Driving mechanism of bionic head and face unit

Abstract

The invention discloses a driving mechanism of a bionic head face unit, including a mouth corner motion unit, a lip motion unit, a cheek motion unit and a tongue motion unit, wherein the tongue motion unit includes a tongue mounting frame, upper teeth, lower teeth, a tongue, a lower jaw and a lower jaw mounting frame, wherein the tongue is driven by a tongue driving servo to drive a tongue driving connecting rod to pull a tongue pull rod to realize the tongue to stretch and move up and down, the mouth corner motion unit includes a control point arranged at each of the mouth corners on both sides, the lip motion unit includes two control points of the upper lip, and the cheek motion unit includes two cheek control points, and the movements of the mouth corner motion unit, the lip motion unit and each control point of the cheek motion unit are all realized by the servo driving the epidermis connecting magnet at the end of the driving connecting rod through the driving connecting rod, and the epidermis connecting magnet is connected to the outer skin. Advantages: the lower teeth of the invention move together with the lower jaw to realize the opening and closing of the mouth, the tongue stretches and moves up and down, and the movements of the mouth corners, the mouth corners and the cheeks realize the actions of smiling and pouting.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent bionic robots, and in particular relates to a driving mechanism of a bionic human head and face unit. Background Art

[0002] The mouth and cheek drive mechanism plays a vital role in the process of facial expression robots presenting various anthropomorphic and realistic expressions. Designing a simulated mouth and cheek drive mechanism that can move similarly to a real person's mouth and cheek is an important research direction in the field of facial expression robots. Currently, most simulated human head robots do not involve the movement of the tongue mechanism when completing facial expressions. Summary of the invention

[0003] The present invention proposes a driving mechanism of a bionic head face unit, which is used to improve the richness of simulated human head expressions. The technical scheme adopted is: a driving mechanism of a bionic head face unit, including a mouth corner motion unit, a lip motion unit, a cheek motion unit and a tongue motion unit. The tongue movement unit includes a tongue mounting frame, upper teeth, lower teeth, a tongue, a lower jaw and a lower jaw mounting frame. The tongue mounting frame and the lower jaw mounting frame are connected as one. The upper teeth are arranged on the tongue mounting frame, the lower teeth are arranged on the lower jaw, the lower jaw swing is arranged on the lower jaw mounting frame, and the tongue is telescopically arranged on the tongue mounting frame. The tongue is driven by a tongue driving servo to drive a tongue driving connecting rod to pull a tongue pull rod to achieve tongue telescopic and up and down movement. The tongue is located between the upper teeth and the lower teeth. The lip movement unit is arranged on the tongue mounting frame, and the mouth corner movement unit and the cheek movement unit are both arranged on the lower jaw mounting frame; the mouth corner movement unit includes a control point arranged at each corner of the mouth on both sides, the lip movement unit includes two control points of the upper lip, and the cheek movement unit includes two cheek control points arranged on both sides of the cheek. The movement of each control point of the mouth corner movement unit, the lip movement unit and the cheek movement unit is achieved by the servo driving the epidermis connecting magnet at the end of the driving connecting rod through the driving connecting rod, and the epidermis connecting magnet is connected to the outer skin.

[0004] In the preferred embodiment of the technical solution of the present invention, the lower jaw is driven by a lower jaw driving servo installed on the lower jaw mounting frame to swing up and down; there are two lower jaw driving servos, and the servo disks on the two lower jaw driving servos are respectively connected to the two sides of the lower jaw, and the two lower jaw driving servos move synchronously. The lower teeth are fixed on the lower jaw, and the lower teeth move with the lower jaw to realize the opening and closing of the mouth.

[0005] Preferably, one end of the tongue driving connecting rod is hinged on the servo disc of the tongue driving servo, the other end of the tongue driving connecting rod is connected to the tongue pull rod, and the other end of the tongue pull rod is connected to the tongue.

[0006] Preferably, the tongue is arranged on a tongue mounting angle iron, the other end of a tongue pull rod is connected to the tongue mounting angle iron, and a threaded pair is connected between the tongue pull rod and the tongue mounting angle iron.

[0007] In the preferred embodiment of the technical solution of the present invention, the tongue pull rod passes through the rotating sleeve, the rotating sleeve is hinged on the sleeve support frame and rotates around the axis, and the sleeve support frame is arranged on the tongue mounting frame. When the tongue driving connecting rod drives the tongue pull rod to extend and retract, it also drives the rotating sleeve to rotate on the sleeve support frame, and the tongue performs up and down and telescopic movements.

[0008] Preferably, the upper teeth are arranged on the tongue mounting frame through the upper teeth mounting plate, two upper lip driving servos are arranged on the upper teeth mounting plate, and two mouth corner driving servos and two cheek driving servos are all arranged on the lower jaw mounting frame.

[0009] Preferably, the ends of the driving connecting rods of the two control points of the mouth corner movement unit are provided with epidermal connection magnets through hinged second driving connecting rods.

[0010] Preferably, an extension rod is vertically arranged at the end of the driving connecting rod of the two control points of the cheek movement unit, and an epidermal connecting magnet is arranged at the end of the extension rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The mechanism of the present invention can realize the movement of the lower teeth along with the lower jaw to realize the opening and closing of the mouth; the extension and retraction movement of the tongue as well as the up and down movement of the tongue; the movement of the cheeks, lips and corners of the mouth to realize various expressions such as smiling, sadness, pouting, etc.

[0013] 2. The application of the mechanism of the present invention improves the realism and adequacy of the facial expression robot's expression, and further improves the anthropomorphism of the facial expression robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an outline structure diagram of the present invention.

[0015] Figure 2 Schematic diagram of the structure of the present invention (the lip movement unit, the mouth corner movement unit and the cheek movement unit are not shown in the figure).

[0016] Figure 3 It is a detailed structural schematic diagram of the present invention.

[0017] Figure 4 It is a schematic diagram of the tongue movement structure in the present invention (in the figure, it can be seen intuitively that the tongue pull rod passes through the rotating sleeve and is hinged to the connecting rod).

[0018] Figure 5 yes Figure 4Schematic diagram of the second perspective structure.

[0019] Figure 6 yes Figure 1 Side view of the tongue sticking out.

[0020] Figure 7 Schematic diagram of the outer skin connection structure of the expression robot in the embodiment.

[0021] Figure 8 yes Figure 7 sectional view of .

[0022] Fig. 9 yes Figure 7 Schematic diagram of the state change of the connection point of the silicone outer skin under different motion states (α and β in the figure are the two extreme position angles of the motion respectively).

[0023] Fig.10 This is a schematic diagram of the snap-on components within the skin connection structure of the Expression Robot.

[0024] Fig.11 This is a schematic diagram of the outer skin connection structure of the expression robot being used on the human head robot of the expression robot (the outer skin connection structure of the expression robot is installed at I, II, III, VI, V and IV in the figure). DETAILED DESCRIPTION

[0025] The technical solution of the present invention is described in detail below, but the protection scope of the present invention is not limited to the embodiments.

[0026] To make the content of the present invention more clearly understood, the following Figure 1-Figure 11 The specific implementation manner is further described.

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] Example 1

[0029] like Figure 1 and 2 As shown, the driving mechanism of the bionic head and face unit is divided into the movement of the lower teeth 7 along with the lower jaw 11, the extension and retraction movement and up and down movement of the tongue 5, the movement of the corners of the mouth, the movement of the lips and the movement of the cheeks.

[0030] like Figure 2 , 3As shown in Figure 4, the lower teeth 7 are fixed on the lower jaw 11, and the lower jaw 11 is driven by two servos at the same time. The movement of the lower jaw 11 realizes the opening and closing of the mouth; the lower jaw 11 is connected to the lower jaw driving servo disc 17 of the lower jaw driving servo 13. The lower jaw driving servo 13 is a commercially available servo, and the servo disc is purchased together with the servo. The lower jaw driving servo 13 is installed on the lower jaw servo mounting angle iron 14, and the lower jaw servo mounting angle iron 14 is fixed to the lower jaw mounting frame 12 with screws. Both sides of the lower jaw 11 are fixed to the lower jaw driving servo disc 17 of the lower jaw driving servo 13 and are directly driven by the lower jaw driving servo 13.

[0031] like Figure 2 , 3 As shown in Figures 4 and 5, the upper teeth 3 are mounted on the upper teeth mounting plate 2, and the upper teeth mounting plate 2 is fixed to the tongue mounting frame 1 by screws, and the upper teeth 3 are fixed. The lower teeth 7 are fixed to the lower jaw 11 and move with the lower jaw 11, and the tongue fixing frame 1 and the lower jaw mounting frame 12 are fixedly connected as a whole by screws.

[0032] like Figure 2 , 3 As shown in , 4 and 5, the extension and extension movement and up and down movement of the tongue 5 are completed by a tongue driving servo 15. The tongue driving servo 15 is a commercially available servo, and the servo disc is purchased together with the servo. In this embodiment, the servo disc on the tongue driving servo 15 is a rocker.

[0033] like Figure 2 , 3 As shown in , 4 and 5, the tongue driving servo 15 is mounted on the tongue servo mounting plate 10, and the tongue servo mounting plate 10 is fixed to the tongue mounting frame 1 by screws. The servo disc of the tongue driving servo 15 drives the tongue 5 to move through the tongue driving connecting rod 16 and the tongue pull rod 9. The servo disc of the tongue driving servo 15 and the tongue driving connecting rod 16 and the tongue pull rod 9 are connected by hinges to ensure relative movement.

[0034] like Figure 2 , 3 As shown in , 4 and 5, the tongue 5 is a simulated tongue in the known technology. The tongue 5 is fixed to the tongue mounting angle iron 6 by screws. The tongue mounting angle iron 6 is designed with an internal threaded hole for connecting with the external thread on the tongue pull rod 9. The tongue pull rod 9 passes through the rotating sleeve 4 and then is hinged to the tongue driving connecting rod 16. The tongue driving connecting rod 16 is hinged to the servo disk of the tongue driving servo 15. The movement of the tongue 5 is realized by the tongue driving servo 15 driving the tongue driving connecting rod 16 and the tongue pull rod 9.

[0035] like Figure 2 , 3As shown in , 4 and 5, the tongue pull rod 9 passes through the hole on the rotating sleeve 4 and can move laterally along the hole. The rotating sleeve 4 is hinged on the sleeve support frame 8 and can rotate around the axis. The sleeve support frame 8 is fixed to the tongue mounting frame 1 with screws; the tongue pull rod 9 performs telescopic and rotational movements on the rotating sleeve 4, so the up and down, telescopic movements of the tongue 5 can be realized.

[0036] like Figure 2 , 3 As shown in , 4 and 5, the lower teeth 7 move with the lower jaw 11, and the two lower jaw driving servos 13 are started synchronously. The servo disc of the lower jaw driving servo 13 directly outputs power to drive the lower jaw 11 to move, so as to realize the opening and closing of the mouth. The up and down, extension and retraction movements of the tongue 5: the tongue driving servo 15 is started, and the servo disc of the tongue driving servo 15 drives the tongue driving connecting rod 16 to swing, and the tongue driving connecting rod 16 drives the tongue pull rod 9 to retract, and the tongue 5 retracts and retracts; at the same time, the rotating sleeve 4 is hinged on the sleeve support frame 8 and can rotate around the axis. When the tongue driving connecting rod 16 drives the tongue pull rod 9 to retract, it also drives the rotating sleeve 4 to rotate on the sleeve support frame 8, and the tongue 5 moves up and down.

[0037] like Figure 3 As shown, two corner-of-mouth driving servos 26 of the corner-of-mouth motion unit are fixed on the mandibular mounting frame 12, a corner-of-mouth driving connecting rod 24 is fixedly installed on the servo disk of the corner-of-mouth driving servo 26, the end of the corner-of-mouth driving connecting rod 24 is hinged to the second corner-of-mouth driving connecting rod 23, and the end of the second corner-of-mouth driving connecting rod 23 is screwed to the epidermis connecting magnet 22; two cheek driving servos 27 of the cheek motion unit are installed on the mandibular mounting frame 12, the cheek driving connecting rod 25 is hinged on the cheek driving servo disk, the epidermis connecting magnet 22 is fixed to the extension rod 18 by screws, and the extension rod 18 is installed on the cheek driving connecting rod 25, the epidermis connecting magnet 22 is used to attract another magnet arranged on the outer skin, and the magnet is driven by the output power of the corner-of-mouth driving servo 26 to pull the outer skin to realize the lifting and drooping of the corner of the mouth.

[0038] like Figure 3 As shown, the two lip driving servos 19 of the lip movement unit are installed on the upper tooth mounting plate 2 through the lip driving servo mounting angle iron 20, the lip driving connecting rod 21 is hinged on the mouth corner driving servo disk of the lip driving servo 19, and the epidermis connecting magnet 22 is fixed to the mouth corner driving connecting rod 21 with screws. The epidermis connecting magnet 22 is used to connect the outer skin, and the epidermis connecting magnet 22 is used to attract another magnet set on the outer skin. The magnet is driven by the lip driving servo 19 output power to pull the outer skin to realize the bulge and contraction of the lips.

[0039] like Figure 1-6As shown, the driving mechanism of a bionic head and face unit of this embodiment includes: 1) tongue movement mechanism: the lower teeth 7 move together with the lower jaw 11, and the lower jaw 11 moves. The two lower jaw driving servos 13 of the lower jaw 11 are started synchronously, and the servo disc of the lower jaw driving servo 13 directly outputs power to drive the lower jaw 11 to move, so as to realize the opening and closing of the mouth. The up and down, extension and retraction movement of the tongue 5: the tongue driving servo 15 is started, and the servo disc of the tongue driving servo 15 drives the connecting rod 16 to swing, and the connecting rod 16 drives the tongue pull rod 9 to retract, and the tongue 5 retracts and retracts; at the same time, the rotating sleeve 4 is hinged on the sleeve support frame 8 and can rotate around the axis, and the connecting rod 16 drives the tongue pull rod 9 to retract, and also drives the rotating sleeve 4 to rotate on the sleeve support frame 8, and the tongue 5 moves up and down.

[0040] 2) The lower teeth 7 move together with the lower jaw 11, and the lower jaw 11 is driven by two servos at the same time. The movement of the lower jaw 11 realizes the opening and closing of the mouth; both sides of the lower jaw 11 are fixedly connected to the lower jaw driving servo disc 17 of the lower jaw driving servo 13 and are directly driven by the lower jaw driving servo 13.

[0041] 3) Lip movement: the lip driving servo 19 is installed on the upper gear mounting plate 2, the lip driving connecting rod 21 is hinged on the mouth corner driving servo disc, and the epidermis connecting magnet 22 is fixed to the lip driving connecting rod 21 with screws. The epidermis connecting magnet 22 is used to attract another magnet set on the outer skin, and the magnet is driven by the output power of the servo to pull the outer skin to realize the bulge and contraction of the lips.

[0042] 4) Movement of mouth corners and cheeks. The mouth corner driving servo 26 and the cheek driving servo 27 are fixedly mounted on the lower jaw mounting frame 12. The mouth corner driving connecting rod 24 is fixed on the mouth corner driving servo disk. The mouth corner second driving connecting rod 23 is hinged on the mouth corner driving connecting rod 24. The epidermis connecting magnet 22 is screwed to the mouth corner second driving connecting rod 23. The cheek driving connecting rod 25 is hinged on the cheek driving servo disk. The epidermis connecting magnet 22 is screwed on the cheek driving connecting rod 25 through the extension rod 18. The epidermis connecting magnet is used to attract another magnet set on the outer skin. The magnet is driven by the output power of the servo to pull the outer skin to realize the lifting and drooping of the mouth corners.

[0043] The application of a driving mechanism of a bionic head and face unit in this embodiment improves the realism and adequacy of the facial expression of the facial expression robot, and further improves the anthropomorphism of the facial expression robot.

[0044] like Figure 7-Figure 11 As shown, this embodiment also proposes an outer skin connection structure of an expression robot.

[0045] Currently, most humanoid head robots use ropes to pull the silicone shell. This driving method is not accurate enough. The use of a rigid body to transmit power solves the shortcomings of rope driving. However, the connection between the rigid body and the silicone shell has the disadvantages of being inconvenient to disassemble and assemble during debugging, and the connection point can only fit in a fixed direction during the driving process of the shell, making the expression less realistic.

[0046] Therefore, this embodiment proposes a connection structure using an outer skin driving mechanism and a silicone outer skin. Specifically, the outer skin connection structure 21 of the expression robot in this embodiment is set as follows: one outer skin motion control point is set with one outer skin connection structure 21 of the expression robot.

[0047] like Figure 7 and 8 As shown, a skin connection structure 21 of an expression robot includes a skin driving mechanism 211, a silicone skin connecting rod 212, and a silicone skin 213 hinged at the end of the silicone skin connecting rod. The skin driving mechanism 211 is arranged on the skeleton of the expression robot, and the corresponding position is the position of any skin motion control point. One end of the silicone skin connecting rod 212 is hinged to the skin driving mechanism 211.

[0048] In this embodiment, the skin driving mechanism 211 preferably adopts a steering gear, which is installed on a corresponding steering gear bracket, and the steering gear bracket is installed on the internal skeleton of the expression robot. The steering gear outputs power to the silicone skin connecting rod 212 through the steering gear plate. The curvature of the end of the silicone skin connecting rod 212 connected to the silicone skin 213 is designed according to the curved surface of the silicone skin at the motion control point so as to be more closely connected to the silicone skin.

[0049] like Fig. 9 As shown, the connection between the silicone skin connecting rod 212 and the servo disk is hinged, and a cylindrical groove is designed at the connecting end of the silicone skin connecting rod 212 and the silicone skin 213, and a spherical hinge groove is designed in the cylindrical groove. The spherical hinge groove is matched with the spherical end on the first buckle 214 for connection. The spherical hinge can prevent the connecting rod from not fitting with the silicone skin due to the change in the position of the connecting rod during the process of driving the silicone skin to move. The advantage of connecting the first buckle 214 and the second buckle 215 by means of buckles is that it is convenient for the disassembly and assembly of the silicone skin during the debugging process of the expression robot. The second buckle 215 is bonded to the silicone skin 213 with special silicone glue.

[0050] The skin connection structure 21 of the expression robot in this embodiment uses a rigid rod to drive the silicone skin 213 to improve the controllability of the movement. The snap-on connection between the silicone skin connecting rod 212 and the silicone skin 213 is beneficial to the disassembly and assembly of the silicone skin during the debugging of the expression robot. The spherical hinge between the first snap 214 and the silicone skin connecting rod 212 has the advantage of enabling the silicone skin and the connecting rod driving point to remain in contact during the movement.

[0051] The application of the skin connection structure 21 of the facial expression robot in this embodiment improves the controllability of the silicone skin driven by the facial expression robot and facilitates the disassembly and assembly of the silicone skin during the debugging process of the facial expression robot.

[0052] The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

[0053] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A driving mechanism of a bionic head and face unit, characterized in that: The invention comprises a mouth corner movement unit, a lip movement unit, a cheek movement unit and a tongue movement unit. The tongue movement unit comprises a tongue mounting frame (1), upper teeth (3), lower teeth (7), a tongue (5), a lower jaw (11) and a lower jaw mounting frame (12). The tongue mounting frame (1) and the lower jaw mounting frame (12) are connected as a whole. The upper teeth (3) are arranged on the tongue mounting frame (1), the lower teeth (7) are arranged on the lower jaw (11), the lower jaw (11) is swingably arranged on the lower jaw mounting frame (12), the tongue (5) is telescopically arranged on the tongue mounting frame (1), and the tongue (5) is driven by a tongue driving servo (15) to drive a tongue driving connecting rod (16) to pull a tongue pull rod (9) to realize the extension and retraction and up and down movement of the tongue (5), the tongue (5) is located between the upper teeth (3) and the lower teeth (7), the lip movement unit is arranged on the tongue mounting frame (1), and the mouth corner movement unit and the cheek movement unit are both arranged on the lower jaw mounting frame (12); the mouth corner movement unit includes a control point arranged at each of the two mouth corners, the lip movement unit includes two control points of the upper lip, and the cheek movement unit includes two cheek control points arranged at both sides of the cheek, and the movement of each control point of the mouth corner movement unit, the lip movement unit and the cheek movement unit is realized by the servo driving the epidermis connecting magnet at the end of the driving connecting rod through the driving connecting rod, and the epidermis connecting magnet is connected to the outer skin; The movement of the tongue (5) is driven by a tongue-driven servo (15), the tongue-driven servo (15) is mounted on a tongue-driven servo mounting plate (10), the tongue-driven servo mounting plate (10) is fixedly connected to a tongue-driven mounting frame (1) by screws, the servo disc of the tongue-driven servo (15) drives the tongue (5) to move via a tongue-driven connecting rod (16) and a tongue pull rod (9); the servo disc of the tongue-driven servo (15), the tongue-driven connecting rod (16) and the tongue pull rod (9) are connected via hinges to ensure relative movement; The tongue (5) is fixed to the tongue mounting angle iron (6) by screws. The tongue mounting angle iron (6) is designed with an internal thread hole for connecting with the external thread on the tongue tie rod (9). The tongue tie rod (9) passes through the rotating shaft sleeve (4) and is then hinged to the tongue driving connecting rod (16). The tongue driving connecting rod (16) is hinged to the steering gear plate of the tongue driving steering gear (15). The movement of the tongue (5) is achieved by the tongue driving steering gear (15) driving the tongue driving connecting rod (16) and the tongue tie rod (9).

2. The driving mechanism of the bionic head and face unit according to claim 1, characterized in that: The lower jaw (11) is driven by a lower jaw driving servo (13) mounted on a lower jaw mounting frame (12) to perform an up and down swinging motion; the number of the lower jaw driving servo (13) is two, the servo discs on the two lower jaw driving servo (13) are respectively connected to two sides of the lower jaw (11), and the two lower jaw driving servo (13) move synchronously.

3. The driving mechanism of the bionic head and face unit according to claim 1, characterized in that: One end of the tongue driving connecting rod (16) is hinged on the steering gear disc of the tongue driving steering gear (15), the other end of the tongue driving connecting rod (16) is connected to the tongue pull rod (9), and the other end of the tongue pull rod (9) is connected to the tongue (5).

4. The driving mechanism of the bionic head and face unit according to claim 3, characterized in that: The tongue (5) is arranged on the tongue mounting angle iron (6), the other end of the tongue pull rod (9) is connected to the tongue mounting angle iron (6), and the tongue pull rod (9) and the tongue mounting angle iron (6) are connected by a threaded pair.

5. The driving mechanism of the bionic head and face unit according to claim 4, characterized in that: The tongue pull rod (9) passes through the rotating shaft sleeve (4), the rotating shaft sleeve (4) is hinged on the shaft sleeve support frame (8) and rotates around the axis, and the shaft sleeve support frame (8) is arranged on the tongue mounting frame (1).

6. The driving mechanism of the bionic head and face unit according to claim 1, characterized in that: The upper teeth (3) are arranged on the tongue mounting frame (1) via the upper teeth mounting plate (2), the two upper lip driving servos (19) are arranged on the upper teeth mounting plate (2), and the two mouth corner driving servos (26) and the two cheek driving servos (27) are all arranged on the lower jaw mounting frame (12).

7. The driving mechanism of the bionic head and face unit according to claim 6, characterized in that: The ends of the driving links of the two control points of the mouth corner motion unit are mounted with epidermal connection magnets through a hinged second driving link.

8. The driving mechanism of the bionic head and face unit according to claim 6, characterized in that: An extension rod (18) is vertically arranged at the end of the driving connecting rod of the two control points of the cheek movement unit, and an epidermis connecting magnet is arranged at the end of the extension rod (18).

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