Mechanical structure of the multi-motion control point expression robot

Abstract

The present invention discloses a mechanical structure of a multi-motion control point expression robot, including a face structure of the robot, a neck structure of the robot, a neck mounting base, a support base and a head support column. The face structure and the neck structure are connected as a whole through the head support column. The neck structure is mounted on the neck mounting base, and then the neck mounting base is fixed to the support base through screws. Advantages: In the structure of the present invention, the entire facial mechanism is designed with multiple motion control points, which can realize the opening and closing of the eyelids, the left and right movement of the eyeball, the up and down movement of the eyeball, the rotation of the eyeball, the movement of the lips and the corners of the mouth, the movement of the cheeks, the opening and closing of the mouth, the extension and retraction of the tongue, and a camera is designed in the eyeball structure to realize the face recognition function; the neck mechanism is driven by a servo, and the neck mechanism can realize the left and right rotation of the neck, the left and right swing of the neck, the front and back swing, and the side swing of the neck.

Description

Technical Field

[0001] The invention relates to a bionic robot capable of realizing multiple facial expressions through the movement of eyes, face, mouth and neck, in particular to a mechanical structure of a multi-motion control point expression robot. Background Art

[0002] With the aging of the population and the decline in birth rate, the gradual reduction of the labor force has promoted the research of intelligent service robots. In order to expand the application scenarios of service robots, the service robots studied should not only be similar to humans in appearance, but more importantly, they should have emotional communication with humans, and the most important thing in emotional expression is facial expression.

[0003] At present, the existing humanoid facial expression robots have few expression driving points, resulting in the lack of realistic expressions made by the robots, which are far less than the rich expressions presented by humans. Secondly, the existing humanoid facial expression robots do not have visual, auditory and other perception functions, resulting in insufficient emotional decision-making of the robots. They cannot perceive human expressions, movements and behaviors, and thus cannot make corresponding expression feedback through human expressions, movements and behaviors, so that facial expression robots cannot socialize with humans. Summary of the invention

[0004] The purpose of the present invention is to propose a mechanical structure of an expression robot with multiple motion control points in view of the problems in the background technology, so as to solve the technical problems that the expression of the simulation robot is not realistic enough and the emotional decision-making is insufficient; the technical scheme adopted is: a mechanical structure of an expression robot with multiple motion control points, including a face structure, a neck structure and a head support column connecting the face structure and the neck structure, and the neck structure is installed on a neck installation base plate; the face structure includes an eyebrow driving mechanism, an eye driving mechanism and a mouth driving mechanism, and the eyebrow driving mechanism and the eye driving mechanism are both arranged on the eye installation base plate, the eye installation base plate is arranged on the mouth driving mechanism, and the mouth driving mechanism is arranged on the head supporting column.

[0005] In the preferred embodiment of the technical solution of the present invention, the mechanical structure of the multi-motion control point expression robot also includes a shoulder shell and a facial structure shell, the shoulder shell is arranged on the neck mounting base plate, and the facial structure shell is arranged on the eye mounting base plate. The shoulder shell is used to support the shoulder skin, and the facial structure shell is installed outside the facial structure to support the facial silicone skin.

[0006] In the preferred embodiment of the technical solution of the present invention, the facial structure shell consists of four parts: the top of the skull shell, the face of the skull shell, the jaw of the skull shell and the back of the skull shell. The back of the skull shell is installed on the eye mounting base plate, the top of the skull shell and the face of the skull shell are installed on the back of the skull shell, and the jaw of the skull shell is arranged on the jaw driven directly by two jaw driving servos to realize the opening and closing of the mouth, and the two jaw driving servos are arranged on the mouth driving mechanism.

[0007] Preferably, the mouth driving mechanism as a whole is arranged on the head supporting column through the mouth frame, the lower teeth in the mouth driving mechanism are arranged on the lower jaw of the skull shell, the upper teeth in the mouth driving mechanism are arranged on the mouth frame, a motion control point is arranged on each cheek on both sides of the mouth driving mechanism, and the driving connecting rod is driven to move by the servo, and the driving connecting rod is equipped with an epidermis connecting magnet, and the epidermis connecting magnet drives the epidermis to move; the tongue component in the mouth driving mechanism is arranged on the mouth frame, and the tongue retracts and moves up and down; the lip corner movement in the mouth driving mechanism includes four motion control points, namely, one control point for each corner of the mouth on both sides and two control points for the upper lip, and the four motion control points are all driven by the servo to move the driving connecting rod, and epidermis connecting magnets are arranged at the ends of the four driving connecting rods.

[0008] Preferably, the eyebrow driving mechanism comprises two eyebrow units symmetrically arranged, both eyebrow units are arranged on an eyebrow support, and the eyebrow support is arranged on an eye mounting base plate; each eyebrow unit is driven by two eyebrow driving servos to drive two first magnets to attract the eyebrow points on the outer skin of the robot.

[0009] Preferably, two eyebrow drive servos are arranged up and down on the eyebrow support, the servo disks of the two eyebrow drive servos are respectively hinged to the upper eyebrow drive rod and the lower eyebrow drive rod, and the two first magnets are respectively arranged at the other end of the upper eyebrow drive rod and the lower eyebrow drive rod.

[0010] Preferably, an eyebrow drive extension rod is vertically extended outwardly on both the upper eyebrow drive rod and the lower eyebrow drive rod, and a first magnet is arranged at the end of the eyebrow drive extension rod.

[0011] Preferably, the eye drive mechanism as a whole is connected to the eye mounting base through an eye mounting base, and each eyelid in the eye drive mechanism is driven individually by a servo to realize eyelid opening and closing and blinking; the two eyeballs in the eye drive mechanism move synchronously, and a camera is installed inside the two eyeballs to realize face recognition; the left and right synchronous movement of the two eyeballs is realized by a parallelogram mechanism, and the up and down movement of the two eyeballs adopts a crank slider mechanism; the up and down movement and left and right movement mechanisms of the two eyeballs are linkage structures.

[0012] In a preferred embodiment of the technical solution of the present invention, each eye includes two eyelids, the left and right sides of the two eyelids are hinged so that the upper and lower eyelids form a hemispherical shape, and the hinged part of the two eyelids is further hinged to the supporting structure on the eye mounting base; the servo disk of the eyelid driving servo is hinged to the eyelid through the eyelid connecting rod; the eyeball movement includes the eyeball left and right movement servo, two eyeballs, two eyeball mounting frames, two eyeball mounting forks, an eyeball mounting main bracket, an eyeball mounting connecting rod, an eyeball up and down movement servo, an eye up and down driving rod and an eye sliding shaft, the two eyeballs are respectively arranged on the two eyeball mounting frames, and the two eyeball mounting forks are respectively fixed On two eyeball mounting frames, two eyeball mounting forks are hinged at both ends of the eyeball mounting connecting rod at the same time, two ends of the eyeball mounting main bracket are respectively hinged to the two eyeball mounting frames, the eyeball left and right movement servo is arranged on the eyeball left and right rotation servo mounting frame, and the servo disc of the eyeball left and right movement servo is hinged to the eyeball mounting connecting rod; the servo disc of the eyeball up and down movement servo is fixedly connected to the eye up and down driving rod, the eye up and down driving rod is provided with a sliding groove for inserting the eye sliding shaft, the eye sliding shaft is arranged on the eyeball left and right rotation servo mounting frame, and the eyeball left and right rotation servo mounting frame is hinged to the supporting structure on the eye mounting base.

[0013] Preferably, the neck structure includes a neck left-right rotation mechanism and a neck side-swing mechanism. The neck left-right rotation mechanism is driven by a dual-axis servo to perform rotational motion and head shaking motion; the neck side-swing mechanism is driven by two servos to move a differential mechanism to perform forward and backward, left-right and side-swing motions. The neck left-right rotation mechanism is arranged on the neck side-swing mechanism and moves together with the neck side-swing mechanism.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention has a whole facial mechanism designed with a plurality of motion control points, which can realize the opening and closing of the eyelids, the left-right movement of the eyeball, the up-and-down movement of the eyeball, the rotational movement of the eyeball, the movement of the lips and the corners of the mouth, the movement of the cheeks, the opening and closing of the mouth, and the extension and retraction of the tongue. A camera is designed in the eyeball structure for realizing the face recognition function; the neck mechanism is driven by a steering gear, and the neck mechanism can realize the left-right rotation of the neck, the left-right swing of the neck, the front-and-back swing, and the side-to-side swing of the neck. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of this embodiment.

[0017] Figure 2 Schematic diagram of the structure of the robot of this embodiment.

[0018] Figure 3 This is a schematic diagram of the assembly structure of the face structure and the head support column. Figure 1 .

[0019] Figure 4 This is a schematic diagram of the assembly structure of the face structure and the head support column. Figure 2 .

[0020] Figure 5 It is a schematic diagram of the structure of the outer shell of the facial structure.

[0021] Figure 6 It is a three-dimensional structural schematic diagram of the eyebrow driving mechanism.

[0022] Figure 7 It is a first-person perspective diagram of the three-dimensional structure of the eye drive mechanism.

[0023] Figure 8 It is a second viewing angle diagram of the three-dimensional structure diagram of the eye drive mechanism.

[0024] Fig. 9 This is an exploded view of the eye drive mechanism (the servos are hidden in the picture).

[0025] Fig.10 It is a three-dimensional structural schematic diagram of the mouth driving mechanism.

[0026] Fig.11 It is the front view of the mouth drive mechanism.

[0027] Fig.12 It is a schematic diagram of the installation of the tongue movement of the mouth drive mechanism.

[0028] Fig.13 This is an exploded view of the mouth drive mechanism.

[0029] Fig.14 It is a schematic diagram of the assembled structural appearance of the neck structure, neck mounting base, support base and shoulder shell.

[0030] Fig.15 yes Fig.14 Exploded view of.

[0031] Fig.16 It is a structural diagram of the neck left and right rotation mechanism.

[0032] Fig.17 This is a schematic diagram of the installation of the neck side swing mechanism and the neck mounting base (a circular neck support frame is hidden in the figure).

[0033] Fig.18 It is a schematic diagram of a certain state in which the neck side swing mechanism swings on the neck mounting base plate.

[0034] Fig.19 Schematic diagram of the outer skin connection structure of the expression robot in the embodiment.

[0035] Fig. 20 yes Fig.19 sectional view of .

[0036] Fig.21 yes Fig.19 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).

[0037] Fig. 22 This is a schematic diagram of the snap-on components within the skin connection structure of the Expression Robot.

[0038] Fig.23 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 and III in the figure). DETAILED DESCRIPTION

[0039] 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.

[0040] To make the content of the present invention more clearly understood, the following Figure 1-Figure 23 The specific implementation manner is further described.

[0041] 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.

[0042] Example 1

[0043] like Figure 1 As shown, this embodiment provides an overall structure of a robot with simulated facial expressions, including a facial structure 1 of the robot, a neck structure 2 of the robot, a neck mounting base plate 4, a support base 5 and a head supporting column 6. The facial structure 1 and the neck structure 2 are connected into a whole through the head supporting column 6, the neck structure 2 is mounted on the neck mounting base plate 4, and then the neck mounting base plate 4 is fixed to the support base 5 by screws.

[0044] like Figure 1 As shown, this embodiment provides an overall structure of a robot with simulated facial expressions, and also includes a mechanical structure, a shoulder shell 3 and a facial structure shell. The two shoulder shells 3 are symmetrically fixed on the neck mounting base plate 4, and the two shoulder shells 3 are used to support the shoulder skin. The facial structure shell is set on the eye mounting base plate 108, and the facial structure shell is installed outside the facial structure to support the facial silicone skin. Figure 5As shown, the facial structure shell is composed of four parts: the top 104 of the skull shell, the face 105 of the skull shell, the lower jaw 106 of the skull shell and the back 107 of the skull shell. The facial structure shell in this embodiment is completed by 3D printing. The back 107 of the skull shell is installed on the eye installation base plate 108, the top 104 of the skull shell and the face 105 of the skull shell are installed on the back 107 of the skull shell, and the lower jaw 106 of the skull shell is arranged on two lower jaw driving servos 10301 and is directly driven by the servos to realize the opening and closing of the mouth. The two lower jaw driving servos are arranged on the second mouth mounting frame 10312 in the mouth driving mechanism 103. Further, in this embodiment, the lower jaw 106 of the skull shell is designed with a mounting groove that matches the size of the servo disc of the lower jaw driving servo 10301, and the servo disc is fastened in the mounting groove of the lower jaw of the skull shell by screws, and the lower jaw is directly driven by the two servos to realize the opening and closing of the mouth.

[0045] like Figure 2 As shown, the detailed composition of a facial expression simulation robot of this embodiment includes an eyebrow driving mechanism 101, an eye driving mechanism 102, a mouth driving mechanism 103, an eye mounting base plate 108, a neck left-right rotation mechanism 201 and a neck side swing mechanism 202 from the face structure 1 to the neck structure 2. The eyebrow driving mechanism 101 and the eye driving mechanism 102 are both mounted on the eye mounting base plate 108, and the head support column 6 is used to connect the eye mounting base plate 108 and the mouth driving mechanism 103 into a whole, and the face structure 1 is connected to the neck structure 2.

[0046] like Figure 2 As shown, the eyebrow driving mechanism 101 and the eye driving mechanism 102 are both mounted on the eye mounting base plate 108 by screws, the eye mounting base plate 108 is screwed to the mouth movement mechanism 103, the mouth movement mechanism 103 is screwed to the head support column 6, the head support column 6 is connected to the neck left and right rotation mechanism 201, the neck left and right rotation mechanism 201 is arranged on the neck side swing mechanism 202, and finally the neck side swing mechanism 202 is mounted on the neck mounting base plate 4.

[0047] like Figure 6 As shown, the eyebrow support in the eyebrow driving mechanism 101 is composed of a first eyebrow support 10103 and two second eyebrow supports 10104 to form a door-shaped eyebrow support, and the lower ends of the two second eyebrow supports 10104 are screwed to the eye mounting base plate 108.

[0048] like Figure 6As shown, threaded holes are designed on both sides of the first eyebrow support 10103, and waist-shaped holes are designed on the two second eyebrow supports 10104 to achieve height adjustment during eyebrow assembly, and the two second eyebrow supports 10104 are installed on both sides of the first eyebrow support 10103 through the waist-shaped holes. The two eyebrow drive servos 10101 in each eyebrow unit are installed on the front and back of the first eyebrow support 10103 through the eyebrow servo mounting angle iron 10102, and the eyebrow servo mounting angle iron 10102 is screwed to the first eyebrow support 10103.

[0049] like Figure 6 As shown, the four eyebrow drive steering gears 10101 in this embodiment are purchased parts, and the four eyebrow drive steering gears 10101 are equipped with eyebrow drive steering gear discs 10109, and the eyebrow drive steering gear discs 10109 on the four eyebrow drive steering gears 10101 are swing arms. The steering gear disc of the eyebrow drive steering gear 10101 installed on the front side of the first eyebrow support 10103 is hinged to the upper eyebrow drive rod 10108, and the steering gear disc of the eyebrow drive steering gear 10101 installed on the reverse side of the first eyebrow support 10103 is hinged to the lower eyebrow drive rod 10105.

[0050] like Figure 6 As shown, an eyebrow driving extension rod 10106 is vertically extended outward on the upper eyebrow driving rod 10108 and the lower eyebrow driving rod 10105 as needed, the first magnet has an internal thread that is matched with the external thread on the eyebrow driving extension rod 10106, the first magnet 10107 is magnetically attracted to the second magnet of the other half, and the second magnet of the other half is fixedly connected to the eyebrow movement control point on the robot skin; the servo disk of the eyebrow driving servo 10101 drives the upper eyebrow driving rod 10108 and the lower eyebrow driving rod 10105 to move, thereby realizing the movement of the connected first magnet 10107, the first magnet 10107 drives the second magnet of the other half to move, and the second magnet of the other half drives the movement of the robot's eyebrow movement point.

[0051] like Figure 7 , 8 As shown in Figure 9, the eye drive mechanism 102 is connected to the eye mounting base 108 through the eye mounting base 10209.

[0052] like Figure 7 and 9 As shown, each eyelid in the eye drive mechanism 102 is driven individually by a servo to achieve eyelid opening and closing and blinking; each eye includes two eyelids, namely an upper eyelid 10203 and a lower eyelid 10208, and the two eyelids are hinged on the left and right sides to make the upper and lower eyelids form a hemispherical shape, and the hinge is hinged to the eye mounting base 10209.

[0053] like Figure 7and 9 As shown, the eyelid movement mechanism includes an eyelid drive servo bracket 10219 and an eyelid drive servo 10220. The eyelid drive servo 10220 is installed on the eyelid drive servo bracket 10219, and the eyelid drive servo bracket 10219 is fixed to the eye mounting base 10209 with screws. Two eyelid driving servos 10220 are installed on each eyelid driving servo bracket 10219. The eyelid driving servo 10220 is a commercially available part that is directly purchased. Each eyelid driving servo 10220 is equipped with a servo disk 10201 of the eyelid driving servo. The servo disk 10201 of the eyelid driving servo is a rocker rod. The servo disk 10201 of the eyelid driving servo is hinged to the eyelid connecting rod 10202. The eyelid driving servo 10220 drives the servo disk 10201 of the eyelid driving servo to move. The two ends of the eyelid connecting rod 10202 are respectively hinged to the servo disk 10201 of the eyelid driving servo and the upper eyelid 10203 or the lower eyelid 10208, so that the eyelids can open and close and blink through power transmission.

[0054] like Figure 7 and 9 As shown, the eyeball movement mechanism can realize the up and down, left and right, and rotational movement of the eyeball; each eyeball is equipped with a camera and a human-computer interaction function module for realizing face recognition and tracking, etc. The camera and the human-computer interaction function module are known products in the field and are known to those skilled in the art. The left and right movement of the eyeball is composed of a parallelogram mechanism composed of a servo disc of the eyeball left and right movement servo 10207 plus an eyeball left and right rotation servo extension rod 10214 and two eyeball mounting forks 10221 and an eyeball mounting connecting rod 10215 to ensure the synchronization of the two eyeball movements; the up and down movement of the eyeball is completed by a crank slider mechanism composed of a servo disc and an eye up and down driving rod 10211, an eye sliding shaft 10210, an eyeball left and right rotation servo mounting frame 10206 and an eye mounting base 10209. The up and down movement of the eyeball is linked with the left and right movement, so the rotation of the eyeball can be realized.

[0055] like Figure 7 , 8As shown in FIG9 , two eyeballs 10205 are respectively mounted on two eyeball mounting frames 10213, two eyeball mounting forks 10221 are also fixedly mounted on the two eyeball mounting frames 10213, the eyeball mounting frames 10213 are hinged to the eyeball mounting main bracket 10216, the two eyeball mounting forks 10221 are connected by an eyeball mounting connecting rod 10215 to form a parallelogram mechanism to ensure the synchronization of the left and right movements of the two eyeballs, the eyeball left and right movement servo 10207 is arranged on the eyeball left and right rotation servo mounting frame 10206, and the servo disc of the eyeball left and right movement servo 10207 is hinged to the eyeball mounting connecting rod 10215. Further, the eyeball left and right rotation servo extension rod 10214 is hinged between the servo disc of the eyeball left and right movement servo 10207 and the eyeball mounting connecting rod 10215. The eyeball left and right movement servo 10207 is a commercially available part, which is directly purchased. The servo disk of the eyeball left and right movement servo 10207 is a rocker arm.

[0056] like Figure 7 , 8 As shown in Figure 9, the up and down movement of the eyeball is driven by the up and down movement servo 10218 of the eyeball, which is mounted on the up and down drive servo bracket 10217 of the eyeball, and the up and down drive servo bracket 10217 of the eyeball is screwed to the eye mounting base 10209. The up and down movement servo 10218 of the eyeball is a commercially available part, which can be directly purchased, and the servo disk of the up and down movement servo 10218 of the eyeball is a rocker arm. An eye up and down driving rod 10211 is fixedly installed on the servo disk of the eye up and down movement servo 10218, and a waist-shaped groove is designed on the eye up and down driving rod 10211. The eye sliding shaft 10210 can slide in the waist-shaped groove of the eye up and down driving rod 10211. The eye sliding shaft 10210 is also connected to the eye left and right rotation servo mounting frame 10206. The eye sliding shaft 10210 can drive the eye left and right movement servo 10207 to rotate around a fixed point, so that the eye can move left and right when moving up and down.

[0057] like Fig.10 , 11 As shown in FIGS. 12 and 13, the mouth driving mechanism 103 is integrally arranged on the head supporting column through the mouth frame, and the mouth frame includes a first mouth frame 10303 and a second mouth frame 10312, and the first mouth frame 10303 and the second mouth frame 10312 are screwed to form a whole. The back of the second mouth frame 10312 is screwed to the head supporting column 6. The eye mounting base plate 108 is screwed to the first mouth frame 10303.

[0058] like Fig.10 , 11As shown in , 12 and 13, the mouth driving mechanism 103 includes lip and mouth corner movement, cheek movement and tongue movement. For cheek movement, each side of the face is provided with a driving point, and the face driving servo 10311 drives the face muscle to pull the connecting rod 10310 and the face skin connecting magnet 10309 to realize the movement of the face skin. The face driving servo 10311 is installed on the second mouth frame 10312.

[0059] The lower teeth 10308 in the mouth drive mechanism 103 are arranged on the lower jaw 106 of the skull shell. The lower jaw 106 of the skull shell is arranged on two lower jaw drive servos 10301 and is directly driven by the servos to realize the opening and closing of the mouth. The two lower jaw drive servos 10301 are installed on the second mouth frame 10312 through the lower jaw drive servo mounting angle iron 10313 and screws.

[0060] The upper teeth 10307 in the mouth driving mechanism 103 are screwed to the upper tooth mounting plate 10305 , and the upper tooth mounting plate 10305 is screwed to the first mouth frame 10303 .

[0061] The movement of the lip corners includes the movement of two control points of the upper lip and one control point of each corner of the mouth on both sides. The upper lip is driven by two upper lip driving servos 10304 to drive the lip epidermis connection magnet installed on the driving connecting rod; the two upper lip driving servos 10304 are installed on the upper tooth mounting plate 10305 through angle irons and screws. The upper lip driving servo 10304 is a commercially available part, which can be directly purchased. The upper lip driving servo disk 10318 of the upper lip driving servo 10304 is a rocker arm. The upper lip driving servo disk 10318 of the upper lip driving servo 10304 is hinged to the lip driving connecting rod 10317. The lip driving connecting rod 10317 is threadedly connected to the lip epidermis connection magnet to pull the epidermis to realize the movement of the lips. Fig.11 and 13 shown.

[0062] Two mouth corner driving servos are installed on the first mouth frame 10303 by angle irons and screws. The mouth corner driving connecting rod 10315 is hinged on the mouth corner driving servo disc 10316 of the two mouth corner driving servos, and the mouth corner driving connecting rod 10315 is threadedly connected to the lip epidermis connecting magnet. The mouth corner driving servos are commercially available parts and can be directly purchased. The mouth corner driving servo disc 10316 of the mouth corner driving servo is a rocker arm. The mouth corner driving servo disc 10316 of the mouth corner driving servo is hinged to the mouth corner driving connecting rod 10315, and the mouth corner driving connecting rod 10315 is threadedly connected to the epidermis connecting magnet to pull the epidermis to realize the movement of the mouth corners. Fig.11 and 13 shown.

[0063] like Fig.12 and 13As shown, the tongue 10324 is mounted on the tongue fixing bracket 10322, the tongue mounting bracket 10323 is mounted on the first mouth frame 10303 with screws, the tongue fixing bracket 10322 is threadedly connected to the second tongue link 10321, the second tongue link 10321 is hinged to the first tongue link 10320, the tongue driving servo disc 10319 is hinged to the first tongue link 10320, the second tongue link 10321 passes through the tongue rotating sleeve 10325, the second tongue link 10321 can slide in the tongue rotating sleeve 10325, and the tongue rotating sleeve 10325 is hinged to the tongue mounting bracket 10323. The second tongue link 10321 is driven by the tongue driving servo 10327. The tongue driving servo 10327 is screwed to the first mouth frame 10303 through the tongue servo mounting bracket 10326.

[0064] like Fig.14 , 15 As shown in , 16 and 17, the neck left-right rotation mechanism 201 is installed on the neck side swing mechanism 202. The movement of the neck side swing mechanism 202 drives the entire neck left-right rotation mechanism 201 to move. The neck side swing mechanism 202 is arranged on the neck mounting base plate 4. The neck mounting base plate 4 has a through hole for the neck side swing mechanism 202 to move.

[0065] The neck left-right rotating mechanism 201 includes a neck cover plate 20108, a neck left-right rotating disk 20101, a neck left-right rotating shaft 20102, a neck rotating servo disk 20104, a neck rotating coupling 20103 and a neck rotating dual-axis servo 20105. The rotational motion in the neck left-right rotating mechanism 201 is driven by the neck rotating dual-axis servo 20105 through the neck rotating coupling 20103 to drive the neck left-right rotating shaft 20102 to rotate. The neck left-right rotating shaft 20102 passes through the neck cover plate 20108 and is connected to the neck left-right rotating disk 20101 by a key. The head supporting column 6 is fixed on the neck left-right rotating disk 20101, thereby driving the entire facial mechanism 1 to rotate left-right, thereby realizing the action of the bionic facial expression robot shaking its head.

[0066] The output steering disc 20104 of the neck rotating dual-axis servo 20105 is connected to the neck rotating coupling 20103 by screws, the variable axis hole of the neck rotating coupling 20103 is matched with the variable axis end of the neck left and right rotating shaft 20102, the other end of the neck left and right rotating shaft 20102 is connected to the neck left and right rotating disk 20101 through a flat key, the neck left and right rotating disk 20101 is connected to the head supporting column 6 by screws, the mouth mechanism, the eye mechanism, and the eyebrow mechanism are directly or indirectly fixed on the head supporting column 6, so the servo drives the neck rotating shaft to rotate, thereby realizing the shaking movement of the entire head.

[0067] like Fig.16As shown, the neck rotating dual-axis servo 20105 is installed on the neck rotating servo mounting frame 20106, the neck rotating servo mounting frame 20106 is screwed to the neck circular support frame 20107, the neck rotating servo disk 20104 of the neck rotating dual-axis servo 20105 is connected to the neck rotating shaft coupling 20103 by screws, the neck rotating shaft coupling 20103 is matched with the flat shaft end of the neck left and right rotating shaft 20102, the neck left and right rotating shaft 20102 is connected to the neck left and right rotating disk 20101 by a flat key, and the neck left and right rotating disk 20101 is screwed to the head support column 6.

[0068] like Fig.14 As shown, there are two neck circular support frames 20107, and the two neck circular support frames 20107 are combined. The upper ends of the two neck circular support frames 20107 are fixed on the neck cover plate 20108, and the flat shaft holes at the lower ends of the two neck circular support frames 20107 cooperate with the flat shaft ends of the first differential axis 20205 in the neck side swing mechanism 202.

[0069] like Fig.17 As shown, the neck side swing mechanism 202 includes two bearing supports 20203, two first differential mechanism frames 20204, two second differential mechanism frames 20210, two neck circular support frames 20107, two first differential bevel gears 20206, a second differential bevel gear 20211, a third differential bevel gear 20212, a first neck differential shaft 20205 and two second neck differential shafts 20213.

[0070] like Fig.17 As shown, the side swing movement in the neck side swing mechanism 202 is driven by two neck side swing driving servos 20201 to drive two second neck differential shafts 20213, and the first differential bevel gears 20206 on the two second neck differential shafts 20213 are meshed with the second differential bevel gears 20211 and the third differential bevel gears 20212. The two first differential mechanism frames 20204 and the two second differential mechanism frames 20210 are combined into a rectangular frame structure as a frame for the differential bevel gears and the differential shafts, and the two shaft ends of the first differential shaft 20205 are installed with a neck circular support frame 20107. The movement of the neck circular support frame 20107 can drive the movement of the entire facial mechanism, so that the head can nod, swing left and right, and side swing of the head can be realized through differential movement.

[0071] like Fig.17As shown, the two neck side swing driving servos 20201 are both mounted on the neck side swing driving servo mounting angle iron 20202, and the neck side swing driving servo mounting angle iron 20202 is screwed on the neck mounting base plate 4. The two neck side swing driving servos 20201 are connected to the shaft ends of the two second neck differential shafts 20213 through the neck side swing coupling 20209, and the two neck bearing supports 20203 are used to install bearings 20207 and support the two second neck differential shafts 20213 respectively. Bearing mounting holes are provided on the two first differential mechanism frames 20204 and the two second differential mechanism frames 20210, and bearings 20207 are installed in the bearing mounting holes of the two first differential mechanism frames 20204 and the two second differential mechanism frames 20210. The two first differential mechanism frames 20204 are used to support the first neck differential shaft 20205, and the two second differential mechanism frames 20210 are used to support the two second neck differential shafts 20213 respectively. The second differential bevel gear 20211 and the third differential bevel gear 20212 are coaxially arranged on the first neck differential shaft 20205, the second differential bevel gear 20211 is loosely mounted on the first neck differential shaft 20205, the third differential bevel gear 20212 is keyed to the first neck differential shaft 20205, the two first differential bevel gears 20206 are keyed to the two second neck differential shafts 20213, and the two first differential bevel gears 20206 are meshed with the second differential bevel gear 20211 and the third differential bevel gear 20212 at the same time.

[0072] The circular neck support frame 20107 in the neck left-right rotation mechanism 201 in the neck structure 2 is installed on the first differential axis 20205 of the neck side swing mechanism 202. The movement of the neck side swing mechanism 202 directly drives the movement of the entire neck left-right rotation mechanism 201. The mouth mechanism, eye mechanism, and eyebrow mechanism are directly or indirectly fixed on the head support column 6, so the steering gear drives the neck rotation axis to rotate to achieve the rotation movement of the entire head.

[0073] The neck left-right rotating mechanism 201 is driven by a dual-axis servo to complete the rotation movement. The flat shaft holes at the lower ends of the two neck circular support frames 20107 in the neck left-right rotating mechanism 201 are fixed to the flat shaft ends at both ends of the first differential shaft 20205 in the neck side swing mechanism 202. The movement of the neck side swing mechanism 202 is completed by two servos driving the differential gears through the differential shaft, and the neck can move forward and backward, left and right, and sideways.

[0074] The mechanical structure of the multi-motion control point expression robot of this embodiment is such that the entire facial mechanism can realize the opening and closing of the eyelids, left and right movement of the eyeballs, up and down movement of the eyeballs, rotational movement of the eyeballs, movement of the lips and corners of the mouth, movement of the cheeks, opening and closing of the mouth, face recognition and tracking and other human-computer interaction functions; the neck mechanism can realize left and right rotation of the neck, left and right swing of the neck, front and back swing, and side swing of the neck.

[0075] like Figure 19-23 As shown, this embodiment also provides an outer skin connection structure of an expression robot.

[0076] Currently, most humanoid head robots use ropes to pull the silicone shell. This driving method lacks precision. 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, making the facial expression less realistic.

[0077] The skin connection structure 21 of the expression robot in this embodiment is set as follows: one skin movement control point is set with one skin connection structure 21 of the expression robot.

[0078] like Fig.19 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.

[0079] 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.

[0080] In this embodiment, the end where the outer skin connecting rod 2 is connected to the outer skin 3 is a curved surface, and the curved surface must be consistent with the curved surface degree of the current facial driving point.

[0081] The connection between the silicone skin connecting rod 212 and the servo disk is hinged. 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 changes 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 is bonded to the silicone skin 213 with special silicone glue.

[0082] 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.

[0083] 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.

[0084] The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

[0085] 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 mechanical structure of a multi-motion control point expression robot, It is characterized in that The invention comprises a facial structure (1), a neck structure (2) and a head support column (6) connecting the facial structure (1) and the neck structure (2), wherein the neck structure (2) is mounted on a neck mounting base plate (4); the facial structure (1) comprises an eyebrow driving mechanism (101), an eye driving mechanism (102) and a mouth driving mechanism (103), wherein the eyebrow driving mechanism (101) and the eye driving mechanism (102) are both arranged on an eye mounting base plate (108), the eye mounting base plate (108) is arranged on the mouth driving mechanism (103), and the mouth driving mechanism (103) is arranged on the head support column (6); A motion control point is provided on each cheek on both sides of the mouth driving mechanism (103), and a driving connecting rod is driven to move by a steering gear, and a skin connecting magnet is installed on the driving connecting rod, and the skin connecting magnet drives the skin to move; the tongue component in the mouth driving mechanism (103) is arranged on the mouth frame, and the tongue (10324) performs extension and contraction and up and down movement; the lip corner movement in the mouth driving mechanism (103) includes four motion control points, namely, one control point for each corner of the mouth on both sides and two control points for the upper lip, and the four motion control points are all driven by the steering gear to drive the connecting rod to move, and skin connecting magnets are arranged at the ends of the four driving connecting rods; The tongue (10324) is mounted on a tongue fixing bracket (10322), the tongue mounting bracket (10323) is mounted on a first mouth frame (10303) by screws, the tongue fixing bracket (10322) and the second tongue connecting rod (10321) are threadedly connected, the second tongue connecting rod (10321) is hingedly connected to the first tongue connecting rod (10320), and the tongue driving steering gear disc (10319) and the first tongue connecting rod (10320) are hingedly connected to the second tongue connecting rod (10319). 321) passes through the tongue rotating sleeve (10325), the second tongue connecting rod (10321) can slide in the tongue rotating sleeve (10325), the tongue rotating sleeve (10325) is hinged on the tongue mounting bracket (10323), the second tongue connecting rod (10321) is driven by the tongue driving servo (10327), and the tongue driving servo (10327) is fixed to the first mouth frame (10303) through the tongue servo mounting bracket (10326) screws; The eyebrow driving mechanism (101) comprises two symmetrically arranged eyebrow units, both of which are arranged on an eyebrow support, and the eyebrow support is arranged on an eye mounting base plate (108); each eyebrow unit is driven by two eyebrow driving servos (10101) to drive two first magnets to attract eyebrow points on the robot outer skin.

2. The mechanical structure of the multi-motion control point expression robot according to claim 1, It is characterized in that The mechanical structure of the multi-motion control point expression robot also includes a shoulder shell (3) and a facial structure shell, wherein the shoulder shell (3) is arranged on a neck mounting base plate (4), and the facial structure shell is arranged on an eye mounting base plate (108).

3. The mechanical structure of the multi-motion control point expression robot according to claim 2, It is characterized in that The facial structure shell consists of four parts: a skull shell top (104), a skull shell face (105), a skull shell jaw (106) and a skull shell back (107). The skull shell back (107) is mounted on an eye mounting base plate (108). The skull shell top (104) and the skull shell face (105) are mounted on the skull shell back (107). The skull shell jaw (106) is arranged on two jaw drive servos (10301) and is directly driven by the jaw drive servos (10301) to realize the opening and closing of the mouth. The two jaw drive servos (10301) are arranged on a mouth drive mechanism (103).

4. The mechanical structure of the multi-motion control point expression robot according to claim 3, It is characterized in that The mouth drive mechanism (103) is arranged on the head support column (6) as a whole through the mouth frame, the lower teeth (10308) in the mouth drive mechanism (103) are arranged on the lower jaw (106) of the skull shell, and the upper teeth (10307) in the mouth drive mechanism (103) are arranged on the mouth frame.

5. The mechanical structure of the multi-motion control point expression robot according to claim 1, It is characterized in that Two eyebrow driving servos (10101) are arranged on the eyebrow support in an upper and lower manner, the servo discs of the two eyebrow driving servos (10101) are respectively hinged to the upper eyebrow driving rod (10108) and the lower eyebrow driving rod (10105), and the two first magnets are respectively arranged at the other ends of the upper eyebrow driving rod (10108) and the lower eyebrow driving rod (10105).

6. The mechanical structure of the multi-motion control point expression robot according to claim 5, It is characterized in that An eyebrow driving extension rod (10106) is vertically extended outwardly on both the upper eyebrow driving rod (10108) and the lower eyebrow driving rod (10105), and a first magnet is arranged at the end of the eyebrow driving extension rod (10106).

7. The mechanical structure of the multi-motion control point expression robot according to claim 1, It is characterized in that The eye drive mechanism (102) is connected to the eye mounting base (108) as a whole via an eye mounting base (10209); each eyelid in the eye drive mechanism (102) is driven individually by a servo to realize eyelid opening and closing and blinking; the two eyeballs in the eye drive mechanism (102) move synchronously, and a camera is installed inside each eyeball to realize face recognition; the left and right synchronous movement of the two eyeballs is realized by a parallelogram mechanism, and the up and down movement of the two eyeballs adopts a crank slider mechanism; the up and down movement and left and right movement mechanisms of the two eyeballs are linkage structures.

8. The mechanical structure of the multi-motion control point expression robot according to claim 7, It is characterized in that Each eye includes two eyelids, the left and right sides of the two eyelids are hinged so that the upper and lower eyelids form a hemispherical shape, and the hinge of the two eyelids is further hinged to the support structure on the eye mounting base (10209); the servo disc (10201) of the eyelid driving servo (10220) is hinged to the eyelids through the eyelid connecting rod (10202); the eyeball movement includes the eyeball left and right movement servo (10207), two eyeballs (10205), and two eyeball mounting frames (10209). 213), two eyeball mounting forks (10221), an eyeball mounting main bracket (10216), an eyeball mounting connecting rod (10215), an eyeball up and down motion servo (10218), an eye up and down driving rod (10211) and an eye sliding shaft (10210), the two eyeballs (10205) are respectively arranged on the two eyeball mounting frames (10213), and the two eyeball mounting forks (10221) are respectively fixed on the two eyeball mounting frames (1 0213), and two eyeball mounting forks (10221) are simultaneously hinged to the two ends of the eyeball mounting connecting rod (10215), the two ends of the eyeball mounting main bracket (10216) are respectively hinged to the two eyeball mounting frames (10213), the eyeball left and right movement servo (10207) is arranged on the eyeball left and right rotation servo mounting frame (10206), and the servo disc of the eyeball left and right movement servo (10207) is hinged to the eyeball mounting connecting rod (10215) The servo disc of the eyeball up and down movement servo (10218) is fixedly connected to the eye up and down driving rod (10211), and the eye up and down driving rod (10211) is provided with a sliding groove for inserting the eye sliding shaft (10210), and the eye sliding shaft (10210) is arranged on the eyeball left and right rotation servo mounting frame (10206), and the eyeball left and right rotation servo mounting frame (10206) is hinged to the support structure on the eye mounting base (10209).

9. The mechanical structure of the multi-motion control point expression robot according to claim 1, It is characterized in that The neck structure (2) comprises a neck left-right rotation mechanism (201) and a neck side-swing mechanism (202). The neck left-right rotation mechanism is driven by a dual-axis steering gear to perform rotational motion and head shaking motion; the neck side-swing mechanism is driven by two steering gears to drive a differential mechanism to move, and performs forward and backward, left-right and side-swing motions. The neck left-right rotation mechanism is arranged on the neck side-swing mechanism and moves together with the neck side-swing mechanism.

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