201034731 六、發明說明： 【發明所屬之技術領域】 本發明係屬於智慧型機器人眼部機構之技術領域，尤指應用 於人形機器人臉部情緒仿真之眼部機構系統。 【先前技術】 智慧型機器人是21世紀先進國家優先發展的新科技產業，關 鍵技術涵蓋機構設計、馬達控制、影音感測技術、導航感測技術、 嵌入式微處理器應用技術…等等整合機電知識的相關專業技術。 一般而言，機器人可分類為產業用及服務用兩大類，智慧型機器 人屬於知識、資本與技術密集的跨領域整合型新興產業。在科技 曰新月異的現代，具有多樣化表情或動作的智慧型機器人被創作 出來，而舉凡這些智慧型機器人可應用於大樓保全或是作為娛樂 商品。 為了使智慧型機器人的動作更貼近人類的行為，或增添與人 們互動的表情，一直是從事機器人研究工作所追求之課題。人形 機器人頭部的技術發展可分類為初階、中階與高階三個領域，其 中大多數初階與中階的頭頸部技術發展主要投入在基本情緒機構 與控制的技術創新，高階技術除了著重於面部情緒與環境的互動 外’也強調細緻微調能明顯觸動機器人之所引起之情境變化，仿 生機構設計、致動器控制與互動式情緒模擬分被視為是發展高階 關鍵技術。就日本 AIST(Advanced Industrial Science and Teehnology；) 與韓國 KAIST(Korea Advanced Institute of Science and Technology) 發展人形機器人的成功經驗可知’微型機構的製作工藝與控制為 其關鍵因素。 201034731 有關於智慧型機器人臉部眼球、眼皮、眉毛...等先前的仿生 技術多過於赫’設計製舰本過冑’祕人賴狀聊過重， 馬達驅動減速或傳動機構…等困擾。但對於臉部表情變化的仿真 效果卻不見有突破性的進展，使得這些臉部仿生的程度大打折 扣，無法猶如人類臉部表情的逼真。先前技術在人工眼球下加裝 減速或傳動機構得做法，將配合低轉速、大扭力的微型機構與直 流5伏微型致動器得到改善。 q 【發明内容】 本發明之目的在提供應用於人形機器人臉部情緒仿真之眼部 機構系統。利用重量僅9克以下的先進微型致動器(直流5伏之遙 控（Remote Control ; RC)伺服機或超音波馬達)的低功率、低轉 速、大轉矩、微型輕量…等優勢，以簡化智慧型機器人微型機構 的複雜性，以省略減速齒輪機構的傳動困擾，本微型機構提供微 型致動器控制智慧型機器人眼球垂直與水平移動、眼皮垂直移動 的功能。當直流5伏之致動器順時鐘或逆時鐘方向旋轉時，經由 〇 可調整撓性連桿以及固定軸承，致動器之扭力將瞬間傳遞至瞳孔 中央槓桿，經由可調整撓性四連桿及滑動機構，將眼球作垂直與 水平角度的挽性擺動，而眼球瞳孔的垂直與水平擺動角度可依需 求設定為正負55〜75度。另一方面，眼皮機構係由另一組微型致 動器所控制垂直移動的功能，當直流5伏之致動器順時鐘或逆時 鐘方向旋轉時，經由可調整撓性連桿以及固定軸承，致動器之扭 力將瞬間傳遞至眼皮拉力機構，經由可調整連桿將眼皮作垂直角 度的閉合或開啟，而眼皮垂直的擺動角度可依需求設定為單向 65〜95度。 5 201034731 達到上述目的之人形齡人卿機構之麟， 了獨立移動與控制之子系統，包括：一、眼球眼球2D曲柄機構子 =統’肋提供具有可纏垂直與水平撓性之曲柄及滑動機構， 將=球㈣直與水平角度的撓性勘，二、眼賴構子系統，用 以提供具有可調整撓性連桿以及固定軸承可將眼皮作垂声 =閉合或開啟，以及三、微型低神致動騎㈣，肋提供具 有驅動人形機ϋ人眼部機構之動紐_動力來源。達到上述目、 ^之智慧型機器人眼顯構之動雜組之電絲自独電池 流電源模組，提供的4 5·6伏(v)之直流電壓電源之平均為功率 ^(W) ’控制枝獅2.4GHz無線電控纖組或制具有2〇 固]出入點的乙太網路咖emet)訊號傳輸之隱單晶片控制模 【實施方式】 雖然本發明將參閱含有本發明雛實施例之所關式予以 ^描述’但在此描述之前應瞭解熟悉本行之人士可修改本文 明’同時獲致本發明之功效。因此，須瞭解以下之描述 行技藝之人士而言為-廣泛之揭示，且其内容不在於限 請參閱第1圖，顯示本發明人賴狀臉部魏部結構之示 :L圖中包括有臉部結構1、眼球機構2及眼皮機構3。其中臉 =構丨可由可之仿私縣橡騎料祕喊，而眼球機 冓可具有瞳孔等，眼皮機構3則可具有睫毛。 請參閱第2圖’顯示本發明人形機器人頭顧骨示意圖，並配 201034731 ^裂閱口第I及圖瞳機構2、眼皮機構> 眼窩結構4、 尘教及瞳孔結構6。其續器人眼窩結構 ==二=_構2的控制連桿(圖未示)s 運動Η❼瞳孔結構6主要包含有CCD攝影機鏡頭。 頭顱骨^第4 ® ’第3 _示為本發明人形機器人 頭顱月4及眼縣構之示_，冑4 _示本伽人201034731 VI. Description of the Invention: [Technical Field of the Invention] The present invention belongs to the technical field of an intelligent robot eye mechanism, and more particularly to an eye mechanism system applied to humanoid robot facial emotion simulation. [Prior Art] Smart robot is a new technology industry with priority development in advanced countries in the 21st century. Key technologies include mechanism design, motor control, audio and video sensing technology, navigation sensing technology, embedded microprocessor application technology, etc. Relevant expertise. In general, robots can be classified into two categories: industrial and service. Smart robots are interdisciplinary and integrated industries with knowledge, capital and technology intensive. In the modern and ever-changing science and technology, intelligent robots with diverse expressions or movements are created, and these intelligent robots can be used for building preservation or as entertainment products. In order to make the movement of intelligent robots closer to human behavior, or to add expressions that interact with people, it has always been the subject of robot research work. The technical development of the humanoid robot head can be classified into three fields: primary, intermediate and high-order. Most of the initial and intermediate-level head and neck technology development is mainly invested in technological innovation of basic emotional institutions and control. In addition to the interaction between facial emotions and the environment, it also emphasizes that fine-tuning can significantly affect the situational changes caused by robots. Bionic mechanism design, actuator control and interactive emotion simulation are regarded as the development of high-level key technologies. The successful experience of developing humanoid robots in Japan's AIST (Advanced Industrial Science and Teehnology;) and Korea's KAIST (Korea Advanced Institute of Science and Technology) shows that the manufacturing process and control of micro-institutions are key factors. 201034731 About the previous robotic eyeballs, eyelids, eyebrows, etc. of the intelligent robot face, etc., the design of the ship is too much, and the secrets of the robots are too heavy, the motor drive deceleration or the transmission mechanism... However, there is no breakthrough in the simulation effect of facial expression changes, which makes the degree of bionics of these faces large and discounted, and can't be as realistic as human facial expressions. Prior art techniques for retrofitting or transmissions under artificial eyeballs have been improved with low-speed, high-torque micro-mechanisms and DC 5-volt microactuators. SUMMARY OF THE INVENTION An object of the present invention is to provide an eye mechanism system applied to facial simulation of a humanoid robot. Utilizing the advantages of low power, low speed, high torque, mini-lightweight, etc., with advanced micro actuators (less than 5 volt remote control (RC) servos or ultrasonic motors) weighing less than 9 grams Simplifying the complexity of the intelligent robot micro-mechanism to omit the transmission trouble of the reduction gear mechanism. The micro-mechanism provides a micro-actuator to control the vertical and horizontal movement of the intelligent robot eyeball and the vertical movement of the eyelid. When the DC 5 volt actuator rotates in the clockwise or counterclockwise direction, the flexible link and the fixed bearing can be adjusted via the cymbal, and the torque of the actuator will be instantaneously transmitted to the central lever of the boring, via the adjustable flexible four-bar linkage. And the sliding mechanism, the eyeball is made to swing vertically and horizontally, and the vertical and horizontal swing angles of the eyeball pupil can be set to plus or minus 55 to 75 degrees according to requirements. On the other hand, the eyelid mechanism is a vertical movement function controlled by another set of microactuators. When the DC 5 volt actuator is rotated clockwise or counterclockwise, via the adjustable flexible link and the fixed bearing, The torque of the actuator will be instantaneously transmitted to the eyelid tensioning mechanism, and the eyelid can be closed or opened by a vertical angle through the adjustable connecting rod, and the vertical swinging angle of the eyelid can be set to be unidirectionally 65 to 95 degrees according to requirements. 5 201034731 The human body of the age-old organization, which achieves the above objectives, has a subsystem of independent movement and control, including: 1. The eyeball 2D crank mechanism = the rib provides a crank and sliding mechanism with tangible vertical and horizontal flexibility. , the ball (four) straight and horizontal angle of the flexible survey, the second, the eye sub-system, to provide adjustable flexible links and fixed bearings can be used to make the eyelids sound = closed or open, and three, miniature The low god actuated ride (four), the rib provides a dynamic source of power to drive the humanoid machine. To achieve the above-mentioned objectives, the smart robot eye display structure of the moving wire of the self-single battery power module, the average voltage of the 4 5 6 volt (v) DC voltage power supply is ^ (W) ' Controlling a lion's 2.4 GHz radio control fiber group or a crypto-single control module with a 2 〇 ] 出 咖 【 【 【 【 实施 实施 实施 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 【 The closed type is described as 'but before the description here, it should be understood that the person familiar with the Bank can modify the civilization' while achieving the effect of the present invention. Therefore, it should be understood that the following description of the skilled person is a broad disclosure, and its content is not limited to the first drawing, showing the structure of the inventor's Lai facial part: the L picture includes Face structure 1, eyeball mechanism 2 and eyelid mechanism 3. The face = structure can be screamed by the singularity of the county, and the eyeball machine can have a pupil, etc., and the eyelid mechanism 3 can have eyelashes. Please refer to Fig. 2' for a schematic diagram of the humanoid robot head of the present invention, and with the 201034731 裂 口 第 I I and the 瞳 mechanism 2, the eyelid mechanism> the eye socket structure 4, the dust teaching and the pupil structure 6. The continuation of the human eye socket structure == two = _ structure 2 control link (not shown) s The movement pupil structure 6 mainly contains a CCD camera lens. The skull ^ 4 ® ' 3rd _ is shown in the humanoid robot of the present invention, the head of the skull 4 and the eye county structure _, 胄 4 _ show Ben Jia
=機^_，並配合_ 2圖。财包括魏球機構2、 致動ΐ 10二機二7、第二扭力輸入機件8、第一致動器9及第二 實施例中，眼球機構2内含有曈孔結構6，而眼 =機構2可藉由峡插銷„與曲柄機構12連結，固定插銷^並 球機構12上’且曲柄機構12可與第一扭力輸入機件7及 弟3力輸人機件8連結’而第—扭力輸人機件7及第二扭力輸= machine ^_, and with _ 2 map. The financial mechanism includes a Wei ball mechanism 2, an actuation ΐ 10 2 machine 2, a second torque input member 8, a first actuator 9 and a second embodiment, the eyeball mechanism 2 contains a pupil structure 6, and the eye = The mechanism 2 can be coupled to the crank mechanism 12 by the chimney pin „the fixed pin ^ and the ball mechanism 12 ′ and the crank mechanism 12 can be coupled with the first torque input mechanism 7 and the third power input unit 8 ' Torque input mechanism 7 and second torque transmission
職第—致絲9及第"致動器⑴連結，使曲柄機 ，12上可帶動眼球機構2而具有垂直與水平之2維調整位移，並 使眼球機構2之垂直與水平擺動角度介於正負55〜77度，其中第 致動器9及第二致動n丨〇使第—扭力輸人機件7及第二扭力輸 入機件8之旋轉角度設定為正負9〇度。其中第一致動器9及第二 致動器10可為直流5伏微型致動器。 。請參閱第5 ®，係顯示本發明人形機器人眼皮麵之示意圖 (單眼球獨立動作），並配合參閱第i圖。圖中包括有眼皮機構3、 ^生連才干13、第二扭力輸入機件14、可調整套筒15及第三致動 器16。在此實施例中，撓性連桿13之一端連接有眼皮機構3及睫 毛’其另-端可樞接於多孔圓盤17之一面之側緣上。且眼皮機構 3之第三扭力輸入機件14亦連結於多孔圓盤17之另一面軸心處， 7 201034731 L可配置於第三致動器16，當第三致動器 、㈤輸入機件14帶動多孔圓盤17作動，進而 ^彈性調整第三扭力輸入機件14之扭力輪出角度。可調整套筒 ，内部具有螺牙（示），其可依需要雜赃撓性連桿^ 之伸縮長度’第三致動器16可提供第三扭力輸入機件14作動， 因而併帶動撓性連桿π作動，而絲性連桿D可將眼皮機構3 及睫毛作動，其蚊可舰錢構3及睫毛料向65〜95度的垂 直擺動。而該第三扭力輸人機件14之允許旋㈣度設定為單向 120度向下擺動。其中第三致動器16可為直流$伏微型致動器。 上述之智慧型機ϋ人眼部機構之動態模組之電源來自於鐘電池串 聯直流電賴組’提供的4.5_6伏(ν)直流缝電源之平均為2〇瓦 (W)之功率給予第—致動II 9、第二致動器及第三致動器16。 其控制方式 2_4GHz無、_控麵域使職有2G個輸出入 點的乙太網路(Ethernet)訊號傳輸之8051單晶片控制模組(圖未 示）。 請參閱第6 ®(雙眼球同時動作），顯示本發明人形機器人臉部 及眼部機構，並配合參閱第1圖。圖巾之眼球控制機構之動態模 組包含有兩眼球機構20、水平位移機構21、垂直位移機構22、第 致動器23及第一致動器24，該眼球機構2〇具有曈孔結構25 及延伸端26。水平位移機構21之兩端可分別與兩眼球機構2〇之 该延伸端26樞接，且水平位移機構21之表面具有一齒部27。垂 直位移機構22之兩端樞接於兩眼球機構2〇上，第一致動器23可 搭配具有齒輪28，且齒輪28結合於齒部27。第二致動器24與垂 直位移機構22之一突起部29連結。其中，該第一致動器23 ；|卞動 使齒輪28轉動，而與齒輪28結合之齒部27使水平位移機構21 201034731 產生位移，進而使兩眼球機構2〇可呈現水平的轉動，而該第二致 動器24作動史垂直位移麟22產生縱向的轉動，進而^眼^機 構2呈現垂直的移動。其中第一致動器23及第二致動器μ可為 直流5伏微型致動器。上述之智慧型機器人眼部機構^動態模组 之電源來自於鐘電池串聯直流電源模組，提供的45_6伏^直流 _電源之平均為2G瓦(W)之功率給予第-致動器23及第二致= 器24。其控制方式採用2.4GHz無線電控制模組或使用具有加個 輪出入點的乙太網路(Ethernet)訊號傳輸之8051單晶片控制模組 〇 (圖未示）。其中，瞳孔結構25主要包含有CCD攝影機鏡I、、 本發明之優點在於：改善先前技術在人工眼球下加裝減速或 傳動機構得做法，將配合低轉速、大扭力的微型機構與直流$伏 微型致動器(微型遙控（REM〇TE c〇NTR〇L ; Rc)飼服機^微型The position - the wire 9 and the "actuator (1) link, so that the crank machine, 12 can drive the eyeball mechanism 2 with vertical and horizontal two-dimensional adjustment displacement, and the vertical and horizontal swing angle of the eyeball mechanism 2 At positive and negative 55 to 77 degrees, wherein the first actuator 9 and the second actuation n 丨〇 set the rotation angles of the first torsion input member 7 and the second torsion input member 8 to be positive and negative 9 degrees. The first actuator 9 and the second actuator 10 may be DC 5 volt microactuators. . Refer to section 5® for a schematic diagram of the eyelid surface of the humanoid robot of the present invention (single eyeball independent action), and refer to the i-th diagram. The figure includes an eyelid mechanism 3, a raw connector 13, a second torque input member 14, an adjustable sleeve 15, and a third actuator 16. In this embodiment, one end of the flexible link 13 is connected to the eyelid mechanism 3 and the eyelashes', and the other end thereof is pivotally connected to the side edge of one side of the porous disk 17. And the third torque input member 14 of the eyelid mechanism 3 is also coupled to the other axis of the porous disk 17, 7 201034731 L can be disposed on the third actuator 16, when the third actuator, (5) input mechanism 14 drives the porous disc 17 to actuate, and then elastically adjusts the torque wheeling angle of the third torque input member 14. The adjustable sleeve has a screw thread (shown inside) which can be used for the telescopic length of the flexible connecting rod. The third actuator 16 can provide the third torque input member 14 to actuate and thus drive the flexibility. The connecting rod π is actuated, and the silky connecting rod D can actuate the eyelid mechanism 3 and the eyelashes, and the mosquito can swing the body 3 and the eyelash material to the vertical swing of 65 to 95 degrees. The allowable rotation (four) degree of the third torsion input member 14 is set to unidirectionally swing 120 degrees downward. Wherein the third actuator 16 can be a direct current $ volt microactuator. The power supply of the dynamic module of the above-mentioned smart machine eye unit is derived from the power of the 4.5_6 volt (ν) DC power supply provided by the clock battery series DC power supply group, which is an average of 2 watts (W). The II 9, the second actuator and the third actuator 16 are actuated. The control method is 2_4GHz, and the control area enables the 8051 single-chip control module (not shown) of the Ethernet signal transmission with 2G input and output points. Refer to Section 6 (Double Eyeball Simultaneous Movement) to display the face and eye mechanism of the humanoid robot of the present invention, and refer to Fig. 1. The dynamic module of the eyeball control mechanism of the towel comprises a two eyeball mechanism 20, a horizontal displacement mechanism 21, a vertical displacement mechanism 22, an actuator 23 and a first actuator 24, and the eyeball mechanism 2 has a pupil structure 25 And extending end 26. Both ends of the horizontal displacement mechanism 21 are respectively pivotally connected to the extended end 26 of the two eyeball mechanisms 2, and the surface of the horizontal displacement mechanism 21 has a tooth portion 27. Both ends of the vertical displacement mechanism 22 are pivotally connected to the two eyeball mechanisms 2, the first actuator 23 can be coupled with the gear 28, and the gear 28 is coupled to the tooth portion 27. The second actuator 24 is coupled to one of the projections 29 of the vertical displacement mechanism 22. Wherein, the first actuator 23; | turbulence rotates the gear 28, and the tooth portion 27 combined with the gear 28 displaces the horizontal displacement mechanism 21 201034731, so that the two eyeball mechanisms 2 can be horizontally rotated, and The second actuator 24 actuates the vertical displacement of the lining 22 to produce a longitudinal rotation, and the mechanism 2 exhibits a vertical movement. The first actuator 23 and the second actuator μ may be DC 5 volt microactuators. The above-mentioned intelligent robot eye mechanism ^ dynamic module power supply comes from the clock battery series DC power supply module, providing 45_6 volts ^ DC power supply with an average power of 2G watts (W) to the actuator - 23 The second is = 24. The control method uses a 2.4 GHz radio control module or an 8051 single-chip control module (not shown) with an Ethernet signal transmission with a single round of entry and exit points. Wherein, the pupil structure 25 mainly comprises a CCD camera mirror I, and the invention has the advantages of improving the prior art method of adding a deceleration or a transmission mechanism under the artificial eyeball, and the micro-mechanism with low rotation speed and large torque is coupled with DC volts. Microactuator (mini remote control (REM〇TE c〇NTR〇L; Rc) feeding machine ^ miniature
本發明將拋棄以往機器人臉部眼球、眼皮、眉毛等機構# 计對於減速齒輪機構的依賴，對於臉部表情變化的仿真效果將具 有突破性的進展。使得以往機器人臉部眼球、眼皮、眉毛等^ 前的仿生技術多過於複雜，設計製作成本過高，造成人形機器人 頭部過重，馬達鷄減速或傳動機構.··等問題不再成為困擾，人 形機器人臉部仿生表情將更為逼真。 雖然本發明已讀佳實關揭露如上，雜並_以限定本 發明’任何熟悉此技藝者，在不脫縣發明之精神和細内，當 ，各種之更動與潤飾’因此’本發明之保護範圍，當視後附二 申請專利範圍所界定者為準。 9 201034731 【圖式簡單說明】 第1圖係顯示本發明人形機器人臉部及眼部結構之示意圖； 第2圖係顯示本發明人形機器人頭顱骨之示意圖，· 第頂係顯示為本發a月人形機器人輸骨結構及目艮部結構之示意圖； 第4圖係顯示本發明人形機器人眼球機構之示意圖，· 第5圖係顯示本發明人形機器人眼皮機構之示意圖(單眼球獨立動作) 以及 第6圖係顯示本發明人形機器人另一實施例之示意圖。 【主要元件符號說明】 1 :臉部結構模組； 2.眼球機構； 3:眼皮機構； 4:眼窩結構； 5 : L型裂口； 6:瞳孔結構； 7:第—扭力輸入機件； 8.第二扭力輸入機件； 9 :第一致動器； 10 :第二致動器； 201034731 • 11 :固定插銷； 12 :曲柄機構； 13 :撓性連桿； 14 :第三扭力輸入機件； 15 :可調整套筒； 16 :第三致動器； 17 :多孔圓盤； 〇 20 :眼球機構； 21 :水平位移機構； 22 :垂直位移機構； 23 :第一致動器； 24 :第二致動器； 25 :瞳孔結構； 〇 26 :延伸端； 27 :齒部； 28 :齒輪；以及 29 :突起部。 11The invention will abandon the dependence of the robot eye, eyelids, eyebrows and the like on the reduction gear mechanism, and will have a breakthrough in the simulation effect on the facial expression change. In the past, the bionic technology of the robot's face, eyelids, eyebrows, etc. was too complicated, and the cost of design and production was too high, causing the head of the humanoid robot to be too heavy, and the motor chicken deceleration or transmission mechanism was no longer a problem. The robotic face bionic expression will be more realistic. Although the present invention has been read as described above, the disclosure of the present invention is to limit the present invention to any one skilled in the art, and in the spirit and detail of the invention of the invention, the various modifications and refinements 'and therefore' the protection of the present invention. The scope is subject to the definition of the scope of the patent application. 9 201034731 [Simple description of the drawings] Fig. 1 is a schematic view showing the face and eye structure of the humanoid robot of the present invention; Fig. 2 is a schematic view showing the skull of the humanoid robot of the present invention, and the top system is shown as a month of the present invention. Schematic diagram of the humanoid robot bone transfer structure and the eyelid structure; Fig. 4 is a schematic view showing the humanoid robot eyeball mechanism of the present invention, and Fig. 5 is a schematic view showing the humanoid robot eyelid mechanism of the present invention (single eyeball independent action) and the sixth The figure shows a schematic view of another embodiment of the humanoid robot of the present invention. [Main component symbol description] 1 : face structure module; 2. eyeball mechanism; 3: eyelid mechanism; 4: eye socket structure; 5: L-shaped split; 6: pupil structure; 7: first-torque input mechanism; Second torque input mechanism; 9: first actuator; 10: second actuator; 201034731 • 11: fixed latch; 12: crank mechanism; 13: flexible link; 14: third torque input machine 15; adjustable sleeve; 16: third actuator; 17: porous disc; 〇20: eyeball mechanism; 21: horizontal displacement mechanism; 22: vertical displacement mechanism; 23: first actuator; : second actuator; 25: boring structure; 〇 26: extended end; 27: toothed portion; 28: gear; and 29: projection. 11