WO2019237997A1 - 一种控制机器人面部表情的装置 - Google Patents

一种控制机器人面部表情的装置 Download PDF

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Publication number
WO2019237997A1
WO2019237997A1 PCT/CN2019/090454 CN2019090454W WO2019237997A1 WO 2019237997 A1 WO2019237997 A1 WO 2019237997A1 CN 2019090454 W CN2019090454 W CN 2019090454W WO 2019237997 A1 WO2019237997 A1 WO 2019237997A1
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WIPO (PCT)
Prior art keywords
putter
smile
saddle
controlling
push plate
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PCT/CN2019/090454
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English (en)
French (fr)
Inventor
丁英卓
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丁英卓
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Application filed by 丁英卓 filed Critical 丁英卓
Publication of WO2019237997A1 publication Critical patent/WO2019237997A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Definitions

  • the invention relates to the field of robots, in particular to a device for controlling facial expressions of a robot.
  • the purpose of the present invention is to provide a device for controlling the facial expression of a robot, so as to solve the shortcomings of the prior art, so that the robot can perform smiling and sad movements extremelyly, with fewer parts involved in the movement, simple structure, and good stability.
  • Easy to install, low cost of use, convenient for popularization and application can make the robot alone have a smile or sad expression function, and can also make the robot have both a smile expression function and a sad expression function.
  • a device for controlling a facial expression of a robot includes a push plate and a power device for controlling the movement of the push plate.
  • the push plate is respectively connected with two smiling push rods and two sad push rods. Therefore, two smile putters or sad putters can be moved around the axis, and the two smile putters include a smile putter lever portion, a smile putter rotation axis, a smile putter bending portion, and a smile putter.
  • the entire smile putter can be rotated along the rotation axis of the smile putter. The pusher moves downward to drive the lever of the smile putter downward, so that the working face of the smile putter moves upward to make a smile action.
  • the saddle putter includes a saddle putter lever part, a saddle putter rotation axis, a saddle putter bending part, and a saddle putter working surface.
  • the whole saddle putter can rotate along the saddle putter rotation axis, and the pusher plate
  • the downward movement causes the saddle putter lever to move upward, so that the saddle putter works face down, thereby making a sad action.
  • a device for controlling a facial expression of a robot includes a push plate and a power device for controlling the movement of the push plate.
  • the push plate is respectively connected with two smiling push rods, so that two The smile putter realizes movement around the axis.
  • the two smile putters include a smile putter lever, a smile putter rotation axis, a smile putter bending portion and a smile putter working surface.
  • the entire smile putter can be moved along the smile.
  • the rotating shaft of the putter makes a rotational movement, and the pusher plate moves downward to drive the lever of the smile putter downward, so that the working face of the smile putter moves upwards, thereby making a smile action.
  • a device for controlling a facial expression of a robot includes a push plate and a power device for controlling the movement of the push plate.
  • the push plate is respectively connected with two saddle putters, so that The saddle putter moves around the axis.
  • the two saddle putters include the saddle putter lever part, the saddle putter rotation axis, the saddle putter bending part, and the saddle putter working surface.
  • the entire saddle putter can be pushed along the saddle.
  • the rotation axis of the rod performs a rotational movement, and the pusher plate moves downwards to drive the saddle putter lever portion to move upward, so that the saddle putter work faces downward, thereby making a sad action.
  • the two working faces of the smiling putter according to the present invention are generally distributed in an inverted sigma shape, and the working faces of the smiling putter are generally rectangular arc surfaces, and are provided with at least one insert for controlling the skin.
  • the embedded opening is connected with the face to realize the change of facial expression.
  • the two saddle putter working surfaces of the present invention are generally distributed in a zigzag shape.
  • the saddle putter working surfaces are generally rectangular arc surfaces, and at least one insert for controlling the face is embedded. Opening, the insert is connected to the face, and changes in facial expression are realized.
  • a tension spring is connected to the bending part of the smiling putter and the bending part of the sad putting rod according to the present invention, so that the smiling putting rod or the sad putting rod can return to the original state after the action is performed.
  • the side of the push plate of the present invention is provided with two first through holes for inserting the saddle lever portion, and the two first through holes are oval.
  • the bottom of the push plate according to the present invention protrudes two push rod blocks obliquely downward, and the two push rod blocks are provided with two second through holes that are generally distributed in a figure-eight shape, which is beneficial for making With a smile, the two through holes are oval.
  • the present invention is an improvement of the technical solution.
  • the push plate of the present invention vertically projects a U-shaped groove backward, and the U-shaped groove is connected with a cam driven by the power unit, thereby driving the entire pusher. Displacement from top to bottom, the power unit is composed of motor, reducer and potentiometer.
  • the present invention enables the robot to make smiles and sadness actions securely, with fewer parts involved in making the action, simple structure, good stability, easy installation, low use cost, convenient promotion and application, and the robot can have a smile alone Or sad expression function, can also make the robot have both smile expression function and sad expression function.
  • FIG. 1 is a schematic diagram of a push plate and a power unit of the present invention.
  • FIG. 2 is a schematic diagram of Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram of a second embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a third embodiment of the present invention.
  • a device for controlling facial expressions of a robot in this embodiment includes a push plate 1 and a power device 2 for controlling the movement of the push plate.
  • the push plate is respectively connected with two smile push rods 3.
  • two saddle putters 4 so that two of the smile putters or saddle putters can move around the axis, and the two smile putters include a smile putter lever portion 31, a smile putter rotation axis 32, and a smile
  • the putter bending portion 33 and the smile putter working surface 34 can rotate the entire smile putter along the rotation axis of the smile putter, and the push plate moves downwards to drive the lever of the smile putter downward to make the smile putter work. Move upwards to make a smile.
  • the two saddle putters include the saddle putter lever portion 41, the saddle putter rotating shaft 42, the saddle putter bending portion 43, and the saddle putter working surface 44.
  • the lever can rotate along the rotation axis of the saddle putter, and the push plate moves downwards to drive the lever of the saddle putter to move upward, so that the saddle putter works face down, thereby making a sad action.
  • the two working faces of the smiling putter according to the present invention are generally distributed in an inverted sigma shape, and the working faces of the smiling putter are generally rectangular arcs, and are provided with at least one insert for controlling the skin.
  • the embedded opening 5 is connected with the face to realize the change of facial expression.
  • the two saddle putter working surfaces of the present invention are generally distributed in a zigzag shape, the saddle putter working surfaces are substantially rectangular arc surfaces, and at least one insert for controlling the face is embedded.
  • the opening 5 of the invention is connected to the face to realize the change of facial expression.
  • a tension spring 6 is connected to the smiling pusher bending portion and the saddle pusher bending portion according to the present invention, so that the smiling pusher or the saddle putting rod can return to the original state after the action is performed.
  • two side surfaces of the push plate of the present invention are provided with two first through holes 7 for inserting the saddle lever portion, and the two first through holes are oval.
  • the bottom of the push plate according to the present invention protrudes obliquely downward from the two push rod blocks 8, and the two push rod blocks are provided with two second through holes 9 which are generally distributed in a figure-eight shape.
  • the two through holes are oval.
  • the push plate of the present invention vertically projects a U-shaped groove 10 backward, and the U-shaped groove is connected with a cam 11 driven by the power unit 2 so as to drive the entire push plate to move up and down.
  • the power unit is composed of a motor, a reducer and a potentiometer.
  • a device for controlling a facial expression of a robot in this embodiment includes a push plate 1 and a power device 2 that controls the movement of the push plate.
  • the push plate is respectively connected with two smile push rods 3.
  • two of the smile putters can be moved around the axis, and the two smile putters include a smile putter lever portion 31, a smile putter rotation axis 32, a smile putter bending portion 33, and a smile putter work.
  • Face 34 the entire smile putter can rotate along the rotation axis of the smile putter, and the pusher plate moves downwards to drive the lever of the smile putter to move downward, so that the work of the smile putter moves upward to make a smile action.
  • the difference between the second embodiment and the first embodiment is that the second embodiment only has a smiling expression, and the other embodiments are the same.
  • a device for controlling facial expressions of a robot in this embodiment includes a push plate 1 and a power device 2 for controlling the movement of the push plate.
  • the push plate is respectively connected with two saddle push rods 4,
  • the two saddle putters can be moved around the axis, and the two saddle putters include the saddle putter lever portion 41, the saddle putter rotation shaft 42, the saddle putter bending portion 43, and the saddle putter working surface. 44.
  • the entire grief putter can rotate along the axis of the grief putter, and the pusher plate moves downward to drive the lever of the grief putter to move upward, making the grief putter work downwards, thereby making the grief action.
  • Embodiment 3 has only a sad expression, and the other embodiments are the same.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

一种控制机器人面部表情的装置，包括推板（1）和控制推板（1）上下移动的动力装置（2），推板（1）上分别连接有两个微笑推杆（3）和两个忧伤推杆（4），从而使两个微笑推杆（3）或忧伤推杆（4）实现绕轴运动，两个微笑推杆（3）依次包括微笑推杆杠杆部（31）、微笑推杆旋转轴（32）、微笑推杆弯折部（33）和微笑推杆工作面（34），两个忧伤推杆（4）依次包括忧伤推杆杠杆部（41）、忧伤推杆旋转轴（42）、忧伤推杆弯折部（43）和忧伤推杆工作面（44）；该装置使得机器人可以惟妙惟肖的做出微笑和忧伤动作，做出动作涉及的部件较少，结构简单，稳定性好，易于安装，使用成本低，便于推广应用，可以使机器人单独具有微笑或忧伤表情功能，也可以使机器人既具有微笑表情功能又具有忧伤表情功能。

Description

一种控制机器人面部表情的装置 技术领域
本发明涉及机器人领域，特别是涉及一种控制机器人面部表情的装置。
背景技术
目前，随着世界人口老龄化不断加剧，多个国家的劳动力人口出现不同成都的下滑趋势，劳动力紧缺成为一种紧迫的社会问题。随着人工智能的发展，将机器人变成一个的“人”逐渐成为可能，服务类的机器人可以模仿人类完成精度很高的动作，将逐步进入服务业，服务类机器人，特别是教育和陪伴智力残缺类的儿童的机器人将成为广受欢迎的机器人类型。机器人的微笑和忧伤动作一直是服务类机器人模仿人类的表情动作，对于动作的要求较高，既有求相互协调，又要求逼真，但现有的机器人的微笑和忧伤动作，做出动作涉及的部件较多，结构复杂，稳定性差，安装困难，导致使用成本较高，无法大规模的推广应用。
发明内容
本发明的目的在于提供一种控制机器人面部表情的装置，以解决现有技术的不足，使得机器人可以惟妙惟肖的做出微笑和忧伤动作，做出动作涉及的部件较少，结构简单，稳定性好，易于安装，使用成本低，便于推广应用，可以使机器人单独具有微笑或忧伤表情功能，也可以使机器人既具有微笑表情功能又具有忧伤表情功能。
本发明的技术方案:
作为第一种技术方案，本发明一种控制机器人面部表情的装置，包括推板和控制推板上下移动的动力装置，所述推板上分别连接有两个微笑推杆和两个忧伤推杆，从而使两个所述微笑推杆或忧伤推杆实现绕轴运动，两个所述微笑 推杆依次包括微笑推杆杠杆部、微笑推杆旋转轴、微笑推杆弯折部和微笑推杆工作面，整个微笑推杆可以沿微笑推杆旋转轴做旋转运动，推板向下移动从而带动微笑推杆杠杆部向下运动，使得微笑推杆工作面向上运动，从而作出微笑动作，两个所述忧伤推杆依次包括忧伤推杆杠杆部、忧伤推杆旋转轴、忧伤推杆弯折部和忧伤推杆工作面，整个忧伤推杆可以沿忧伤推杆旋转轴做旋转运动，推板向下移动从而带动忧伤推杆杠杆部向上运动，使得忧伤推杆工作面向下运动，从而作出忧伤动作。所述微笑推杆弯折部和忧伤推杆弯折部相互避开，可以在机器人的面部狭小空间里进行动作。
作为第二种技术方案，本发明一种控制机器人面部表情的装置，包括推板和控制推板上下移动的动力装置，所述推板上分别连接有两个微笑推杆，从而使两个所述微笑推杆实现绕轴运动，两个所述微笑推杆依次包括微笑推杆杠杆部、微笑推杆旋转轴、微笑推杆弯折部和微笑推杆工作面，整个微笑推杆可以沿微笑推杆旋转轴做旋转运动，推板向下移动从而带动微笑推杆杠杆部向下运动，使得微笑推杆工作面向上运动，从而作出微笑动作。
作为第三种技术方案，本发明一种控制机器人面部表情的装置，包括推板和控制推板上下移动的动力装置，所述推板上分别连接两个忧伤推杆，从而使两个所述忧伤推杆实现绕轴运动，两个所述忧伤推杆依次包括忧伤推杆杠杆部、忧伤推杆旋转轴、忧伤推杆弯折部和忧伤推杆工作面，整个忧伤推杆可以沿忧伤推杆旋转轴做旋转运动，推板向下移动从而带动忧伤推杆杠杆部向上运动，使得忧伤推杆工作面向下运动，从而作出忧伤动作。
作为技术方案的改进，本发明两个所述微笑推杆工作面总体呈倒八字形分布，所述微笑推杆工作面大致呈长方形的弧面，且设有至少1个供控制脸皮的镶件嵌入的开孔，所述镶件连接脸皮，实现脸部表情的变化。
作为技术方案的改进，本发明两个所述忧伤推杆工作面总体呈一字形分布，所述忧伤推杆工作面大致呈长方形的弧面，且设有至少1个供控制脸皮的镶件嵌入的开孔，所述镶件连接脸皮，实现脸部表情的变化。
作为技术方案的改进，本发明所述微笑推杆弯折部和忧伤推杆弯折部连接有拉力弹簧，可以使得微笑推杆或忧伤推杆在作出动作后，回到原始状态。
作为技术方案的改进，本发明所述推板的侧面设有两个用于插接忧伤推杆杠杆部的第一通孔，两个所述第一通孔为椭圆状。
作为技术方案的改进，本发明所述推板的底部斜向下伸出两个推杆块，两个所述推杆块设有两个总体呈八字形分布的第二通孔，有利于作出微笑动作，两个所述第二通孔为椭圆状。
作为技术方案的改进，本发明作为技术方案的改进，本发明所述推板垂直向后伸出一个U形槽，所述U形槽连接有由所述动力装置驱动的凸轮，从而带动整个推板上下位移，所述动力装置由电机、减速器和电位器组成。
有益效果：本发明使得机器人可以惟妙惟肖的做出微笑和忧伤动作，做出动作涉及的部件较少，结构简单，稳定性好，易于安装，使用成本低，便于推广应用，可以使机器人单独具有微笑或忧伤表情功能，也可以使机器人既具有微笑表情功能又具有忧伤表情功能。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明的推板和动力装置的示意图。
图2为本发明的实施方式1的示意图。
图3为本发明的实施方式2的示意图。
图4为本发明的实施方式3的示意图。
具体实施方式
以下内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明,需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
实施例1：
结合图1和图2所示，本实施例一种控制机器人面部表情的装置，包括推板1和控制推板上下移动的动力装置2，所述推板上分别连接有两个微笑推杆3和两个忧伤推杆4，从而使两个所述微笑推杆或忧伤推杆实现绕轴运动，两个所述微笑推杆依次包括微笑推杆杠杆部31、微笑推杆旋转轴32、微笑推杆弯折部33和微笑推杆工作面34，整个微笑推杆可以沿微笑推杆旋转轴做旋转运动，推板向下移动从而带动微笑推杆杠杆部向下运动，使得微笑推杆工作面向上运动，从而作出微笑动作，两个所述忧伤推杆依次包括忧伤推杆杠杆部41、忧伤推杆旋转轴42、忧伤推杆弯折部43和忧伤推杆工作面44，整个忧伤推杆可以沿忧伤推杆旋转轴做旋转运动，推板向下移动从而带动忧伤推杆杠杆部向上运动，使得忧伤推杆工作面向下运动，从而作出忧伤动作。所述微笑推杆弯折部和忧伤推杆弯折部相互避开，可以在机器人的面部狭小空间里进行动作。
作为优选的实施方式，本发明两个所述微笑推杆工作面总体呈倒八字形分布，所述微笑推杆工作面大致呈长方形的弧面，且设有至少1个供控制脸皮的镶件嵌入的开孔5，所述镶件连接脸皮，实现脸部表情的变化。
作为优选的实施方式，本发明两个所述忧伤推杆工作面总体呈一字形分布， 所述忧伤推杆工作面大致呈长方形的弧面，且设有至少1个供控制脸皮的镶件嵌入的开孔5，所述镶件连接脸皮，实现脸部表情的变化。
作为优选的实施方式，本发明所述微笑推杆弯折部和忧伤推杆弯折部连接有拉力弹簧6，可以使得微笑推杆或忧伤推杆在作出动作后，回到原始状态。
作为优选的实施方式，本发明所述推板的侧面设有两个用于插接忧伤推杆杠杆部的第一通孔7，两个所述第一通孔为椭圆状。
作为优选的实施方式，本发明所述推板的底部斜向下伸出两个推杆块8，两个所述推杆块设有两个总体呈八字形分布的第二通孔9，有利于作出微笑动作，两个所述第二通孔为椭圆状。
作为优选的实施方式，本发明所述推板垂直向后伸出一个U形槽10，所述U形槽连接有由所述动力装置2驱动的凸轮11，从而带动整个推板上下位移，所述动力装置由电机、减速器和电位器组成。
实施例2：
结合图1和图3所示，本实施例一种控制机器人面部表情的装置，包括推板1和控制推板上下移动的动力装置2，所述推板上分别连接有两个微笑推杆3，从而使两个所述微笑推杆实现绕轴运动，两个所述微笑推杆依次包括微笑推杆杠杆部31、微笑推杆旋转轴32、微笑推杆弯折部33和微笑推杆工作面34，整个微笑推杆可以沿微笑推杆旋转轴做旋转运动，推板向下移动从而带动微笑推杆杠杆部向下运动，使得微笑推杆工作面向上运动，从而作出微笑动作。
实施例2和实施例1的区别在于，实施例2仅具有微笑表情，其他的实施方式相同。
实施例3：
结合图1和图4所示，本实施例一种控制机器人面部表情的装置，包括推 板1和控制推板上下移动的动力装置2，所述推板上分别连接两个忧伤推杆4，从而使两个所述忧伤推杆实现绕轴运动，两个所述忧伤推杆依次包括忧伤推杆杠杆部41、忧伤推杆旋转轴42、忧伤推杆弯折部43和忧伤推杆工作面44，整个忧伤推杆可以沿忧伤推杆旋转轴做旋转运动，推板向下移动从而带动忧伤推杆杠杆部向上运动，使得忧伤推杆工作面向下运动，从而作出忧伤动作。
实施例3和实施例1的区别在于，实施例3仅具有忧伤表情，其他的实施方式相同。
对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (10)

  1. 一种控制机器人面部表情的装置，其特征在于：包括推板和控制推板上下移动的动力装置，所述推板上分别连接有两个微笑推杆和两个忧伤推杆，从而使两个所述微笑推杆或忧伤推杆实现绕轴运动，两个所述微笑推杆依次包括微笑推杆杠杆部、微笑推杆旋转轴、微笑推杆弯折部和微笑推杆工作面，两个所述忧伤推杆依次包括忧伤推杆杠杆部、忧伤推杆旋转轴、忧伤推杆弯折部和忧伤推杆工作面。
  2. 一种控制机器人面部表情的装置，其特征在于：包括推板和控制推板上下移动的动力装置，所述推板上分别连接有两个微笑推杆，从而使两个所述微笑推杆实现绕轴运动，两个所述微笑推杆依次包括微笑推杆杠杆部、微笑推杆旋转轴、微笑推杆弯折部和微笑推杆工作面。
  3. 一种控制机器人面部表情的装置，其特征在于：包括推板和控制推板上下移动的动力装置，所述推板上分别连接两个忧伤推杆，从而使两个所述忧伤推杆实现绕轴运动，两个所述忧伤推杆依次包括忧伤推杆杠杆部、忧伤推杆旋转轴、忧伤推杆弯折部和忧伤推杆工作面。
  4. 根据权利要求1或2所述一种控制机器人面部表情的装置，其特征在于：两个所述微笑推杆工作面总体呈倒八字形分布。
  5. 根据权利要求1或3所述一种控制机器人面部表情的装置，其特征在于：两个所述忧伤推杆工作面总体呈一字形分布。
  6. 根据权利要求1所述控制机器人面部表情的装置，其特征在于：所述微笑推杆弯折部和忧伤推杆弯折部连接有拉力弹簧。
  7. 根据权利要求1或3所述一种控制机器人面部表情的装置，其特征在于：所述推板的侧面设有两个用于插接忧伤推杆杠杆部的第一通孔。
  8. 根据权利要求1或2所述一种控制机器人面部表情的装置，其特征在于：所述推板的底部斜向下伸出两个推杆块，两个所述推杆块设有两个总体呈八字形分布的第二通孔。
  9. 根据权利要求8所述一种控制机器人面部表情的装置，其特征在于：所述推板垂直向后伸出一个U形槽，所述U形槽连接有由所述动力装置驱动的凸轮。
  10. 根据权利要求9所述一种控制机器人面部表情的装置，其特征在于：所述微笑推杆工作面或忧伤推杆工作面大致呈长方形的弧面，且设有至少1个供控制脸皮的镶件嵌入的开孔。
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