angular movement as a scissors motion to move the center of the lip variable up and down direction.

In addition, since the lips 10A and 10B are made of a soft material, the operation of the lip tail 13 is interlocked according to the operation of the central portion 11.

That is, when the central portion 11 is changed upward or downward by the linkage devices 30A and 30B in a state in which the lips are normally closed as one, the lip tails 13 at both ends of the body are formed in the central portion 11. To the side. At this time, the pulling of the lip tail 13 is limited to within a predetermined angle by the stopper protrusion 431 of the lower lip tail support 43 and the inner space 62 of the frame, so that the lip tail supports 40A, 40B, 40C ) 40D is prevented from falling over.

On the other hand, the lip tail 13 is pulled when the lips move up and down and some angular movement takes place and the bearing 49 is for this time.

In addition, when the lips are closed once again, the torsion spring, which is the elastic member 81, pushes the lip tail supports 40A, 40B, 40C, 40D outward and returns to the predetermined position. The rotation is restrained and fixed by the protrusion 431 and the inner space 62 of the frame.

On the other hand, the drive control means (50A) (50B) checks the current rotation angle of the motor and the position of the lips (10A) (10B) according to the start-up by the encoder 55 to signal to the controller and the motor by the controller The rotation of is controlled.

That is, when the shading piece 555 is formed in, for example, a 180-degree fan shape, the motor is rotated forward and backward in a 180-degree section, in which the shading occurs, and the lips have a movement pattern linked thereto. If it is out of range, stop the rotation of the motor to cut off the load on the motor and link device to ensure safety.

In addition, at the time of initial assembly, the line at one end of the light shielding piece 557 is set to the state immediately before leaving the detection portion of the light sensor, and if it is out of this range, the operation after the adjustment to find the initial position by the controller is performed.

In the present invention as described above, the upper lip 10A and the lower lip 10B are opened in a state in which the lips are closed in one shape, and the upper and lower lip centers 11 are simultaneously opened at the same time. Moves in the direction to raise or squeeze the lip tail (13) relatively to express a variety of emotions, the lip tail (13) is interlocked in accordance with the movement of the center of the lip (11), so the lip movement is flexible and harmonious It significantly improves the quality characteristics compared to the prior art, in which the operation depends only on the vertical movement of the lower jaw.

The present invention can be variously substituted, modified and changed within the scope without departing from the spirit of the present invention for those skilled in the art to which the present invention pertains is limited to the embodiments and drawings described above no.

As described above in detail, the emotion-expressing human robot according to the present invention

With the lips closed in a single shape, open the upper and lower lip according to the control signal input according to the emotional situation, or move the center of the upper and lower lip up and down simultaneously to raise or lower the tail of the lips. It expresses a variety of emotions, and at this time, the lip tail is interlocked according to the movement of the center of the lips so that the entire lip movement is made flexible and harmonious.

Claims (9)

In the emotional expression human robot comprising a lip module (1A), an eyelid module (1B), an eyebrow module (1C) variable operation by a mechanical device, The lip module 1A is The center portion 11 is a linkage device (30A) (30B), the left and right lip tail 13 is supported by the lip tail support 40, the upper lip (10A) and the lower lip (10B) made of a flexible material; Including a main link 35 to the first shaft 21, the bearing portion 351 is coupled to each other in an X-shape and a central column 353 for supporting the center of the lips 10A and 10B is formed thereon. A pair of linkage devices 30A and 30B configured and cranked by rotation of the motor 51; The lower pillar 43 is provided with four pillars 41 disposed to support the left and right tails of the upper lip 10A and the left and right tails of the lower lip 10B to face each other at both sides of the center pillar 353. Lip tail supports 40A, 40B, 40C, 40D, which are squeezed by 22A) 22B and provided with a lip tail fixing portion 45 thereon; Each motor 51 for driving the link devices 30A and 30B, a control unit for driving control of the motor 51, and an encoder 55 for detecting rotation of the motor 51 and signaling the control unit to the control unit. A pair of drive control means (50A) (50B): Frames installed on the base 71 to support the first shaft 21 and the second shaft 22 on both sides of the first shaft 21 and accommodating and supporting the driving control means 50A and 50B ( 60A) (60B); emotion expression human robot comprising a. The method according to claim 1, Emotional expression human robot, characterized in that the soft material forming the lips (10A, 10B) is silicon. The method according to claim 1 or 2, The lips 10A and 10B are formed with a central fixing part 111 fitted into the main link center pillar 353 downwardly to the center and a tail fixing protrusion 131 under the left and right lip tails. A groove 451 corresponding to the tail fixing protrusion 131 is formed in the fixing part 45 of the lip tail support 40A, 40B, and the tail fixing protrusion 131 is separated from one side of the groove 451. Emotional expression human robot, characterized in that the bearing is provided for prevention and sliding. The method according to claim 1, The link device 30A, 30B, The upper portion of the shaft portion 351 of the main link 35 is vertically bent and extended to form a center pillar 353, and a proximal end portion 355 extending below the shaft portion 351 is formed on the first pin 31. Inserted so that rotation is free, One end is rotated by the second pin 32 at the other end of the intermediate link 36 and the other end of the intermediate link 36, one end of which is freely coupled to the first pin 31 at the base end 355 of the main link. Emotional expression human robot characterized in that it comprises a base link (37) which is freely coupled and the other end is integrally coupled to the shaft of the motor (51). The method according to claim 3, The lip tail support 40A, 40B, 40C, 40D is an emotional expression human characterized in that the pillar 41 is pressed outwardly away from the center column 353 in the return direction by the elastic member 81. robot. The method according to claim 3, The lip tail support 40A, 40B, 40C, 40D is formed with a stopper protrusion 431 on one side of the lower 43 which is coupled to the second shaft 22A, 22B, and is provided below the lip tail support. Emotional expression human robot, characterized in that the inner space 62 of the frame in which the 43 is accommodated is formed so as to limit the rotation range of the lip tail support by the stopper protrusion 431. The method according to claim 1, The frames 60A and 60B have a lip tail support as an elastic member 81 outwardly of the first shaft support 61 and the first shaft support 61 that are recessed to support the first shaft 21. An elastic member mounting portion 65 is provided with a torsion spring for urging 40A, 40B, 40C, and 40D in a return direction, and a second shaft mounting portion in a direction orthogonal to the first shaft 21 support portion. Emotional expression human robot, characterized in that (67) is formed. The method according to claim 7, The frame (60A) (60B) is an emotion-expressing human robot, characterized in that the cover 69 for fastening the first shaft 21 and the elastic member 81 is fastened to the elastic member installation portion 65. The method according to claim 1 or 2, In the drive control means (50A) (50B), the encoder (55) is a primary gear (551) installed on the shaft of the motor (51), a driven gear (553) engaged with the primary gear (551), of the driven gear Emotional expression human robot, characterized in that it comprises a light shielding piece (557) fixed to the axis 554 and sensitizing the optical sensor (555).

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