Simulated facial expression robot neck movement equipment

Abstract

The invention belongs to the technical field of robot necks, and particularly relates to simulation facial expression robot neck movement equipment which is characterized in that a neck adjusting assembly is arranged below a simulation robot head, four second fixing seats are fixedly arranged on the surface of one side of the bottom end of the simulation robot head, and second mounting seats are movably mounted on the surfaces of the second fixing seats; a rotating sleeve is arranged on the inner side of the second mounting seat through a rotating rod, an electric telescopic push rod is fixedly arranged on the surface of the rotating sleeve, a first mounting seat is mounted at the other end of the electric telescopic push rod through the rotating sleeve, and a first fixing seat is arranged at the bottom end of the first mounting seat; by arranging a plurality of electric telescopic push rod structures between the head and the neck, the head of the simulation robot can be set to raise or lower the head like a human, so that the flexible rotation of the neck of the simulation robot is improved; and the structure can be flexibly adjusted according to the stretching and retracting of the electric telescopic push rod by matching a rotating rod and a rotating sleeve which are movably arranged in the mounting seat II and the mounting seat I.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot neck, and particularly relates to a robot neck motion device for simulating facial expression. BACKGROUND

[0002] The robot neck motion mechanism for simulating facial expression plays a crucial role in the process of expression robot expression presentation and human-computer interaction. Designing a neck motion mechanism that can simulate human neck motion as much as possible is an important research direction in the field of facial expression robot research.

[0003] With the development of the robot industry, service robots are also rapidly developing. As a kind of service robot, humanoid robots have similar external characteristics to humans, need to serve people, and can realize some simple human-like basic actions. Psychological research shows that more than 60% of human emotional expression and information exchange is achieved through non-verbal means, such as expressions, eye contact, head movements, etc. Among them, head movements and facial expressions account for a large proportion. Therefore, in the research of humanoid robots, the realization of head movements and facial expressions is an important basis for personification, and it is of great significance to design a robot head that can easily express human-like expression movements.

[0004] In the technical scheme, the existing neck motion device usually adopts a simple rotation or pitching mechanism, and the motion range is limited, and it is difficult to coordinate with facial expressions. In addition, the mechanical structure of the traditional device is complex, the energy consumption is high, and the dynamic response speed is insufficient, which cannot meet the demand of high simulation interaction. It cannot simulate the flexible movement of the human neck; at the same time, the simulation robot neck either rotates the head or moves the head up and down in the movement process. SUMMARY

[0005] Based on the technical problems existing in the prior art, the present application provides a robot neck motion device for simulating facial expression.

[0006] The application provides a neck movement device of a simulated facial expression robot, which comprises a simulated robot head, a neck adjusting assembly is arranged below the simulated robot head, four second fixing seats are fixedly arranged on the side surface of the bottom end of the simulated robot head, a second mounting seat is movably arranged on the surface of the second fixing seat, a rotating sleeve is arranged on the inner side of the second mounting seat through a rotating rod, an electric telescopic push rod is fixedly arranged on the surface of the rotating sleeve, a first mounting seat is movably arranged on the bottom end of the first mounting seat through a rotating sleeve, and the first mounting seat is movably arranged on the bottom end of the first mounting seat.

[0007] Preferably, the first fixing seat is fixedly arranged on the surface of the support seat, four first fixing seats are arranged corresponding to the second fixing seats, a rotating ring is movably arranged below the support seat, and a base is movably arranged on the lower surface of the rotating ring; the rotating ring, the base and the support seat are arranged in cooperation, so that the simulated robot head can be rotated left and right, the rolling friction is formed between the bearing body and the inner ring due to the arrangement of the balls, the rotating resistance is greatly reduced, the flexibility and smoothness of the neck movement are ensured, the active connection between the limiting block and the inner ring allows the relative rotation of the inner ring and limits the axial displacement of the inner ring, the motion deviation is avoided, and the accuracy of action control is improved; the fixed connection between the limiting block and the bearing body forms rigid support, the radial and axial loads of the bearing in the motion are dispersed, the deformation or misplacement caused by external force impact is prevented, the inner ring is tightly matched with the fixed column, the overall structure is further stabilized, and the robot neck is suitable for frequent or high-intensity motion requirements.

[0008] Preferably, a docking seat is fixedly arranged on the side surface of the bottom end of the simulated robot head, a spine assembly is movably arranged on the surface of the docking seat, and the spine assembly is movably connected by a plurality of spine bodies; the spine assembly composed of the plurality of spine bodies is arranged on the surface of the simulated robot head in cooperation with the docking seat, so that the flexible movement of the simulated robot head is more like that of a human being.

[0009] Preferably, a rotating shaft is fixedly arranged on the bottom end of the support seat, a plurality of balls are movably arranged in the rotating ring through a bead chain, and the rotating shaft is positioned and connected with the inner wall of the rotating ring; the bead chain and the balls arranged in the rotating ring and the inner side thereof in cooperation with the rotating shaft can provide an auxiliary action for the left and right movement of the simulated robot head and the support seat.

[0010] Preferably, the bottom end of the mounting seat one is fixedly provided with a fixed column, the inside of the fixed seat one is inlaid with a bearing body, and the fixed column is positioned with the bearing body; the bearing body and the fixed column arranged in the inside of the fixed seat one and the mounting seat one can make the structure cooperate with the electric telescopic push rod to flexibly adjust.

[0011] Preferably, the connecting part of the bearing body and the fixed column is provided with an inner ring, a plurality of limiting blocks and balls are arranged between the inner ring and the bearing body, the limiting blocks are movably connected with the inner ring, and the limiting blocks are fixedly connected with the bearing body; the cooperation of the limiting blocks and the balls can make the inner ring move in the inside of the bearing body, and the fixed column connected with the inner ring and the mounting seat one at the top end of the fixed column can make the electric telescopic push rod structure move flexibly.

[0012] Preferably, the connection of the fixed seat two and the mounting seat two is the same as the connection of the fixed seat one and the mounting seat one; the connection of the fixed seat two and the mounting seat two is the same as the connection of the fixed seat one and the mounting seat one, which can provide flexible rotation for the structure.

[0013] Preferably, the upper and lower surfaces of the spine body are fixedly provided with four protrusions, the surfaces of the protrusions are threadedly connected with fastening bolts, and two grooves are arranged on the upper surface of the spine body; the cooperation of the protrusions and the grooves arranged on the surface of the spine body and the fastening bolts can facilitate the connection of the structure assembly while allowing the structure assembly to move freely without obstruction; meanwhile, the cooperation of the four protrusions fixedly arranged on the upper and lower surfaces of the spine body and the fastening bolts forms multi-point rigid connection, effectively disperses mechanical stress, improves the load-carrying capacity and anti-deformation performance of the overall structure, and ensures the stability and reliability during neck movement; through the cooperative design of the protrusions, the bolts and the grooves, a balance is achieved between rigid connection and light weight, which meets the high-strength mechanical demand, takes into account the movement flexibility and maintainability, and is suitable for the neck movement system of a robot with high simulation and high precision requirements.

[0014] Preferably, the middle connecting parts of the plurality of spine bodies are sequentially provided with an outer connecting ring and an inner connecting ring, and the surface of the outer connecting ring is provided with a threaded hole; the cooperation of the outer connecting ring and the inner connecting ring can provide connecting pieces and movement space for the connection and movement of the spine bodies.

[0015] Preferably, the fastening bolts penetrating through the protrusions are connected with the surface of the inner connecting ring through the threaded hole on the surface of the outer connecting ring; the fastening bolts penetrating through the protrusions, the outer connecting ring and the inner connecting ring flexibly connect the plurality of spine bodies, and meanwhile, the fastening bolts penetrating through the protrusions cooperate with the threaded hole of the outer connecting ring to form rigid connection, thereby ensuring the close fixing between the inner connecting ring and the outer connecting ring and improving the stability and anti-vibration capacity of the overall structure.

[0016] Compared with the prior art, the present application provides a facial expression simulation robot neck movement device, which has the following advantages: 1. A facial expression simulation robot neck movement device, which can simulate the head of a robot to lift or lower like a human by arranging a plurality of electric telescopic push rods between the head and the neck, thereby improving the flexible rotation of the neck of the simulation robot.

[0017] 2. A facial expression simulation robot neck movement device, which can drive the head of the simulation robot to rotate left and right by cooperating with the rotating ring, the base and the support seat, and can provide an auxiliary function for the left and right movement of the head of the simulation robot and the support seat by cooperating with the rotating shaft arranged inside the rotating ring and the bead chain and the ball arranged inside the rotating ring. The arrangement of the ball forms rolling friction between the bearing body and the inner ring, greatly reduces the rotation resistance, ensures the flexibility and smoothness of the neck movement, and the movable connection design of the limiting block and the inner ring allows the relative rotation of the inner ring and limits the axial displacement, avoids movement deviation, and improves the accuracy of action control. The fixed connection of the limiting block and the bearing body forms a rigid support, disperses the radial and axial load of the bearing during movement, prevents deformation or misplacement caused by external force impact, and the close cooperation of the inner ring and the fixed column further stabilizes the overall structure, which is suitable for frequent or high-intensity movement requirements of the robot neck.

[0018] 3. A facial expression simulation robot neck movement device, which can make the flexible movement of the head of the simulation robot more like a human by arranging a plurality of spine bodies to form a spine assembly and installing the assembly on the surface of the head of the simulation robot. The convex block and the recess arranged on the surface of the spine body cooperate with the fastening bolt to make the structure assembly convenient to connect and movable without obstruction. The arrangement of the outer connecting ring and the inner connecting ring can provide connecting pieces and movement space for the connection and movement of the spine body, and the plurality of spine bodies are flexibly connected by the fastening bolt penetrating the convex block, the outer connecting ring and the inner connecting ring. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall structure diagram of the facial expression simulation robot neck movement device proposed in the present application; Figure 2 The spine structure diagram of the facial expression simulation robot neck movement device proposed in the present application; Figure 3 The head lifting and lowering assembly structure diagram of the facial expression simulation robot neck movement device proposed in the present application; Figure 4The head rotating assembly structure schematic diagram of the neck movement equipment of the simulation facial expression robot is provided in the present application. Figure 5 The head rotating assembly structure schematic diagram of the lifting assembly and the support rotating assembly is provided in the present application. Figure 6 The spinal column disassembling assembly structure schematic diagram is provided in the present application.

[0020] In the figure: 1, the simulation robot head; 2, the support seat; 3, the spinal column assembly; 4, the neck adjusting assembly; 5, the docking seat; 6, the rotating ring; 7, the base; 8, the spinal column main body; 9, the fixed seat one; 10, the mounting seat one; 11, the electric telescopic push rod; 12, the fixed seat two; 13, the mounting seat two; 14, the rotating sleeve; 15, the rotating rod; 16, the fixed column; 17, the bearing main body; 18, the inner ring; 19, the limiting block; 20, the ball; 21, the ball chain; 22, the rotating shaft; 23, the outer connecting ring; 24, the threaded hole; 25, the inner connecting ring; 26, the recess; 27, the fastening bolt; 28, the protruding block. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described in the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0022] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0023] Reference Figures 1-6The utility model provides a kind of simulation facial expression robot neck movement equipment, including simulation robot head 1, the lower of simulation robot head 1 is provided with neck adjusting assembly 4, the bottom end side surface of simulation robot head 1 is fixedly provided with four fixed seat two 12, the surface of fixed seat two 12 is movably installed with mounting seat two 13, and inside of mounting seat two 13 is provided with rotating sleeve 14 by rotating rod 15, the surface of rotating sleeve 14 is fixedly provided with electric telescopic push rod 11, another end of electric telescopic push rod 11 is installed with mounting seat one 10 by rotating sleeve 14, and the bottom end of mounting seat one 10 is movably provided with fixed seat one 9, by being provided with multiple electric telescopic push rod structures between head and neck, the head of simulation robot can be set as human being and is lifted or lowered, to improve the flexible rotation of simulation robot neck, fixed seat two 12 and mounting seat two 13 are installed on the surface of simulation robot head 1, fixed seat one 9 and mounting seat one 10 are installed on the surface of support seat 2, and rotating rod 15 and rotating sleeve 14 movably arranged in mounting seat two 13 and mounting seat one 10 can be flexibly adjusted according to the telescopic of electric telescopic push rod 11.

[0024] Further, fixed seat one 9 is fixedly provided on the surface of support seat 2, and four fixed seat one 9 are provided corresponding to fixed seat two 12, rotating ring 6 is movably arranged below support seat 2, and bottom 7 is movably arranged on the lower surface of rotating ring 6, and rotating ring 6 and bottom 7 are movably arranged in mounting seat two 13 and mounting seat one 10, and rotating ring 6 and bottom 7 can drive simulation robot head 1 to rotate left and right.

[0025] Further, the bottom end side surface of simulation robot head 1 is fixedly installed with docking seat 5, and spine assembly 3 is movably arranged on the surface of docking seat 5, and spine assembly 3 is movably connected by multiple spine main bodies 8, and docking seat 5 is installed on the surface of simulation robot head 1 by spine assembly 3 composed of multiple spine main bodies 8, so that the flexible movement of simulation robot head 1 is more like human being.

[0026] Further, the bottom end of support seat 2 is fixedly provided with rotating shaft 22, and multiple balls 20 are movably arranged in rotating ring 6 by bead chain 21, and rotating shaft 22 is positioned and connected with the inner wall of rotating ring 6, and rotating shaft 22 is arranged in rotating ring 6, and bead chain 21 and balls 20 in rotating ring 6 can provide auxiliary action for the left and right movement of simulation robot head 1 and support seat 2.

[0027] Further, the bottom end of mounting seat one 10 is fixedly provided with fixed column 16, bearing body 17 is inlaid in the inside of fixed seat one 9, and fixed column 16 is positioned and arranged with bearing body 17, and bearing body 17 and fixed column 16 arranged in the inside of fixed seat one 9 and mounting seat one 10 can be flexibly adjusted by cooperating with electric telescopic push rod.

[0028] Further, the connection between the bearing body 17 and the fixed column 16 is provided with an inner ring 18, a plurality of limiting blocks 19 and balls 20 are arranged between the inner ring 18 and the bearing body 17, the limiting blocks 19 are movably connected with the inner ring 18, and the limiting blocks 19 are fixedly connected with the bearing body 17. The cooperation of the limiting blocks 19 and the balls 20 can make the inner ring 18 move in the bearing body 17, and the fixed column 16 connected with the inner ring 18 and the mounting seat one 10 at the top of the fixed column 16 can make the electric telescopic push rod structure move flexibly. The arrangement of the balls 20 forms rolling friction between the bearing body 17 and the inner ring 18, greatly reduces the rotating resistance, ensures the flexibility and fluency of the neck movement, and the movable connection design of the limiting blocks 19 and the inner ring 18 allows relative rotation of the inner ring and limits its axial displacement, avoids movement deviation, and improves the accuracy of action control; the fixed connection of the limiting blocks 19 and the bearing body 17 forms a rigid support, disperses the radial and axial load of the bearing during movement, prevents deformation or misplacement caused by external force impact, and the close cooperation of the inner ring 18 and the fixed column 16 further stabilizes the overall structure, which is suitable for the frequent or high-intensity movement requirements of the robot neck.

[0029] Further, the connection between the fixed seat two 12 and the mounting seat two 13 is the same as the connection between the fixed seat one 9 and the mounting seat one 10, and the connection between the fixed seat two 12 and the mounting seat two 13 can provide flexible rotation for the structure.

[0030] Further, the upper and lower surfaces of the spine body 8 are fixedly provided with four protrusions 28, and the surfaces of the protrusions 28 are threadedly connected with fastening bolts 27. Two recesses 26 are formed in the upper surface of the spine body 8. The cooperation of the protrusions 28 and the recesses 26 on the surface of the spine body 8 and the fastening bolts 27 can facilitate the connection of the structure assembly while allowing it to move freely without obstruction. Meanwhile, the cooperation of the four protrusions 28 fixedly arranged on the upper and lower surfaces of the spine body 8 and the fastening bolts 27 forms a multi-point rigid connection, effectively disperses mechanical stress, improves the load-carrying capacity and anti-deformation performance of the overall structure, and ensures the stability and reliability of the neck movement; the structure cooperates the protrusions, bolts and recesses to balance between rigid connection and lightweight, which meets the high-strength mechanical requirements, takes into account the movement flexibility and maintainability, and is suitable for high-simulation and high-precision robot neck movement systems.

[0031] Further, the middle connection of the plurality of spine bodies 8 is sequentially provided with an outer connecting ring 23 and an inner connecting ring 25, and a threaded hole 24 is formed in the surface of the outer connecting ring 23. The cooperation of the outer connecting ring 23 and the inner connecting ring 25 can provide connecting pieces and movement space for the connection and movement of the spine body 8.

[0032] Further, the fastening bolt 27 penetrates the protrusion 28 and is connected to the surface of the inner connecting ring 25 through the threaded hole 24 of the outer connecting ring 23. The plurality of spine bodies 8 are flexibly connected by the fastening bolt 27 penetrating the protrusion 28, the outer connecting ring 23 and the inner connecting ring 25. At the same time, the fastening bolt 27 penetrates the protrusion 28 and cooperates with the threaded hole 24 of the outer connecting ring 23 to form a rigid connection, which ensures the close fixing between the inner connecting ring 25 and the outer connecting ring 23 and improves the stability and anti-vibration capability of the overall structure.

[0033] The implementation principle of the subject embodiment is: By arranging a plurality of electric telescopic push rod structures between the head and the neck, the head of the simulation robot can be lifted or lowered like a human being, thereby improving the flexible rotation of the neck of the simulation robot. The fixed seat two 12 and the mounting seat two 13 are installed on the surface of the head 1 of the simulation robot, and the fixed seat one 9 and the mounting seat one 10 are installed on the surface of the support seat 2. The rotation rod 15 and the rotation sleeve 14 movably arranged in the mounting seat two 13 and the mounting seat one 10 can make the structure flexibly adjustable according to the extension and contraction of the electric telescopic push rod 11. The bearing body 17 and the fixed column 16 arranged in the fixed seat one 9 and the mounting seat one 10 can make the structure flexibly adjustable in cooperation with the electric telescopic push rod. The limiting block 19 and the ball 20 can make the inner ring 18 move in the bearing body 17, and the fixed column 16 connected to the inner ring 18 and the mounting seat one 10 at the top of the fixed column 16 can make the electric telescopic push rod structure move flexibly. The connection of the fixed seat two 12 and the mounting seat two 13 is the same as that of the fixed seat one 9 and the mounting seat one 10, which can provide flexible rotation for the structure.

[0034] The rotation ring 6, the base 7 and the support seat 2 arranged in cooperation can drive the simulation robot head 1 to rotate left and right. The rotation shaft 22 is arranged in the rotation ring 6, and the bead chain 21 and the ball 20 in the rotation ring 6 can provide auxiliary action for the left and right movement of the simulation robot head 1 and the support seat 2.

[0035] The plurality of spine bodies 8 are flexibly connected by the fastening bolt 27 penetrating the protrusion 28, the outer connecting ring 23 and the inner connecting ring 25. The upper surface of the spine body 8 is provided with two grooves 26. The protrusion 28 arranged on the surface of the spine body 8 cooperates with the fastening bolt 27 to make the structure assembly convenient to connect and movable without obstruction. The arrangement of the outer connecting ring 23 and the inner connecting ring 25 can provide connecting pieces and movement space for the connection and movement of the spine body 8.

[0036] The above merely describes preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application and according to the technical solutions and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A robotic neck movement device for simulating facial expressions, comprising a simulated robotic head (1), characterized in that, The lower part of the simulation robot head (1) is provided with a neck adjusting assembly (4), the bottom end side surface of the simulation robot head (1) is fixedly provided with four fixed seats two (12), the surface of the fixed seat two (12) is movably mounted with a mounting seat two (13), and the inner side of the mounting seat two (13) is provided with a rotating sleeve (14) through a rotating rod (15), the surface of the rotating sleeve (14) is fixedly provided with an electric telescopic push rod (11), the other end of the electric telescopic push rod (11) is mounted with a mounting seat one (10) through the rotating sleeve (14), and the bottom end of the mounting seat one (10) is movably provided with a fixed seat one (9).

2. The robotic neck movement device for simulating facial expressions of claim 1, wherein, The fixed seat one (9) is fixedly arranged on the surface of the support seat (2), and the fixed seat one (9) is provided with four corresponding fixed seat two (12), the lower part of the support seat (2) is movably provided with a rotating ring (6), and the lower surface of the rotating ring (6) is movably provided with a base (7).

3. The robotic neck movement device for simulating facial expressions of claim 1, wherein, The bottom end side surface of the simulation robot head (1) is fixedly mounted with a docking seat (5), the surface of the docking seat (5) is movably provided with a spine assembly (3), and the spine assembly (3) is movably connected by a plurality of spine main bodies (8).

4. The robotic neck movement device for simulating facial expressions of claim 3, wherein, The bottom end of the support seat (2) is fixedly provided with a rotating shaft (22), and the inside of the rotating ring (6) is movably provided with a plurality of balls (20) through a bead chain (21), and the rotating shaft (22) and the inner wall of the rotating ring (6) are positioned and connected.

5. The robotic neck movement device for simulating facial expressions of claim 1, wherein, The bottom end of the mounting seat one (10) is fixedly provided with a fixed column (16), the inside of the fixed seat one (9) is inlaid with a bearing main body (17), and the fixed column (16) and the bearing main body (17) are positioned and arranged.

6. The robotic neck movement device for emulating facial expressions of claim 5, wherein, The connecting part of the bearing main body (17) and the fixed column (16) is provided with an inner ring (18), a plurality of limiting blocks (19) and balls (20) are arranged between the inner ring (18) and the bearing main body (17), the limiting blocks (19) are movably connected with the inner ring (18), and the limiting blocks (19) are fixedly connected with the bearing main body (17).

7. The robotic neck movement device for emulating facial expressions of claim 6, wherein, The connection between the fixed seat two (12) and the mounting seat two (13) is the same as the connection between the fixed seat one (9) and the mounting seat one (10).

8. The robotic neck movement device emulating facial expressions of claim 7, wherein, The upper and lower surfaces of the spine main body (8) are fixedly provided with four protrusions (28), the surface of the protrusion (28) is threadedly connected with a fastening bolt (27), and the upper surface of the spine main body (8) is provided with two grooves (26).

9. The robotic neck movement device for emulating facial expressions of claim 8, wherein, The middle connecting part of the plurality of spine main bodies (8) is sequentially provided with an outer connecting ring (23) and an inner connecting ring (25), and the surface of the outer connecting ring (23) is provided with a threaded hole (24).

10. The robotic neck movement device emulating facial expressions of claim 9, wherein, The fastening bolt (27) penetrates the protrusion (28) and is connected with the surface of the inner connecting ring (25) through the threaded hole (24) on the surface of the outer connecting ring (23).

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