The robot's facial structure and the robot

Abstract

This application discloses a facial structure for a robot and the robot itself, relating to the field of robotics. The robot's facial structure includes an upper lip support and a first transmission assembly. The upper lip support includes a first support and a second support, with the second support rotatably connected to the first support. The first transmission assembly includes a first link and a second link, with one end of the first link connected to one end of the second link, and the end of the second link away from the first link rotatably connected to the second support. The axes of the first and second links do not coincide. In the facial structure of the robot provided by this application, the axes of the first and second links do not coincide, thus forming a curved structure. This curved structure increases the clearance space for the first and second links during movement, thereby increasing the range of motion of the first transmission assembly and reducing the problem of interference between the first transmission assembly and the skeletal support components caused by the narrow space within the facial structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a facial structure of a robot and the robot itself. Background Technology

[0002] With the development of technology, humanoid robots are being used more and more widely, bringing great convenience to people's lives and production.

[0003] Currently, the internal structure of humanoid robots' facial structures is complex, and their internal transmission mechanisms are prone to mechanical interference during movement, failing to achieve the desired effect. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a facial structure for a robot and a robot.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, embodiments of this application provide a facial structure for a robot, the facial structure of which includes: The upper lip support includes a first support and a second support, wherein the second support is rotatably connected to the first support; The first transmission assembly includes a first rod and a second rod. One end of the first rod is connected to one end of the second rod, and the end of the second rod away from the first rod is rotatably connected to the second bracket. The axis of the first rod and the axis of the second rod do not coincide.

[0006] The facial structure of the robot provided in this application includes a second support rotatably connected to the first support. The second support is mounted on the upper lip of the robot and is used to drive the movement of the upper lip. The end of the second rod away from the first rod is rotatably connected to the second support to drive the second support to rotate relative to the first support. The axis of the first rod and the axis of the second rod do not coincide, thus forming a curved structure. The curved structure increases the clearance space when the first rod and the second rod move, thereby increasing the range of motion of the first transmission component and reducing the problem of interference between the first transmission component and the skeletal support component caused by the narrow space within the facial structure.

[0007] In addition, the facial structure of the robot according to this application may also have the following additional technical features: In one embodiment of the first aspect, the robot's facial structure further includes a first auxiliary rocker arm and a second auxiliary rocker arm, one end of the first auxiliary rocker arm being hinged to the first support, the end of the first auxiliary rocker arm away from the first support being hinged to the second support, one end of the second auxiliary rocker arm being hinged to the first support, and the end of the second auxiliary rocker arm away from the first support being hinged to the second support. The first auxiliary rocker arm, the second auxiliary rocker arm, the portion between the hinge position of the first auxiliary rocker arm and the first bracket and the hinge position of the second auxiliary rocker arm and the first bracket, and the portion between the hinge position of the first auxiliary rocker arm and the second bracket and the hinge position of the second auxiliary rocker arm and the second bracket together define a four-bar linkage.

[0008] In one embodiment of the first aspect, the first transmission assembly further includes a first rotary joint, a second rotary joint, and a third rocker arm, wherein the first rod is rotatably connected to the third rocker arm via the first rotary joint, and the second rod is rotatably connected to the second bracket via the second rotary joint; The third rocker arm is provided with a first mounting part, and the first rotary joint is mounted on the first mounting part. The second bracket is provided with a second mounting part, and the second rotary joint is mounted on the second mounting part. The first mounting part and the second mounting part form a preset angle, the preset angle being α, which satisfies: 0° < α < 180°.

[0009] In one embodiment of the first aspect, the robot's facial structure further includes a second transmission assembly and a third auxiliary rocker arm; The upper lip support also includes a third support, which is hinged to the first support via the third auxiliary rocker arm; The second transmission assembly includes a first link, a second link, and a third link. One end of the first link is hinged to the second link. The end of the second link away from the first link is hinged to the third link. The end of the third link away from the second link is hinged to the third bracket. The third link is also hinged to the first bracket. The length of the third link is greater than the length of the third auxiliary rocker arm.

[0010] In one embodiment of the first aspect, the robot's facial structure has a first direction and a second direction that are perpendicular to each other; The robot's facial structure also includes a mouth corner support and a third transmission assembly. The third transmission assembly includes a first transmission component and a second transmission component. One end of the first transmission component is connected to the mouth corner support and is used to drive the mouth corner support to move along the first direction. One end of the second transmission component is rotatably connected to the mouth corner support and is used to drive the mouth corner support to move along the second direction.

[0011] In one embodiment of the first aspect, the robot's facial structure further includes a first drive member, a second drive member, a first rocker arm, and a second rocker arm, wherein the output end of the first drive member is connected to the first rocker arm, and the end of the first rocker arm away from the first drive member is hinged to the first transmission member. The output end of the second drive member is connected to the second rocker arm, and the end of the second rocker arm away from the second drive member is hinged to the second transmission member.

[0012] In one embodiment of the first aspect, the robot's facial structure further includes a third drive member and a third rocker arm, the third drive member being disposed on the first support, one end of the third rocker arm being connected to the output shaft of the third drive member, and the end of the third rocker arm away from the third drive member being hinged to the first rod member; and / or The robot's facial structure also includes a facial skeleton and a fourth driving component. The fourth driving component is located far from the facial skeleton, and its output end is connected to the first link. The end of the first link away from the fourth driving component is hinged to the second link.

[0013] In one embodiment of the first aspect, the robot's facial structure further includes a lower lip support, a chin skeleton, a fourth transmission assembly, and a hinge. The lower lip support is hinged to the chin skeleton via the hinge; The fourth transmission assembly includes a first connector and a second connector. One end of the first connector is hinged to the second connector, and the end of the second connector away from the first connector is hinged to the upper lip support. The fourth transmission assembly is used to drive the lower lip support to move relative to the chin skeleton.

[0014] In one embodiment of the first aspect, the hinge includes a first hinge rocker arm and a second hinge rocker arm, one end of the first hinge rocker arm is hinged to the lower lip support, the end of the first hinge rocker arm away from the upper lip support is hinged to the chin skeleton, one end of the second hinge rocker arm is hinged to the lower lip support, the end of the second hinge rocker arm away from the lower lip support is hinged to the chin skeleton, and the first hinge rocker arm and the second hinge rocker arm are arranged in parallel; The first hinged rocker arm, the second hinged rocker arm, the portion between the hinged position of the first hinged rocker arm and the lower lip support and the hinged position of the second hinged rocker arm to the lower lip support, and the portion between the hinged position of the first hinged rocker arm and the chin skeleton and the hinged position of the second hinged rocker arm and the chin skeleton together define a four-bar linkage.

[0015] In one embodiment of the first aspect, the robot's facial structure further includes a fifth drive member and a fourth rocker arm, the output end of the fifth drive member being connected to the fourth rocker arm, and the end of the fourth rocker arm away from the fifth drive member being hinged to the first connector.

[0016] In one embodiment of the first aspect, the upper lip support further includes a third support; The robot's facial structure also includes a corner mouth support, a first embedded part, a second embedded part, and a third embedded part. The first embedded part is detachably connected to the first support, the second embedded part is detachably connected to the third support, and the third embedded part is detachably connected to the corner mouth support.

[0017] In one embodiment of the first aspect, the first embedded part, the second embedded part, and the third embedded part are all tooth-like structures.

[0018] Secondly, this application also provides a robot, including the facial structure of the robot described in any of the above embodiments.

[0019] The robot provided in this application has the facial structure of the robot in any of the above embodiments. Therefore, it has all the beneficial effects of the facial structure of the robot described above, which will not be elaborated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A three-dimensional structural diagram of the facial structure of a robot provided in some embodiments of this application is shown; Figure 2 It shows Figure 1 The schematic diagram of section A shown in the figure; Figure 3 It shows Figure 1 The schematic diagram of section B shown; Figure 4 It shows Figure 1 The diagram shows the assembly structure of the first transmission component and related components of the upper lip bracket. Figure 5 It shows Figure 1 A schematic diagram of a partial structure is shown below; Figure 6 A schematic diagram of the assembly structure of the corner support and the third transmission component in some embodiments of this application is shown; Figure 7 A schematic diagram of the assembly structure of the chin support, lower lip support, and fourth transmission component in some embodiments of this application is shown; Figure 8 It shows Figure 7 The diagram shows a three-dimensional structural schematic.

[0022] Explanation of key component symbols: 100 - Facial structure of the robot; 110 - Upper lip support; 111 - First support; 112 - Second support; 1121 - Second mounting part; 113 - Third support; 114 - First embedded part; 115 - Second embedded part; 120 - First transmission assembly; 121 - First rod; 122 - Second rod; 123 - First auxiliary rocker arm; 124 - Second auxiliary rocker arm; 125 - First rotary joint; 126 - Second rotary joint; 127 - Third rocker arm; 1271 - First mounting part; 128 - Third drive component; 130 - Second transmission assembly; 131 - First link; 132 - Second link; 133 - Third link; 134 - Third auxiliary rocker arm; 135 - Fourth drive component; 140 - Mouth corner bracket; 141 - Third embedded part; 142 - Clearance section; 150 - Third transmission assembly; 151 - First transmission component; 152 - Second transmission component; 153 - First driving component; 154 - Second driving component; 155 - First rocker arm; 156 - Second rocker arm; 160 - Facial skeleton; 161 - Maxillary bone framework; 162 - Chin skeleton; 170 - Lower lip support; 180 - Fourth transmission assembly; 181 - First connector; 182 - Second connector; 183 - Hinge; 1831 - First hinged rocker arm; 1832 - Second hinged rocker arm; 184 - Fifth drive component; 185 - Fourth rocker arm; Y - First direction; Y1 - Rear of robot; Y2 - Front of robot; Z - Second direction. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0027] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0028] The facial structure of a robot is used to achieve biomimetic human faces and facial expressions in humanoid robots. However, in related technologies, the internal space of the facial structure is small, and the transmission mechanism inside is affected by the internal space when it moves, which can easily cause interference with the skeletal framework within the facial structure, affecting the biomimetic movements of facial expressions and failing to achieve the expected results.

[0029] like Figure 1 As shown, in order to solve the above-mentioned technical problems, the embodiments of this application provide a robot facial structure 100, which includes an upper lip support 110 and a first transmission component 120.

[0030] The upper lip support 110 includes a first support 111 and a second support 112. The second support 112 is rotatably connected to the first support 111 and is installed on the upper lip of the robot to drive the movement of the upper lip.

[0031] Combination Figure 2 and Figure 4 As shown, the first transmission assembly 120 includes a first rod 121 and a second rod 122. One end of the first rod 121 is connected to one end of the second rod 122, and the end of the second rod 122 away from the first rod 121 is rotatably connected to the second bracket 112. The axis of the first rod 121 and the axis of the second rod 122 do not coincide. The first transmission assembly 120 is used to drive the second bracket 112 to move, so as to realize the movement of the upper lip and show the facial expression of the upper lip.

[0032] The facial structure 100 of the robot provided in this application embodiment has a second support 112 rotatably connected to a first support 111. The second support 112 is installed on the upper lip of the facial structure. The end of the second rod 122 away from the first rod 121 is rotatably connected to the second support 112. The axis of the first rod 121 and the axis of the second rod 122 do not coincide. In this way, the first rod 121 and the second rod 122 form a curved structure. The curved structure increases the clearance space when the first rod 121 and the second rod 122 move, thereby increasing the range of motion of the first transmission component 120 and reducing the problem of interference between the first transmission component 120 and the skeletal support caused by the narrow space within the facial structure.

[0033] For example, the first rod 121 and the second rod 122 are integrally formed. Of course, in other embodiments, the first rod 121 and the second rod 122 can also be fixedly connected by welding, or they can be fixedly connected by screws.

[0034] like Figure 3As shown, in one embodiment, the robot's facial structure 100 further includes a first auxiliary rocker arm 123 and a second auxiliary rocker arm 124. One end of the first auxiliary rocker arm 123 is hinged to a first support 111, and the end of the first auxiliary rocker arm 123 away from the first support 111 is hinged to a second support 112. One end of the second auxiliary rocker arm 124 is hinged to the first support 111, and the end of the second auxiliary rocker arm 124 away from the first support 111 is hinged to the second support 112. Preferably, the first auxiliary rocker arm 123 and the second auxiliary rocker arm 124 are arranged in parallel. The first auxiliary rocker arm 123, the second auxiliary rocker arm 124, the portion between the hinge position of the first auxiliary rocker arm 123 and the first support 111 and the hinge position of the second auxiliary rocker arm 124 and the first support 111, and the portion between the hinge position of the first auxiliary rocker arm 123 and the second support 112 and the hinge position of the second auxiliary rocker arm 124 and the second support 112 together define a four-bar linkage.

[0035] In this embodiment, the second support 112 is rotatably connected to the first support 111 via the first auxiliary rocker arm 123 and the second auxiliary rocker arm 124, forming a four-bar linkage. The first auxiliary rocker arm 123 and the second auxiliary rocker arm 124 are arranged in parallel. Thus, when the first transmission assembly 120 drives the second support 112 to move, the four-bar linkage can restrict the movement of the second support 112 along a preset arc trajectory (simulating the levator labii superioris muscle), reducing unnatural twisting of the upper lip.

[0036] It should be noted that the simulated levator labii superioris muscle indicates that when the levator labii superioris muscle is lifted in the second direction Z, the four-bar linkage can apply a traction force to the second support 112 in the robot's rear-side direction to limit the movement displacement of the second support 112, causing the second support 112 to rotate around the instantaneous center of rotation, thereby reducing unnatural twisting of the upper lip.

[0037] like Figure 2 and Figure 4 As shown, in one embodiment, the first transmission assembly 120 further includes a first rotary joint 125, a second rotary joint 126, and a third rocker arm 127. The first rod 121 and the third rocker arm 127 are rotatably connected through the first rotary joint 125, and the second rod 122 and the second bracket 112 are rotatably connected through the second rotary joint 126.

[0038] The third rocker arm 127 is provided with a first mounting part 1271, and a first rotary joint 125 is mounted on the first mounting part 1271. The second bracket 112 is provided with a second mounting part 1121, and a second rotary joint 126 is mounted on the second mounting part 1121. The plane where the first mounting part 1271 is located and the plane where the second mounting part 1121 is located form a preset angle, the preset angle being α, which satisfies: 0°<α<180°.

[0039] In this embodiment, the first rotary joint 125 and the second rotary joint 126 increase the rotational degrees of freedom between the first rod 121 and the third rocker arm 127, and between the second rod 122 and the second support 112, respectively. Simultaneously, the first mounting portion 1271 mounted on the first rotary joint 125 and the second mounting portion 1121 mounted on the second rotary joint 126 form a preset angle α. This preset angle α is configured to adapt to the spatial position between the third rocker arm 127 and the second support 112, thereby reducing the probability of interference between the first transmission assembly 120 and the skeletal support member when the first transmission assembly 120 and the second support 112 are in motion.

[0040] For example, the angle of α is preferably 130°~150°. Of course, in other embodiments, the angle of α can also be adjusted according to actual needs, and is therefore not limited to other angles.

[0041] For example, the first rotary joint 125 and the second rotary joint 126 are ball joints.

[0042] like Figure 1 and Figure 5 As shown, in one embodiment, the robot's facial structure 100 further includes a second transmission assembly 130 and a third auxiliary rocker arm 134.

[0043] The upper lip support 110 also includes a third support 113, which is hinged to the first support 111 via a third auxiliary rocker arm 134. The third support 113 is used to support the middle position of the upper lip.

[0044] Continue reading Figure 5 As shown, the second transmission assembly 130 includes a first link 131, a second link 132, and a third link 133. One end of the first link 131 is hinged to the second link 132. The end of the second link 132 away from the first link 131 is hinged to the third link 133. The end of the third link 133 away from the second link 132 is hinged to the third bracket 113, and the third link 133 is hinged to the first bracket 111. The length of the third link 133 is greater than the length of the third auxiliary rocker arm 134.

[0045] In this embodiment, the length of the third link 133 is greater than the length of the third auxiliary rocker arm 134. Based on the length difference between the third link 133 and the third auxiliary rocker arm 134, when the first link 131 and the second link 132 drive the third link 133 to move, the third auxiliary rocker arm 134 can apply a traction force to the third support 113 in the Y1 direction, restricting the movement of the third support 113 in the Y2 direction, so that the third support 113 rotates around the instantaneous center of rotation. This allows the third support 113 to perform a vertical (second direction Z) lifting action, that is, a lifting action in the second direction Z, accompanied by an outward (outward refers to movement in the Y2 direction with reference to the second direction Z) flipping motion, thereby simulating the curling effect of biological muscles to improve the biomimetic facial expression effect.

[0046] For example, two second supports 112 and two first transmission components 120 are provided, with the two second supports 112 located on both sides of the third support 113. Correspondingly, the two first transmission components 120 are also located on both sides of the third support 113. One of the two second supports 112 is used to mount the left side of the upper lip, and the other is used to mount the right side of the upper lip. In this way, the entire upper lip is supported by the two second supports 112 and the third support 113, so that biomimetic facial expressions of the upper lip can be realized.

[0047] like Figure 1 As shown, in one embodiment, the robot's facial structure 100 has a first direction Y and a second direction Z that are perpendicular to each other. For ease of description, the first direction Y is the width direction of the face, and the second direction Z is the height direction of the face, i.e., the height direction of the human body.

[0048] like Figure 6 As shown, the robot's facial structure 100 also includes a mouth corner support 140 and a third transmission assembly 150. The third transmission assembly 150 includes a first transmission member 151 and a second transmission member 152. One end of the first transmission member 151 is connected to the mouth corner support 140 and is used to drive the mouth corner support 140 to move along the first direction Y. One end of the second transmission member 152 is rotatably connected to the mouth corner support 140 and is used to drive the mouth corner support 140 to move along the second direction Z.

[0049] In this embodiment, when the first transmission member 151 and the second transmission member 152 work together, the independent movement of the first transmission member 151 and the second transmission member 152 enables the corner support 140 to synthesize a motion vector in any direction in the spatial plane (such as a slanted smile, a horizontal grin, or a vertical lift), thereby achieving physical decoupling of the robot's facial expression movements and improving the bionic effect.

[0050] like Figure 1As shown, in the embodiment of the mouth corner support 140 described above, the robot's facial structure 100 further includes a first drive member 153, a second drive member 154, a first rocker arm 155, and a second rocker arm 156. The output end of the first drive member 153 is connected to the first rocker arm 155, and the end of the first rocker arm 155 away from the first drive member 153 is hinged to the first transmission member 151. The first drive member 153 drives the first rocker arm 155 to rotate, so that the first rocker arm 155 drives the first transmission member 151 to drive the mouth corner support 140 to move along the first direction Y. Exemplarily, one end of the first transmission member 151 is connected to the first rocker arm 155 through a ball joint to improve its rotational freedom.

[0051] The output end of the second drive member 154 is connected to the second rocker arm 156, and the end of the second rocker arm 156 away from the second drive member 154 is hinged to the second transmission member 152. The second drive member 154 drives the second rocker arm 156 to rotate, so that the second rocker arm 156 drives the second transmission member 152 to drive the corner of the mouth support 140 to move in the second direction Z. For example, one end of the second transmission member 152 is connected to the second rocker arm 156 through a ball joint, and the other end is also connected to the corner of the mouth support 140 through another ball joint, so as to improve the rotational freedom of the second transmission member 152 and the corner of the mouth support 140.

[0052] For example, the first rocker arm 155 is arranged at an acute angle, an obtuse angle, or a right angle with the first transmission member 151, and the second rocker arm 156 is arranged at an acute angle, an obtuse angle, or a right angle with the second transmission member 152.

[0053] For example, the corner support 140 is provided with a clearance portion 142 in the direction of the inside of the face, and the end of the second transmission member 152 is located in the clearance portion 142 to reduce the internal space occupancy of the facial structure.

[0054] Of course, in other embodiments, the first driving member 153 can be directly connected to the first transmission member 151, and the second driving member 154 can be directly connected to the second transmission member 152.

[0055] like Figure 4 As shown, in one embodiment, the robot's facial structure 100 further includes a third drive member 128 and a third rocker arm 127. The third drive member 128 is disposed on the first support 111, one end of the third rocker arm 127 is connected to the output shaft of the third drive member 128, and the end of the third rocker arm 127 away from the third drive member 128 is hinged to the first rod 121. In this embodiment, the third drive member 128 drives the third rocker arm 127 to rotate, thereby causing the first rod 121 to move, which in turn causes the second rod 122 to move, thereby causing the second support 112 to move. Of course, in other embodiments, the third drive member 128 can also directly drive the first rod 121 to move.

[0056] For example, the third drive member 128 is located within the maxillary support 161 of the facial structure to improve space utilization within the facial structure.

[0057] like Figure 5 As shown, in one embodiment, the robot's facial structure 100 further includes a facial skeleton 160 and a fourth drive member 135. The fourth drive member 135 is disposed on the facial skeleton 160, and its output end is connected to a first link 131. The end of the first link 131 away from the fourth drive member 135 is hinged to a second link 132. In this embodiment, the fourth drive member 135 drives the first link 131 to move, thereby driving the second link 132 to move, which in turn drives the third support 113 to move.

[0058] For example, the length of the first link 131 is greater than the length of the second link 132, and the fourth drive member 135 is disposed at the position of the bionic brow bone or bionic forehead of the facial skeleton 160 to reduce the space occupied by the bionic oral cavity area within the facial structure.

[0059] like Figure 1 and Figure 7 As shown, in one embodiment, the robot's facial structure 100 further includes a lower lip support 170, a chin skeleton 162, a fourth transmission assembly 180, and a hinge 183. The lower lip support 170 is hinged to the chin skeleton 162 via the hinge 183.

[0060] Combination Figure 8 As shown, the fourth transmission assembly 180 includes a first connector 181 and a second connector 182. One end of the first connector 181 is hinged to the second connector 182, and the end of the second connector 182 away from the first connector 181 is hinged to the upper lip support 110. The fourth transmission assembly 180 is used to drive the lower lip support 170 to move relative to the chin skeleton 162.

[0061] In this embodiment, the first connector 181 is hinged to the second connector 182, and the second connector 182 is hinged to the upper lip support 110, so as to drive the lower lip support 170 to move relative to the chin skeleton 162, thereby realizing the biomimetic movement of the lower lip of the facial structure.

[0062] like Figure 8As shown, in the embodiment of the lower lip support 170 described above, the hinge 183 includes a first hinge rocker arm 1831 and a second hinge rocker arm 1832. One end of the first hinge rocker arm 1831 is hinged to the lower lip support 170, and the end of the first hinge rocker arm 1831 away from the upper lip support 110 is hinged to the chin skeleton 162. One end of the second hinge rocker arm 1832 is hinged to the lower lip support 170, and the end of the second hinge rocker arm 1832 away from the lower lip support 170 is hinged to the chin skeleton 162. The first hinge rocker arm 1831 and the second hinge rocker arm 1832 are arranged in parallel.

[0063] The first hinged rocker arm 1831, the second hinged rocker arm 1832, the portion between the hinged position of the first hinged rocker arm 1831 and the lower lip support 170, the portion between the hinged position of the second hinged rocker arm 1832 and the lower lip support 170, and the portion between the hinged position of the first hinged rocker arm 1831 and the chin skeleton 162 and the hinged position of the second hinged rocker arm 1832 and the chin skeleton 162 together define a four-bar linkage. In this embodiment, this four-bar linkage enables the lower lip support 170 to maintain a constant angle when opening during movement, thereby further realizing the biomimetic action of the robot opening its mouth.

[0064] For example, the first connector 181 is tilted away from the chin skeleton 162.

[0065] like Figure 7 and Figure 8 As shown, in one embodiment, the robot's facial structure 100 further includes a fifth drive member 184 and a fourth rocker arm 185. The output end of the fifth drive member 184 is connected to the fourth rocker arm 185, and the end of the fourth rocker arm 185 away from the fifth drive member 184 is hinged to the first connector 181. In this embodiment, the fifth drive member 184 drives the fourth rocker arm 185 to rotate, thereby driving the first connector 181 to move, and then the second connector 182 drives the lower lip support 170 to move.

[0066] For example, the length of the first connector 181 is greater than the length of the second connector 182. The fifth drive member 184 is fixed at the position of the robot's bionic throat or neck to reduce the space occupied by the bionic oral cavity region within the facial structure.

[0067] For example, ball joints are provided at both ends of the first connector 181 to improve its degree of freedom of movement.

[0068] In any of the above embodiments, for example, the first drive unit 153, the second drive unit 154, the third drive unit 128, the fourth drive unit 135 and the fifth drive unit 184 are all servo motors.

[0069] like Figure 1 , Figure 4 , Figure 6 As shown, in one embodiment, the upper lip support 110 further includes a third support 113; the robot's facial structure 100 further includes a corner mouth support 140, a first embedded part 114, a second embedded part 115 and a third embedded part 141, the first embedded part 114 being detachably connected to the first support 111, the second embedded part 115 being detachably connected to the third support 113, and the third embedded part 141 being detachably connected to the corner mouth support 140.

[0070] In this embodiment, the first embedded part 114, the second embedded part 115 and the third embedded part 141 facilitate the installation of the bionic lips and corners of the mouth.

[0071] For example, the first embedded part 114 and the first bracket 111 are detachably connected by a pin, the second embedded part 115 and the third bracket 113 are detachably connected by a pin, and the third embedded part 141 and the corner bracket 140 are detachably connected by a pin. Alternatively, the first embedded part 114 and the first bracket 111 are detachably connected by a combination of pins and screws, the second embedded part 115 and the third bracket 113 are detachably connected by a combination of pins and screws, and the third embedded part 141 and the corner bracket 140 are detachably connected by a combination of pins and screws.

[0072] For example, the first embedded part 114, the second embedded part 115, and the third embedded part 141 are all made of rubber. Of course, in other embodiments, the first embedded part 114, the second embedded part 115, and the third embedded part 141 may also be made of other soft materials.

[0073] like Figure 1 , Figure 4 , Figure 6 As shown, in one embodiment, the first embedded part 114, the second embedded part 115, and the third embedded part 141 all have a tooth-like structure. In this embodiment, the tooth-like structure of the embedded parts can increase the biting area with the bionic lip and corner skin, reducing the probability of transmission slippage during subtle facial expressions. Simultaneously, it can reduce the cutting of the bionic lip and corner skin at the extreme movement positions of the first embedded part 114, the second embedded part 115, and the third embedded part 141, thus solving the problem of tearing of the bionic lip and corner skin caused by point-like traction in related technologies.

[0074] Embodiments of this application also provide a robot, including the facial structure 100 of the robot in any of the above embodiments.

[0075] The robot provided in this application embodiment has the facial structure 100 of the robot in any of the above embodiments. Therefore, it has all the beneficial effects of the facial structure 100 of the robot described above, which will not be described in detail here.

[0076] 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 this application. 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.

[0077] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A face structure of a robot characterized by comprising: include: The upper lip support includes a first support and a second support, wherein the second support is rotatably connected to the first support; The first transmission assembly includes a first rod and a second rod. One end of the first rod is connected to one end of the second rod, and the end of the second rod away from the first rod is rotatably connected to the second bracket. The axis of the first rod and the axis of the second rod do not coincide.

2. The face structure of the robot according to claim 1, characterized by, It also includes a first auxiliary rocker arm and a second auxiliary rocker arm. One end of the first auxiliary rocker arm is hinged to the first bracket, and the end of the first auxiliary rocker arm away from the first bracket is hinged to the second bracket. One end of the second auxiliary rocker arm is hinged to the first bracket, and the end of the second auxiliary rocker arm away from the first bracket is hinged to the second bracket. The first auxiliary rocker arm, the second auxiliary rocker arm, the portion between the hinge position of the first auxiliary rocker arm and the first bracket and the hinge position of the second auxiliary rocker arm and the first bracket, and the portion between the hinge position of the first auxiliary rocker arm and the second bracket and the hinge position of the second auxiliary rocker arm and the second bracket together define a four-bar linkage.

3. The face structure of the robot according to claim 1, characterized by, The first transmission assembly further includes a first rotary joint, a second rotary joint, and a third rocker arm. The first rod is rotatably connected to the third rocker arm through the first rotary joint, and the second rod is rotatably connected to the second bracket through the second rotary joint. The third rocker arm is provided with a first mounting part, and the first rotary joint is mounted on the first mounting part. The second bracket is provided with a second mounting part, and the second rotary joint is mounted on the second mounting part. The first mounting part and the second mounting part form a preset angle, the preset angle being α, which satisfies: 0° < α < 180°.

4. The facial structure of the robot according to claim 1, characterized in that, The robot's facial structure also includes a second transmission component and a third auxiliary rocker arm; The upper lip support also includes a third support, which is hinged to the first support via the third auxiliary rocker arm; The second transmission assembly includes a first link, a second link, and a third link. One end of the first link is hinged to the second link. The end of the second link away from the first link is hinged to the third link. The end of the third link away from the second link is hinged to the third bracket. The third link is also hinged to the first bracket. The length of the third link is greater than the length of the third auxiliary rocker arm.

5. The facial structure of the robot according to claim 4, characterized in that, The robot's facial structure has a first direction and a second direction that are perpendicular to each other; The robot's facial structure also includes a mouth corner support and a third transmission assembly. The third transmission assembly includes a first transmission component and a second transmission component. One end of the first transmission component is connected to the mouth corner support and is used to drive the mouth corner support to move along the first direction. One end of the second transmission component is rotatably connected to the mouth corner support and is used to drive the mouth corner support to move along the second direction.

6. The facial structure of the robot according to claim 5, characterized in that, It also includes a first driving member, a second driving member, a first rocker arm and a second rocker arm, wherein the output end of the first driving member is connected to the first rocker arm, and the end of the first rocker arm away from the first driving member is hinged to the first transmission member. The output end of the second drive member is connected to the second rocker arm, and the end of the second rocker arm away from the second drive member is hinged to the second transmission member.

7. The facial structure of the robot according to claim 5, characterized in that, The robot's facial structure also includes a third drive unit and a third rocker arm. The third drive unit is mounted on the first support. One end of the third rocker arm is connected to the output shaft of the third drive unit, and the end of the third rocker arm away from the third drive unit is hinged to the first rod; and / or The robot's facial structure also includes a facial skeleton and a fourth driving component. The fourth driving component is disposed on the facial skeleton, and its output end is connected to the first connecting rod. The end of the first connecting rod away from the fourth driving component is hinged to the second connecting rod.

8. The facial structure of the robot according to claim 1, characterized in that, It also includes a lower lip support, a chin frame, a fourth transmission assembly, and hinges; The lower lip support is hinged to the chin skeleton via the hinge; The fourth transmission assembly includes a first connector and a second connector. One end of the first connector is hinged to the second connector, and the end of the second connector away from the first connector is hinged to the upper lip support. The fourth transmission assembly is used to drive the lower lip support to move relative to the chin skeleton.

9. The facial structure of the robot according to claim 8, characterized in that, The hinge includes a first hinge rocker arm and a second hinge rocker arm. One end of the first hinge rocker arm is hinged to the lower lip support, and the end of the first hinge rocker arm away from the upper lip support is hinged to the chin skeleton. One end of the second hinge rocker arm is hinged to the lower lip support, and the end of the second hinge rocker arm away from the lower lip support is hinged to the chin skeleton. The first hinge rocker arm and the second hinge rocker arm are arranged in parallel. The first hinged rocker arm, the second hinged rocker arm, the portion between the hinged position of the first hinged rocker arm and the lower lip support and the hinged position of the second hinged rocker arm to the lower lip support, and the portion between the hinged position of the first hinged rocker arm and the chin skeleton and the hinged position of the second hinged rocker arm and the chin skeleton together define a four-bar linkage.

10. The facial structure of the robot according to claim 8, characterized in that, It also includes a fifth drive unit and a fourth rocker arm, the output end of the fifth drive unit is connected to the fourth rocker arm, and the end of the fourth rocker arm away from the fifth drive unit is hinged to the first connector.

11. The facial structure of the robot according to claim 1, characterized in that, The upper lip support also includes a third support; The robot's facial structure also includes a corner mouth support, a first embedded part, a second embedded part, and a third embedded part. The first embedded part is detachably connected to the first support, the second embedded part is detachably connected to the third support, and the third embedded part is detachably connected to the corner mouth support.

12. The facial structure of the robot according to claim 11, characterized in that, The first embedded part, the second embedded part, and the third embedded part all have a tooth-like structure.

13. A robot, characterized in that, Includes the facial structure of the robot as described in any one of claims 1 to 12.

Images