Robot head device capable of simulating expressions

Abstract

The invention discloses a robot head device capable of simulating expressions. The robot head device comprises a head shell, a head mold, a neck mechanism and a head structure arranged at the top of the neck mechanism. The head shell is arranged on the head structure, and the head mold is arranged on the head shell in a sleeving mode. The neck mechanism is used for driving the head structure to do left-right pitching rotation motion; the head structure comprises an upper layer mechanism used for controlling opening and closing of eye curtains and rotation of eyebrows, a middle layer mechanism used for controlling rotation of eyeballs and movement of cheeks, and a lower layer mechanism. The lower-layer mechanism comprises a mouth mechanism for controlling the mouth to open and close; the upper layer mechanism comprises a first control mechanism, a second control mechanism, a third control mechanism and an eyebrow bone mechanism, and the second control mechanism is used for driving the eyebrow bone mechanism to move up and down; the middle-layer mechanism comprises an eye mechanism, a fourth driving mechanism, a cheek mechanism and a nose bridge. The human expression simulation device can simulate human expressions, and is high in degree of freedom, compact in structure, low in cost and easy to use on a large scale.

Description

Technical Field

[0001] The invention relates to the technical field of bionic humanoid robots, and in particular to a robot head device capable of simulating facial expressions. Background Art

[0002] With the continuous progress of intelligent scientific robot technology at home and abroad, in order to meet the needs of multi-modal human-machine interaction between robots and humans, humanoid expression robots have developed rapidly. The robot head that simulates human expressions can simulate dozens of human expressions and communicate with people through facial expressions.

[0003] However, most of the existing robots that can simulate facial expressions are large and bulky, and expensive to manufacture. At the same time, most of them also require pre-setting traction anchor points on the silicone skin, which requires special customization, complex processes, and great manufacturing difficulty, which is not conducive to the promotion and application of related technologies.

[0004] Chen Shenhong et al. disclosed in the Chinese invention patent document CN 108714902 A the humanoid expression robot head structure and robot head control system. For the humanoid expression robot head, it has no cheek-related drive device and neck drive device, and no interface installed on humanoid robots or other platforms, which is not conducive to its scenario application. It also needs to use glue to stick the silicone skin to the shell. At the same time, according to its structure, it is speculated that the drive of its eyebrows and mouth corners needs to preset traction anchor points on the silicone skin, which increases the difficulty of operation. Summary of the invention

[0005] In order to solve at least one of the deficiencies of the prior art, the present invention provides a robot head device that can simulate facial expressions, and can imitate complex facial expressions of humans, such as the movement of eyebrows, eyelids, eyes, cheeks, mouth, etc.

[0006] In order to achieve the purpose of the present invention, the present invention provides a robot head device capable of simulating facial expressions, comprising a neck head shell, a head mold, a head mechanism and a head structure arranged on the top of the neck mechanism; The head shell is arranged on the head structure, and the head mold is sleeved on the head shell; The neck mechanism is used to drive the head structure to perform left-right and pitch rotation movements; The head structure includes an upper mechanism for controlling the opening and closing of eyelids and the rotation of brow bones, a middle mechanism for controlling the rotation of eyeballs and cheek movements, and a lower mechanism; The lower mechanism includes a mouth mechanism, and the mouth mechanism is used to control the opening and closing of the mouth; The middle-level organization is located above the lower-level organization, and the upper-level organization is located above the middle-level organization; The upper mechanism includes a first control mechanism, a second control mechanism, a third control mechanism and a brow bone mechanism, wherein the second control mechanism is used to drive the brow bone mechanism to move up and down; The middle-layer mechanism includes an eye mechanism, a fourth driving mechanism, a cheek mechanism and a nose bridge, the fourth driving mechanism is used to drive the cheek mechanism to move, and the cheek mechanism is used to simulate the movement of the human cheek; the eye mechanism includes an eyeball mechanism and an eyelid, the first control mechanism is used to drive the opening and closing of the eyelid, the third control mechanism is used to drive the pitch movement of the eyeball mechanism, and the eyeball mechanism is used to drive the rotation of the eyeball; the eye mechanism is hinged to the nose bridge.

[0007] Preferably, the skull shell is installed on the upper mechanism, the upper mechanism is installed on the middle mechanism, and the middle mechanism is installed on the lower mechanism.

[0008] Preferably, the neck mechanism includes a neck pitch drive motor, a neck motor fixing seat, a neck mounting seat, and a neck shaking head drive motor module; the neck motor fixing seat is arranged on the output end of the neck shaking head drive motor module, the neck pitch drive motor is arranged on the neck motor fixing seat, the neck mounting seat is arranged on the output shaft of the neck pitch drive motor, and the head structure is arranged on the neck mounting seat.

[0009] Further preferably, the neck mechanism includes a neck pitch drive motor, a neck motor fixing seat, a neck mounting seat, a neck motor shaft clip, a neck limit switch and a neck shaking head drive motor module; the upper side of the neck mounting seat is connected to the lower mechanism, and the lower groove of the neck mounting seat is embedded in the output D-shaped shaft of the neck pitch motor; the neck motor shaft clip fixes the output D-shaped shaft to the neck mounting seat; the neck mounting seat can be driven to rotate by the neck pitch drive motor, the neck pitch drive motor is installed on the neck motor fixing seat, the neck motor fixing seat is installed on the neck shaking head drive motor module, the neck sensor fixing seat is installed on the right side of the neck pitch drive motor, and the neck limit switch is installed on the neck sensor mounting seat. Preferably, the mouth mechanism includes a chin driving servo, a chin connecting arm and a chin, and the output end of the chin driving servo is connected to the chin through the chin connecting arm to drive the chin to rotate.

[0010] Preferably, the fourth driving mechanism comprises a fourth driving servo, and the fourth driving servo is hinged to the cheek mechanism via a fourth servo rocker arm.

[0011] Preferably, the cheek mechanism includes a cheek frame, a cheek connecting rod, a cheek push rod and a cheek block for simulating the cheek, one end of the cheek connecting rod is hinged to the cheek frame, and the other end is hinged to the middle part of the cheek push rod, one end of the cheek push rod is hinged to the four-servo rocker arm, and the other end is connected to the cheek block, and the cheek block is driven to move up and down by the fourth driving servo.

[0012] Preferably, the eye mechanism is installed at the front of the middle mechanism.

[0013] Preferably, the eyeball mechanism includes an eye socket, two eyeball connecting rods, two eyeballs for simulating the appearance of eyeballs, an eye connecting rod, an eyeball driving rod, an eyeball driving rocker arm and an eyeball driving servo; the eye socket is located behind the bridge of the nose, the two eyeball connecting rods are hinged to the two sides of the eye socket, and one end of the two eyeball connecting rods is respectively provided with an eyeball, and the other ends of the two eyeball connecting rods are respectively hinged to the two ends of the eye connecting rod; and the eye connecting rod is hinged to the eyeball driving rocker arm through the eyeball driving rod, and the eyeball driving rocker arm is connected to the output end of the eyeball driving servo; the eyelid is hinged to the eye socket, and the eyelid is connected to the first control mechanism; the eye socket is connected to the third control mechanism.

[0014] Preferably, the first control mechanism includes a first steering gear, a first steering gear rocker arm and a first connecting rod, the output end of the first steering gear is connected to the first connecting rod through the first steering gear group rocker arm, and the first connecting rod is hinged to the eyelid.

[0015] Preferably, the third control mechanism includes a third servo, a third servo rocker arm and a third connecting rod, the output end of the third servo is connected to the third connecting rod through the third servo rocker arm, and the third connecting rod is hinged to the eye socket.

[0016] Preferably, the second control mechanism includes a second servo, a second servo rocker arm and a second connecting rod, the output end of the second servo is connected to the second connecting rod through the second servo rocker arm, and the second connecting rod is hinged to the brow mechanism.

[0017] Preferably, the brow ridge mechanism is installed at the front end of the upper mechanism, and the brow ridge mechanism includes a brow ridge frame, two brow ridge connecting rods and a brow ridge located at the front end of the brow ridge connecting rods, the middle part of the brow ridge connecting rods is hinged to the brow ridge frame, and the end of the brow ridge frame is hinged to the second connection.

[0018] Preferably, the upper mechanism, the middle mechanism and the lower mechanism are connected by support columns.

[0019] Preferably, it also includes a head sensor, a neck limit switch and a host computer, the head sensor is located in the head structure, the neck limit switch is arranged on the neck mechanism, and the host computer is used to control the movement of the head structure and to perform expression control.

[0020] The head sensor and neck limit switch transmit the robot's head position and angle information to the host computer, and the host computer controls the head device to make corresponding expressions and head movements according to the user's input and sound and image information.

[0021] Compared with the prior art, the present invention can at least achieve the following beneficial effects: The device of the present invention can realize the up and down movement of eyebrows, left and right and up and down movement of eyeballs, opening and closing of eyelids, lifting and lowering of cheeks, opening and closing of mouth, and left and right and up and down movement of neck. It can simulate a variety of anthropomorphic expressions, such as smiling, blinking, frowning, etc., and realize facial expression communication with people.

[0022] The head device provided by the present invention has a compact structure, high degree of freedom, simple control, low manufacturing cost, strong practicality, low cost, and is easy to use on a large scale and by researchers. It can be widely used in service robots, bionic humanoid robots, human-computer interaction, scientific research, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a schematic diagram of the overall structure of a robot head device capable of simulating facial expressions provided by an embodiment of the present invention; Figure 2 Schematic diagram of a head shell in an embodiment of the present invention.

[0024] Figure 3 Schematic diagram of a head mold in an embodiment of the present invention.

[0025] Figure 4 It is a left view of the upper mechanism, the middle mechanism, the lower mechanism, and the neck mechanism in the embodiment of the present invention; Figure 5 is a schematic diagram of the structure of the upper mechanism in an embodiment of the present invention; Figure 6 is a structural schematic diagram of the upper layer mechanism from another perspective in an embodiment of the present invention; Figure 7 is a schematic diagram of the structure of the middle-level mechanism in an embodiment of the present invention; Figure 8 is a schematic diagram of another perspective of the middle-level mechanism in an embodiment of the present invention; Fig. 9 is an exploded view of the eye mechanism in an embodiment of the present invention; Fig.10 is an exploded view of the middle-level mechanism in an embodiment of the present invention; Fig.11 is a schematic diagram of a lower layer mechanism in an embodiment of the present invention; Fig.12 is a schematic diagram of a neck mechanism in an embodiment of the present invention; Fig.13 is a schematic diagram of a device with a head shell installed in an embodiment of the present invention; DETAILED DESCRIPTION The present invention is further described in detail below in conjunction with the embodiments and drawings, but the implementation methods of the present invention are not limited thereto. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Fig.13 The present embodiment provides a robot head device capable of simulating facial expressions, which is suitable for use in the field of robots, especially humanoid robots, and includes a head structure, a neck mechanism 4, a head shell 5, and a head mold 6. The neck mechanism 4 is arranged at the bottom of the head structure, the head shell 5 is wrapped around the head structure, the head mold 6 is sleeved on the head shell 5, the head shell 5 is used for the head mold 6, and the head mold 6 adopts a head mold that imitates human skin.

[0027] The head structure includes an upper mechanism 1, a middle mechanism 2 and a lower mechanism 3. The upper mechanism 1 is installed on the middle mechanism 2, and the middle mechanism 2 is installed on the lower mechanism 3. The upper mechanism 1 is used to control the opening and closing of the eyelids and the rotation of the brow bones, the middle mechanism 2 is used to control the rotation of the eyeballs and the movement of the cheeks, and the lower mechanism 3 is used to control the opening and closing of the mouth; the neck mechanism 4 is used to drive the entire head structure to perform left and right, pitch and rotation movements.

[0028] See also Fig.13 The head shell 5 is installed on the upper structure 1 and can cover the upper structure 1, the middle structure 2 and the lower structure 3. Then, Figure 2 The head mold 6 shown is mounted on the head shell 5 , and the entire head structure can be enclosed in the head mold 6 , and the neck mechanism 4 can also be further enclosed in the head mold 6 .

[0029] The head shell 5 is made of a hard material. In some embodiments of the present invention, the hard material can be any one of resin, plastic, nylon, carbon fiber and the like.

[0030] In some embodiments of the present invention, the head mold 6 is made of silicone. In other embodiments, other materials may also be used.

[0031] like Figure 5 and Figure 6 As shown, the upper mechanism 1 includes an upper substrate 14 and a first control mechanism 11, a second control mechanism 12, a third control mechanism 13 and a brow bone mechanism arranged on the upper substrate 14. The first control mechanism 11, the second control mechanism 12 and the third control mechanism 13 are respectively used to control the opening and closing of the eyelids, the up and down movement of the brow bone, and the pitch movement of the eyeball.

[0032] The first control mechanism 11 includes a first servo group, a first servo rocker group and a first connecting rod group. The first servo group includes two first servos 111, the first servo rocker group includes two first servo rocker arms 112, and the first connecting rod group includes two first connecting rods 113. The two first servos 111 are symmetrically installed on the upper surface of the upper substrate 14. The output ends of the two first servos 111 are respectively connected to the first servo rocker arms 112, and the ends of the two first servo rocker arms 112 are respectively hinged to the upper ends of the two first connecting rods 113, and the lower ends of the two first connecting rods 113 are hinged to the two eye curtains 23 in the eye mechanism. The rotational movement of the first servo group 111 will be transmitted to the eye curtain 23 through the first driving rocker arm group 112 and the first connecting rod group 113 to drive the eye curtain 23 to rotate, thereby realizing the opening and closing of the eye curtain 23.

[0033] The second control mechanism 12 is used to drive the brow bone mechanism to move up and down. Figure 5 and Figure 6 As shown, the second control mechanism 12 is installed on the lower surface of the upper substrate 14, and the second control mechanism 12 includes a second servo group, a second servo rocker arm group and a second connecting rod group. The second servo group includes two second servos 121, and the two second servos 121 are symmetrically installed on the lower surface of the upper substrate 14. The second servo rocker arm group includes two second servo rocker arms 122, and the second connecting rod group includes two second connecting rods 123. The output shaft of each second servo 121 is installed with a second servo rocker arm 122, and the ends of the two second servo rocker arms 122 are respectively hinged to the two second connecting rods 123, and the ends of the two second connecting rods 123 are hinged to the brow ridge mechanism.

[0034] The brow ridge mechanism is installed at the front end of the upper mechanism 1 and is located at the lower side of the upper substrate 14. The brow ridge mechanism includes a brow ridge frame 124, two brow ridge connecting rods 125 and a brow ridge 126 located at the front end of the brow ridge connecting rod 125. The brow ridge frame 124 is installed at the front part of the lower surface of the upper substrate 14. The brow ridge frame 124 is fixedly connected to the two brow ridge connecting rods 125 by a hinge. The middle part of each brow ridge connecting rod 125 is hinged to the brow ridge frame 124, so that the brow ridge connecting rod 125 can rotate around the rotating axis of the brow ridge frame 124, and the two brow ridge connecting rods 125 are hinged to the two second connecting rods 123 respectively. The second connecting rod group can transmit the movement of the second steering gear group to the brow ridge connecting rod 125, so as to realize the up and down movement of the brow ridge 126 under the head mold 6, and can present the function of the up and down movement of the eyebrows in visual effect.

[0035] The third control mechanism 13 is used to drive the eye mechanism 21 to perform pitch motion. Figure 6As shown, the third control mechanism 13 is installed at the rear part of the lower surface of the upper substrate 14, and the third control mechanism 13 includes a third servo 131, a third servo rocker arm 132 and a third connecting rod 133. The output shaft of the third servo 131 is connected to the third servo rocker arm 132, the end of the third servo rocker arm 132 is hinged to one end of the third connecting rod 133, and the other end of the third connecting rod 133 is hinged to the hinge hole on the upper side of the eye socket 215 of the eye mechanism 21. The rotational movement of the output end of the third servo 131 can be finally transmitted to the eye mechanism 21 through the third servo rocker arm 132 and the third connecting rod 133, so as to realize the pitch movement of the eye mechanism 21 as a whole, and realize the pitch movement of the eyeball.

[0036] like Figure 7 and Figure 8 As shown, the middle-level mechanism 2 is located below the upper-level mechanism 1, and the middle-level mechanism 2 includes a middle-level substrate 25 and an eye mechanism 21, a fourth driving mechanism 22, a cheek mechanism and a nose bridge 24 installed on the middle-level substrate 25, the eye mechanism 21 is used to control the left and right rotation of the eyeball 217, the fourth driving mechanism 22 is used to drive the cheek mechanism to move, and the nose bridge 24 is used to fix the eye mechanism 21. See also Figure 7 and Fig. 9 The nose bridge 24 is installed at the frontmost part of the middle substrate 25, and the upper side of the nose bridge 24 is hingedly connected to the eye socket 215 in the eye mechanism 21, so that the eye mechanism 21 can rotate around the rotation axis on the upper side of the nose bridge 24. In some embodiments of the present invention, please refer to Figure 7 Two bosses 219 are provided at the middle position of the eye socket 215 , and the nose bridge 24 is hingedly connected via the two bosses 219 .

[0037] The eye mechanism 21 is located at the front of the middle mechanism 2. The eye mechanism 21 includes an eyeball mechanism and an eyelid 23. The eyeball mechanism includes an eye socket 215, two eyeball connecting rods 216, two eyeballs 217, an eyeball driving servo 211, an eyeball driving rocker arm 212, an eyeball driving pull rod 213 and an eye connecting rod 214. The nose bridge 24 is installed at the middle of the front end of the middle substrate 25. The eye socket 215 is located behind the nose bridge 24. The two sides of the eye socket 215 are respectively connected to the middle hinges of the two eyeball connecting rods 216. , the front ends of the two eyeball connecting rods 216 are both provided with eyeballs 217; the eyeball driving servo 211 is located in the middle of the rear side of the eye socket 215, the output end of the eyeball driving servo 211 is connected to the eyeball driving rocker arm 212, the eyeball driving rocker arm 212 is hingedly connected to one end of the eyeball driving pull rod 213, the other end of the eye driving pull rod 213 is hingedly connected to one end of the eye connecting rod 214, and the two ends of the eye connecting rod 214 are respectively hingedly connected to one end of the eyeball connecting rods 216 on the left and right sides. The output end of the eyeball driving servo 211 works, and the power is transmitted to the eye connecting rod 214 through the eyeball driving rocker arm 212, and then the eyeball connecting rod 216 can be driven to rotate left and right, so that the left and right rotation of the eyeball 217 can be controlled.

[0038] A third connecting rod hinge hole 218 is provided at the top of the eye socket 215 in the eyeball mechanism, and is hingedly connected to the third connecting rod 133 through the third connecting rod hinge hole 218. The eyeball mechanism can perform pitch movement under the drive of the third control mechanism 13; the two eye curtains 23 are located on both sides of the hinge at the upper end of the nose bridge 24, and each eye curtain 23 is provided with two hinge holes, defined as a bottom hinge hole 220 and a top hinge hole 221. The two eye curtains 23 are hinged on the two bosses 219 of the eye socket 215 through the bottom hinge hole 220, and the two eye curtains 23 are hinged to the first connecting rod 113 through the top hinge hole 221 to control the opening and closing of the eye curtains 23 through the first control mechanism.

[0039] The eye mechanism 21 is installed on the bridge of the nose 24 and can rotate around the hinge at the upper end of the bridge of the nose 24. The eye mechanism 21 is installed on the bridge of the nose 24 through the eye socket 215. There is a hinge hole on each side of the eye socket 215. The hinge is connected to the middle of the eyeball connecting rod 216. The front end of the eyeball connecting rod 216 is pasted with an eyeball 217 for simulating the appearance of the eyeball. The end is hinged to the lower side of the eye connecting rod 214. The upper side of the eye connecting rod 214 is hinged to the eyeball driving rod 213. The eyeball pulling rod 213 is driven by the eyeball driving steering gear 211 and the eyeball driving rocker arm 212 installed thereon, and can simultaneously drive two left-right symmetrical eyeball connecting rods 216 to rotate left-right to simulate the left-right rotation of the eyeball 217.

[0040] like Figure 7 , Figure 8 and Fig.10As shown, the fourth driving mechanism 22 is installed on the upper surface of the middle substrate 25. The fourth driving mechanism 22 includes a fourth steering gear group and a fourth steering gear rocker arm group, the fourth steering gear group includes two fourth steering gears 221, the fourth steering gear rocker arm group includes two fourth steering gear rocker arms 222, the two fourth steering gears 221 are installed symmetrically, the output end of each fourth steering gear 221 is connected to a fourth steering gear rocker arm 222, and the fourth steering gear rocker arm 222 is hingedly connected to the cheek mechanism to drive the movement of the cheek mechanism.

[0041] The cheek mechanism is located on the lower surface of the middle substrate 25, and includes a cheek frame 224, two cheek connecting rods 225, two cheek push rods 223 and two cheek blocks 226. The front end of the cheek push rod 223 is provided with a cheek block 226 for simulating cheeks. The cheek frame 224 is arranged on the lower surface of the middle substrate 25, and each side of the cheek frame 224 has a boss with a hole. One end of the two cheek connecting rods 225 is hinged on the two bosses, and the other end is hinged on the two bosses. They are respectively hinged to the hinge holes in the middle of the two cheek push rods 223, and the tail hinge holes of the two cheek push rods 223 are respectively hinged to the end of the two fourth servo rocker arms 222. The entire cheek mechanism forms a quadrilateral connecting rod, and the cheek connecting rod 225 can be driven by the fourth servo unit through the fourth servo rocker arm unit and the cheek push rods 223 to control the cheek connecting rod 225 to be pushed out or retracted obliquely upward, and the cheek of the head mold 6 is driven to move through the cheek block 226 to simulate the upward lifting action of the cheek muscles of the human body.

[0042] like Fig.11 As shown, the lower mechanism 3 is located below the middle mechanism 2 and is used to control the opening and closing of the mouth. The lower mechanism 3 includes a lower substrate 34 and a mouth mechanism disposed on the lower substrate 34, and the mouth mechanism includes a chin driving servo 31, a chin connecting arm 32 and a chin 33. The chin driving servo 31 for controlling the chin 33 is installed on the lower side of the lower substrate 34, and the output shafts on both sides of the chin driving servo 31 are connected to the chin connecting arms 32, and the two chin connecting arms 32 are respectively fixed to the two sides of the chin 33, and the chin driving servo 31 can directly control the chin 33 to rotate toward the lower substrate 34 or away from the lower substrate 34 to simulate the opening and closing of the mouth.

[0043] An opening is provided at the position corresponding to the eyes on the head mold 6, and an opening is provided at the position corresponding to the mouth on the head mold 6. The chin position of the head mold 6 can be mounted on the chin 33, and finally the chin driving servo 31 is driven to further drive the chin 33 up and down to realize the opening and closing of the mouth.

[0044] The bottom of the lower substrate 34 is connected to a neck substrate 35 via a support column 7 , and the neck substrate 35 is used to be fixed to the neck mechanism 4 .

[0045] In some embodiments of the present invention, the support column 7 is made of metal.

[0046] The neck mechanism 4 is located below the lower mechanism 3, as shown in FIG. Fig.12 As shown, the neck mechanism includes a neck pitch drive motor 41, a neck motor fixing seat 42, a neck mounting seat 43, a neck motor shaft clamp 44 and a neck shaking drive motor module 47. The neck pitch drive motor 41 is a turbine worm motor. The head pitch angle position can be maintained through the self-locking function of the turbine worm motor (self-locking is achieved through the worm gear transmission mechanism in the motor, and the head pitch angle can be kept from being changed by gravity when power is not supplied). The neck pitch drive motor 41 is installed in the neck motor fixing seat 42. The neck pitch drive motor 41 has two output shafts. The two neck mounting seats 43 are respectively clamped and fixed to the two output shafts through the neck motor shaft clamp 44, and the neck mounting seat 43 is connected and fixed to the neck base plate 35 to realize the connection between the neck mechanism 4 and the lower mechanism 3. The head structure formed by the upper mechanism 1, the middle mechanism 2, and the lower mechanism 3 can be rotated by the neck pitch drive motor 41. At the same time, the bottom of the neck motor fixing seat 42 is installed on the output end of the neck shaking drive motor module 47, and the entire head can be rotated left and right under the drive of the neck shaking drive motor module 47.

[0047] In some embodiments of the present invention, the neck mechanism 4 may be mounted on other platforms.

[0048] In some embodiments of the present invention, the neck mechanism further includes a neck limit switch 45 and a neck sensor fixing seat 46. Fig.12 As shown, the neck sensor fixing base 46 is installed on the right side of the neck pitch drive motor 41, and two neck limit switches 45 placed side by side are fixed on the neck sensor fixing base 46. The neck limit switch 45 is connected with the controller signal. The neck limit switch 45 can send a signal when the pitch angle of the head structure reaches a preset angle, and transmit the signal to the controller. The controller controls the neck pitch drive motor 41 to stop moving in time, which plays a protective role and can also obtain position information feedback to help the controller adjust the position and angle of the head structure.

[0049] In some embodiments of the present invention, a head sensor and a host computer are also included. The head sensor includes a position and speed sensor set in the first servo 111, the second servo 121, the third servo 131, the eyeball drive servo 211, the fourth servo 221, the chin drive servo 31, and the neck pitch drive motor 41. The rotation angle of each servo rocker arm is collected through the position sensor. The host computer is responsible for controlling the movement of the head structure and performing expression control; the head sensor and the neck limit switch 45 transmit the robot head position information and angle information to the host computer. The host computer controls the head device to make corresponding expressions and actions according to the control instructions input by the user, such as raising eyebrows, turning the eyeballs to the right, etc., and according to the received sound and image information. For example, after collecting sound data through a sound-microphone, it is uploaded to the host computer for natural language analysis. If a preset word such as "nod" or "shake head" is recognized, the head device is controlled to make a corresponding action. Image information can be used to identify the behavior and state of the interactive object through existing machine vision technology, and then the head device is controlled to make a corresponding expression.

[0050] The robot head device capable of simulating facial expressions provided by the aforementioned embodiments of the present invention has a compact structure, low manufacturing cost, and high degree of freedom. It also does not require pre-embedded traction points on the head mold, which can greatly reduce manufacturing cost and difficulty. It is highly practical and can be widely used in service robots and human-computer interaction research.

[0051] The device provided by the aforementioned embodiment of the present invention, by arranging a multi-layer mechanism for controlling the movement of hair, eyelids, eyeballs, cheeks and mouth, etc., and being provided with a neck mechanism, can realize the up and down sliding of eyebrows, the up and down and left and right movement of eyeballs, the opening and closing of eyelids, the lifting and relaxing of cheeks, the opening and closing of mouth, the pitching and shaking of neck, etc., and can simulate complex facial expressions of humans by means of structural changes of the mechanism, friction of skin and changes of the geometric shape of the mechanism, and can realize facial expression communication with people, and then realize emotional communication, thereby solving the problem of poor human-computer interaction effect and lack of facial expressions of humanoid robots.

[0052] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A robot head device capable of simulating facial expressions, characterized in that: It includes a head shell, a head mold, a neck mechanism and a head structure arranged on the top of the neck mechanism; The head shell is arranged on the head structure, and the head mold is sleeved on the head shell; The neck mechanism is used to drive the head structure to perform left-right and pitch rotation movements; The head structure includes an upper mechanism for controlling the opening and closing of eyelids and the rotation of brow bones, a middle mechanism for controlling the rotation of eyeballs and cheek movements, and a lower mechanism; The lower mechanism includes a mouth mechanism, and the mouth mechanism is used to control the opening and closing of the mouth; The middle-level organization is located above the lower-level organization, and the upper-level organization is located above the middle-level organization; The upper mechanism includes a first control mechanism, a second control mechanism, a third control mechanism and a brow bone mechanism, wherein the second control mechanism is used to drive the brow bone mechanism to move up and down; The middle-layer mechanism includes an eye mechanism, a fourth driving mechanism, a cheek mechanism and a nose bridge, the fourth driving mechanism is used to drive the cheek mechanism to move, and the cheek mechanism is used to simulate the movement of the human cheek; the eye mechanism includes an eyeball mechanism and an eyelid, the first control mechanism is used to control the opening and closing of the eyelid, the third control mechanism is used to drive the pitch movement of the eyeball mechanism, and the eyeball mechanism is used to drive the rotation of the eyeball; the eye mechanism is hinged to the nose bridge.

2. A robot head device capable of simulating facial expressions according to claim 1, characterized in that: The neck mechanism includes a neck pitch drive motor, a neck motor fixing seat, a neck mounting seat, and a neck shaking head drive motor module; the neck motor fixing seat is arranged on the output end of the neck shaking head drive motor module, the neck pitch drive motor is arranged on the neck motor fixing seat, the neck mounting seat is arranged on the output shaft of the neck pitch drive motor, and the head structure is arranged on the neck mounting seat.

3. A robot head device capable of simulating facial expressions according to claim 1, characterized in that: The mouth mechanism comprises a chin driving servo, a chin connecting arm and a chin, wherein the output end of the chin driving servo is connected to the chin through the chin connecting arm to drive the chin to rotate.

4. The robot head device capable of simulating facial expressions according to claim 1, characterized in that: The fourth driving mechanism includes a fourth driving servo, and the fourth driving servo is hinged to the cheek mechanism through a fourth servo rocker arm.

5. A robot head device capable of simulating facial expressions according to claim 4, characterized in that: The cheek mechanism includes a cheek frame, a cheek connecting rod, a cheek push rod and a cheek block for simulating the cheek, one end of the cheek connecting rod is hinged to the cheek frame, and the other end is hinged to the middle part of the cheek push rod, one end of the cheek push rod is hinged to the four-servo rocker arm, and the other end is connected to the cheek block, and the cheek block is driven to move up and down by the fourth driving servo.

6. The robot head device capable of simulating facial expressions according to claim 1, characterized in that: The eyeball mechanism comprises an eye socket, two eyeball connecting rods, two eyeballs for simulating the appearance of eyeballs, an eye connecting rod, an eyeball driving pull rod, an eyeball driving rocker arm and an eyeball driving servo; the eye socket is located behind the bridge of the nose, the two eyeball connecting rods are hinged to the two sides of the eye socket, and one end of the two eyeball connecting rods is respectively provided with an eyeball, and the other ends of the two eyeball connecting rods are respectively hinged to the two ends of the eye connecting rod; and the eye connecting rod is hinged to the eyeball driving rocker arm through the eyeball driving pull rod, and the eyeball driving rocker arm is connected to the output end of the eyeball driving servo; the eyelid is hinged to the eye socket, and the eyelid is connected to the first control mechanism; the eye socket is connected to the third control mechanism.

7. A robot head device capable of simulating facial expressions according to claim 6, characterized in that: The first control mechanism includes a first steering gear, a first steering gear rocker arm and a first connecting rod. The output end of the first steering gear is connected to the first connecting rod through the first steering gear group rocker arm, and the first connecting rod is hinged to the eye curtain.

8. The robot head device capable of simulating facial expressions according to claim 6, characterized in that: The third control mechanism comprises a third steering gear, a third steering gear rocker arm and a third connecting rod. The output end of the third steering gear is connected to the third connecting rod through the third steering gear rocker arm, and the third connecting rod is hinged to the eye socket.

9. The robot head device capable of simulating facial expressions according to claim 1, characterized in that: The second control mechanism includes a second servo, a second servo rocker arm and a second connecting rod. The output end of the second servo is connected to the second connecting rod through the second servo rocker arm, and the second connecting rod is hinged to the brow mechanism.

10. A robot head device capable of simulating facial expressions according to any one of claims 1 to 9, characterized in that: It also includes a head sensor, a neck limit switch and a host computer. The head sensor is located in the head structure, the neck limit switch is arranged on the neck mechanism, and the host computer is used to control the movement of the head structure and to perform expression control.

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