Mask mechanism and entertainment robot

Abstract

The application discloses a mask mechanism and an entertainment robot, and relates to the technical field of robots, and specifically discloses a mask mechanism, which comprises a driving assembly, an upper eye assembly, a mouth member and a main base, wherein the upper eye assembly is slidably arranged on the main base; the mouth member is slidably arranged on the main base; and the driving assembly is arranged on the main base and is provided with a crank connecting rod mechanism, so that the upper eye assembly and the mouth member can be simultaneously driven to move towards each other or move away from each other through the crank connecting rod mechanism. The components of the mask mechanism are arranged on the main base and are organically connected to realize up-down reciprocating movement, rotation and opening and closing movement, so that facial expressions can be accurately simulated.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mask mechanism and an entertainment robot. Background Technology

[0002] With the rapid development of robotics technology, various types of robots are gradually being applied to various industries, possessing broad development prospects. Robotics technology is closely related to artificial intelligence technology. Benefiting from the expansion and progress of artificial intelligence, robotics technology has also made new breakthroughs in fields such as industry, service, and the military. Among them, entertainment robots in the service sector have become the focus of major theme parks in recent years, with a wide variety of robots emerging, promoting the development of robotics technology and the amusement industry. However, within the entertainment robot industry, due to limitations in materials and space, there are few mature solutions for robot facial movements. Traditional robots have consistently struggled to achieve breakthroughs in realizing facial expressions. Therefore, creating robots with richer and more realistic facial expressions has always been the direction and goal of the industry's efforts.

[0003] Existing entertainment robot masks present expressions to the audience in a static way, resulting in relatively limited expressions and a lack of appeal in the robot's performance.

[0004] In view of this, the present invention is hereby proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a mask mechanism and an entertainment robot that can perform multi-component, multi-degree-of-freedom movements to simulate facial performances with diverse shapes and rich expressions, providing tourists with a novel amusement experience, and thus solving the aforementioned technical problems existing in the prior art.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A mask mechanism, comprising:

[0008] The components include a drive assembly, an upper eye assembly, a mouth assembly, and a main base; among which,

[0009] The upper eye assembly is slidably disposed on the main base;

[0010] The mouth component is slidably disposed on the main base;

[0011] The drive assembly is located on the main base. The drive assembly is equipped with a crank-connecting rod mechanism, which can simultaneously drive the upper eye assembly and the mouth component to move towards each other or in opposite directions.

[0012] An entertainment robot includes a control device and a mask mechanism. The control device is electrically connected to the mask mechanism and can control the mask mechanism to move in a preset manner. The mask mechanism is the mask mechanism described in this invention.

[0013] Compared with the prior art, the mask mechanism and entertainment robot provided by the present invention have the following advantages:

[0014] By sliding the upper eye assembly and mouth component onto the main base, and simultaneously driving the upper eye assembly and mouth component via a crank-connecting rod mechanism through a drive assembly, the upper eye assembly and mouth component can move towards each other or in opposite directions on the main base, thereby simulating different facial movements. Furthermore, the synchronous drive method using the crank-connecting rod mechanism of the drive assembly can achieve mutual balance of the weight of the moving parts, improving the stability and reliability of the mask mechanism. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the mask mechanism provided for a preferred embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the driving component provided in a preferred embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the upper eyelid assembly provided in a preferred embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the four-bar linkage of the upper eye assembly provided in a preferred embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the lower eyelid assembly provided in a preferred embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the upper guide assembly provided in a preferred embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the structure of the lower guide assembly provided in a preferred embodiment of the present invention.

[0023] Figure 8 This is a schematic diagram showing the connection of the upper and lower guide components according to a preferred embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the main base provided in a preferred embodiment of the present invention. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific content of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments, which do not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0026] First, the following explanations are provided for the terms that may be used in this article:

[0027] The term "and / or" means that either or both can be achieved simultaneously. For example, X and / or Y means that it includes both "X" or "Y" as well as the three cases of "X and Y".

[0028] The terms “including,” “comprising,” “containing,” “having,” or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, “including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.)” should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0029] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0030] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0031] The terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience and simplification of description and do not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this document.

[0032] The dynamic Nuo opera mask mechanism and mask performance robot provided by this invention will be described in detail below. Contents not described in detail in the embodiments of this invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of this invention, they shall be performed according to conventional conditions in the art or conditions recommended by the manufacturer. Where the manufacturers of reagents or instruments used in the embodiments of this invention are not specified, they are all conventional products that can be purchased commercially.

[0033] like Figure 1 As shown, an embodiment of the present invention provides a mask mechanism, comprising:

[0034] Drive assembly 100, upper eye assembly 400, mouth component and main base 600; wherein,

[0035] The upper eye assembly 400 is slidably disposed on the main base 600;

[0036] The mouth component is slidably disposed on the main base 600;

[0037] The drive assembly 100 is disposed on the main base 600. The drive assembly 100 is provided with a crank-connecting rod mechanism, which can simultaneously drive the upper eye assembly 400 and the mouth component to move toward each other or toward opposite directions.

[0038] See Figure 2 In the aforementioned mask mechanism, the driving component 100 includes:

[0039] The system includes a third motor 109, a gear transmission mechanism, a first crank 105, a first connecting rod 110, a second connecting rod 102, and a detection switch 106; among which,

[0040] The power shaft of the third motor 109 is connected to the gear transmission mechanism, and the crankshaft 104 of the gear transmission mechanism is connected to the first crank 105, which can drive the first crank 105 to rotate.

[0041] The first connecting rod 110 and the second connecting rod 102 are respectively connected to both ends of the first crank 105 to form the crank-connecting rod mechanism;

[0042] The detection switch 106 is disposed on the gear transmission mechanism, below the first crank 105, and can detect the rotational position of the first crank 105.

[0043] Preferably, in the drive assembly 100 described above, the power shaft of the third motor 109 is connected to the rotating shaft 103 via a third coupling 108;

[0044] The gear transmission mechanism includes: a gearbox 101, a gear set 107, and the crankshaft 104; wherein...

[0045] The gearbox 101 is equipped with the gear set 107. One end of the gear set 107 is connected to the rotating shaft 103, and the other end of the gear set 107 is connected to the crankshaft 104. The crankshaft 104 is connected to the crank 105.

[0046] In the aforementioned mask mechanism, both the first link 110 and the second link 102 are adjustable-length links composed of multiple connected rod segments. This facilitates adjustment, ensures coordinated movement of all components, and avoids interference. Preferably, both ends of the adjustable-length links are connected to other components via spherical bearings that absorb axial errors, thus ensuring that installation requirements are met.

[0047] See Figure 3 , Figure 4 In the aforementioned mask mechanism, the upper eye assembly 400 includes:

[0048] The system comprises a first synchronous gear train 406, a face support 411, a first motor 404, two upper eyeball components 408, two upper eyeball bearings 407, a first servo motor 402, a crank rocker arm 403, a four-bar linkage 409, and two upper eyelid components 410; wherein...

[0049] The first synchronous pulley system 406 is mounted on the face support 411. The first synchronous pulley system 406 has two first synchronous pulleys arranged side by side by a first synchronous belt, and the two first synchronous pulleys can rotate in the same direction.

[0050] The power shaft of the first motor 404 is connected to the first synchronous gear train 406, and can drive the two first synchronous gears of the first synchronous gear train 406 to rotate in the same direction;

[0051] Each of the first synchronous pulleys in the first synchronous pulley system 406 is connected to an upper eyeball component 408, and each upper eyeball component 408 is disposed within an upper eyeball bearing 407;

[0052] The first servo motor 402 and the crank rocker arm 403 are both connected and mounted on the face bracket 411. The power output end of the first servo motor 402 is connected to the crank of the crank rocker arm 403, which can drive the first rocker output end of the crank rocker arm 403 to swing back and forth.

[0053] The output end of the crank rocker 403 is connected to the input end of the four-bar linkage 409. The output end of the four-bar linkage 409 is connected to two upper eyelid components 410 respectively, which can drive the two upper eyelids 410 to perform mirror opening and closing motion.

[0054] In the aforementioned mask mechanism, the crank-rocker 403 includes: a second crank 4031 and a first rocker 4032; wherein,

[0055] The second crank 4031 is connected to the power shaft of the first servo 402, and one end of the first rocker arm 4032 is movably connected to the second crank 4031. The second crank 4031 can drive the first rocker arm 4032 to swing back and forth at a certain angle under the drive of the first servo 402.

[0056] The lower part of the other end of the first rocker arm 4032 is rotatably connected to the face support 411, and the upper part of the other end is provided with two hinge points 4033 respectively. The two connecting rods at the input end of the four-bar linkage 409 are rotatably connected to these two hinge points 4033 respectively.

[0057] Furthermore, the aforementioned upper eyelid assembly 400 also includes: a first coupling 405 and an upper tensioning device 401; wherein,

[0058] The power shaft of the first motor 404 is connected to the synchronous gear train 406 via the first coupling 405;

[0059] The upper tensioning device 401 is disposed on the face support 411, above the first synchronous pulley system 406, and can tension the first synchronous belt of the first synchronous pulley system 406.

[0060] In the aforementioned upper eye assembly 400, there is relative movement between the upper eyeball component and the upper eyelid component, and the gap is extremely small. To avoid interference between the eyeball and the upper eyelid, the present invention adopts an adjustable structure for the upper eyeball component at the center position to ensure the realization of blinking expressions in the mask mechanism.

[0061] Preferably, the mask mechanism further includes a lower eye assembly 500 disposed on the main base 600, the lower eye assembly 500 being located below the upper eye assembly 400 and the mouth component;

[0062] The lower eye assembly 500 is provided with two lower eyeball components 506 that are driven by a second synchronous gear train 502 and can rotate in the same direction.

[0063] See Figure 5 The lower eye assembly 500 includes:

[0064] The system comprises a second motor 503, a second synchronous gear train 502, two lower eyeball components 506, two lower eyeball bearings 505, and a lower eyeball support 510; among which...

[0065] The second synchronous pulley system 502 is mounted on the lower eye support 510. The second synchronous pulley system 502 has two second synchronous pulleys arranged side by side by a second synchronous belt, and the two second synchronous pulleys can rotate in the same direction.

[0066] The power shaft of the second motor 503 is connected to the second synchronous gear train 502, which can drive the two second synchronous gears of the second synchronous gear train 503 to rotate in the same direction;

[0067] Each of the second synchronous pulleys in the second synchronous gear train 503 is connected to a lower eyeball component 506, and each lower eyeball component 506 is disposed in a lower eyeball bearing 505.

[0068] Furthermore, the aforementioned lower eye assembly 500 also includes:

[0069] Two lower eyelid components 507, driven by the second servo motor 509 and the linkage mechanism 508, are capable of mirror-image opening and closing movements to simulate blinking; wherein...

[0070] The second servo motor 509 and the linkage mechanism 508 are both mounted on the lower eye bracket 510;

[0071] The linkage mechanism 508 includes: a crank 5081, two connecting rods, and two rockers; wherein, the middle position of the crank 5081 is connected to the power output end of the second servo motor 509, and both ends of the crank 5081 are provided with hinge points, and the two hinge points are respectively rotatably connected to one end of the two connecting rods, and the other end of each of the two connecting rods is connected to a rocker, so that under the drive of the second servo motor 509, the crank 5081 can drive the two connecting rods and the two rockers to swing back and forth.

[0072] The two rockers of the linkage mechanism 508 are each connected to a lower eyelid component 507, which can drive the two lower eyelid components 507 to perform mirror opening and closing movements that simulate blinking.

[0073] In the aforementioned linkage mechanism 508, the two connecting rods are the third connecting rod 5082 and the fourth connecting rod 5083, and the two rockers are the second rocker 5084 and the third rocker 5085.

[0074] This linkage mechanism, through a crank rod and two connecting rods, simultaneously drives two rockers to swing back and forth, which can drive the two lower eyelid components 507 to perform mirror opening and closing movements respectively.

[0075] Furthermore, the aforementioned lower eye assembly 500 also includes: a second coupling 504 and a lower tensioning device 501; wherein,

[0076] The power shaft of the second motor 503 is connected to the second synchronous gear train 502 via the second coupling 405;

[0077] The lower tensioning device 501 is mounted on the lower eye support 510, above the second synchronous pulley system 502, and can tension the second synchronous belt of the second synchronous pulley system 502.

[0078] Preferably, the size of the upper eye component of the upper eye assembly 400 is smaller than the size of the lower eye component of the lower eye assembly 500. Visually, this creates the appearance that the upper part of the mask mechanism has two small eyes, while the lower part has two large eyes. Both the upper and lower small and large eyes can rotate, providing visitors with a novel viewing experience.

[0079] The linkage mechanisms that realize eyelid movements in the upper and lower eye components mentioned above are arranged with optimized transmission angle and space. This allows for the mirror opening and closing of two pairs of eyelids using a single power source within a smaller space, reducing the driving force and effectively improving the smoothness of mask movements.

[0080] In the aforementioned mask mechanism, the upper eye assembly 400 is slidably disposed on the main base 600 via the upper guide assembly 200;

[0081] See Figure 6 The upper guide component 200 includes:

[0082] Two upper guide rails 205, an upper connecting plate 204, two upper sliders 203, a motion base 201, and an upper limiting plate 202; wherein,

[0083] Two upper guide rails 205 are vertically fixed to both ends of the upper connecting plate 204, and the two upper guide rails 205 are parallel to each other;

[0084] Each upper guide rail 205 is provided with an upper slider 203, which can slide and rise freely on the upper guide rail 205;

[0085] The motion base 201 is disposed between the two upper guide rails 205 and above the upper connecting plate 204. The motion base 201 is fixedly connected to the two upper sliders 203 and can move up and down between the two upper guide rails 205 along with the two upper sliders 203.

[0086] The motion base 201 is connected to the upper eye assembly 400;

[0087] The upper limiting plate 202 is disposed at the top of an upper guide rail 205.

[0088] In the above-mentioned mask mechanism, the mouth component is slidably disposed on the main base 600 via the lower guide assembly 300;

[0089] See Figure 7 The lower guide component 300 includes:

[0090] Two lower guide rails 302, a lower connecting plate 305, two lower sliders 304, and a lower limiting plate 303; wherein,

[0091] Two lower guide rails 302 are vertically fixed to both ends of the lower connecting plate 305, and the two lower guide rails 302 are parallel to each other;

[0092] Each lower guide rail 302 is provided with a lower slider 304, which can slide and rise freely on the lower guide rail 302;

[0093] Two sliding blocks 304 are fixedly connected to the mouth component, and the mouth component can move up and down on two lower guide rails 302 along with the two sliding blocks 304.

[0094] The lower limiting plate 303 is disposed at the lower end of a lower guide rail 302.

[0095] See Figure 8 In the aforementioned mask mechanism, the upper guide assembly 200, the lower guide assembly 300, and the drive assembly 100 are all connected by adjustable-length connecting rods. The vertical installation height of the upper and lower guide assemblies can be changed by adjusting the length of the connecting rods, thereby ensuring precise alignment between the upper small mask and the lower mouth with the main mask.

[0096] The drive assembly 100 of the aforementioned structure works in conjunction with the upper and lower guide assemblies, utilizing a crankshaft and connecting rod to achieve a vertical movement between the upper small mask and the lower mouth, thus canceling out their weight. This method not only reduces the required motor driving force but also makes the movement of the masked performance robot smoother, reducing the off-center load effect of the upper and lower guide assemblies and improving its motion stability. Furthermore, both the upper small mask and the lower mouth have two guide rails that restrict their movement direction, which also helps to reduce the off-center load effect and improve motion stability.

[0097] Preferably, the mouth component in the above-mentioned mask mechanism includes: a mouth base 301 and a lower mouth frame 306; wherein,

[0098] The mouth base 301 is fixedly connected to two lower sliders 304 of the lower guide assembly 300 at both ends, and can move up and down on the two lower guide rails 302 along with the two lower sliders 304.

[0099] The lower mouth frame 306 is fixedly mounted on the mouth base 301 and can open and close with the mouth base 301.

[0100] like Figure 9 As shown, the main base 600 in the above-mentioned mask mechanism includes:

[0101] Mounting bracket 601 and two mask supports 602; wherein,

[0102] The two mask supports 602 are respectively disposed on two sides of the mounting frame 601 and can be adjusted back and forth on the mounting frame 601;

[0103] The mounting bracket 601 is a frame structure with multiple planes. The drive assembly 100 is mounted on the positioning plane at the rear center of the mounting bracket 601. The lower eye assembly 500 is mounted on the front center plane of the mounting bracket 601. The upper guide assembly 200 is mounted on two vertical planes on the top of the mounting bracket 601. The lower guide assembly 300 is mounted on two vertical planes below the mounting bracket 601.

[0104] The stroke, speed, and acceleration of each moving part of the mask mechanism can be calculated through human engineering simulation, which can highly restore the detailed features of real facial movements; the required torque curve and power curve of each part can be obtained through finite element analysis to calculate the load capacity of each servo motor and motor, thereby providing data support for the selection and calculation of motors and servo motors.

[0105] This invention also provides an entertainment robot, including a control device and a mask mechanism. The control device is electrically connected to the mask mechanism and can control the mask mechanism's movements according to a preset method. The mask mechanism is the aforementioned type. Because multiple components of the mask mechanism can operate with multiple degrees of freedom, different facial expressions can be simulated, allowing the robot to perform various facial expression simulations, providing visitors with a novel experience. The actual position of each moving part can be detected by a photoelectric switch and fed back to the control device. The control circuit then controls the acceleration, deceleration, and start / stop of the motors and servos, thereby controlling the amplitude, frequency, and extreme positions of the mask performance robot's facial expressions. This achieves multi-degree-of-freedom facial expression simulation of the head, eyes, and mouth, making the amplitude, speed, and frequency of each moving part highly consistent with real facial expressions. This improves both the reliability of the Nuo opera mask mechanism and the flexibility and realism of the mask expressions.

[0106] In summary, the mask mechanism of this invention is powered by three motors and two servo motors, employing multiple mechanical transmission principles to achieve complex facial movements, enabling precise control of various facial expressions. The connections between moving parts are adjustable to absorb processing and assembly errors, effectively solving the problems of connection, coordination, and interference caused by excessive errors during movement. This mask mechanism reduces the difficulty of mechanism control and achieves precise coordination of corresponding components. First, the drive assembly using the above structure uses a gear assembly to change the input point of the third motor's torque. The torque is input from the middle of the crankshaft and then output in the opposite direction by the cranks at both ends. Finally, the crank-slider mechanism drives the upper and lower guide components to move in opposite directions, achieving mirror-image coordinated movement of the upper mask and the lower mouth. Second, a motor and synchronous gear train directly drive the left and right eyeballs to rotate in the same direction. Finally, a transmission system consisting of servo motors and multi-stage linkages is designed for eyelid movement. This solution requires only one servo motor, enabling both mirror-image opening and closing of the upper and lower eyelids and synchronous movement of the left and right eyelids.

[0107] To more clearly demonstrate the technical solution and its effects provided by the present invention, the following detailed description of the dynamic Nuo opera mask mechanism and mask performance robot provided by the present invention is provided with specific embodiments.

[0108] Example 1

[0109] like Figure 1As shown, this embodiment of the invention provides a mask mechanism, including: a drive assembly 100, an upper eye assembly 400, a mouth component, and a main base 600; it may further include: a lower eye assembly 500, an upper guide assembly 200, and a lower guide assembly 300; wherein, the main base 600 provides positioning surfaces for the drive assembly 100, the upper guide assembly 200, the lower guide assembly 300, the upper eye assembly 400, and the lower eye assembly 500, and the drive assembly 100, the upper guide assembly 200, the lower guide assembly 300, the upper eye assembly 400, and the lower eye assembly 500 are respectively mounted on the main base 600; wherein, the drive assembly 100 uses a motor to drive gears and a crank to rotate, and the two ends of the crank are respectively connected to sliders in the upper guide rail assembly 200 and the lower guide rail assembly 300, thereby realizing that the two sliders move in opposite directions simultaneously; the upper guide rail assembly 200... The upper eye assembly 300 and the small head (i.e., the head component) are guided and driven to reciprocate up and down; the lower guide rail assembly 300 is connected to the mouth component to realize the opening and closing action of the mask's mouth; the motor in the upper eye assembly 400 drives the active wheel and the driven wheel to rotate via a synchronous belt, and the active and driven wheels are respectively connected to the left and right small eyes, so that the two small eyes rotate in the same direction; the servo motor is connected to the two upper eyelids of the left and right small eyes via a linkage mechanism, so that the two upper eyelids of the left and right small eyes blink up and down; the motor in the lower eye assembly 500 drives the active wheel and the driven wheel to rotate via a synchronous belt, and the active and driven wheels are respectively connected to the left and right large eyes, so that the two large eyes rotate in the same direction; the servo motor is connected to the lower eyelids of the left and right large eyes via a linkage mechanism, so that the upper and lower eyelids of the left and right large eyes blink up and down.

[0110] Please see Figure 2The schematic diagram of the drive assembly 100 in a preferred embodiment of the present invention includes: a third motor 109, a third coupling 108, a gearbox 101, a gear set 107, a rotating shaft 103, bearings, a crankshaft 104, cranks 105, and a detection switch 106. The third motor 109 is connected to the rotating shaft 103 via the third coupling 108. The front end of the rotating shaft 103 is housed within the bearing and drives the driving gear to rotate. The rotational motion is then transmitted to the driven gear through the gear pair. The driven gear drives the crankshaft 104 to rotate synchronously. Finally, the power is output from both ends of the crankshaft 104 to the two cranks 105, thus splitting the motor power. The third coupling 108 is used to absorb errors between the third motor 109 and the rotating shaft 103 and provides safety protection for the third motor 109 in case of overload or failure. The gear set 107 is installed inside the gearbox 101, and its function is to transmit torque and change the direction of motion. The gearbox 101 protects and lubricates the gear set 107. Two cranks 105 are connected to a slider mechanism, which can drive the upper guide assembly 200 and the lower guide assembly 300 to move in opposite directions. The braking system of the third motor 109 and the detection switch 106 can be controlled to ensure that the upper guide assembly 200 and the lower guide assembly 300 are accurately stopped at the corresponding positions.

[0111] Please see Figure 3 A schematic diagram of the upper eye assembly 400 in a preferred embodiment of the present invention is shown. This upper eye assembly 400 includes a first motor 404, a first coupling 405, two upper eyeball bearings 407, a first synchronous gear train 406, a tensioning device 401, two upper eyeball components 408, two upper eyelid components 410, a first servo motor 402, a crank rocker arm 403, a four-bar linkage 409, and a face support 411. The first motor 404 drives the first synchronous gear train 406 to rotate via the first coupling 405. The first synchronous gear train 406 consists of two synchronous pulleys connected by a synchronous belt. Each synchronous pulley is connected to an upper eyeball component 408 and installed within an upper eyeball bearing 407, thereby converting the rotation of the first motor 404 into the same-direction movement of the two upper eyeball components 408. The first servo motor 402 drives the crank rocker arm 403 to reciprocate. The output end of the crank rocker arm 403 is connected to the input end of the four-bar linkage 409, which then outputs the mirror opening and closing motion of two pairs of upper eyelids 410. The tensioning device 401 can tension the synchronous belt of the first synchronous pulley system 406 to ensure that the transmission ratio of the two upper eyeball components 408 is constant. The first coupling 405 provides safety protection for the first motor 404 to prevent damage to the motor under overload or abnormal conditions. All eyeball components are fixed to the eyeball bearings by clamping. The clamping method uses a cylindrical sleeve with a set screw, which can simultaneously adjust the radial installation direction and axial installation position of the eyeball components to adjust the fit clearance between the eyeball components and the corresponding eyelid components.

[0112] Please see Figure 4 A schematic diagram of the four-bar linkage 409 of the upper eyelid assembly 400 in a preferred embodiment of the present invention is shown. The first servo motor 402 drives the rightmost crank rocker arm 403 to swing back and forth, and then converts it into a mirror opening and closing action of the leftmost link through the middle four-bar linkage 409. The upper eyelid assembly 410 is installed on the link of the four-bar linkage 409 that performs the mirror opening and closing action. Specifically, the crank rocker arm 403 includes a second crank 4031 and a first rocker arm 4032; wherein, the second crank 4031 is connected to the power shaft of the first servo 402, one end of the first rocker arm 4032 is movably connected to the second crank 4031, and the second crank 4031 can drive the first rocker arm 4032 to swing back and forth at a certain angle under the drive of the first servo 402; the lower part of the other end of the first rocker arm 4032 is rotatably connected to the face bracket 411, and the upper part of the other end is provided with two hinge points 4033 respectively, and the two connecting rods at the input end of the four-bar linkage 409 are rotatably connected to the two hinge points 4033 respectively.

[0113] Please see Figure 5 The schematic diagram of the lower eye assembly 500 in a preferred embodiment of the present invention shows that the lower eye assembly 500 provided in this embodiment includes a second motor 503, a second coupling 504, two lower eyeball bearings 505, a second synchronous gear train 502, a tensioning device 501, two lower eyeball components 506, two lower eyelid components 507, a second servo motor 509, and a linkage mechanism 508. The second motor 503 drives the second synchronous gear train 502 to rotate through the second coupling 504. The second synchronous gear train 502 is composed of two synchronous pulleys connected by a synchronous belt. Each synchronous pulley is connected to a lower eyeball component 506 and installed in a lower eyeball bearing 505, thereby turning the rotation of the second motor 503 into the same-direction movement of the two lower eyeball components 506. The second servo motor 509 drives the linkage mechanism 508 to reciprocate, realizing the mirror opening and closing action of the two lower eyelid components 507. Specifically, the second servo motor 509 and the linkage mechanism 508 are both mounted on the lower eyelid bracket 510. The linkage mechanism 508 includes a crank 5081, two connecting rods, and two rockers. The crank 5081 is connected to the power output end of the second servo motor 509 at its middle position. Both ends of the crank 5081 are provided with hinge points, which are rotatably connected to one end of each of the two connecting rods. The other end of each of the two connecting rods is connected to a rocker, allowing the two connecting rods and two rockers to reciprocate under the drive of the second servo motor 509 via the crank 5081. Each of the two rockers of the linkage mechanism 508 is connected to a lower eyelid component 507, enabling the two lower eyelid components 507 to perform a mirror-image opening and closing motion simulating blinking. The tensioning device 501 can tension the synchronous belt of the second synchronous pulley system 502 to ensure that the transmission ratio of the two lower eyelid components 506 remains constant. The second coupling 504 provides safety protection for the second motor 503, preventing damage to the motor under overload or abnormal conditions.

[0114] The structure and operating principle of the linkage mechanism 508 of the lower eye assembly 500 are similar to those of the four-bar linkage 409 of the upper eye assembly 400.

[0115] Please see Figure 6 The schematic diagram of the upper guide assembly 200 in a preferred embodiment of the present invention includes: an upper guide rail 205, a slider 203, a motion base 201, a connecting plate 204, and an upper limiting plate 202. The connecting plate 204 is used to fix the two upper guide rails 205, ensuring the parallelism accuracy of the upper guide rails 205. Each upper guide rail 205 has a slider 203, which can slide freely and smoothly on the upper guide rail 205. The motion base 201 is connected to the sliders 203 on the two upper guide rails 205, and its function is to allow the two sliders 203 to move synchronously and provide an installation platform for the upper eye assembly 400. The upper limiting plate 202 serves as a protective measure for the sliders 203, preventing the sliders 203 from falling out of the length range of the upper guide rails 205.

[0116] Please see Figure 7 The schematic diagram of the lower guide assembly 300 in a preferred embodiment of the present invention includes: a slider 304, a mouth base 301, a lower guide rail 302, a lower mouth frame 306, a connecting plate 305, and a lower limiting plate 303. The connecting plate 305 is used to fix the two lower guide rails 302, ensuring the parallelism accuracy of the lower guide rails 302 and allowing the slider 304 to slide freely and smoothly. The mouth base 301 is connected to the sliders 304 on the two lower guide rails 302, and its function is to allow the two sliders 304 to move synchronously. The lower mouth frame 306 of the mask is mounted on the mouth base 301 and follows the opening and closing motion of the mouth base 301. The lower limiting plate 303 serves as a protective measure for the slider 304, preventing the slider 304 from falling out of the length range of the lower guide rail 302.

[0117] Please see Figure 8 In a preferred embodiment of the present invention, the connection diagram of the upper and lower guide components is shown. The first crank 105 in the drive component 100 is connected to the motion base 201 in the upper guide component 200 and the mouth base 301 in the lower guide component 300 via a first connecting rod 110 and a second connecting rod 102, respectively. The motion base 201 and the mouth base 301 are respectively mounted on corresponding sliders, thereby realizing the reciprocating motion of the sliders. The upper guide component 200, the lower guide component 300, and the drive component 100 are all connected by an adjustable first connecting rod 110 and a second connecting rod 102. The vertical installation height of the upper and lower guide components 200 and 300 can be changed by adjusting the length of the first connecting rod 110 and the second connecting rod 102, thereby ensuring the precise fit between the upper eye component 400 and the lower mouth component and the main mask.

[0118] Please see Figure 9 A schematic diagram of the main base 600 in a preferred embodiment of the present invention is shown. The main base 600 provided in this embodiment includes a mounting frame 601 and a mask support 602. The mounting frame 601 provides positioning surfaces for the drive assembly 100, upper guide assembly 200, lower guide assembly 300, and lower eye assembly 500, enabling each component to perform predetermined actions according to the correct spatial position. The drive assembly 100 is mounted on a plane slightly towards the rear center, the upper guide assembly 200 is mounted on two upper vertical planes, the lower guide assembly 300 is mounted on two lower vertical planes, and the lower eye assembly 500 is mounted on a plane slightly towards the front center. The mask support 602 is mounted on two sides of the mounting frame 601, and the front-to-back mounting distance between the two is adjustable.

[0119] Example 2

[0120] This invention also provides an entertainment robot, which includes the aforementioned mask mechanism controlled by a control device, and is capable of simulating various facial expressions.

[0121] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. The information disclosed in the background section is intended only to enhance the understanding of the overall background technology of the present invention and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art.

Claims

1. A mask mechanism, characterized in that, include: The drive assembly (100), upper eye assembly (400), mouth component, and main base (600); wherein, The upper eye assembly (400) is slidably disposed on the main base (600); The mouth component is slidably disposed on the main base (600); The drive assembly (100) is disposed on the main base (600). The drive assembly (100) is provided with a crank-connecting rod mechanism, which can simultaneously drive the upper eye assembly (400) and the mouth component to move toward each other or toward opposite directions. The upper eye assembly (400) includes: a first synchronous gear train (406), a face support (411), a first motor (404), two upper eyeball components (408), two upper eyeball bearings (407), a first servo motor (402), a crank rocker arm (403), a four-bar linkage (409), and two upper eyelid components (410); wherein, The first synchronous pulley system (406) is mounted on the face support (411). The first synchronous pulley system (406) has two first synchronous pulleys arranged side by side by a first synchronous belt, and the two first synchronous pulleys can rotate in the same direction. The power shaft of the first motor (404) is connected to the first synchronous gear train (406), and can drive the two first synchronous gears of the first synchronous gear train (406) to rotate in the same direction; Each of the first synchronous pulleys in the first synchronous gear train (406) is connected to an upper eyeball component (408), and each upper eyeball component (408) is disposed in an upper eyeball bearing (407); The first servo motor (402) and the crank rocker arm (403) are connected and both are mounted on the face bracket (411). The power output end of the first servo motor (402) is connected to the crank of the crank rocker arm (403) and can drive the rocker output end of the crank rocker arm (403) to swing back and forth. The output end of the crank rocker (403) is connected to the input end of the four-bar linkage (409), and the output end of the four-bar linkage (409) is connected to two upper eyelid components (410) respectively, which can drive the two upper eyelid components (410) to perform mirror opening and closing motion.

2. The mask mechanism according to claim 1, characterized in that, The drive component (100) includes: The system comprises a third motor (109), a gear transmission mechanism, a first crank (105), a first connecting rod (110), a second connecting rod (102), and a detection switch (106); among which, The power shaft of the third motor (109) is connected to the gear transmission mechanism, and the crankshaft (104) of the gear transmission mechanism is connected to the first crank (105), which can drive the first crank (105) to rotate. The first connecting rod (110) and the second connecting rod (102) are respectively connected to both ends of the first crank (105) to form the crank-connecting rod mechanism; The detection switch (106) is located on the gear transmission mechanism, below the first crank (105), and can detect the rotational position of the first crank (105).

3. The mask mechanism according to claim 2, characterized in that, Both the first link (110) and the second link (102) are adjustable links made up of multiple rod segments.

4. The mask mechanism according to claim 1, characterized in that, The crank rocker arm (403) includes: The second crank (4031) and the first rocker arm (4032); wherein, The second crank (4031) is connected to the power shaft of the first servo (402), and one end of the first rocker arm (4032) is movably connected to the second crank (4031). The second crank (4031) can drive the first rocker arm (4032) to swing back and forth at a certain angle under the drive of the first servo (402). The lower part of the other end of the first rocker (4032) is rotatably connected to the face support (411), and the upper part of the other end is provided with two hinge points (4033). The two connecting rods at the input end of the four-bar linkage (409) are rotatably connected to these two hinge points (4033).

5. The mask mechanism according to any one of claims 1-4, characterized in that, Also includes: A lower eye assembly (500) is disposed on the main base (600), the lower eye assembly (500) being located below the upper eye assembly (400) and the mouth component; The lower eye assembly (500) is provided with two lower eyeball components (506) that are driven by a second synchronous gear train (502) and can rotate in the same direction.

6. The mask mechanism according to claim 5, characterized in that, The lower eye assembly (500) includes: The system comprises a second motor (503), a second synchronous gear train (502), two lower eyeball components (506), two lower eyeball bearings (505), and a lower eyeball support (510); wherein, The second synchronous pulley system (502) is mounted on the lower eye support (510). The second synchronous pulley system (502) has two second synchronous pulleys arranged side by side by a second synchronous belt, and the two second synchronous pulleys can rotate in the same direction. The power shaft of the second motor (503) is connected to the second synchronous gear train (502), and can drive the two second synchronous gears of the second synchronous gear train (503) to rotate in the same direction; Each of the second synchronous pulleys of the second synchronous gear train (503) is connected to a lower eyeball component (506), and each lower eyeball component (506) is disposed in a lower eyeball bearing (505).

7. The mask mechanism according to claim 6, characterized in that, The lower eye assembly (500) further includes two lower eyelid components (507) driven by a second servo motor (509) and a linkage mechanism (508) to simulate blinking through mirror-image opening and closing motion; wherein, The second servo motor (509) and the linkage mechanism (508) are both mounted on the lower eye bracket (510); The linkage mechanism (508) includes: a crank (5081), two connecting rods and two rockers; wherein, the middle position of the crank (5081) is connected to the power output end of the second servo (509), and both ends of the crank (5081) are provided with hinge points, and the two hinge points are respectively rotatably connected to one end of the two connecting rods, and the other end of each of the two connecting rods is connected to a rocker, so that under the drive of the second servo (509), the crank (5081) can drive the two connecting rods and the two rockers to swing back and forth. The two rockers of the linkage mechanism (508) are each connected to a lower eyelid component (507), which can drive the two lower eyelid components (507) to perform mirror opening and closing motions that simulate blinking.

8. The mask mechanism according to any one of claims 1-4, characterized in that, The upper eye assembly (400) is slidably disposed on the main base (600) via the upper guide assembly (200); The upper guide assembly (200) includes: Two upper guide rails (205), an upper connecting plate (204), two upper sliders (203), a motion base (201), and an upper limiting plate (202); among which, Two upper guide rails (205) are vertically fixed to both ends of the upper connecting plate (204), and the two upper guide rails (205) are parallel to each other; Each upper guide rail (205) is provided with an upper slider (203), which can slide and rise freely on the upper guide rail (205); The motion base (201) is located between the two upper guide rails (205) and above the upper connecting plate (204). The motion base (201) is fixedly connected to the two upper sliders (203) and can move up and down between the two upper guide rails (205) along with the two upper sliders (203). The motion base (201) is connected to the upper eye assembly (400); The upper limiting plate (202) is disposed at the top of an upper guide rail (205); The mouth component is slidably disposed on the main base (600) via the lower guide assembly (300); The lower guide assembly (300) includes: Two lower guide rails (302), a lower connecting plate (305), two lower sliders (304), and a lower limiting plate (303); among which, Two lower guide rails (302) are vertically fixed to both ends of the lower connecting plate (305), and the two lower guide rails (302) are parallel to each other; Each lower guide rail (302) is provided with a lower slider (304), which can slide and rise freely on the lower guide rail (302); Two sliding blocks (304) are fixedly connected to the mouth component, and the mouth component can move up and down on two lower guide rails (302) along with the two sliding blocks (304); The lower limiting plate (303) is disposed at the lower end of a lower guide rail (302).

9. An entertainment robot, comprising: A control device and a mask mechanism, wherein the control device is electrically connected to the mask mechanism and can control the operation of the mask mechanism in a preset manner, characterized in that the mask mechanism adopts the mask mechanism described in any one of claims 1-8.

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