Bionic robot lip actuator, facial system, and control method

Abstract

This invention provides a bionic robot lip actuation device, facial system, and control method. The bionic robot lip actuation device includes a sliding groove, a transmission mechanism, and a deformable body. The transmission mechanism includes at least one movable member that slidably engages with the sliding groove and is capable of disengaging from it. The end of the movable member is connected to the deformable body, which is a flexible structure. The sliding groove constrains and guides the movable member, making the movement of the deformable body controlled and predictable. Because the end of the movable member can disengage from the sliding groove, it can drive the deformable body to protrude outwards, thereby completing a continuous and natural morphological transformation of the bionic robot's lips from closed to everted pouting.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a bionic robot lip drive device, facial system, and control method. Background Technology

[0002] Currently, in the facial expression simulation of humanoid robots, service robots, and entertainment robots, the realism of lip movements is key to improving the affinity of human-computer interaction. In existing technologies, lip actuation mostly relies on simple linear motion units to directly drive lip components. Such designs can often only achieve basic opening and closing movements, and it is difficult to controllably simulate complex morphological changes such as lip eversion or from closed to eversion.

[0003] The common shortcomings of existing technologies are: firstly, they cannot achieve a continuous and natural transformation of the robot's lips from closed to everted and pouting; secondly, they lack flexible and elastic structures, resulting in stiff movements; and thirdly, their complex structures and poor compactness make them difficult to place within the limited space of a robot's head. Therefore, there is an urgent need for a control device that can simulate the complex movements of human lips, has a compact structure, and produces natural movements. Summary of the Invention

[0004] The purpose of this invention is to solve at least one of the problems existing in the background art.

[0005] The first aspect of the present invention provides a bionic robot lip driving device, including a sliding groove, a transmission mechanism, and a deformable body; the transmission mechanism includes at least one movable member, the movable member being slidably engaged with the sliding groove, and the end of the movable member being disengaged from the sliding groove; the end of the movable member is connected to the deformable body, and the deformable body is a flexible structure.

[0006] Furthermore, the movable member is a rigid member, and the end of the movable member can be flipped relative to the sliding groove.

[0007] Furthermore, the movable component is a deformable component made of a flexible material.

[0008] Furthermore, the deformable parts are configured as two opposing sets to form the lips of the bionic robot.

[0009] Furthermore, it also includes a bionic muscle layer, which is disposed between the movable member and the deformable shape, the movable member being directly connected to the bionic muscle layer, and the bionic muscle layer being directly connected to the deformable shape.

[0010] Furthermore, the biomimetic muscle layer is made of a shape memory alloy layer, carbon nanotube fibers, or PVC gel.

[0011] Furthermore, the sliding groove is a straight limiting sliding groove, a U-shaped or arc-shaped limiting sliding groove.

[0012] Furthermore, the transmission mechanism includes multiple rod-shaped connecting members, which are sequentially connected by planar hinges. At least one movable member of the transmission mechanism engages with the sliding groove. The power source of the transmission mechanism is a motor output shaft, which is directly connected to one of the rod-shaped connecting members.

[0013] A second aspect of the present invention provides a bionic robot facial system, including the bionic robot lip driving device of any of the above, and further including a facial skeleton; the bionic robot lip driving device is disposed on the facial skeleton.

[0014] A third aspect of the present invention provides a method for controlling the lip movement of a bionic robot, used to control the lip driving device described in any of the above-mentioned claims, the method comprising the following steps:

[0015] Closing phase: The power source is controlled to drive the transmission mechanism, causing the movable component to move along the sliding groove in the lip closing direction, thereby driving the deformable part to close the lips tightly;

[0016] Simulated pouting stage: After the lips are closed, the power source continues to apply driving force, causing the end of the movable component to continue to move and disengage from the sliding groove, thereby driving the deformable part to produce local outward deformation, forming a pouting expression;

[0017] Reset phase: Control the power source to drive the transmission mechanism in reverse, so that the movable component moves along the sliding groove in the direction of lip opening, and drives the deformable shape to return from the pouting shape to the initial shape.

[0018] The beneficial effects of the present invention are: the sliding groove constrains and guides the movable component, so that the movement of the deformable part is controlled and predictable; since the end of the movable component can disengage from the sliding groove, it can drive the deformable part to bulge outward, thereby achieving a more natural lip movement and completing the continuous and natural morphological transformation of the bionic robot's lips from tightly closed to everted pouting. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a bionic robot lip-driving device according to an embodiment of the present invention:

[0020] Explanation of reference numerals in the attached drawings: 1-Transmission mechanism; 2-Moving component; 3-Sliding groove; 4-Deformation shape; 5-Motor output shaft. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the invention clearer, the technical solutions of the invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0023] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0024] like Figure 1 As shown, a first aspect of the present invention provides a bionic robot lip-driving device, including a sliding groove 3, a transmission mechanism 1, and a deformable shape 4; the transmission mechanism 1 includes at least one movable member 2, which is slidably engaged with the sliding groove 3, and the end of the movable member 2 can disengage from the sliding groove 3; the end of the movable member 2 is connected to the deformable shape 4, which is a flexible structure. The movable member 2 is configured such that its end can disengage from the sliding groove 3, which allows the mechanism to obtain additional degrees of freedom of movement after performing a specific action (such as closing the lips), thereby enabling more complex and greater-amplitude facial expressions, such as pouting or pursing.

[0025] The bionic robot lip driving device provided by this invention ingeniously lays the mechanical foundation for achieving natural and gentle lip deformation while ensuring driving efficiency and precision. It effectively solves the problems of insufficient force or inaccurate control that may exist in purely flexible driving, as well as the problem of stiff movement that may occur in purely rigid mechanisms.

[0026] The movable component 2 slides along the sliding groove 3, causing the deformable part 4 to move as a whole, thus achieving the opening and closing action. Continuing to apply driving force causes the end of the movable component 2 to overcome the limiting resistance of the deformable part 4 and disengage from the sliding groove 3. At the moment of disengagement, the elastic deformation energy accumulated in the deformable part 4 is released, resulting in a partial outward turn of the lips, forming a pouting shape. When the expression returns to normal, the movable component 2 is controlled to move in the opposite direction, and the end of the movable component 2 re-enters the sliding groove 3, restoring its initial posture. This method can complete the entire sequence of actions from translational sliding to outward pouting with a single motor drive, without the need for additional actuators or switching mechanisms.

[0027] In one embodiment, the movable member 2 is a rigid member, and the end of the movable member 2 can be flipped relative to the sliding groove 3. In this embodiment, after the rigid member flips out of the sliding groove 3, it can cause the deformable part 4 to deform, thereby achieving a natural lip movement.

[0028] In one embodiment, the movable member 2 is a deformable member made of a flexible material. In this embodiment, the movable member 2 made of flexible material can undergo a more natural bending deformation when disengaging from the sliding groove 3, thereby achieving a natural lip movement.

[0029] In one embodiment, the deformable form 4 is configured as two opposing sets to form the lips of a bionic robot.

[0030] In one embodiment, a bionic muscle layer is further included, which is disposed between the movable member 2 and the deformable shape 4. The movable member 2 is directly connected to the bionic muscle layer, and the bionic muscle layer is directly connected to the deformable shape 4. Because the bionic muscle layer has elastic deformation capability, it can convert the concentrated point force output by the transmission mechanism into a dispersed force acting on the inner side of the deformable shape 4. When subjected to force, the bionic muscle layer undergoes elastic deformation, achieving force buffering and a smooth transition of deformation, making it less likely for local protrusions or depressions to appear on the surface of the deformable shape 4 due to direct influence from internal mechanical movement.

[0031] In one embodiment, the biomimetic muscle layer is made of a shape memory alloy layer, carbon nanotube fibers, or PVC gel. The shape memory alloy layer can achieve active deformation through electrothermal control, the carbon nanotube fibers have excellent strength and response speed, and the PVC gel has good electrostrictive properties.

[0032] In one embodiment, the sliding groove 3 is a straight limiting sliding groove 3, a U-shaped or arc-shaped limiting sliding groove 3.

[0033] In one embodiment, the biomimetic muscle layer and the deformable shape 4 are detachably connected or integrally molded, and there are no rigid parts penetrating the surface between them, ensuring a continuous appearance without mechanical traces.

[0034] In one embodiment, a controller is further included, the controller being configured to drive the transmission mechanism according to a target facial expression command.

[0035] In one embodiment, the transmission mechanism 1 includes multiple rod-shaped connecting members, which are sequentially connected by planar hinges. A movable member 2 at the end of the transmission mechanism 1 engages with the sliding groove 3. The power source of the transmission mechanism 1 is a motor output shaft 5, which is directly connected to one of the rod-shaped connecting members. In this embodiment, an underactuated device is formed between the transmission mechanism 1, the sliding groove 3, and the power source, making the deformation path of the deformable shape 4 closer to the natural movement trajectory of the human lip, rather than a mechanically fixed path, thus making the lip movements appear more natural.

[0036] A second aspect of the present invention provides a bionic robot facial system, including the bionic robot lip driving device of any of the above, and further including a facial skeleton; the bionic robot lip driving device is disposed on the facial skeleton.

[0037] A third aspect of the present invention provides a method for controlling the lip movement of a bionic robot, used to control the lip driving device described in any of the above-mentioned claims, the method comprising the following steps:

[0038] Closing phase: The power source is controlled to drive the transmission mechanism 1, causing the movable component 2 to move along the sliding groove 3 in the lip closing direction, thereby driving the deformable part 4 to close the lips tightly;

[0039] Simulated pouting stage: After the lips are closed, the power source continues to apply driving force, causing the end of the movable component 2 to continue to move and disengage from the sliding groove 3, thereby driving the deformable part 4 to produce local outward deformation, forming a pouting expression;

[0040] Reset phase: Control the power source to drive the transmission mechanism 1 in reverse, so that the movable component 2 moves along the sliding groove 3 in the direction of lip opening, and drives the deformable shape 4 to return from the pouting shape to the initial shape.

[0041] In one embodiment, the deformable form 4 is configured as two sets facing each other to form the lips of a bionic robot; correspondingly, the transmission mechanism and the sliding groove 3 are also arranged opposite each other.

[0042] In one embodiment, the transmission mechanism is used to move the deformable shape 4 to achieve lip opening and closing control.

[0043] In one embodiment, the transmission mechanism 1 includes multiple rod-shaped movable parts, which are connected sequentially by planar hinges. The movable part at the end of the transmission mechanism engages with the sliding groove 3 (fixed) and is connected to the deformable part 4. The power source of the transmission mechanism is a motor output shaft 5, which is directly connected to one of the rod-shaped movable parts. The number of power sources in the mechanism consisting of the transmission mechanism, the sliding groove 3, and the motor output shaft 5 is less than the number of degrees of freedom.

[0044] This invention aims to explain how various embodiments can be shaped and used according to the technology, rather than limiting the true, intended, and reasonable scope and spirit of the invention. The above description is not intended to be exclusive or limited to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. Embodiments were chosen and described to provide the best illustration of the principles of the described technology and its practical application, and to enable those skilled in the art to utilize the technology in the various embodiments and conceive of various modifications suitable for particular uses. All such modifications and variations are within the scope of the embodiments defined by the appended claims and, when interpreted according to their reasonable, legal, and fair scope, may be corrected during the pending period of this patent application and all its equivalents.

Claims

1. A biomimetic robot lip-driving device, characterized in that: Includes sliding grooves, transmission mechanisms, deformation shapes, and biomimetic muscle layers; The transmission mechanism includes two rod-shaped connecting members, which are connected sequentially by a planar hinge. A movable member at the end of the transmission mechanism engages with the sliding groove. The power source of the transmission mechanism is a motor output shaft, which is directly connected to one of the rod-shaped connecting members. The end of the movable member can disengage from the sliding groove. The end of the movable component is connected to the deformable shape, which is a flexible structure; The bionic muscle layer is disposed between the movable component and the deformable shape, the movable component is directly connected to the bionic muscle layer, and the bionic muscle layer is directly connected to the deformable shape; The transmission mechanism, the sliding groove, and the power source of the transmission mechanism constitute an underactuated device.

2. The bionic robot lip-driving device as described in claim 1, characterized in that: The movable component is a rigid component, and the end of the movable component can be flipped relative to the sliding groove.

3. The bionic robot lip-driving device as described in claim 1, characterized in that: The movable component is a deformable component made of flexible material.

4. The bionic robot lip-driving device as described in claim 1, characterized in that: The deformable shapes are configured in two opposing sets to form the lips of the bionic robot.

5. The bionic robot lip-driving device as described in claim 1, characterized in that: The biomimetic muscle layer is made of shape memory alloy layer, carbon nanotube fiber or PVC gel.

6. The bionic robot lip-driving device as described in claim 1, characterized in that: The sliding groove is a linear limiting sliding groove or an arc-shaped limiting sliding groove.

7. A bionic robot facial system, comprising the bionic robot lip actuation device according to any one of claims 1-6, characterized in that: It also includes a facial skeleton; the bionic robot lip drive device is mounted on the facial skeleton.

8. A method for controlling the lip movement of a biomimetic robot, used to control the lip driving device according to any one of claims 1-6, characterized in that, The method includes the following steps: Closing phase: The power source is controlled to drive the transmission mechanism, causing the movable component to move along the sliding groove in the lip closing direction, thereby driving the deformable part to close the lips tightly; Simulated pouting stage: After the lips are closed, the power source continues to apply driving force, causing the end of the movable component to continue to move and disengage from the sliding groove, thereby driving the deformable part to produce local outward deformation, forming a pouting expression; Reset phase: Control the power source to drive the transmission mechanism in reverse, so that the movable component moves along the sliding groove in the direction of lip opening, and drives the deformable shape to return from the pouting shape to the initial shape.

Images