CN116214543A - Mouth corner structure with three degrees of freedom - Google Patents
Mouth corner structure with three degrees of freedom Download PDFInfo
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- CN116214543A CN116214543A CN202310321354.5A CN202310321354A CN116214543A CN 116214543 A CN116214543 A CN 116214543A CN 202310321354 A CN202310321354 A CN 202310321354A CN 116214543 A CN116214543 A CN 116214543A
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- freedom
- driving shaft
- mouth
- rocker arm
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/001—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means with emotions simulating means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mouth corner structure with three degrees of freedom, which comprises three driving parts arranged on a head skeleton of a robot, wherein the three driving parts are in driving connection with corresponding three connecting rods through three rocker arms, the three connecting rods are mutually and vertically connected, and the end part of one connecting rod is connected with a profiling mouth corner.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a mouth corner structure with three degrees of freedom.
Background
In the field of humanoid robots, rich expressions are always the focus of research, and the mouth structure of the existing humanoid robots is mostly the design of opening and closing movements of the mouth, which is difficult to imitate the expressions of people, such as smiles, beeps, hard and excessive expressions, so that a new solution is needed to be provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provide a mouth corner structure with three degrees of freedom, and solve the problem that the existing robot mouth part structure is difficult to imitate the expression of a person.
The technical scheme for achieving the purpose is as follows:
the invention provides a mouth corner structure with three degrees of freedom, which is arranged on a head skeleton of a robot and comprises the following components:
the first driving piece is arranged on the head framework and is provided with a first driving shaft, and the first driving shaft is vertically arranged;
the first rocker arm is connected with the first driving shaft and is transversely arranged;
a first link hinged to an end of the first rocker arm remote from the first drive shaft;
a contoured mouth angle hinged to an end of the first link distal to the first rocker arm;
the second driving piece is arranged on the head skeleton and is provided with a second driving shaft, the second driving shaft is also vertically arranged, and the second driving shaft is positioned in front of the first driving shaft;
a second rocker arm connected to the second drive shaft;
the second connecting rod is hinged with the end part, far away from the second driving shaft, of the second rocker arm, and the second connecting rod is vertically connected with the first connecting rod;
the third driving piece is arranged on the head skeleton and is provided with a third driving shaft, the third driving shaft is transversely arranged, and the third driving shaft is positioned above the first driving shaft and the second driving shaft;
a third rocker arm connected to the third drive shaft; and
and the third connecting rod is hinged with the end part of the third rocker arm, which is far away from the third driving shaft, is vertically arranged and is vertically connected with the first connecting rod.
According to the three-degree-of-freedom mouth corner structure provided by the invention, the first driving piece, the second driving piece and the third driving piece are arranged to drive the profiling mouth corner so as to realize three-degree-of-freedom movement of the mouth corner, so that the mouth corner of the robot can finish smile, beep mouth, difficulty and other expressions, multi-angle and multifunctional movement of the profiling mouth corner is realized, and more and richer expressions are realized.
The invention further improves the mouth corner structure with three degrees of freedom, which comprises a mounting plate arranged on the head skeleton, wherein the mounting plate is horizontal;
the mounting plate is provided with a through hole corresponding to the third connecting rod;
the first driving piece and the second driving piece are both installed on the mounting plate.
The invention further improves the mouth corner structure with three degrees of freedom, and further comprises a hanging seat sleeved on the first connecting rod;
the second connecting rod and the third connecting rod are connected with the hanging seat.
The invention has the further improvement of the mouth corner structure with three degrees of freedom that a linear bearing is arranged in the hanging seat;
the first connecting rod penetrates through the inner ring of the linear bearing and is connected with the inner ring of the linear bearing.
The invention has the further improvement of the mouth corner structure with three degrees of freedom that the first driving piece, the second driving piece and the third driving piece are provided with a pair and are symmetrically arranged left and right;
the profiling corners are also provided with a pair of profiling corners which are symmetrically arranged left and right.
The invention further improves the mouth angle structure with three degrees of freedom, and the end part of the first connecting rod is hinged with the profiling mouth angle through a ball bearing.
The invention further improves the mouth angle structure with three degrees of freedom, and the first rocker arm is hinged with the first connecting rod through a ball bearing.
The invention further improves the mouth angle structure with three degrees of freedom, and the second rocker arm is hinged with the second connecting rod through a ball bearing.
The invention further improves the mouth angle structure with three degrees of freedom, and the third rocker arm and the third connecting rod are hinged and connected through a ball bearing.
The invention further improves the mouth angle structure with three degrees of freedom, and the first driving piece, the second driving piece and the third driving piece are steering engines.
Drawings
Fig. 1 is a schematic perspective view showing a three-degree-of-freedom mouth angle structure provided on a head skeleton of a robot.
Fig. 2 is a schematic perspective view showing another view angle of the mouth angle structure with three degrees of freedom provided on the head skeleton of the robot according to the present invention.
Fig. 3 is a schematic perspective view showing a mouth angle structure with three degrees of freedom according to another aspect of the present invention disposed on a head skeleton of a robot.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Referring to fig. 1, the invention provides a mouth corner structure with three degrees of freedom, which is used for enriching the expression of a humanoid robot, realizing that the mouth corner of the humanoid robot can finish smile, beep mouth, difficult and other expressions. According to the mouth angle structure, three steering engines are arranged and act on one profiling mouth angle at the same time, and the movement of the three steering engines is regulated, so that the multi-angle and multifunctional movement of the profiling mouth angle is finally realized, and more and richer expressions are realized. The three degrees of freedom of the corner structure of the mouth of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, there is shown a schematic perspective view of a mouth angle structure with three degrees of freedom according to the present invention disposed on a head skeleton of a robot. Referring to fig. 2, there is shown a schematic perspective view of another view of the mouth angle structure with three degrees of freedom of the present invention disposed on the head skeleton of the robot. The corner structure of the mouth of the present invention having three degrees of freedom will be described with reference to fig. 1 and 2.
As shown in fig. 1 and 2, the mouth angle structure with three degrees of freedom of the present invention is mounted on the head frame 10 of a robot, and includes a first driving piece 211, a second driving piece 212, a third driving piece 213, a first rocker 221, a second rocker 222, a third rocker 223, a first link 231, a second link 232, a third link 233, and a profiling mouth angle 24, wherein the first driving piece 211 is provided on the head frame 10, and the first driving piece 211 has a first driving shaft vertically arranged; the first rocker arm 221 is connected to the first driving shaft, and the first rocker arm 221 is disposed transversely, so that an end of the first rocker arm 221 away from the first driving shaft can be adjusted in a rotating manner around an end connected to the first driving shaft; the first connecting rod 231 is hinged with the end part of the first rocker arm 221, which is far away from the first driving shaft, so that the first driving piece 211 can drive the first driving shaft to rotate, and the first driving shaft drives the first connecting rod 231 to move through the first rocker arm 221; the feeler 24 is hinged to the end of the first link 231 remote from the first rocker arm 221, so that the first driving member 211 can drive the feeler 24 to perform a movement of a first degree of freedom.
The second driving piece 212 is arranged on the head skeleton 10, the second driving piece 212 is provided with a second driving shaft which is also arranged vertically, and the second driving shaft is positioned at the front part of the first driving shaft; the second rocker arm 222 is connected with a second driving shaft; the second connecting rod 232 is hinged to the end of the second rocker arm 222 far away from the second driving shaft, the second connecting rod 232 is vertically connected with the first connecting rod 231, the second driving member 212 can drive the second driving shaft to rotate, the second driving shaft drives the second connecting rod 232 to move through the second rocker arm 222, the second connecting rod 232 drives the profiling corner to move through the first connecting rod 231, and therefore the second driving member 212 can drive the profiling corner 24 to move in a second degree of freedom.
The third driving member 213 is disposed on the head skeleton 10, and the third driving member 213 has a third driving shaft disposed transversely above the first driving shaft and the second driving shaft; the third rocker arm 223 is connected with a third driving shaft; the third link 233 is hinged to an end of the third swing arm remote from the third driving shaft, and the third link 233 is vertically disposed and vertically connected to the first link 231. The third driving member 213 may drive the third driving shaft to rotate, and the third driving shaft drives the third link 233 to move through the third rocker 223, and the third link 233 drives the profiling corner to move through the first link 231, so that the third driving member 213 may drive the square corner 24 to move in a third degree of freedom.
As shown in fig. 1 and 3, the first rocker arm 221, the second rocker arm 222, the first link 231 and the second link 232 are located in the same plane, the first rocker arm 221 is transversely arranged, the first link 231 is longitudinally arranged, the rotation of the first rocker arm 221 can drive the first link 231 to move back and forth along the longitudinal direction, and when reflecting the face of the robot, the back and forth movement of the profiling mouth angle along the longitudinal direction can be represented as the mouth angle protruding outwards or recessing inwards in the face of the robot, namely, the mouth angle moves in the direction perpendicular to the face. The second rocker 222 is inclined, the end parts of the two second rockers 222 far away from the second driving end can be rotatably adjusted to be close to each other, the second connecting rods 232 are perpendicular to the first connecting rods 231, the two first connecting rods 231 can be pulled to be close to each other or to be far away from each other, when the two first connecting rods 231 are close to each other and react to the face of the robot, two corners of the mouth are presented to be close to each other, the corners of the mouth are driven to protrude outwards at the face of the robot by the aid of the first driving piece 211 through the first rocker 221, and the action of a beep mouth can be completed. When the two first links 231 are far away from each other and react to the robot face, the two corners of the mouth are far away from each other, and the first driving piece 211 is matched to drive the corners of the mouth to be concave inwards on the robot face through the first rocker 221, so that the action of recovering from the beep mouth can be completed. The two first connecting rods 231 are far away from each other, and as shown in fig. 2, the first connecting rods 231 are pulled upwards by the third driving piece 213 through the third rocker arm 223 and the third connecting rod 233, when the robot face is reflected, the two corners of the mouth are far away from each other, the corners of the mouth are tilted upwards, and smiling action is completed. The two first links 231 are far away from each other, and the first links 231 are pushed downwards by the third driving piece 213 through the third rocker arm 233 and the third link 233, so that when the robot faces, the two corners of the mouth are far away from each other and pulled downwards, and the difficult actions are completed.
According to the three-degree-of-freedom mouth corner structure provided by the invention, the first driving piece, the second driving piece and the third driving piece are arranged to drive the profiling mouth corner so as to realize three-degree-of-freedom movement of the mouth corner, so that the mouth corner of the robot can finish smile, beep mouth, difficulty and other expressions, multi-angle and multifunctional movement of the profiling mouth corner is realized, and more and richer expressions are realized.
In one embodiment of the present invention, as shown in fig. 1 to 3, the head skeleton 10 further comprises a mounting plate 25 provided on the head skeleton, wherein the mounting plate 25 is horizontal;
the mounting plate 25 is provided with a through hole 251 corresponding to the third link 233;
the first and second drivers 211, 212 are each mounted on the mounting plate 25.
The third connecting rod 233 passes through the through hole 251 and then is connected with the first connecting rod 231, the size of the through hole 251 is larger than that of the third connecting rod 233, the through hole 251 can limit the movement of the third connecting rod 233, when the first connecting rod and the second connecting rod move, the third connecting rod can be moved together for adjustment, the through hole limits the third connecting rod, the movement amplitude of the profiling mouth angle of the robot can be limited, the expression of the robot can be simulated more, and the phenomenon that the movement amplitude of the mouth angle is overlarge is avoided.
The first driving piece 211 is provided at the rear of the mounting plate 25, and the second driving piece 212 is provided at the front of the mounting plate 25.
In one embodiment of the present invention, as shown in fig. 1 to 3, the suspension seat 26 is further sleeved on the first connecting rod 231;
the second link 232 and the third link 233 are connected to the hanger 26.
The hanger 26 has a size larger than the size of the through hole 251 in the mounting plate 25.
Further, a linear bearing is arranged in the hanging seat 26;
the first link 231 penetrates through and is connected with an inner ring of the linear bearing.
Preferably, the hanger 26 is a cylindrical structure.
In one embodiment of the present invention, as shown in fig. 1 to 3, the first driving member 211, the second driving member 212 and the third driving member 213 are provided with a pair and are symmetrically arranged on the left and right;
the profiling corners 24 are also provided with a pair and are arranged in bilateral symmetry.
The first rocker arm 221, the second rocker arm 222, the third rocker arm 223, the first link 231, the second link 232, and the third link 233 are also provided in a pair, and are disposed in bilateral symmetry.
In one embodiment of the present invention, as shown in fig. 1 to 3, the end of the first link 231 is hinged to the contour mouth corner 24 by a ball bearing.
Further, the first rocker arm 221 and the first link 231 are hinged by a ball bearing.
Still further, the second rocker arm 222 and the second link 231 are hingedly connected by a ball bearing.
Still further, the third rocker arm 223 and the third link 233 are hingedly connected by a ball bearing.
In one embodiment of the present invention, the first driving member 211, the second driving member 212, and the third driving member 213 are steering gears.
In one embodiment of the present invention, as shown in fig. 1 to 3, the first drive shaft and the second drive shaft are disposed offset from each other, the first drive shaft being disposed closer to the outside of the mounting plate 25 than the second drive shaft.
The first link 231 is disposed closer to the outside of the mounting plate 25 than the first drive shaft.
The two first swing arms 221 are close to the end connected to the first driving shaft and are far from the end connected to the first link 231.
The end of the second swing arm 222 connected to the second driving shaft is located at the front side of the mounting plate 25, and the end of the second swing arm 222 connected to the second link 232 is located at the rear side of the mounting plate 25.
The end of the third rocker arm 223 connected to the third drive shaft is provided at the rear portion, and the end of the third rocker arm 223 connected to the third link 233 is provided at the front portion.
The humanoid robot further comprises a head mask which irradiates on the head framework, wherein the head mask is a silica gel mask and is used for simulating human skin, and the profiling mouth angle is connected with the mouth angle part on the silica gel mask, so that the mouth on the silica gel mask can be driven to move, and the expression action of the human is simulated.
The present invention has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the invention based on the above description. Accordingly, certain details of the illustrated embodiments are not to be taken as limiting the invention, which is defined by the appended claims.
Claims (10)
1. A mouth corner structure with three degrees of freedom for mounting on a head skeleton of a robot, the mouth corner structure comprising:
the first driving piece is arranged on the head framework and is provided with a first driving shaft, and the first driving shaft is vertically arranged;
the first rocker arm is connected with the first driving shaft and is transversely arranged;
a first link hinged to an end of the first rocker arm remote from the first drive shaft;
a contoured mouth angle hinged to an end of the first link distal to the first rocker arm;
the second driving piece is arranged on the head skeleton and is provided with a second driving shaft, the second driving shaft is also vertically arranged, and the second driving shaft is positioned in front of the first driving shaft;
a second rocker arm connected to the second drive shaft;
the second connecting rod is hinged with the end part, far away from the second driving shaft, of the second rocker arm, and the second connecting rod is vertically connected with the first connecting rod;
the third driving piece is arranged on the head skeleton and is provided with a third driving shaft, the third driving shaft is transversely arranged, and the third driving shaft is positioned above the first driving shaft and the second driving shaft;
a third rocker arm connected to the third drive shaft; and
and the third connecting rod is hinged with the end part of the third rocker arm, which is far away from the third driving shaft, is vertically arranged and is vertically connected with the first connecting rod.
2. The three degree of freedom mouth corner structure of claim 1 further comprising a mounting plate disposed on the head frame, the mounting plate being horizontal;
the mounting plate is provided with a through hole corresponding to the third connecting rod;
the first driving piece and the second driving piece are both installed on the mounting plate.
3. The three degree of freedom mouth corner structure of claim 1 further comprising a hanger sleeved on the first link;
the second connecting rod and the third connecting rod are connected with the hanging seat.
4. A mouth corner structure with three degrees of freedom according to claim 3, wherein a linear bearing is provided in the hanger;
the first connecting rod penetrates through the inner ring of the linear bearing and is connected with the inner ring of the linear bearing.
5. The three degree of freedom mouth corner structure of claim 1 wherein the first driving member, the second driving member and the third driving member are each provided with a pair and are symmetrically disposed;
the profiling corners are also provided with a pair of profiling corners which are symmetrically arranged left and right.
6. The three degree of freedom mouth angle structure of claim 1 wherein the end of the first link is hingedly connected to the contoured mouth angle by a ball bearing.
7. The three degree of freedom mouth angle structure of claim 1 wherein the first rocker arm and the first link are hingedly connected by a ball bearing.
8. The three degree of freedom mouth angle structure of claim 1 wherein the second rocker arm and the second link are hingedly connected by a ball bearing.
9. The three degree of freedom mouth angle structure of claim 1 wherein the third rocker arm and the third link are hingedly connected by a ball bearing.
10. The three degree of freedom mouth angle structure of claim 1 wherein the first drive, the second drive and the third drive are steering engines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310321354.5A CN116214543A (en) | 2023-03-28 | 2023-03-28 | Mouth corner structure with three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310321354.5A CN116214543A (en) | 2023-03-28 | 2023-03-28 | Mouth corner structure with three degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116214543A true CN116214543A (en) | 2023-06-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310321354.5A Pending CN116214543A (en) | 2023-03-28 | 2023-03-28 | Mouth corner structure with three degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116214543A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697772A (en) * | 2023-11-24 | 2024-03-15 | 深圳市小全科技文化有限公司 | Intelligent flexible bionic expression robot |
-
2023
- 2023-03-28 CN CN202310321354.5A patent/CN116214543A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697772A (en) * | 2023-11-24 | 2024-03-15 | 深圳市小全科技文化有限公司 | Intelligent flexible bionic expression robot |
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