Mouth corner structure with three degrees of freedom

Abstract

The application relates to a mouth corner structure with three degrees of freedom, which comprises three driving members installed on a head skeleton of a robot, the three driving members are drivenly connected with corresponding three connecting rods through three rocker arms, the three connecting rods are connected perpendicularly, and the end of one connecting rod is connected with a profiled mouth corner, the three degrees of freedom mouth corner structure provided by the application drives the profiled mouth corner through the three driving members, and then the three degrees of freedom movement of the mouth corner is realized, so that the mouth corner of the robot can complete expressions such as smiling, pouting and difficulty, multi-angle and multi-function movement of the profiled mouth corner is realized, and more and richer expressions are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robots, in particular to a mouth corner structure with three degrees of freedom. BACKGROUND

[0002] In the field of humanoid robots, rich expressions have always been the focus of research. The existing mouth structure of humanoid robots is mostly designed for opening and closing movement of the mouth, which is difficult to imitate human expressions such as smiling, pouting, and sad expressions. Therefore, there is an urgent need to provide a new solution. SUMMARY

[0003] The purpose of the present application is to overcome the defects of the prior art and provide a mouth corner structure with three degrees of freedom to solve the problem that the existing mouth structure of robots is difficult to imitate human expressions.

[0004] The technical solution to achieve the above-mentioned purpose is:

[0005] The present application provides a mouth corner structure with three degrees of freedom, which is installed on the head skeleton of a robot, and the mouth corner structure comprises:

[0006] A first driving member provided on the head skeleton, having a first driving shaft, the first driving shaft is vertically arranged;

[0007] A first rocker arm connected with the first driving shaft, the first rocker arm is horizontally arranged;

[0008] A first connecting rod hinged to the end of the first rocker arm away from the first driving shaft;

[0009] A profiled mouth corner hinged to the end of the first connecting rod away from the first rocker arm;

[0010] A second driving member provided on the head skeleton, having a second driving shaft, the second driving shaft is also vertically arranged, and the second driving shaft is located in front of the first driving shaft;

[0011] A second rocker arm connected with the second driving shaft;

[0012] A second connecting rod hinged to the end of the second rocker arm away from the second driving shaft, the second connecting rod is connected perpendicularly with the first connecting rod;

[0013] A third driving member provided on the head skeleton, having a third driving shaft, the third driving shaft is horizontally arranged, and the third driving shaft is located above the first driving shaft and the second driving shaft;

[0014] A third rocker arm connected with the third driving shaft; and

[0015] A third connecting rod hinged to the end of the third rocker arm away from the third driving shaft, the third connecting rod is vertically arranged and connected perpendicularly to the first connecting rod.

[0016] The three-degree-of-freedom mouth corner structure provided by the application drives the profiled mouth corner through the first driving member, the second driving member and the third driving member, thereby realizing the three-degree-of-freedom movement of the mouth corner, enabling the mouth corner of the robot to complete expressions such as smiling, pouting and difficulty, realizing multi-angle and multi-functional movement of the profiled mouth corner and realizing more and richer expressions.

[0017] The three-degree-of-freedom mouth corner structure further comprises a mounting plate arranged on the head skeleton, and the mounting plate is horizontally arranged.

[0018] A through hole is arranged on the mounting plate and corresponds to the third connecting rod.

[0019] The first driving member and the second driving member are both arranged on the mounting plate.

[0020] The three-degree-of-freedom mouth corner structure further comprises a hanging seat arranged on the first connecting rod.

[0021] The second connecting rod and the third connecting rod are both connected to the hanging seat.

[0022] The three-degree-of-freedom mouth corner structure further comprises a linear bearing arranged in the hanging seat.

[0023] The first connecting rod penetrates the inner ring of the linear bearing and is connected to the inner ring of the linear bearing.

[0024] The three-degree-of-freedom mouth corner structure further comprises a pair of the first driving member, the second driving member and the third driving member, and the first driving member, the second driving member and the third driving member are arranged symmetrically left and right.

[0025] The profiled mouth corner also comprises a pair of the profiled mouth corner, and the profiled mouth corner is arranged symmetrically left and right.

[0026] The three-degree-of-freedom mouth corner structure further comprises a ball head bearing arranged between the end of the first connecting rod and the profiled mouth corner.

[0027] The three-degree-of-freedom mouth corner structure further comprises a ball head bearing arranged between the first rocker arm and the first connecting rod.

[0028] The three-degree-of-freedom mouth corner structure further comprises a ball head bearing arranged between the second rocker arm and the second connecting rod.

[0029] The further improvement of the mouth corner structure with three degrees of freedom of the present application is that the third rocker arm and the third connecting rod are connected through a ball bearing hinge.

[0030] The further improvement of the mouth corner structure with three degrees of freedom of the present application is that the first driving member, the second driving member and the third driving member are all rudders. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The figure shows a three-dimensional structure diagram of the mouth corner structure with three degrees of freedom of the present application arranged on the head skeleton of a robot.

[0032] Figure 2 The figure shows another three-dimensional structure diagram of the mouth corner structure with three degrees of freedom of the present application arranged on the head skeleton of a robot.

[0033] Figure 3 The figure shows another three-dimensional structure diagram of the mouth corner structure with three degrees of freedom of the present application arranged on the head skeleton of a robot. DETAILED DESCRIPTION

[0034] The present application will be further described below in combination with the drawings and specific embodiments.

[0035] Referring to Figure 1 , the present application provides a mouth corner structure with three degrees of freedom, which is used to enrich the expression of a humanoid robot and realize that the mouth corner of the humanoid robot can complete expressions such as smiling, pouting and being sad. The mouth corner structure of the present application has the characteristics of exquisite design structure, convenient installation and good movement effect. The mouth corner structure of the present application is arranged through three rudders, which simultaneously act on a profiled mouth corner. By adjusting the movement of the three rudders, the multi-angle and multi-functional movement of the profiled mouth corner is finally realized, and more and richer expressions are realized. The mouth corner structure with three degrees of freedom of the present application will be described below in combination with the drawings.

[0036] Referring to Figure 1 , the figure shows a three-dimensional structure diagram of the mouth corner structure with three degrees of freedom of the present application arranged on the head skeleton of a robot. Referring to Figure 2 , the figure shows another three-dimensional structure diagram of the mouth corner structure with three degrees of freedom of the present application arranged on the head skeleton of a robot. The mouth corner structure with three degrees of freedom of the present application will be described below in combination with Figure 1 and Figure 2 .

[0037] As Figure 1 and Figure 2As shown, the mouth corner structure with three degrees of freedom of the application is installed on the head skeleton 10 of the robot, which comprises a first driving member 211, a second driving member 212, a third driving member 213, a first rocker arm 221, a second rocker arm 222, a third rocker arm 223, a first connecting rod 231, a second connecting rod 232, a third connecting rod 233 and a profiled mouth corner 24. The first driving member 211 is arranged on the head skeleton 10 and has a first driving shaft arranged vertically. The first rocker arm 221 is connected with the first driving shaft and arranged horizontally, so that the end of the first rocker arm 221 away from the first driving shaft can be adjusted in rotation around the end connected with the first driving shaft. The first connecting rod 231 is hingedly connected with the end of the first rocker arm 221 away from the first driving shaft, so that the first driving member 211 can drive the first driving shaft to rotate, and then the first driving shaft drives the first connecting rod 231 to move through the first rocker arm 221. The profiled mouth corner 24 is hingedly connected with the end of the first connecting rod 231 away from the first rocker arm 221, so that the first driving member 211 can drive the profiled mouth corner 24 to move in the first degree of freedom.

[0038] The second driving member 212 is arranged on the head skeleton 10 and has a second driving shaft arranged vertically and located in front of the first driving shaft. The second rocker arm 222 is connected with the second driving shaft. The second connecting rod 232 is hingedly connected with the end of the second rocker arm 222 away from the second driving shaft and connected perpendicularly with the first connecting rod 231. The second driving member 212 can drive the second driving shaft to rotate, and then the second driving shaft drives the second connecting rod 232 to move through the second rocker arm 222, and the second connecting rod 232 drives the profiled mouth corner to move through the first connecting rod 231, so that the second driving member 212 can drive the profiled mouth corner 24 to move in the second degree of freedom.

[0039] The third driving member 213 is arranged on the head skeleton 10 and has a third driving shaft arranged horizontally and located above the first driving shaft and the second driving shaft. The third rocker arm 223 is connected with the third driving shaft. The third connecting rod 233 is hingedly connected with the end of the third rocker arm 223 away from the third driving shaft and arranged vertically and connected perpendicularly with the first connecting rod 231. The third driving member 213 can drive the third driving shaft to rotate, and then the third driving shaft drives the third connecting rod 233 to move through the third rocker arm 223, and the third connecting rod 233 drives the profiled mouth corner to move through the first connecting rod 231, so that the third driving member 213 can drive the profiled mouth corner 24 to move in the third degree of freedom.

[0040] As shown, Figure 1 and Figure 3As shown, the first rocker arm 221, the second rocker arm 222, the first connecting rod 231 and the second connecting rod 232 are located in the same plane, the first rocker arm 221 is arranged horizontally, the first connecting rod 231 is arranged vertically, the rotation of the first rocker arm 221 can drive the first connecting rod 231 to move back and forth along the vertical direction, when reflected to the face of the robot, the back and forth movement of the profiled mouth corners along the vertical direction can be expressed as the outward protrusion or the inward concave of the mouth corners on the face of the robot, that is, the mouth corners move in the direction perpendicular to the face. The second rocker arm 222 is arranged obliquely, the end portions of the two second rocker arms 222 away from the second driving end can be adjusted to the state of being close to each other, and can also be adjusted to the state of being far away from each other, the second connecting rod 232 is arranged vertically to the first connecting rod 231, and can pull the two first connecting rods 231 to be close to each other or far away from each other, when the two first connecting rods 231 are close to each other, the face of the robot is reflected, and the two mouth corners are close to each other, and the first driving member 211 drives the mouth corners to protrude outward on the face of the robot through the first rocker arm 221, so that the action of pouting can be completed. When the two first connecting rods 231 are far away from each other, the face of the robot is reflected, and the two mouth corners are far away from each other, and the first driving member 211 drives the mouth corners to concave inward on the face of the robot through the first rocker arm 221, so that the action of recovering from pouting can be completed. The two first connecting rods 231 are far away from each other, and the third driving member 213 drives the first connecting rod 231 upward through the third rocker arm 223 and the third connecting rod 233, the face of the robot is reflected, and the two mouth corners are far away from each other and the mouth corners are upward, so that the action of smiling can be completed. The two first connecting rods 231 are far away from each other, and the third driving member 213 drives the first connecting rod 231 downward through the third rocker arm 233 and the third connecting rod 233, the face of the robot is reflected, and the two mouth corners are far away from each other and the mouth corners are downward, so that the action of being sad can be completed. Figure 2 As shown, the third driving member 213 drives the first connecting rod 231 upward through the third rocker arm 223 and the third connecting rod 233, the face of the robot is reflected, and the two mouth corners are far away from each other and the mouth corners are upward, so that the action of smiling can be completed. The two first connecting rods 231 are far away from each other, and the third driving member 213 drives the first connecting rod 231 downward through the third rocker arm 233 and the third connecting rod 233, the face of the robot is reflected, and the two mouth corners are far away from each other and the mouth corners are downward, so that the action of being sad can be completed.

[0041] The three-degree-of-freedom mouth corner structure provided by the present application drives the profiled mouth corners through the first driving member, the second driving member and the third driving member, so as to realize the three-degree-of-freedom movement of the mouth corners, so that the mouth corners of the robot can complete the expressions of smiling, pouting and being sad, realize the multi-angle and multi-functional movement of the profiled mouth corners, and realize more and richer expressions.

[0042] In one specific embodiment of the present application, as shown in the accompanying drawings, Figures 1 to 3 As shown, the installation plate 25 is arranged on the head skeleton 10, and the installation plate 25 is horizontally arranged;

[0043] The through hole 251 corresponding to the third connecting rod 233 is arranged on the installation plate 25;

[0044] The first driving member 211 and the second driving member 212 are both arranged on the installation plate 25.

[0045] The third connecting rod 233 is connected with the first connecting rod 231 after passing through the through hole 251, the size of the through hole 251 is larger than that of the third connecting rod 233, the movement of the third connecting rod 233 is limited by the through hole 251, when the first connecting rod and the second connecting rod move, the third connecting rod also moves together, the movement range of the robot's mouth corner is limited by the through hole, the expression of the robot is more simulated, and the phenomenon that the movement range of the mouth corner is too large is avoided.

[0046] The first driving member 211 is arranged at the rear of the mounting plate 25, and the second driving member 212 is arranged at the front of the mounting plate 25.

[0047] In one specific embodiment of the present application, as shown in Figures 1 to 3 The hanger seat 26 is sleeved on the first connecting rod 231.

[0048] The second connecting rod 232 and the third connecting rod 233 are connected with the hanger seat 26.

[0049] The size of the hanger seat 26 is larger than that of the through hole 251 on the mounting plate 25.

[0050] Further, the hanger seat 26 is provided with a linear bearing.

[0051] The first connecting rod 231 passes through the inner ring of the linear bearing and is connected with the inner ring of the linear bearing.

[0052] Preferably, the hanger seat 26 is a cylindrical structure.

[0053] In one specific embodiment of the present application, as shown in Figures 1 to 3 The first driving member 211, the second driving member 212 and the third driving member 213 are provided in pairs and symmetrically arranged left and right.

[0054] The mouth corner 24 is also provided in pairs and symmetrically arranged left and right.

[0055] The first rocker arm 221, the second rocker arm 222, the third rocker arm 223, the first connecting rod 231, the second connecting rod 232 and the third connecting rod 233 are also provided in pairs and symmetrically arranged left and right.

[0056] In one specific embodiment of the present application, as shown in Figures 1 to 3 The end of the first connecting rod 231 is connected with the mouth corner 24 through a ball head bearing.

[0057] Further, the first rocker arm 221 and the first connecting rod 231 are connected through a ball head bearing.

[0058] Further, the second rocker arm 222 and the second connecting rod 231 are connected through a ball head bearing.

[0059] Further, the third rocker arm 223 and the third connecting rod 233 are connected through a ball bearing hinge.

[0060] In one embodiment of the present application, the first driving member 211, the second driving member 212 and the third driving member 213 are all servo motors.

[0061] In one embodiment of the present application, as shown in Figures 1 to 3 the first driving shaft and the second driving shaft are staggered, and the first driving shaft is closer to the outer side of the mounting plate 25 than the second driving shaft.

[0062] The first connecting rod 231 is closer to the outer side of the mounting plate 25 than the first driving shaft.

[0063] The two first rocker arms 221 are closer to the end connected with the first driving shaft and farther from the end connected with the first connecting rod 231.

[0064] The second rocker arm 222 is closer to the end connected with the second driving shaft on the front side of the mounting plate 25, and farther from the end connected with the second connecting rod 232 on the rear side of the mounting plate 25.

[0065] The third rocker arm 223 is closer to the end connected with the third driving shaft on the rear side, and farther from the end connected with the third connecting rod 233 on the front side.

[0066] The humanoid robot further comprises a head mask irradiated on the head skeleton, which is a silica gel mask for imitating human skin, and a profiled mouth corner connected with the mouth corner part on the silica gel mask, so as to drive the mouth part on the silica gel mask to move and realize the expression action of imitating human.

[0067] The above detailed description of the present application is made in combination with the embodiments of the drawings, and those of ordinary skill in the art can make various changes to the present application according to the above description. Therefore, some details in the embodiments should not constitute a limitation on the present application, and the scope of protection of the present application will be defined by the appended claims.

Claims

1. A mouth corner structure having three degrees of freedom, mounted on a head skeleton of a robot, characterized by, The mouth corner structure comprises: A first driving member provided on the head skeleton and having a first driving shaft arranged vertically; A first rocker arm connected with the first driving shaft and arranged transversely; A first connecting rod hingedly connected with an end of the first rocker arm away from the first driving shaft; A profiled mouth corner hingedly connected with an end of the first connecting rod away from the first rocker arm; A second driving member provided on the head skeleton and having a second driving shaft also arranged vertically and located in front of the first driving shaft; A second rocker arm connected with the second driving shaft; A second connecting rod hingedly connected with an end of the second rocker arm away from the second driving shaft and connected perpendicularly with the first connecting rod; A third driving member provided on the head skeleton and having a third driving shaft arranged transversely and located above the first driving shaft and the second driving shaft; A third rocker arm connected with the third driving shaft; and A third connecting rod hingedly connected with an end of the third rocker arm away from the third driving shaft and arranged vertically and connected perpendicularly with the first connecting rod; Further comprising a mounting plate provided on the head skeleton and arranged horizontally; A through hole is provided on the mounting plate corresponding to the third connecting rod; The first driving member and the second driving member are both mounted on the mounting plate; A hanger is provided on the first connecting rod; The second connecting rod and the third connecting rod are both connected with the hanger; The first rocker arm, the second rocker arm, the first connecting rod and the second connecting rod are located in the same plane, the first connecting rod is arranged longitudinally, and rotation of the first rocker arm can drive the first connecting rod to move back and forth along the longitudinal direction; The second rocker arm is arranged obliquely, the ends of the two second rocker arms away from the second driving shaft can be adjusted to the state of approaching each other or the state of moving away from each other, and the second connecting rod can pull the two first connecting rods to approach or move away from each other; The third driving member can pull the first connecting rod upward or push the first connecting rod downward through the third rocker arm and the third connecting rod.

2. The three degree of freedom mouth corner structure of claim 1, wherein, A linear bearing is provided in the hanger; The first connecting rod penetrates the inner ring of the linear bearing and is connected with the inner ring of the linear bearing.

3. The three degree of freedom mouth corner structure of claim 1, wherein, The first driving member, the second driving member and the third driving member are both provided in pairs and arranged symmetrically left and right; The profiled mouth corner is also provided in pairs and arranged symmetrically left and right.

4. The three degree of freedom mouth corner structure of claim 1, wherein, The end of the first connecting rod is hingedly connected with the profiled mouth corner through a ball head bearing.

5. The three degree of freedom mouth corner structure of claim 1, wherein, The first rocker arm and the first connecting rod are hingedly connected through a ball head bearing.

6. The three degree of freedom mouth corner structure of claim 1, wherein, The second rocker arm and the second connecting rod are hingedly connected through a ball head bearing.

7. The three degree of freedom mouth corner structure of claim 1, wherein, The third rocker arm and the third connecting rod are hingedly connected through a ball head bearing.

8. The three degree of freedom mouth corner structure of claim 1, wherein, The first driving member, the second driving member and the third driving member are all servo motors.

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