Robot head assembly and robot

Abstract

The invention provides a robot head assembly and a robot, and relates to the technical field of robots. The support frame main body is connected with the base; the eye bracket is connected with the supporting frame main body, and an eye component is arranged on the eye bracket; the face support comprises an eye socket part used for accommodating the eye component; the expression driving tracks are arranged on the face support; a plurality of first driving units are arranged on the driving part support; the expression driving parts are installed in the expression driving tracks respectively, and the expression driving parts are driven by the first driving unit to move in the expression driving tracks; the flexible mask is attached to the surface of the face support and covers the multiple expression driving pieces, and each expression driving piece is detachably connected with the flexible mask; a plurality of first cable tracks; the first driving unit drives the driving cable to move in the first cable rail and drives the expression driving pieces to move, so that the flexible mask is deformed, and facial expressions are generated.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a robot head component and a robot. Background Art

[0002] With the development of technology, the application prospects of robots in life are getting better and better. However, current robots are unable to simulate human facial expressions realistically and meticulously, resulting in stiff and unnatural facial expressions generated by robots on the market, which greatly affects the realism of the robots. In related technologies, due to the limited space inside the robot's head, when driving various positions of the robot's head to generate facial expressions, the more driving components there are, the more refined the generated expressions can be controlled. The space in the robot's head limits the number of driving components that can be installed, resulting in the inability to effectively improve the robot's ability to generate more realistic and detailed facial expressions. Summary of the invention

[0003] In view of this, the robot head assembly and the robot of the present invention can set more driving components within the limited robot head space, ensuring that more driving components can finely control the robot's facial expressions, thereby achieving more vivid and realistic facial expressions of the robot.

[0004] According to one aspect of an embodiment of the present invention, a robot head assembly is provided, comprising: a base provided with a base drive unit; a support frame body movably connected to the base, the support frame body being driven by the base drive unit to move relative to the base; an eye bracket fixedly connected to the support frame body, the eye bracket being provided with an eye assembly, the eye assembly being movably connected to the eye bracket; a facial bracket fixedly connected to the eye bracket, the facial bracket comprising: an eye socket portion for accommodating the eye assembly; a plurality of expression drive tracks arranged on the facial bracket near the eye socket portion, the nose and the mouth; a drive component bracket arranged opposite to the eye bracket on both sides of the support frame body, the drive component bracket being provided with a plurality of first drive units; a plurality of expression drive members respectively installed in the plurality of expression drive tracks, each expression drive member being The corresponding first driving unit drives to move in the corresponding expression driving track; a flexible mask is attached to the surface of the facial support and covers the multiple expression driving components, the first connecting end of each expression driving component is detachably connected to the flexible mask, and the second connecting end of each expression driving component is connected to the first driving unit through a driving cable, and the first connecting end and the second connecting end are opposite to each other; multiple first cable tracks are used to accommodate the driving cables, and the first cable track includes: a first cable track end fixedly spaced from the driving component support and a second cable track end fixedly spaced from the facial support; wherein the first driving unit drives the driving cable to move in the first cable track, driving one or more of the multiple expression driving components to move, so that the position of the flexible mask connected to the expression driving component is deformed to generate facial expressions.

[0005] In some embodiments of the present disclosure, the driving component bracket includes: a mounting platform for arranging the multiple first driving units in sequence according to the extension direction of the mounting platform, the mounting platform includes a mounting frame, and the multiple first driving units are fixedly installed through the mounting frame.

[0006] In some embodiments of the present disclosure, the first drive unit includes: a first drive base, including a mounting portion, for fixing the first drive base to the mounting frame; a first drive shaft, protruding from the first drive base; a first drive crank, including a first crank end mounted on the first drive shaft and a second crank end connected to the drive cable, the first drive crank is driven by the first drive shaft to make the second crank end rotate around the first drive shaft and drive the drive cable to move.

[0007] In some embodiments of the present disclosure, the mounting frame of the mounting platform is sleeved on the outer periphery of the multiple first drive units; the multiple first drive units installed on the mounting frame are arranged adjacent to each other, and the positions of the first drive cranks installed of two adjacent first drive units face opposite directions.

[0008] In some embodiments of the present disclosure, the installation frame includes at least one, and when the installation frame includes two or more, the extension planes of the installation frames are parallel.

[0009] In some embodiments of the present disclosure, the second cable track end is fixedly connected to the face support; and / or the first cable track end is fixedly connected to the drive component support, and each of the first cable track ends is arranged at the second crank end of the corresponding first drive unit.

[0010] In some embodiments of the present disclosure, the expression driving component includes: a contact substrate, which is arranged at the first connecting end and is detachably connected to the flexible mask; a guide rod, which is fixedly connected to the contact substrate, and when the expression driving component is installed in the expression driving track, the guide rod passes through the expression driving track, and the second connecting end of the guide rod away from the contact substrate is connected to the driving cable.

[0011] In some embodiments of the present disclosure, a magnetic adsorption component is provided on the contact substrate, and a ferromagnetic adsorption component is provided at the position where the flexible mask is attached to the contact substrate.

[0012] In some embodiments of the present disclosure, the facial support includes a first end facing the top of the head of the robot head assembly and a second end opposite to the top of the head, and the expression drive track includes: an eyebrow drive track, which is arranged at a position of the eye socket portion close to the first end and extends from the eye socket portion toward the first end; a nose drive track, which is arranged between the two eye socket portions and extends from the second end toward the first end; and a mouth drive track, which is farther away from the top of the head than the nose drive track and extends from the second end toward the first end.

[0013] In some embodiments of the present disclosure, the eyebrow drive track includes multiple tracks, the nose drive track includes multiple tracks, and the mouth drive track includes multiple tracks.

[0014] In some embodiments of the present disclosure, the effective driving distance of the first driving unit is greater than or equal to the effective moving distance of the plurality of expression driving members on the expression driving track.

[0015] In some embodiments of the present disclosure, the robot head assembly further includes: the plurality of second cable tracks for accommodating the drive cables, the second cable tracks including: a third cable track end having a fixed spacing from the drive component bracket and a fourth cable track end having a fixed spacing from the eye bracket; the eye assembly is connected to the first drive unit via the drive cable accommodated in the second cable track; the first drive unit drives the drive cable to move in the second cable track, thereby driving the eye assembly to move and generate eye movements.

[0016] In some embodiments of the present disclosure, the fourth cable track end is fixedly connected to the eye bracket; and / or the third cable track end is fixedly connected to the drive component bracket, and each of the third cable track ends is arranged at the second crank end of the corresponding first drive unit.

[0017] In some embodiments of the present disclosure, an eye support includes: an eye support body; an eyelid assembly support, including a first support portion and a second support portion extending from the eye support body toward the front of the robot head assembly, the first support portion and the second support portion are spaced apart, and the first support portion and the second support portion are respectively provided with eyelid assembly rotating shafts at one end away from the eye support body, and the eyelid assembly rotating shaft on the first support portion is arranged opposite to the eyelid assembly rotating shaft on the second support portion; an eyeball support frame, which is arranged between the first support portion and the second support portion, and extends from the eye support body toward the front of the robot head assembly; the eye assembly includes: an upper eyelid assembly, which is rotatably connected to the first support portion and the second support portion through the eyelid assembly rotating shaft; a lower eyelid assembly, which is rotatably connected to the first support portion and the second support portion through the eyelid assembly rotating shaft; an eyeball assembly, which is movably connected to the eyeball support frame; the upper eyelid assembly and the lower eyelid assembly are configured to be closed to cover the eyeball assembly.

[0018] In some embodiments of the present disclosure, an upper eyelid assembly is fitted with the upper eyelid of the flexible mask, and the upper eyelid assembly is driven and controlled by at least one first driving unit to rotate around the eyelid assembly rotation axis to drive the upper eyelid of the flexible mask to move; a lower eyelid assembly is fitted with the lower eyelid of the flexible mask, and the lower eyelid assembly is driven and controlled by at least one first driving unit to rotate around the eyelid assembly rotation axis to drive the lower eyelid of the flexible mask to move; an eyeball assembly is driven and controlled by at least two first driving units to move around the eyeball support frame.

[0019] In some embodiments of the present disclosure, the base driving unit includes: a base support column, which can rotate around a first axial direction relative to the base; a base support plate, which can rotate around a second axial direction relative to the base support column, and the first axial direction is perpendicular to the second axial direction; a plurality of second driving units, which are installed on the base, and the plurality of second driving units are used to jointly drive the base support column to rotate around the first axial direction and / or the base support plate to rotate around the second axial direction.

[0020] Another aspect of the present invention provides a robot, comprising the robot head assembly described above.

[0021] According to the above-mentioned embodiment of the present invention, by movably connecting the support frame body with the base, the robot head assembly can generate the same head posture as humans, and combined with the facial expressions generated by the flexible mask, the authenticity of the expressions of the robot head assembly is increased. By arranging multiple first drive units on the drive unit bracket, and driving multiple expression driving members installed in multiple expression driving tracks through driving cables, the position of the flexible mask connected to the expression driving member is deformed to generate facial expressions, thereby making the expressions generated by the robot head assembly more realistic. By using the first cable track to accommodate the drive cable and guide the drive member from the multiple first drive units to the multiple expression driving members, it is possible to install more first drive units within the effective space of the robot head assembly, thereby more precisely controlling the deformation position of the flexible mask to generate facial expressions.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and illustrative and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings below are part of the specification of the present invention, and illustrate exemplary embodiments of the present invention. Together with the description of the specification, the accompanying drawings are used to explain the principles of the present invention.

[0024] Figure 1 A schematic diagram of the overall structure of a robot head assembly provided by an exemplary embodiment of the present invention; Figure 2 A schematic structural diagram of a robot head assembly removing a flexible mask provided by an exemplary embodiment of the present invention; Figure 3 A schematic structural diagram of a robot head assembly with a rear shell removed provided by an exemplary embodiment of the present invention; Figure 4 A schematic diagram of the structure of the main bracket inside the robot head assembly provided by an exemplary embodiment of the present invention; Figure 5A schematic structural diagram of a driving component bracket of a robot head assembly provided as an exemplary embodiment of the present invention; Figure 6 A schematic diagram of the rear structure of a robot head assembly with the rear shell removed provided by an exemplary embodiment of the present invention; Figure 7 for Figure 6 A partial enlarged view of Figure 8 A schematic diagram of installing a driving unit of a robot head assembly on a driving component bracket provided by an exemplary embodiment of the present invention; Fig. 9 A schematic structural diagram of a driving unit of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.10a A schematic structural diagram of a face support of a robot head assembly provided as an exemplary embodiment of the present invention; Fig.10b A schematic structural diagram of a facial support of a robot head assembly provided by an exemplary embodiment of the present invention and equipped with an expression driver; Fig.11a A schematic diagram of the structure of a robot head assembly including a portion of a cable track provided for an exemplary embodiment of the present invention; Fig.11b A schematic structural diagram of a facial support of a robot head assembly provided by another exemplary embodiment of the present invention and equipped with an expression driving member; Fig.12 A schematic diagram of the structure of the installation of the eye bracket and the face bracket of the robot head assembly provided by an exemplary embodiment of the present invention; Fig.13 A schematic diagram of the internal structure of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.14 A schematic diagram of the structure of an eye support of a robot head assembly provided as an exemplary embodiment of the present invention; Fig.15 A schematic structural diagram of an eye assembly of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.16 A schematic structural diagram of a base and a support frame body of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.17 A schematic diagram of the internal structure of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.18 A schematic diagram of the overall structure of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.19A schematic diagram of the structure of the installation of the face support and the rear shell of the robot head assembly provided by an exemplary embodiment of the present invention; Fig. 20 A schematic diagram of the structure of the connection between the mandibular support and the facial support of a robot head assembly provided by an exemplary embodiment of the present invention; Fig.21 A schematic diagram of the configuration structure of a mouth expression driving member of a robot head assembly provided as an exemplary embodiment of the present invention; Fig. 22 A schematic structural diagram of a mandibular driving portion of a robot head assembly provided as an exemplary embodiment of the present invention; Fig.23 A schematic diagram of the internal structure of the lower jaw of a robot head assembly provided as an exemplary embodiment of the present invention; Fig.24 A schematic diagram of the arrangement of cable tracks associated with a mouth expression driver of a robot head assembly provided as an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention more clearly understood, the spirit of the contents disclosed by the present invention will be clearly explained with the accompanying drawings and detailed descriptions below. After understanding the embodiments of the contents of the present invention, any technician in the relevant technical field can change and modify the techniques taught by the contents of the present invention without departing from the spirit and scope of the contents of the present invention.

[0026] The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0027] The terms “first”, “second”, etc. used in this document do not particularly refer to an order or sequence, nor are they used to limit the present invention. They are only used to distinguish elements or operations described with the same technical terms.

[0028] The directional terms used in this document, such as up, down, left, right, front or back, etc., are only used to refer to the directions of the drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention.

[0029] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0030] As used herein, "and / or" includes any or all combinations of the items described.

[0031] As used herein, “plurality” includes “two” and “more than two”; as used herein, “plurality groups” includes “two groups” and “more than two groups”.

[0032] The terms "substantially" and "approximately" used herein are used to modify any quantity or error that may vary slightly, but these slight changes or errors do not change their essence. Generally speaking, the range of slight changes or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0033] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0034] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted according to the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). Those skilled in the art should also understand that any transitional conjunctions and / or phrases that substantially represent two or more optional items, whether in the specification, claims, or drawings, should be understood to give the possibility of including one of these items, either of these items, or both of these items. For example, the phrase "A or B" should be understood to include the possibility of "A" or "B", or "A and B".

[0035] In the related technology, the expression simulation of robots is becoming more and more important. Due to the limitation of the ratio between the head and body of the simulation robot, the head space of the robot is small. As a result, it is impossible to install more drive units in the head space of the robot to drive the various expressions of the robot. The more expression drive units the robot has, the more accurate control of the robot's expression can be achieved, so that the robot head assembly can generate more realistic facial expressions. Due to the small head space of the robot and the complexity of the existing drive units, it is impossible to install enough drive components and set effective expression drive components to achieve the generation of realistic robot expressions, resulting in users not having a realistic feeling when seeing the facial expressions generated by the relevant robots.

[0036] In order to solve the problems in the related art, the present disclosure provides a robot head assembly, comprising: a base, provided with a base driving unit; a support frame main body, movably connected to the base, and the support frame main body is driven by the base driving unit to move relative to the base; an eye bracket, fixedly connected to the support frame main body, and an eye assembly is provided on the eye bracket, and the eye assembly is movably connected to the eye bracket; a facial bracket, fixedly connected to the eye bracket, and the facial bracket comprises: an eye socket part for accommodating the eye assembly; a plurality of expression driving tracks, which are arranged on the facial bracket near the eye socket part, the nose and the mouth; a driving component bracket, which is arranged opposite to the eye bracket on both sides of the support frame main body, and a plurality of first driving units are arranged on the driving component bracket; a plurality of expression driving members are respectively installed in the plurality of expression driving tracks, and each expression driving member is The components are driven by the corresponding first driving units to move in the corresponding expression driving tracks; a flexible mask is attached to the surface of the facial support and covers the multiple expression driving components, the first connecting end of each expression driving component is detachably connected to the flexible mask, and the second connecting end of each expression driving component is connected to the first driving unit through a driving cable, and the first connecting end and the second connecting end are opposite to each other; multiple first cable tracks are used to accommodate the driving cables, and the first cable track includes: a first cable track end fixedly spaced from the driving component support and a second cable track end fixedly spaced from the facial support; wherein the first driving unit drives the driving cable to move in the first cable track, driving one or more of the multiple expression driving components to move, so that the position of the flexible mask connected to the expression driving component is deformed to generate facial expressions.

[0037] According to an embodiment of the present disclosure, by movably connecting the support frame body with the base, the robot head assembly can generate the same head posture as humans, and combined with the facial expressions generated by the flexible mask, the authenticity of the expressions of the robot head assembly is increased. By arranging multiple first drive units on the drive unit bracket, and driving multiple expression driving members installed in multiple expression driving tracks through driving cables, the position of the flexible mask connected to the expression driving member is deformed to generate facial expressions, thereby making the expressions generated by the robot head assembly more realistic. By using the first cable track to accommodate the drive cable and guide the drive member from the multiple first drive units to the multiple expression driving members, it is possible to install more first drive units within the effective space of the robot head assembly, thereby more precisely controlling the deformation position of the flexible mask to generate facial expressions.

[0038] like Figures 1 to 4As shown, the robot head assembly 1 includes a base 100, a support frame body 200, an eye support 300, a face support 400, a mandibular support 500, a drive support 600, an expression drive member 700, and a flexible mask 800. The periphery of the base 100 may be provided with a shoulder shell 101 surrounding the base, and the robot head assembly 1 may also be provided with a rear shell 2 surrounding the drive support, and the rear shell 2 is connected to the face support 400 to form a robot head assembly together. Thus, the robot head assembly is closer to the human head structure.

[0039] The base 100 may be a part installed on the robot body, used to support the robot head assembly. The base may also be a part installed on other equipment or components. A base drive unit 110 is arranged on the base 100 .

[0040] The support frame body 200 is movably connected to the base 100, and the base driving unit 110 drives the support frame body 200 to move relative to the base 100. For example, the base driving unit drives the support frame body to rotate or tilt relative to the base, so that the robot head assembly can perform similar movements as a human, such as turning the head, lowering the head, and raising the head.

[0041] like Figure 4 As shown, the base driving unit 110 includes: a base supporting column 111 , a base supporting plate 112 and a plurality of second driving units 113 .

[0042] Specifically, the base support column 111 can rotate around the first axial direction X1 relative to the base 100, for example, to produce the action of looking up or lowering the head. The base support plate 112 can rotate around the second axial direction Y1 relative to the base support column 111, and the first axial direction X1 is perpendicular to the second axial direction Y1. For example, when the base support plate rotates around the second axial direction relative to the base support column, a head swinging action to the left or right side of the robot head assembly can be generated. A plurality of second drive units 113 are installed on the base 100, and the plurality of second drive units 113 are used to jointly drive the base support column to rotate around the first axial direction X1 and / or the base support plate 112 to rotate around the second axial direction Y1. For example, a second drive unit 113 is installed on the left and right sides of the base 100, respectively, and each second drive unit 113 is movably connected to one side of the base support plate 112 through a drive shaft a, and the second drive unit 113 drives the drive shaft a to move, thereby driving the base support plate 112 to rotate or swing, so as to generate the head action of the robot head assembly. According to an embodiment of the present disclosure, by providing a second driving unit 113, the robot head assembly can more accurately simulate the swinging movement of a human head, so that the robot head assembly can combine the head swinging movement when generating facial expressions to achieve a more realistic effect.

[0043] like Figure 3 and Figure 4 As shown, the support frame body 200 is fixedly disposed on the base support plate 112 , so as to be driven by the second driving unit 113 in the base driving unit 110 to move relative to the base 100 .

[0044] In one embodiment, a main body driving unit (not shown) is disposed inside the support frame body 200, and a driving shaft of the main body driving unit is fixed to the base support plate 112, so that when the driving shaft of the main body driving unit rotates, the support frame body 200 rotates relative to the base support plate 112 to generate a rotation movement of the robot head assembly, providing support for the robot head assembly to generate more abundant head movements. According to an embodiment of the present disclosure, by disposing the main body driving unit inside the support frame body, the space defined by the face support and the rear shell in the robot head assembly can be fully utilized.

[0045] The eye support 300 is fixedly connected to the support frame body 200, and an eye assembly 310 is provided on the eye support 300, and the eye assembly 310 is movably connected to the eye support 300. For example, the eye support 300 is arranged at the top of the support frame body 200 and facing the position of the face support 400. Exemplarily, the eye support and the support frame body are detachably connected to facilitate installation and disassembly. For another example, the eye support and the support frame body are an integrated structure.

[0046] An eye assembly 310 is disposed on the eye bracket 300. The eye assembly 310 is movably disposed on the eye bracket 300 so that it can be driven to generate actions such as blinking, eye movement, and squinting, thereby allowing the robot head assembly to produce more vivid facial expressions.

[0047] The face support 400 is fixedly connected to the eye support 300. Figure 3 and Figure 4 It can be seen that both sides of the eye support 300 have curved surfaces that match with the face support 400. The face support 400 matches with the curved surfaces, so that the face support 400 can be fixedly connected to the eye support 300, for example, by a snap-fit ​​connection, or by a screw fixation connection.

[0048] like Figure 2 and Figure 3 As shown, the facial support 400 includes an orbital portion 410 , a zygomatic portion 420 , a maxillary portion 430 , and a plurality of expression drive rails 440 .

[0049] The eye socket portion 410 is a hole formed on the facial support, and when the facial support is fixedly connected to the eye support, a portion of the eye assembly on the eye support is accommodated in the eye socket portion. A plurality of expression drive tracks 440 are arranged on the facial support near the eye socket portion, the nose and the mouth. The expression drive track is a track that runs through the facial support, and is used to accommodate the expression drive member 700, so that the expression drive member moves along the expression drive track, causing the flexible mask to deform, thereby generating the facial expression of the robot head assembly. By arranging the expression drive tracks at different positions of the facial support, different positions of the flexible mask are controlled to deform, respectively, so as to generate more realistic facial expressions.

[0050] like Fig.10a As shown, the facial support 400 includes a first end facing the top of the robot head assembly and a second end opposite to the top of the head, and the expression drive track includes: an eyebrow drive track 441, which is arranged at a position of the eye socket portion close to the first end, extending from the eye socket portion toward the first end, that is, the eyebrow drive track extends from the eye socket portion toward the top of the head. For example, a plurality of eyebrow drive tracks are arranged at positions corresponding to each eye socket portion, so as to achieve better expression control of the eyebrows of the robot head assembly. The eyebrow drive track includes a first eyebrow drive track near the middle of the facial support and a second eyebrow drive track near both sides of the facial support. The position of the first eyebrow drive track toward the second end has a portion bent toward the center of the eyebrows, that is, the bent portion is approximately parallel to the outer edge of the eye socket portion, so that the expression of the generated eyebrows is more vivid.

[0051] The nose drive track 442 is arranged between the two eye sockets and extends from the second end toward the first end. For example, the nose drive track includes two, symmetrically arranged, and presents an "eight"-shaped structure, so that the expression of the nose generated by the robot head assembly is more vivid.

[0052] A mouth drive track is disposed on the facial support further away from the top of the head than the nose drive track and extends from the second end toward the first end.

[0053] like Fig.10a As shown, the facial support 400 also includes a zygomatic portion 420 and a maxillary portion 430 .

[0054] The zygomatic part is farther from the top of the robot head assembly than the orbital part, that is, the lower side of the orbital part constitutes the zygomatic part 420. The maxillary part 430 is fixedly connected to the zygomatic part 420, the width of the maxillary part is smaller than the width of the zygomatic part, and the maxillary part is provided with a first mouth drive track 443 extending toward the top, that is, the first mouth drive track is a track extending from the top to the bottom. For example, the first mouth drive track includes two, which are arranged in parallel. In an optional embodiment, the number of the first mouth drive tracks can be more than two.

[0055] like Fig.10b As shown, the robot head assembly further includes a mandibular support 500. The mandibular support is movably connected to the support frame body through a mandibular driving unit, and the mandibular support includes a mandibular portion 510 and a chin tubercle portion 520.

[0056] For example, the lower jaw 510 cooperates with the upper jaw 430, and the lower jaw 510 is provided with a second mouth drive track 511 extending toward the top, that is, the second mouth drive track extends in the same direction as the first mouth drive track. For example, the second mouth drive track includes two, which are arranged in parallel. In an optional embodiment, the number of the second mouth drive tracks can be more than two.

[0057] In an embodiment of the present disclosure, the distance between the upper jaw and the lower jaw can be adjusted by controlling the lower jaw support through the lower jaw driving unit, thereby realizing the mouth expression of opening and closing the mouth of the robot head assembly.

[0058] The chin tubercle 520 is fixedly connected to the mandibular portion 510. The width of the chin tubercle is greater than the width of the mandibular portion. There is a gap between the zygomatic portion and the chin tubercle at a position facing outward from the maxillary portion and the mandibular portion. The chin tubercle 520 and the mandibular portion 510 can be fixedly connected in a detachable manner or in an integrally formed manner.

[0059] According to an embodiment of the present disclosure, by setting a gap D between the zygomatic part and the mental tubercle part, it is convenient to set the expression driving member 700 at the gap position, thereby realizing the control of the mouth area of ​​the robot head assembly, so that the generated robot mouth expression is more realistic.

[0060] like Figure 5 and Figure 6 As shown, the robot head assembly further includes a drive component bracket 600 .

[0061] The driving component bracket 600 is arranged opposite to the eye bracket 300 on both sides of the support frame body 200, the eye bracket is located at a position of the support frame body close to the face bracket, and the driving component bracket is located at a position of the support frame body close to the rear shell. In some embodiments of the present disclosure, the driving component bracket is connected to the support frame body, for example, it is a detachable connection or a fixed connection. In some optional embodiments, the driving component bracket is fixedly connected to the rear shell, the rear shell is fixedly connected to the face bracket, and the face bracket is fixedly connected to the eye bracket, and the eye bracket is fixedly connected to the support frame body, so that the driving component bracket is indirectly fixedly connected to the support frame body.

[0062] By providing a driving component bracket, a plurality of driving units can be uniformly arranged on the driving component bracket, so that the driving units can be more conveniently disassembled, installed, replaced or maintained.

[0063] like Figure 5 and Figure 8 As shown, a plurality of driving units (eg, a first driving unit 60 for driving and generating facial expressions) are arranged on the driving component bracket 600. The driving component bracket includes a mounting platform.

[0064] The mounting platform is used to arrange the multiple first drive units 60 in sequence according to the extension direction of the mounting platform. The mounting platform includes a mounting frame 610, and the multiple first drive units are fixedly installed by the mounting frame. For example, the mounting frame 610 is a rectangular frame as a whole, and the extension direction of the rectangular frame is from top to bottom, that is, the extension in the vertical direction. By setting the extension in the vertical direction, it is convenient to arrange the first drive units 60 neatly on the mounting frame. At the same time, the distance from each first drive unit to the drive cable of the facial bracket is not much different, thereby improving the driving accuracy and consistency of facial expressions. The edge of the rectangular frame has a screw hole for fixing the first drive unit, and the first drive unit can be fixed to the mounting frame by screws. The inner frame of the mounting frame cooperates with the peripheral part of the first drive unit, so that the installed first drive component is more stable.

[0065] In an optional embodiment, the mounting frame of the mounting platform can be set in size and size as required to meet the requirements of different sizes and installation numbers of the first drive units. By setting the mounting frame, the first drive unit can be easily installed and removed. At the same time, by setting the mounting frame, multiple first drive units can be neatly arranged in the accommodation space of the robot head assembly. Make full use of the space to fully arrange as many first drive units as possible in a smaller space, realize the precise driving of the expression of the robot head assembly, and make the generated facial expression of the robot head assembly more real and vivid.

[0066] like Figure 8 , Fig. 9 As shown, the first driving unit 60 includes a first driving base 601 , a first driving shaft 602 and a first driving crank 603 .

[0067] The first driving base 601 includes a mounting portion 6011 for fixing the first driving base to the mounting frame 610. The mounting portion 6011 is, for example, mounting holes provided on both sides of the base, through which screws can pass to fix the first driving base to the mounting frame.

[0068] The first driving shaft 602 protrudes from the first driving base 601. The first driving crank 603 includes a first crank end mounted on the first driving shaft and a second crank end connected to the driving cable. The first driving crank is driven by the first driving shaft to make the second crank end rotate around the first driving shaft and drive the driving cable to move. Figure 7 As shown in L in FIG. 8 , the drive cable L is accommodated in the cable track 900 .

[0069] like Figure 5 As shown, the mounting frame 610 of the mounting platform is sleeved on the outer periphery of the plurality of first drive units 60, so as to achieve better fixation of the first drive units. The plurality of first drive units 60 mounted on the mounting frame are arranged adjacently, and the positions of the first drive cranks of two adjacent first drive units 60 are facing opposite directions. Since the first drive cranks of the first drive units need a certain moving space when driving the drive cables to move, the positions of the first drive cranks of the two adjacent first drive units are set to face opposite directions, so that the internal space of the robot head assembly can be fully utilized, so that the first drive units can be arranged closely, and at the same time, the closely arranged first drive units will not interfere with each other when driving the drive cables, so as to arrange as many drive units as possible in the internal space of the robot head assembly, so that the robot assembly can have more control points in the process of controlling the flexible mask to generate facial expressions, so that the generated facial expressions are more real and vivid.

[0070] In some embodiments of the present disclosure, the number of mounting frames 610 can be set as required, such as one or more. In some embodiments, for example, in order to accommodate more drive units, the number of mounting frames is set to two. When two or more mounting frames are provided, the extension planes of the mounting frames are parallel, that is, the mounting frames extend in the vertical direction, and the extension planes of the mounting frames are perpendicular to the plane of the face. By setting the extension plane of the mounting frame to a plane perpendicular to the face, the drive unit can make full use of the space parallel to the extension plane when driving the drive cable to move, and at the same time, it is more convenient to install and arrange the cable track, thereby improving the utilization efficiency of the internal space of the robot head assembly, accommodating more drive units, and realizing precise control of facial expressions.

[0071] like Fig.10b As shown, the robot head assembly further includes a plurality of expression driving members 700. The plurality of expression driving members 700 are respectively installed in the plurality of expression driving tracks 440, that is, one expression driving member 700 is arranged in each expression driving track 440. Each expression driving member is driven by the corresponding first driving unit 60 to move in the corresponding expression driving track.

[0072] For example, an expression driver 700 is provided in the eyebrow driving track 441, and the corresponding first driving unit pulls the driving cable to drive the corresponding expression driver to move in the eyebrow driving track, thereby controlling the eyebrow position of the flexible mask to deform and generate the expression characteristics of the eyebrows.

[0073] An expression driver is provided in the nose driving track 442. The corresponding first driving unit pulls the driving cable to drive the corresponding expression driver to move in the nose driving track, thereby controlling the deformation of the nose position of the flexible mask to generate the expression characteristics of the nose.

[0074] An expression driving component 700 is provided in the first mouth driving track 443 and the second mouth driving track 511. The corresponding first driving unit pulls the driving cable to drive the corresponding expression driving component to move in the first mouth driving track and the second mouth driving track, thereby controlling the deformation of the mouth position of the flexible mask and generating the expression characteristics of the mouth.

[0075] In some embodiments of the present disclosure, Figure 3 , Fig.10b , Fig.21 As shown, the mouth expression driver includes: a first mouth expression driver 710 , a second mouth expression driver 720 and a cheek expression driver 730 .

[0076] The first mouth expression driver 710 is arranged in the first mouth driving track 443, and is driven by the mouth driving unit in the driving unit based on the driving cable to move in the first mouth driving track. The second mouth expression driver 720 is arranged in the second mouth driving track 511, and is driven by the mouth driving unit in the driving unit based on the driving cable to move in the second mouth driving track. The cheek expression driver 730 is arranged at the position of the gap D, and is driven by the mouth driving unit in the driving unit based on multiple driving cables to move in the gap D.

[0077] In the embodiment of the present disclosure, the mouth driving unit is a part of a plurality of first driving units installed on the driving component bracket, and is mainly used to generate mouth expressions. The mouth driving unit includes a plurality of mouth driving units, each of which is connected to a corresponding mouth expression driving member.

[0078] In some embodiments of the present disclosure, the flexible mask 800 of the robot head assembly is attached to the surface of the face support 400 and covers the surface of the mandibular support 500. The flexible mask 800 covers the multiple expression driving members 700, for example, the flexible mask 800 covers the first mouth expression driving member 710, the second mouth expression driving member 720, the cheek expression driving member 730 and other expression driving members. The first connection end of each expression driving member is detachably connected to the flexible mask, and the second connection end of each expression driving member is connected to the first driving unit through a driving cable, and the first connection end and the second connection end are opposite. The flexible mask 800 is realized by a detachable connection with multiple expression driving members. The flexible mask has different structural features of human faces. When it is necessary to replace the structural features of different human faces, the flexible mask can be directly removed from the face support and the mandibular support to achieve the effect of instant replacement, avoid the troublesome operation of replacement, and improve the user experience.

[0079] In some embodiments of the present disclosure, Figure 6 and Figure 7 As shown, the robot head assembly also includes a plurality of cable tracks 900, which are used to accommodate drive cables and guide the cables to different positions to drive corresponding expression drive components. The cable tracks are arranged in a plurality. For example, the cable tracks 900 include a first cable track 910.

[0080] The first cable track 910 includes: a first cable track end having a fixed distance from the driving component bracket and a second cable track end having a fixed distance from the facial bracket and the mandibular bracket. According to an embodiment of the present disclosure, by setting the first cable track end, the distance between the first cable track end and the driving component bracket is fixed, so that it is convenient for the driving unit installed on the driving component bracket to drive the driving cable. By setting the second cable track end, the distance between the second cable track end and the facial bracket and the mandibular bracket is fixed, so that the expression driving component installed on the facial bracket and the mandibular bracket can move in the corresponding driving track to generate fine facial expressions. If the distance is not fixed, the driving unit will not be able to generate an effective driving distance when driving, which will eventually lead to inaccurate generated facial expressions.

[0081] In an embodiment of the present disclosure, the first driving unit drives the driving cable to move in the first cable track, driving one or more of the multiple expression driving components to move, so that the position of the flexible mask connected to the expression driving component is deformed to generate facial expressions. According to an embodiment of the present disclosure, since a plurality of expression driving tracks are provided in the robot head assembly, and an expression driving component is provided in each expression driving track, facial expressions are generated by each driving unit driving an expression driving component. By arranging a plurality of driving units on the mounting frame of the driving component bracket, and setting the positions of the driving cranks installed in adjacent driving units to opposite directions, the internal space is fully utilized, and more driving units are arranged in a narrower space to drive each expression driving component, so that the expression of the generated robot head assembly is more accurate and realistic.

[0082] In an embodiment of the present disclosure, a plurality of mouth drive units are configured to drive the first mouth expression drive member 710 to move in the first mouth drive track, drive the second mouth expression drive member 720 to move in the second mouth drive track, and drive the cheek expression drive member 730 to move in the gap D, so that the flexible mask is deformed to generate the mouth expression of the robot head assembly. According to an embodiment of the present disclosure, by setting the cheek expression drive member 730 in the gap D between the zygomatic portion 420 and the chin tubercle portion 520, and by driving the first mouth expression drive unit and the second mouth expression drive unit to move in the corresponding drive tracks and driving the cheek expression drive member to move in the gap through the mouth drive unit, the generated mouth expression of the robot head assembly is made more realistic.

[0083] like Figure 6 and Figure 7 As shown, the second cable track end is fixedly connected to the facial support. The first cable track end is fixedly connected to the drive component support, and each of the first cable track ends is arranged at the second crank end of the corresponding first drive unit. In the embodiment of the present disclosure, the fixed connection can be, for example, a direct fixed connection or an indirect fixed connection. For example, the second cable track end is directly fixedly connected to the facial support, so that the position of the second cable track end and the expression drive track on the facial support will not change. The first cable track end is directly fixedly connected to the drive component support, so that the position of the first cable track end and the drive component support will not change. Thereby ensuring that the position of the expression drive component in each expression drive track can be accurately controlled to generate accurate facial expressions and mouth expressions.

[0084] like Fig.10b , Fig.11a as well as Fig.23As shown, the expression drive member can be of the same structure, and different sizes can be set according to the position of the expression drive member. The expression drive member 700 includes: a contact substrate 701, which is arranged at the first connection end and is detachably connected to the flexible mask. By adopting a detachable connection method, the flexible mask can be conveniently removed and replaced, thereby improving the convenience of use. A guide rod 702 is fixedly connected to the contact substrate. When the expression drive member is installed in the expression drive track, the guide rod passes through the expression drive track, and the second connection end of the guide rod away from the contact substrate is connected to the drive cable.

[0085] In some embodiments of the present disclosure, a magnetic adsorption component is provided on the contact substrate 701, and a ferromagnetic adsorption component is provided at the position where the flexible mask 800 is attached to the contact substrate. The magnetic adsorption component can be, for example, a component that can generate an adsorption force, such as a magnet. The ferromagnetic adsorption component can be, for example, a component attracted by a magnet, so that when the flexible mask is attached to the contact substrate, it can be adsorbed by the magnetic adsorption component, and the expression drive component moves in the expression drive track to deform the corresponding position of the flexible mask, thereby generating facial expressions and / or mouth expressions.

[0086] like Fig.10a As shown, the eyebrow drive track 441 includes a plurality of tracks, for example, 2 tracks. The nose drive track 442 includes a plurality of tracks, for example, 2 tracks. The mouth drive track includes a plurality of tracks, for example, including 2 first mouth drive tracks 443 arranged on the upper jaw, and 2 second mouth drive tracks 511 arranged on the lower jaw. In an optional embodiment, the number of expression drive tracks can be adjusted according to the actual expression control accuracy and technical implementation.

[0087] In some embodiments of the present disclosure, the effective driving distance of the first driving unit is greater than or equal to the effective moving distance of the plurality of expression driving members on the expression driving track. The first driving unit drives the first crank end to rotate through the first driving shaft, and causes the second crank end to rotate around the first driving shaft, thereby generating displacement, and the maximum moving distance of the second crank segment is twice the distance from the second crank end to the first crank end. In this embodiment, Figure 7 As shown, the effective driving distance L1 of the first driving unit is greater than or equal to the effective moving distance L2 of the expression driving member in the corresponding expression driving track. The effective driving distance of the first driving unit is the distance of the control driving cable movement. The effective moving distance of each expression driving member in the expression driving track is less than or equal to the length of the expression driving track. By setting the effective driving distance of the first driving unit to be greater than or equal to the effective moving distance of the expression driving member in the corresponding expression driving track, it can be ensured that each driving unit can effectively control the expression driving member, avoiding the problem of inaccurate expression driving.

[0088] like Fig.12 , Fig.13 as well as Fig.14 The robot head assembly further includes: a second cable track 920 .

[0089] The second cable track 920 is a track for guiding the driving cables that drive the eye assembly.

[0090] The second cable track includes: a third cable track end fixedly spaced from the drive component bracket and a fourth cable track end fixedly spaced from the eye bracket. The third cable track end may be, for example, an end directly fixed to the drive component bracket, and the fourth cable track end is an end directly fixed to the eye bracket 300.

[0091] The eye assembly 310 is connected to the first driving unit via a driving cable contained in the second cable track 920. The first driving unit drives the driving cable to move in the second cable track 920, thereby driving the eye assembly to move and generate eye movements.

[0092] The fourth cable track end is fixedly connected to the eye bracket, for example, by a direct fixed connection. The third cable track end is fixedly connected to the drive component bracket, and each of the third cable track ends is arranged at the second crank end of the corresponding first drive unit. In the embodiment of the present disclosure, by adopting a fixed connection method, the distance between the third cable track end and the drive component bracket is fixed, and the distance between the fourth cable track end and the eye bracket is fixed, so that no matter whether the second cable track is bent, etc., it will not cause the drive cable in the second cable track to change, thereby ensuring the accuracy of the drive cable driving the eye component and improving the accuracy of the eye expression.

[0093] like Fig.13 , Fig.14 as well as Fig.15As shown, the eye support 300 includes: an eye support body 301, an eyelid component support 302, and an eyeball support frame 303. The eye support body 301 is, for example, fixedly arranged on the support frame body. The eyelid component support 302 includes a first support portion 3021 and a second support portion 3022 extending from the eye support body toward the front of the robot head component, the first support portion and the second support portion are spaced apart, and the first support portion and the second support portion are respectively provided with an eyelid component rotating shaft 3023 at one end away from the eye support body, and the eyelid component rotating shaft on the first support portion is arranged opposite to the eyelid component rotating shaft on the second support portion. The eyeball support frame is arranged between the first support portion and the second support portion, and extends from the eye support body toward the front of the robot head component. The eye component 310 includes an upper eyelid component 311, a lower eyelid component 312, and an eyeball component 313. The upper eyelid assembly 311 is rotatably connected to the first support portion 3021 and the second support portion 3022 via the eyelid assembly shaft 3023. The lower eyelid assembly 312 is rotatably connected to the first support portion 3021 and the second support portion 3022 via the eyelid assembly shaft 3023. The eyeball assembly 313 is movably connected to the eyeball support frame 303. The upper eyelid assembly and the lower eyelid assembly are configured to be closed to cover the eyeball assembly.

[0094] like Figure 1 and Figure 2 as well as Fig.15 As shown, when the flexible mask 800 is mounted on the facial support 400 and the mandibular support 500, the upper eyelid assembly fits with the upper eyelid of the flexible mask, and the upper eyelid assembly is driven and controlled by at least one first driving unit to rotate around the eyelid assembly shaft to drive the upper eyelid of the flexible mask to move. In this embodiment, a first driving unit is provided to control the upper eyelid assembly to rotate around the eyelid assembly shaft to generate a blinking action. The lower eyelid assembly fits with the lower eyelid of the flexible mask, and the lower eyelid assembly is driven and controlled by at least one first driving unit to rotate around the eyelid assembly shaft to drive the lower eyelid of the flexible mask to move. In this embodiment, a first driving control unit is provided to control the lower eyelid assembly to rotate around the eyelid assembly shaft. The eyeball assembly is driven and controlled by at least two first driving units to move around the eyeball support frame. In this embodiment, the eyeball assembly is driven and controlled to rotate in the horizontal direction by a first driving unit and to rotate in the vertical direction by another first driving unit. Through the joint drive control of the two driving units, the eyeball assembly can be rotated in all directions of the eye, thereby producing precise eye movement movements, allowing the robot head assembly to generate richer facial expressions.

[0095] In the embodiment of the present disclosure, by setting the first cable track 910 and the second cable track 920, the driving cable is guided, and by fixing one end of the first cable track on the face support and / or the mandibular support and the other end on the driving component support, the multiple driving units installed on the driving component support can accurately control the expression driving member, so that the expression driving member can move in the expression driving track, control the deformation of the flexible mask to generate facial expressions, and realize an accurate expression generation process. In addition, by fixing one end of the second cable track on the eye support and the other end on the driving component support, the multiple driving units installed on the driving component support can accurately control the eyeball assembly to generate eye movements. The eye movements cooperate with the facial expression movements to achieve more realistic expression generation. Since the multiple first driving units are arranged on the driving component support, the space inside the robot head assembly can be fully utilized, and the adjacent driving units are further arranged in opposite directions to achieve more driving units installed in a limited space and more accurate control of the facial expressions of the robot head assembly.

[0096] like Figure 20 to Figure 24 As shown, the mandibular drive part of the robot head assembly includes: a mandibular drive unit 501, which is fixedly connected to the support frame body 200. The mandibular drive unit 501 is movably connected to the mandibular part 510 through a mandibular drive arm 502. The mandibular drive unit 501 is configured to drive the mandibular support to move relative to the facial support through the mandibular drive arm, so that the flexible mask attached to the mandibular support is deformed to generate the mouth expression of the robot head assembly.

[0097] According to an embodiment of the present disclosure, by setting up a mandibular driving unit, it is possible to drive the mandibular support to move relative to the facial support, thereby controlling the flexible mask in the mouth area to produce mouth expressions such as opening the mouth, closing the mouth, and raising the corners of the mouth, thereby generating more realistic mouth expressions.

[0098] Specifically, the mandibular drive unit 501 includes: a first mandibular drive unit 5011 and a second mandibular drive unit 5012. The first mandibular drive unit 5011 is arranged on the side of the support frame body facing the facial support, and the driving shaft of the first mandibular drive unit is movably connected to the first position of the mandibular part through the first mandibular drive arm 5021, and the first position is close to one side of the support frame body. That is, the first mandibular unit is arranged on the front side of the support frame body. The second mandibular drive unit 5012 is fixedly connected to the first mandibular drive unit and is closer to the facial support than the first mandibular drive unit, that is, the second mandibular drive unit is superimposed on the first mandibular drive unit and is close to the facial support. The driving shaft of the second mandibular drive unit 5012 is movably connected to the second position of the mandibular part through the second mandibular drive arm 5022, and the second position is farther away from the support frame body than the first position. The second mandibular driving arm includes a first mandibular driving sub-arm 5022a and a second mandibular driving sub-arm 5022b, and the first mandibular driving sub-arm is rotatably connected to the second mandibular driving sub-arm.

[0099] For example, one end of the first mandibular driving arm is connected to the driving shaft of the first mandibular driving unit, and is used to be driven to rotate by the driving shaft, and the other end of the first mandibular driving arm is movably connected to the rear side of the mandibular part of the mandibular support. The first mandibular driving sub-arm is connected to the driving shaft of the second mandibular driving unit, the second mandibular driving sub-arm is movably connected to the front side of the mandibular part, and the first mandibular driving sub-arm and the second mandibular driving sub-arm are rotatably connected. Through the above structure, it is possible to control the moving distance of the mandibular support relative to the facial support, that is, the opening degree of the mouth of the robot head assembly, and control the deformation of the mouth area of ​​the flexible mask, thereby achieving accurate control of the robot's facial expressions and making the generated facial expressions more realistic.

[0100] In some embodiments of the present disclosure, the cheek expression driver is symmetrically arranged in the gap on both sides of the upper jaw and the lower jaw, that is, when the cheek expression driver is in the gap, it is connected to the cheek position of the flexible mask, thereby driving the cheeks of the flexible mask to deform.

[0101] The cheek expression driver 730 includes a first cheek expression driver 731 and a second cheek expression driver 732. The first cheek expression driver 731 is located in the gap near the upper jaw and the lower jaw. The second cheek expression driver 732 is located in the gap at a position farther from the upper jaw and the lower jaw than the first cheek expression driver.

[0102] According to the embodiments of the present disclosure, by providing the first cheek expression driver and the second cheek expression driver, the deformation of the cheek position of the flexible mask can be fully driven to achieve accurate control of the mouth expression. For example, the flexible mask can be controlled to generate mouth expressions such as upturned corners of the mouth, downturned corners of the mouth, smiling, and sad. The first cheek expression driver and the second cheek expression driver are arranged in the gap, which can have a larger space for movement. In addition, since a fixed driving track is not provided, the cheek expression driver can be controlled by one or more driving units to move in multiple directions such as the upper side, the lower side, the front side, and the rear side, thereby achieving accurate control of the cheek expression.

[0103] like Fig.24 As shown, the first cable track includes a facial cable track 911 fixed to the facial support at the second cable track end, and a mandibular cable track 912 fixed to the mandibular support at the second cable track end. The mouth drive unit includes: an upper jaw drive unit and a lower jaw drive unit. The upper jaw drive unit and the lower jaw drive unit are part of the first drive unit, and can be drive units arranged at intervals or adjacent to each other.

[0104] The upper jaw drive unit is connected to the first mouth expression drive member via a drive cable passing through the facial cable track 911, and is used to drive the first mouth expression drive member to move in the first mouth drive track, for example, to move in the up-down direction in the first mouth drive track. The lower jaw drive unit is connected to the second mouth expression drive member via a drive cable passing through the lower jaw cable track 912, and is used to drive the second mouth expression drive member to move in the second mouth drive track, for example, to move in the up-down direction in the second mouth drive track.

[0105] The first cheek drive unit is connected to the first cheek expression drive member via a drive cable passing through the facial cable track, and is connected to the first cheek expression drive member via a drive cable passing through the mandibular cable track. According to an embodiment of the present disclosure, there are multiple first cheek drive units, for example, two, one of which is connected to the first cheek expression drive member via a drive cable passing through the facial cable track, and the other is connected to the first cheek expression drive member via a drive cable passing through the mandibular cable track. In this way, the up, down, left, and right movements of the first cheek expression drive member in the gap can be controlled, and more accurate and precise control of cheek expressions can be achieved, achieving the most precise control effect with the least number of drive units.

[0106] The second cheek driving unit is connected to the second cheek expression driving member through a driving cable passing through the facial cable track. The second cheek driving unit can control the second cheek expression driving member to move in the up and down direction, and the driving cable connected to the second cheek expression driving member is tilted toward the lower side and close to the middle position. By arranging the first cheek expression driving member and the second cheek expression driving member in the gap and realizing linkage control, the mouth expression of the generated robot head assembly can be made more realistic. It is also possible to achieve the most sophisticated control effect by using fewer driving units, effectively reducing the number of driving units.

[0107] In an embodiment of the present disclosure, a driving cable passing through the facial cable track drives the first cheek expression driving component to move in a first direction, and a driving cable passing through the mandibular cable track drives the first cheek expression driving component to move in a second direction, wherein the first direction and the second direction intersect at the position of the first cheek expression driving component, and an angle between the first direction and the second direction is toward the gap D and away from the positions of the upper jaw and the lower jaw.

[0108] The driving cable is made of metal material, for example. Since the angle between the first direction and the second direction is toward the gap and toward the back side of the cheek, when the driving cable is driven by the driving unit to move in the first direction and the second direction, it can move toward any area behind the intersection of the first direction and the second direction. By driving the first cheek expression driving component to move in the back area defined in the first direction and the second direction, the control of the cheek deformation of the flexible mask over a larger range can be achieved. That is, through the above-mentioned direction setting, only fewer driving components are used to achieve accurate and realistic mouth expression control.

[0109] In an embodiment of the present disclosure, the driving cable passing through the facial cable track drives the second cheek expression driver to move in a direction extending toward the top of the robot head assembly. Thus, the upward and downward facial expressions of the cheeks can be realized. Since the second cheek expression driver and the first cheek expression driver are arranged in the gap, the two cheek expression drivers are controlled in linkage. Compared with being arranged in a fixed expression driving track, being arranged in the gap can realize the control of richer mouth and cheek expressions, making the generated expressions more realistic. At the same time, fewer driving components can be used to maximize the driving efficiency.

[0110] According to the embodiments of the present disclosure, the effective driving distance of the multiple mouth driving units is greater than or equal to the effective moving distance of the mouth expression driving components in the corresponding track, which can ensure that each mouth expression driving component can be effectively controlled and improve the accuracy of mouth expression production.

[0111] In some exemplary embodiments of the present disclosure, the cable track (such as the first cable track and the second cable track light) adopts a flexible material with a small friction coefficient, such as polytetrafluoroethylene (PTFE), nylon, ABS plastic, etc., which can effectively reduce the resistance of the driving cable moving in the cable track and reduce the kinetic energy consumption of the driving unit. By adopting a flexible material, the driving cable can be conveniently guided to different positions, so as to drive and control the corresponding expression driving component and / or eye component. In addition, the cable track can conveniently guide the driving cable to the driving unit installed on the driving component bracket, that is, multiple driving units are arranged in a close manner to make full use of the space inside the robot head component, and the number of driving units driving the expression driving component is increased as much as possible, so as to achieve the authenticity of the generated facial expression. The cable track can guide the driving cables connected to the multiple driving units to the expression driving component, thereby improving the compactness of the internal structure. In addition, the cheek expression driving component can reduce the number of driving units while ensuring the authenticity of the expression, save the internal space of the robot head component, and enable more driving units to drive other driving components or components (such as the eye component), thereby improving the authenticity of the expression generation of the overall robot head component.

[0112] In another aspect of the present disclosure, a robot is provided, comprising the robot head assembly described above. For example, the robot comprises a movable robot body, and the robot head assembly is mounted on the robot body.

[0113] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0114] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All of these combinations and / or combinations fall within the scope of the present invention.

[0115] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A robot head assembly, characterized in that: include: A base, provided with a base driving unit; A support frame body is movably connected to the base, and the support frame body is driven by the base driving unit to move relative to the base; An eye support, fixedly connected to the support frame body, an eye assembly is provided on the eye support, and the eye assembly is movably connected to the eye support; A face support, fixedly connected to the eye support, the face support comprising: An orbital portion, used for accommodating the eye component; A plurality of expression driving tracks are arranged on the facial support near the eye sockets, nose and mouth; A driving component bracket is arranged opposite to the eye bracket on both sides of the support frame body, and a plurality of first driving units are arranged on the driving component bracket; A plurality of expression driving members are respectively installed in the plurality of expression driving tracks, and each expression driving member is driven by a corresponding first driving unit to move in a corresponding expression driving track; A flexible mask is attached to the surface of the facial support and covers the plurality of expression driving members, wherein a first connection end of each of the expression driving members is detachably connected to the flexible mask, a second connection end of each of the expression driving members is connected to the first driving unit via a driving cable, and the first connection end is opposite to the second connection end; a plurality of first cable tracks for accommodating the drive cables, the first cable tracks comprising: a first cable track end fixedly spaced from the drive component support and a second cable track end fixedly spaced from the face support; The first driving unit drives the driving cable to move in the first cable track, driving one or more of the plurality of expression driving components to move, so that the position of the flexible mask connected to the expression driving component is deformed to generate facial expressions.

2. The robot head assembly according to claim 1, characterized in that: The drive unit bracket includes: The mounting platform is used to arrange the plurality of first drive units in sequence according to the extension direction of the mounting platform. The mounting platform includes a mounting frame, and the plurality of first drive units are fixedly mounted through the mounting frame.

3. The robot head assembly according to claim 2, characterized in that: The first driving unit comprises: A first driving base, comprising a mounting portion for fixing the first driving base to the mounting frame; a first drive shaft protruding from the first drive base; The first driving crank comprises a first crank end mounted on the first driving shaft and a second crank end connected to the driving cable. The first driving crank is driven by the first driving shaft to make the second crank end rotate around the first driving shaft and drive the driving cable to move.

4. The robot head assembly according to claim 3, characterized in that: The mounting frame of the mounting platform is sleeved on the outer periphery of the plurality of first drive units; The plurality of first drive units mounted on the mounting frame are arranged adjacent to each other, and the positions where the first drive cranks of two adjacent first drive units are mounted face in opposite directions.

5. The robot head assembly according to claim 4, characterized in that: The mounting frame includes at least one, When the installation frames include two or more, the extension planes of the installation frames are parallel.

6. The robot head assembly according to claim 3, characterized in that: The second cable track end is fixedly connected to the face support; and / or The first cable track end is fixedly connected to the driving component bracket, and each of the first cable track ends is arranged on the second crank end of the corresponding first driving unit.

7. The robot head assembly according to claim 1, characterized in that: The expression driving component comprises: A contact substrate, disposed at the first connection end and detachably connected to the flexible mask; A guide rod is fixedly connected to the contact substrate. When the expression driving member is installed in the expression driving track, the guide rod passes through the expression driving track. The second connection end of the guide rod away from the contact substrate is connected to the driving cable.

8. The robot head assembly according to claim 7, characterized in that: A magnetic adsorption component is arranged on the contact substrate, and a ferromagnetic adsorption component is arranged at the position where the flexible mask is attached to the contact substrate.

9. The robot head assembly according to claim 1, characterized in that: The facial support comprises a first end facing the top of the robot head assembly and a second end opposite to the top of the head, The expression driven track includes: An eyebrow driving track is arranged at a position of the eye socket portion close to the first end portion and extends from the eye socket portion toward the first end portion; a nose drive track, disposed between the two eye sockets and extending from the second end toward the first end; A mouth drive track, further away from the top of the head than the nose drive track, extends from the second end toward the first end.

10. The robot head assembly according to claim 9, characterized in that: The eyebrow drive track includes multiple tracks, the nose drive track includes multiple tracks, and the mouth drive track includes multiple tracks.

11. The robot head assembly according to any one of claims 1 to 10, characterized in that: The effective driving distance of the first driving unit is greater than or equal to the effective moving distance of the plurality of expression driving members on the expression driving track.

12. The robot head assembly according to claim 1, characterized in that: Also includes: The plurality of second cable tracks are used to accommodate the drive cables, the second cable tracks comprising: a third cable track end having a fixed spacing from the drive component bracket and a fourth cable track end having a fixed spacing from the eye bracket; The eye assembly is connected to the first drive unit via a drive cable received in the second cable track; The first driving unit drives the driving cable to move in the second cable track, thereby driving the eye assembly to move and generate eye movements.

13. The robot head assembly according to claim 12, characterized in that: The fourth cable track end is fixedly connected to the eye bracket; and / or The third cable track end is fixedly connected to the driving component bracket, and each of the third cable track ends is arranged on the second crank end of the corresponding first driving unit.

14. The robot head assembly according to claim 1, characterized in that: The eye support includes: Eye support body; An eyelid assembly support, comprising a first support portion and a second support portion extending from the eye support body toward the front of the robot head assembly, the first support portion and the second support portion are spaced apart, and an eyelid assembly rotating shaft is respectively disposed at one end of the first support portion and the second support portion away from the eye support body, and the eyelid assembly rotating shaft on the first support portion is disposed opposite to the eyelid assembly rotating shaft on the second support portion; an eyeball support frame, disposed between the first support portion and the second support portion, and extending from the eye support body toward the front of the robot head assembly; The eye assembly comprises: An upper eyelid assembly rotatably connected to the first support portion and the second support portion via the eyelid assembly rotation shaft; A lower eyelid assembly rotatably connected to the first support portion and the second support portion via the eyelid assembly rotation shaft; An eyeball assembly, movably connected to the eyeball support frame; The upper eyelid component and the lower eyelid component are configured to close to cover the eyeball component.

15. The robot head assembly according to claim 14, characterized in that: An upper eyelid component is fitted with the upper eyelid of the flexible mask, and the upper eyelid component is driven and controlled by at least one first driving unit to rotate around the eyelid component rotation axis to drive the upper eyelid of the flexible mask to move; A lower eyelid component is fitted with the lower eyelid of the flexible mask, and the lower eyelid component is driven and controlled by at least one first driving unit to rotate around the eyelid component rotation axis to drive the lower eyelid of the flexible mask to move; The eyeball assembly is driven and controlled by at least two first driving units to move around the eyeball supporting frame.

16. The robot head assembly according to claim 1, characterized in that: The base driving unit comprises: A base support column, wherein the base support column is rotatable about a first axial direction relative to the base; A base support plate, wherein the base support plate is rotatable relative to the base support column about a second axial direction, wherein the first axial direction is perpendicular to the second axial direction; A plurality of second driving units are installed on the base, and the plurality of second driving units are used to jointly drive the base support column to rotate around the first axial direction and / or the base support plate to rotate around the second axial direction.

17. A robot, characterized in that: Comprising a robot head assembly as claimed in any one of claims 1 to 16.

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