Simulation robot smile expression muscle action mechanism

Abstract

The invention discloses a muscle action mechanism for the smiling expression of a simulated robot. The rubber face skin is covered on a skull shell. A chin rubber flange is arranged on the reverse side of the chin of the rubber face skin. The arc head of the chin metal part is embedded in the chin rubber flange. A metal wire is respectively implanted at the left and right nasolabial grooves on the rubber face skin. The two ends are connected with a ring. The ring has a tail, which is called a nasolabial groove metal wire. The skull shell is provided with a lip groove and a nose wing groove. One end of the lip groove pull wire is fixed on the ring at the lip groove, and the other end passes through the lip groove on the skull shell and is connected with an action execution mechanism. One end of the nose wing pull wire is fixed on the ring at the nose wing, and the other end passes through the nose wing groove on the skull shell and is connected with the action execution mechanism. 3-8 cotton threads are evenly arranged and connected on the metal wire, and the other end of the cotton thread away from the metal wire is connected with the endothelium of the upper lip. The invention has a simple structure and a low production cost and can vividly and realistically complete facial expressions such as smiling, laughing, and laughing.

Description

Technical Field

[0001] The invention relates to the technical field of simulation robots, and in particular to a simulation robot smile expression muscle action mechanism. Background Art

[0002] The simulated robot face can perform many basic movements of the human body, such as smiling, laughing, and laughing. These movements require the robot to have a complex mechanical transmission structure.

[0003] The current robots that can perform these actions are very expensive and have high production costs. The Chinese patent ZL201110245980.8, which is the muscle action mechanism for simulating the smile expression of a robot, has a simple structure, but the expression is not vivid and lifelike enough. Summary of the invention

[0004] The purpose of the present invention is to provide a simulation robot smile expression muscle action mechanism, aiming to solve the technical problem that the simulation robot smile expression muscle action mechanism in the prior art is not vivid and realistic enough.

[0005] In order to achieve the above-mentioned purpose, the present invention is realized by the following technical scheme: a simulated robot smile expression muscle action mechanism, comprising a skull shell, a rubber face skin and an action execution mechanism, the rubber face skin is covered on the skull shell, and rubber columns are arranged on the reverse side of the rubber face skin at the nose tip, the nose bridge and the left and right temples, and the rubber columns are inserted into the holes corresponding to the skull shell for fixing; corrugator supercilii rubber flanges are arranged on the reverse side of the left and right corrugator supercilii parts of the rubber face skin, and the corrugator supercilii rubber flanges are inserted into the corrugator supercilii flange grooves for fixing, aiming to solve the problem that when the upper eyelids squint downwards when the eyes are squinting in a smile, the eyebrows will not move downwards with the upper eyelids; A chin rubber flange is provided on the reverse side of the chin part of the rubber face skin, and the chin metal piece is embedded in the chin rubber flange. The chin rubber flange fits with multiple needle and thread holes of the chin metal piece, and then the needle and thread are passed through the multiple needle and thread holes of the chin metal piece to sew and fix it. The inner edge of the lower lip of the rubber face skin is adhered to the plane of the chin metal piece, and the chin metal piece is connected to the actuator of the mouth opening action. Gauze is implanted in the chin rubber flange and fused with rubber, aiming to solve the technical problem of tearing the rubber flange when the mouth is opened wide and subjected to force after the rubber flange is sewed and fixed with multiple needle and thread holes on the chin metal piece; fixing holes, eye holes, and oral holes are opened on the skull shell , corrugator supercilii flange groove, a metal wire is provided at each of the left and right nasolabial grooves of the rubber skin, with rings connected at both ends, and the rings have tails, which are called nasolabial groove wires, aiming to solve the problem that the "metal wire with rings at both ends" in the prior Chinese invention patent of the same name by the inventor of our company causes stress concentration due to the lack of tails on the rings during smiling movements, and a depression is generated on the front side of the rubber skin corresponding to the two rings. The two rings expose the back side of the rubber skin to facilitate the insertion of the pull wire in the rings, one end of the ring of the nasolabial groove wire is at the nose wing, and the other end of the ring is at the lip groove, and the upper part of the ring position at the nose wing of the skull shell corresponding to the nasolabial groove wire is opened There is a nose wing groove, one end of the nose wing pull wire is fixed on the ring at the nose wing of the nasolabial groove wire, and the other end passes through the nose wing groove on the skull shell and is connected to the action execution mechanism. The action execution mechanism of the nose wing pull wire is inside the skull shell. A lip groove groove is opened on the upper part of the ring at the lip groove of the nasolabial groove wire in the skull shell. One end of the lip groove pull wire is fixed on the ring at the lip groove of the nasolabial groove wire, and the other end passes through the lip groove groove on the skull shell and is connected to the action execution mechanism. The lip groove pull wire action execution mechanism is inside the skull. The left and right nasolabial groove wires are symmetrically arranged at an angle of 85-95 degrees. The movement length ratio of the nose wing pull wire and the lip groove pull wire is 1:3.2. On the metal wire of the nasolabial wire near the lip groove, the straight end of the lower eyelid wire is connected symmetrically on the left and right. The arc end of the lower eyelid wire is at the lower eyelid of the rubber skin. The lower eyelid wire is implanted in the rubber skin. The angle between the nasolabial wire and the lower eyelid wire is 42-52 degrees. On the metal wires in the two rings of the left and right nasolabial wires, 3-8 cotton threads on the left side of the upper lip and the right side of the upper lip are evenly arranged and connected. The other end away from the wire is connected to the inner edge of the upper lip. The cotton thread is implanted longitudinally between the nasolabial groove of the rubber skin and the upper lip, so that the muscles between the nasolabial groove of the rubber skin and the upper lip will not be stretched due to the elasticity of the rubber. Driven by the nasolabial groove wire, the left and right cotton threads of the upper lip can pull the corners of the lips to move to the left and right upper corners, lift the upper lip upward, and expose the upper teeth. The left and right cotton threads of the upper lip can stretch the muscles horizontally, which meets the requirement that the muscles horizontally between the left and right cotton threads of the upper lip need to be stretched when the robot smiles and opens its mouth wide, achieving the effect of opening the mouth wide when laughing, and can vividly and realistically complete the laughing muscle movements. The angle between the left nasolabial groove wire and the left cotton thread of the upper lip is 85-95 degrees, and the angle between the right nasolabial groove wire and the right cotton thread of the upper lip is 85-95 degrees.

[0006] Compared with the prior invention patent technology of the same name by the inventor, the beneficial effects of the present invention are as follows: by pulling the four pull wires of the lip groove pull wire and the nose wing pull wire at the same time, the nasolabial groove is sunken to form a groove shape. Since there are tails on the two end rings of the nasolabial groove metal wire, the disadvantage of the front side of the corresponding two end rings causing depression due to stress concentration is avoided. Through the movement of the nasolabial groove metal wire, the cheek and apple muscle are pushed to bulge; through the movement of the nasolabial groove metal wire, the lower eyelid metal wire is driven to move upward, and the lower eyelid is moved upward, and the upper eyelid is slightly closed downward, so as to achieve the effect of smiling eyes; with the movement of the left and right nasolabial groove metal wires, the upper eyelid is pulled at the same time. Move the cotton thread on the left side of the upper lip and the cotton thread on the right side of the upper lip to simultaneously pull the lip corners toward the upper left and right corners, so that the corners of the mouth are raised, the upper lip is lifted upward, and the upper teeth are exposed, thereby eliminating the two upper lip pulling threads and the action executing mechanism in the prior art; the chin metal part is connected to the mouth opening action executing mechanism to drive the chin and lower lip to move downward, thereby producing an effect of smiling from ear to ear, and by controlling the movement of the pulling threads to make the facial muscles move accordingly, various smiling expressions such as smiling, laughing, and laughing can be produced, making the smiling expression of the simulated robot far more vivid and lifelike than the invention patent of the same name of the applicant, and the pulling threads can automatically return to their original positions under the elastic force of the rubber face skin.

[0007] Furthermore, the ratio of the movement lengths of the nose wing pull line (4) and the lip groove pull line (5) is 1:3.2.

[0008] Furthermore, the left and right nasolabial groove metal wires (13) are symmetrically arranged at an angle of 85-95 degrees.

[0009] Furthermore, the left and right nasolabial groove metal wires (13) form an angle of 85-95 degrees with the left cotton thread (3) of the upper lip and the right cotton thread (12) of the upper lip, and the left cotton thread (3) of the upper lip and the right cotton thread (12) of the upper lip are symmetrically arranged on the left and right nasolabial groove metal wires (13).

[0010] Furthermore, gauze is implanted in the chin rubber flange (10) to fuse with the rubber, and a needle and thread are passed through a plurality of needle and thread holes (17) on the chin metal piece (15) to sew and fix the chin rubber flange (10).

[0011] Furthermore, the left and right nasolabial groove wires (13) and the left and right lower eyelid wires (2) form an angle of 30-46 degrees and are symmetrically arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural schematic diagram of the muscle movements of the simulated robot's smiling expression in the present invention;

[0013] Figure 2 The figure is a schematic diagram of the chin metal part of the muscle action mechanism of the smile expression of the simulation robot in the present invention.

[0014] In the figure: 1-rubber face skin, 2-lower eyelid wire, 3-upper lip left cotton thread, 4-nose wing pull wire, 5-lip groove pull wire, 6-lip groove, 7-skull shell, 8-corrugator supercilii flange groove, 9-nose wing groove, 10-chin rubber flange, 11-upper lip inner edge, 12-upper lip right cotton thread, 13-nasolabial groove wire, 14-corrugator supercilii rubber flange, 15-chin metal piece, 16-arc head of chin metal piece, 17-needle and thread hole, 18-flat part of chin metal piece DETAILED DESCRIPTION

[0015] A simulated robot smile expression muscle action mechanism, comprising a skull shell 7, a rubber face skin 1 and an action execution mechanism, the rubber face skin 1 is sleeved on the skull shell 7, the skull shell 7 is provided with a fixing hole, an eye hole and a mouth hole, the back of the left and right corrugator supercilii parts of the rubber face skin 1 is provided with a corrugator supercilii rubber flange 14, the skull shell 7 is provided with a corrugator supercilii flange groove 8 corresponding to the corrugator supercilii rubber flange 14, a metal wire is implanted in the left and right nasolabial grooves on the rubber face skin 1, and the two ends are connected with a ring, and the ring has a tail, which is called the nasolabial groove metal wire 13, and the two ends of the ring are exposed on the back of the rubber face skin 1, so as to facilitate the insertion of the pull line in the ring, and one end of the ring of the nasolabial groove metal wire 13 is connected to the rubber face skin 1. At the wing of the nose, the other end of the ring is at the lip groove, and a lip groove 6 is opened on the upper part of the lip groove ring position of the nasolabial groove wire 13 on the skull shell 7, and a nose wing groove 9 is opened on the upper part of the ring position of the nasolabial groove wire 13 at the wing of the nose. One end of the lip groove pull wire 5 is fixed on the nasolabial groove wire 13, on the ring at the lip groove, and the other end passes through the lip groove 6 on the skull 7 and is connected to the action execution mechanism. One end of the nose wing pull wire 4 is fixed on the nasolabial groove wire 13, on the ring at the wing of the nose, and the other end passes through the nose wing groove 9 on the skull shell 7 and is connected to the action execution mechanism. The left and right nasolabial groove wires 13 are symmetrically arranged at an angle of 85-95 degrees. The nose wing pull wire 4, The ratio of the movement length of the labial groove wire 5 is 1:3.2, and the movement length of the nose wing wire is 6 mm, then the movement length of the labial groove wire is 19.2 mm; the straight end of the lower eyelid wire 2 is connected to the wire of the nasolabial groove wire 13 close to the labial groove ring, and the arc end is at the lower eyelid of the rubber face skin 1, and the lower eyelid wire 2 is implanted in the rubber face skin 1; on the wires in the two rings of the left and right nasolabial groove wires 13, 3-8 upper lip left cotton threads 3 are evenly arranged and connected, and the upper lip right cotton thread 12, the upper lip left cotton thread 3 and the upper lip right cotton thread 12 are connected to the inner edge of the upper lip 11 at the other end away from the wire, and the upper lip left cotton thread 12 is connected to the inner edge of the upper lip 11 at the other end away from the wire. The thread 3 forms an angle of 85-95 degrees with the left nasolabial groove metal wire 13, the upper lip right side cotton thread 12 forms an angle of 85-95 degrees with the right nasolabial groove metal wire 13, the upper lip left side cotton thread 3 is implanted in the rubber skin 1 between the left nasolabial groove and the upper lip, and the upper lip right side cotton thread 12 is implanted in the rubber skin 1 between the right nasolabial groove and the upper lip; the chin metal part arc head 16 of the chin metal part 15 is embedded in the chin rubber flange 10, the chin rubber flange 10 is fitted with multiple needle and thread holes 17 of the chin metal part 15, and the needle and thread are passed through the needle and thread holes 17 to be sutured and fixed to the chin rubber flange 10, and the chin metal part 15 is connected to the mouth opening action actuator.

Claims

1. A robot smile expression muscle action mechanism, comprising a skull shell (7), a rubber face skin (1) and an action execution mechanism, wherein the rubber face skin (1) is sleeved on the skull shell (7), and the skull shell (7) is provided with fixing holes, eye holes, oral holes, and a corrugator muscle flange groove (8), characterized in that: A metal wire is implanted at each of the left and right nasolabial grooves of the rubber face skin (1), and the two ends are connected to a ring, and the ring has a tail, which is called a nasolabial groove metal wire (13). The two rings are exposed on the back of the rubber face skin (1). One end of the nasolabial groove metal wire (13) is at the nose wing, and the other end of the ring is at the lip groove. A lip groove groove (6) is opened at the upper part of the skull shell (7) corresponding to the ring position at the lip groove of the nasolabial groove metal wire (13). The upper part of the device is provided with a nose wing groove (9), one end of the lip groove pull wire (5) is fixed on the ring at the lip groove of the nasolabial groove metal wire (13), and the other end passes through the lip groove (6) on the skull shell (7) to be connected to the action execution mechanism, one end of the nose wing pull wire (4) is fixed on the ring at the nose wing of the nasolabial groove metal wire (13), and the other end passes through the nose wing groove (9) on the skull shell (7) to be connected to the action execution mechanism, and a chin rubber flange is provided on the reverse side of the chin of the rubber face skin (1). (10), the arc head (16) of the chin metal piece is embedded in the chin rubber flange (10) and fits with a plurality of needle and thread holes 17, and then the needle and thread are passed through the needle and thread holes (17) to sew and fix with the chin rubber flange (10), the inner edge of the lower lip of the rubber skin (1) is adhered to the flat plate part (18) of the chin metal piece, and the straight end of the lower eyelid wire (2) is connected to the wire of the nasolabial groove wire (13) close to the lip groove ring, and the arc end is at the lower edge of the rubber skin (1). At the eyelid, the lower eyelid wire (2) is implanted in the rubber face skin (1), and 3-8 upper lip left cotton threads (3) and upper lip right cotton threads (12) are evenly arranged and connected on the wires in the two rings of the left and right nasolabial groove wires (13). The other ends of the upper lip left cotton thread (3) and the upper lip right cotton thread (12) away from the wires are connected to the inner edge of the upper lip (11), and the upper lip left cotton thread and the upper lip right cotton thread are implanted between the nasolabial groove and the upper lip of the rubber face skin (1).

2. The robot smile expression muscle action mechanism according to claim 1, characterized in that: The ratio of the movement lengths of the nose wing pull line (4) and the lip groove pull line (5) is 1:3.

2.

3. The robot smile expression muscle action mechanism according to claim 1, characterized in that: The left and right nasolabial groove metal wires (13) are symmetrically arranged at an angle of 85-95 degrees.

4. The robot smile expression muscle action mechanism according to claim 1, characterized in that: The left and right nasolabial groove metal wires (13) form an angle of 85-95 degrees with the left upper lip cotton thread (3) and the right upper lip cotton thread (12), and are symmetrically arranged.

5. The robot smile expression muscle action mechanism according to claim 1, characterized in that: Gauze is implanted in the chin rubber flange (10) to fuse with rubber, and needle and thread are passed through a plurality of needle and thread holes (17) on the chin metal piece (15) to sew and fix with the chin rubber flange (10).

6. The robot smile expression muscle action mechanism according to claim 1, characterized in that: The nasolabial groove wire (13) and the lower eyelid wire (2) form an angle of 30-46 degrees and are arranged symmetrically.

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