Humanoid robot head

Abstract

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot head which comprises a humanoid robot body, the humanoid robot comprises eyes, ears, a nose and mouth organs of the face, and the humanoid robot further comprises a face blinking transmission mechanism which comprises silica gel eyelids and a controller for driving the eyelids to move up and down; the eye driving mechanism comprises a rotating eyeball mechanism and a columnar shell, the columnar shell is connected with an eye hemisphere through an eye body, the inner side of the eyeball mechanism comprises a camera device, the columnar shell comprises a first control device and a second control device, eyeballs are controlled to rotate all around, and meanwhile the structure is compact, the control precision is high, friction is small, and the response speed is high. According to the humanoid robot head, through the corresponding design of the traction rope, the first control device, the second control device, the camera, the motor and the like, rotation of the eyes of the robot in the up-down direction, the left-right direction and the like can be achieved, good control can be achieved, the structure is compact, and practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, in particular to a humanoid robot head. Background Art

[0002] At present, the head and facial structures of intelligent robots are divided into two categories: one is the human-like head and face, which are made of silicone material, but its lip shape is difficult to achieve the pronunciation effect of a simulated person when pronouncing words, especially when pronouncing the five vowels of English or the finals of Chinese, the lip shape is difficult to be realistic; the other is the robot head made of metal or plastic shell, which has a simple structure and low technical level, and is far from a real person's head and face. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a humanoid robot head in view of the deficiencies in the above-mentioned prior art.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a humanoid robot head, including a humanoid robot body, wherein the humanoid robot includes facial organs of eyes, ears, nose and mouth, and the humanoid robot also includes:

[0005] The facial blinking transmission mechanism includes a silicone eyelid and a control that drives the eyelid up and down;

[0006] The eye driving mechanism comprises an eyeball rotating mechanism and a columnar shell, wherein the columnar shell is connected to the eye hemisphere through the eye body, the inner side of the eyeball mechanism comprises a camera device, and the columnar shell comprises a first control device and a second control device, which control the eyeball to rotate in all directions, and at the same time, the structure is compact, the control accuracy is high, the friction is small, the response speed is fast, and the movement range is close to that of the human eye, and it has strong practicality; the camera device can help the robot to achieve rapid target positioning, accurate target tracking and image acquisition, thereby realizing human eye bionics to the greatest extent;

[0007] The facial opening and closing transmission mechanism includes the upper and lower lips, upper and lower teeth, and drives the transmission control of the opening and closing of the lower jaw;

[0008] The facial smile transmission mechanism includes a transmission control that imitates the facial smile muscles to form a smile;

[0009] The mouth is used to make English vowels, Chinese finals and control conversations with humans, including the lip shape of the upper and lower lips extending forward to produce pronunciation, and the microphone on the top of the head receiving human voice, recognizing it through the voice intelligence module, and controlling conversations with humans.

[0010] Preferably, the eyes, ears, nose and mouth organs of the humanoid robot's face are made of imported silicone molds to manufacture the head and facial models, with short hair implanted on the top of the silicone skin for male features and long hair implanted on the top of the silicone skin for female features. At the same time, the robot simulates human facial organs such as blinking, up and down and left and right eye movements, opening and closing the mouth, smiling, pronouncing English vowels and Chinese finals, and transmission control for dialogue with humans.

[0011] Preferably, the silicone skin facial organs of eyes, ears, nose and mouth simulate the structure of human face blinking, eyeball up and down and left and right movement, mouth opening and closing, smiling face, lips protruding forward to pronounce English vowels, Chinese finals and dialogue with humans, and through motor transmission and program control, the facial organ movements can simultaneously achieve the effect of simulating human functions.

[0012] Preferably, in the facial blinking transmission mechanism, the silicone eyelid is completely fitted with the transmission mechanism surface, and the fitting surface is firmly bonded by using special silicone glue, and then a traction rope is used to connect to the steering gear turntable through a pulley. The turntable rotates the traction rope in the forward direction to make the eyelid rotation mechanism move along the axis, so that the silicone eyelid on the fitting surface moves downward, and the eyes blink and close; conversely, the steering gear turntable is reversed, the silicone eyelid is reset, and the eyes open.

[0013] Preferably, the cylindrical housing is threadedly connected to the upper hemisphere of the eye, a transmission line connection point is set every 90° at the cross section of the lower hemisphere of the eye, and four transmission lines are installed respectively, the transmission lines are connected to the first and second control devices, the transmission lines at both ends of the diameter are connected to the first control device, and the transmission lines at both ends of the diameter that are perpendicular to the diameter are connected to the second control device;

[0014] The first control device drives the eye hemisphere to rotate along an axis through a first motor, and the second control device drives the eye hemisphere to rotate along another axis through a second motor;

[0015] The inner cavity of the upper hemisphere of the eye is provided with a through hole, a micro camera is installed in the through hole, and the diameter of the through hole is smaller than the diameter of the eyeball; the first motor and the second motor are both located inside the cylindrical housing, and the motors are connected to the control device at the same time;

[0016] There are two circular notches on the outside of the columnar shell, and the first control device and the first control device are respectively installed at the notches; the first control device and the first control device are both circular disc structures, and the first motor and the second motor are respectively installed inside, wherein the ropes around the first motor and the second motor are traction ropes, and the first motor and the second motor pull the traction rope to control the rotation of the lower hemisphere of the eye.

[0017] Preferably, the facial opening and closing mouth transmission mechanism includes: the lower jaw and the upper jaw are connected by a tension spring, and the lower jaw is connected to the upper jaw by a ball head to facilitate opening and closing movement, a pulley is installed on the end of the tongue root of the lower jaw, and the pull rope passes through the pulley and is pulled upward into the servo turntable of the brain power box and is fixed. When the servo turntable moves forward, the lower jaw opens, and thus the lips open; when the servo turntable rotates in the opposite direction, the tension spring connecting the upper and lower jaws is reset, causing the lower jaw and the upper jaw to close, and thus the robot's lips are closed.

[0018] Preferably, the facial smile transmission mechanism includes: a humanoid facial silicone skin customized through a mold is put on the head of the robot, the skin fits perfectly with the cheeks of the head, and there are two concave grooves on the back of the lips of the silicone skin. The traction rope is implanted in the groove, and the rope is bonded to the silicone skin with special glue, and then the traction rope is passed through the pipe structure of the head and connected to the servo turntable of the brain power box. When the servo turntable rotates forward, the silicone facial skin smile muscle is pulled to make a smiling expression appear on the face.

[0019] Preferably, the transmission control of the mouth making English vowels and Chinese finals includes: on the back side of the upper lips of the silicone skin, which fits with the upper lips of the skull, a pull rope is implanted in the left and right places, and then the rope passes through a small pulley on the lips, passes through a special pipe in the skull, enters the brain power box and is fixed on the steering gear turntable, when the turntable rotates forward, it drives the silicone skin lips to extend forward, and the upper and lower lips are formed into the shape of lips for making English vowels and Chinese finals.

[0020] Preferably, the transmission control of human dialogue includes: a PCB board with seven microphones arranged on the top of the brain, these microphones are connected to the two ears and multiple pipe holes above the head through special pipes, receive sounds, and after judgment and recognition by the voice module, convert them into commands to realize communication and dialogue with humans.

[0021] Preferably, the skull is a shell of photosensitive material 3D printing, and the left and right eyes are assembled in the skull shell, and a micro camera is placed in the pupil of the eye to identify and determine the object seen. At the same time, the left and right eyeballs, i.e., micro cameras, are implanted in the eye structure, and under the action of the steering gear and the turntable, they can simultaneously achieve up, down, left, and right movements; it can also achieve up, down, left, and right movements of a single eyeball.

[0022] Preferably, in the 3D printed skull shell, the upper jaw is equipped with upper teeth, the lower jaw is equipped with lower teeth, the upper and lower jaws are connected by a tension spring, and the root of the lower jaw is connected to the upper jaw by a ball head for easy rotation; the oral cavity is equipped with a tongue, which cooperates with the silicone lips to form a simulated human mouth. A fixed pulley is installed at the end of the tongue root, and the traction rope passes through the pulley and is pulled upward into the power box of the skull and connected to the turntable of the steering gear. When the steering gear turntable in the power box rotates the rope forward, the traction rope pulls the lower jaw to open, forming an open mouth state; when the steering gear turntable moves in the reverse direction, the lips are closed under the action of the tension spring.

[0023] Preferably, a voice circuit board is installed in the 3D printed skull shell. The board has seven microphones for receiving sounds from the top of the head, front, back, left, right and ears. After recognition and determination, the sounds are converted into instructions to make the speakers pronounce, thus enabling the robot to communicate with humans.

[0024] The present invention adopts the above technical solution to bring the following beneficial effects:

[0025] 1. The humanoid robot head can realize the rotation of the robot's eyes in four directions, namely up, down, left, and right, through the corresponding designs of the traction rope, the first control device and the second control device, the camera, the motor, etc., and can be well controlled, with a compact structure and strong practicality.

[0026] 2. The head of the humanoid robot is connected to the power box of the brain through a traction rope. When the servo in the power box drives the turntable to rotate forward, the traction rope pulls the eyelid rotation mechanism to make the upper eyelid rotate downward to cover the eyeball, forming a blinking action.

[0027] 3. The head of the humanoid robot can help the robot to achieve rapid target positioning, accurate target tracking and image acquisition by setting a camera device, thereby realizing the bionics of the human eye to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the silicone headgear for men and women in the present invention;

[0029] Figure 2 It is a schematic diagram of the skull and facial structure in the present invention;

[0030] Figure 3 It is a schematic diagram of the cross-sectional structure of the skull in the present invention;

[0031] Figure 4 This is a schematic diagram of the power box of the intracranial traction line in the present invention;

[0032] Figure 5 This is a schematic diagram of the overall appearance of a single eye in the present invention;

[0033] Figure 6 for Figure 5 Schematic diagram of side B;

[0034] Figure 7 for Figure 5 The structural diagram of the middle A surface;

[0035] Figure 8 is a top view of the eyeball in the present invention;

[0036] Fig. 9 It is a bottom view of the eyeball in the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "setting" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, they can understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0041] like Figure 1-9 As shown, the present invention provides the following embodiments:

[0042] Embodiment 1: The blinking action is realized by an independent control system. Preferably, there is a special servo turntable on the power box inside the head to pull the traction rope, causing the structure of the eye to move downward, forming a blinking action. The servo pulls the traction rope to move forward, and the eyelids close downward, otherwise the eyelids open.

[0043] Embodiment 2: The eye drive mechanism includes an eyeball and a cylindrical shell. A camera is installed in the inner cavity of the eye hemisphere above the eyeball, and the eye hemisphere is installed in the front part of the inner cavity of the cylindrical shell; two motors are installed in the inner cavity at the rear part of the cylindrical shell; the two motors drive the eyeball to make two axial rotations through two control devices respectively.

[0044] The structure of the control device is: the first and second control devices are both two circular grooves, and motors are installed in the grooves. The motors control the traction rope to extend and retract in two directions. The first motor controls the traction rope to extend and retract, causing the eyeball to rotate left and right, and the second motor controls the traction rope to extend and retract, causing the eyeball to rotate up and down. The operation is flexible and convenient, and the traction rope is strong and not easy to break.

[0045] The lower part of the eye is a hemispherical shell with a through hole in the center for installing a miniature camera. The lens of the camera is aimed at the through hole in the upper hemisphere of the eye. The camera is connected to a camera device located in the cylindrical shell cavity, and the camera can be charged and other operations can be performed.

[0046] The principle of the control device driving the eyeball to rotate is: the first motor drives the first control device to rotate a certain angle, and the traction rope drives the eye hemisphere to rotate left and right a certain angle; the second motor drives the second control device to rotate a certain angle, and the traction rope drives the eye hemisphere to rotate up and down a certain angle. The camera in the eyeball through hole can capture images in different directions through the two axial rotations of the eyeball. In order to facilitate installation on the robot head, 4 injection screw holes are installed on the outside of the eye columnar shell, and the device can be fixed by screws.

[0047] Embodiment 3: The mouth opening action is preferably realized by an independent control system, and a steering wheel is provided on the control box inside the head, which is used to pull the rope and cause the lower jaw to open with the ball head as the rotation point through the pulley, so that the mouth is opened. When the steering wheel moves in the opposite direction, the lower jaw is closed under the action of the contraction force of the tension spring.

[0048] Embodiment 4: Smiling face action, preferably, the power box inside the head implemented by an independent control system has a special steering gear turntable, pulling the traction rope causes the facial zygomatic muscles of the silicone skin to move, the corners of the mouth to turn up, and the zygomatic muscles to lift up, forming a simulated human smiling expression.

[0049] Embodiment 5: The robot has a voice dialogue function. Preferably, a microphone circuit board inside the head has seven microphones to receive sound. After the audio signals from the front, back, left, right and both ears of the head are input, intelligent voice recognition is performed and converted into commands, and the speaker emits sound to communicate with humans.

[0050] It is worth noting that in this embodiment, all of them are commonly used equipment in the prior art, and the models used can be customized according to actual usage requirements. The power supply interface of the electrical equipment in this utility is connected to the power supply system through a switch (not shown in the figure) and a wire (not shown in the figure), so as to realize its control. The circuits and controls involved are all prior art and are well known in the current field of technology, so they will not be elaborated here.

[0051] The present invention provides a humanoid robot head. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A humanoid robot head, comprising a humanoid robot body, wherein the humanoid robot comprises facial organs of eyes, ears, nose and mouth, characterized in that: The humanoid robot further comprises: The facial blinking transmission mechanism includes a silicone eyelid and a control that drives the eyelid up and down; The eye driving mechanism comprises an eyeball rotating mechanism and a columnar shell, wherein the columnar shell is connected to the eye hemisphere through the eye body, the inner side of the eyeball mechanism comprises a camera device, and the columnar shell comprises a first control device and a second control device, which control the eyeball to rotate in all directions, and at the same time, the structure is compact, the control accuracy is high, the friction is small, the response speed is fast, and the movement range is close to that of the human eye, and it has strong practicality; the camera device can help the robot to achieve rapid target positioning, accurate target tracking and image acquisition, thereby realizing human eye bionics to the greatest extent; The facial opening and closing transmission mechanism includes the upper and lower lips, upper and lower teeth, and drives the transmission control of the opening and closing of the lower jaw; The facial smile transmission mechanism includes a transmission control that imitates the facial smile muscles to form a smile; The mouth is used to make English vowels, Chinese finals and control conversations with humans, including the lip shape of the upper and lower lips extending forward to produce pronunciation, and the microphone on the top of the head receiving human voice, recognizing it through the voice intelligence module, and controlling conversations with humans.

2. A humanoid robot head according to claim 1, characterized in that: The eyes, ears, nose and mouth organs of the humanoid robot's face are made of imported silicone molds to manufacture the head and facial models. Short hair is implanted on the top of the silicone skin for male characteristics, and long hair is implanted on the top of the silicone skin for female characteristics. At the same time, the facial organs of the human being are simulated, such as blinking, up and down and left and right movements of the eyeballs, opening and closing the mouth, smiling, pronouncing English vowels and Chinese finals, as well as the transmission control for dialogue with humans.

3. The humanoid robot head according to claim 1, characterized in that: The silicone skin facial organs of eyes, ears, nose and mouth simulate the structure of human face blinking, eyeball up and down and left and right movement, mouth opening and closing, smiling, lips protruding forward to pronounce English vowels, Chinese finals and conversation with humans. Through motor transmission and program control, the facial organ movements can achieve the effect of simulating human functions at the same time.

4. The humanoid robot head according to claim 1, characterized in that: The facial blinking transmission mechanism, the silicone eyelid is completely fitted with the transmission mechanism surface, the fitting surface is firmly bonded by using special silicone glue, and then a traction rope is used to connect to the steering gear turntable through a pulley. The turntable rotates the traction rope in the positive direction to make the eyelid rotating mechanism move along the axis, so that the silicone eyelid on the fitting surface moves downward, and the eyes blink and close; conversely, the steering gear turntable is reversed, the silicone eyelid is reset, and the eyes open.

5. The humanoid robot head according to claim 1, characterized in that: The eye driving mechanism comprises: the columnar housing is threadedly connected to the upper hemisphere of the eye, a transmission line connection point is set at every 90° on the cross section of the lower hemisphere of the eye, and four transmission lines are respectively installed, the transmission lines are connected to the first and second control devices, the transmission lines at both ends of the diameter are connected to the first control device, and the transmission lines at both ends of the diameter that are perpendicular to the diameter are connected to the second control device; The first control device drives the eye hemisphere to rotate along an axis through a first motor, and the second control device drives the eye hemisphere to rotate along another axis through a second motor; The inner cavity of the upper hemisphere of the eye is provided with a through hole, a micro camera is installed in the through hole, and the diameter of the through hole is smaller than the diameter of the eyeball; the first motor and the second motor are both located inside the cylindrical housing, and the motors are connected to the control device at the same time; There are two circular notches on the outside of the columnar shell, and the first control device and the first control device are respectively installed at the notches; the first control device and the first control device are both circular disc structures, and the first motor and the second motor are respectively installed inside, wherein the ropes around the first motor and the second motor are traction ropes, and the first motor and the second motor pull the traction rope to control the rotation of the lower hemisphere of the eye.

6. The humanoid robot head according to claim 1, characterized in that: The facial opening and closing mouth transmission mechanism includes: the lower jaw and the upper jaw are connected by a tension spring, and the lower jaw is connected to the upper jaw by a ball head to facilitate opening and closing movement. A pulley is installed on the end of the tongue root of the lower jaw, and the pull rope passes through the pulley and is pulled upward into the servo turntable of the brain power box and fixed. When the servo turntable moves forward, the lower jaw opens, and thus the lips open; when the servo turntable rotates in the opposite direction, the tension spring connecting the upper and lower jaws is reset, causing the lower jaw and the upper jaw to close, and thus the robot's lips are closed.

7. The humanoid robot head according to claim 1, characterized in that: The facial smile transmission mechanism includes: a humanoid facial silicone skin customized through a mold is put on the head of the robot, the skin fits the cheeks of the head completely, there are two concave grooves on the back of the lips of the silicone skin, the traction rope is implanted in the groove, the rope and the silicone skin are bonded together with special glue, and then the traction rope is passed through the pipe structure of the head and connected to the servo turntable of the brain power box. When the servo turntable rotates forward, the silicone facial skin smile muscle is pulled to make a smiling expression appear on the face.

8. The humanoid robot head according to claim 1, characterized in that: The transmission control of the mouth for making English vowels and Chinese finals includes: a pull rope is implanted in the left and right places on the back side of the upper lips of the silicone skin, which fits with the upper lips of the skull. The rope then passes through a small pulley on the lips, passes through a special pipe in the skull, and enters the brain power box and is fixed on the servo turntable. When the turntable rotates forward, it drives the silicone lips to extend and bulge forward, and the upper and lower lips take the shape of lips for making English vowels and Chinese finals.

9. The humanoid robot head according to claim 1, characterized in that: The transmission control of human dialogue includes: there is a PCB board with seven microphones arranged on the top of the brain, and these microphones are connected to the two ears and multiple pipe holes above the head through special pipes to receive sounds, which are judged and recognized by the voice module and converted into commands to realize communication and dialogue with humans.

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