Steering engine calibration device and calibration method, bionic head machine body and mouth corner positioning jig

Abstract

The embodiment of the application provides a rudder calibration device, a calibration method, a bionic head machine body and a mouth corner positioning jig, the rudder calibration device is used for calibrating the initial position of a rudder in a bionic head machine body, and the calibration device comprises a calibration tool, the calibration tool has a positioning hole, an inner wall of the positioning hole is provided with a positioning protrusion, the positioning protrusion is used for being in contact with a rudder disc of the rudder, a positioning pin is arranged on one side of the calibration tool, and the shell of the rudder is further provided with a positioning groove matched with the positioning pin, wherein in the case that the calibration tool is embedded with the positioning pin and the positioning groove on the rudder, the rudder disc is rotated to a position in abutment with the positioning protrusion, and the position is the initial position of the rudder. The calibration tool limits the target position of the rudder disc by using the positioning protrusion, provides a unified zero-point calibration reference for the rudder, thereby ensuring that different rudders have consistent initial positions and improving subsequent motion control precision.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a servo motor calibration device, calibration method, bionic human head body and mouth corner positioning fixture. Background Technology

[0002] Servo motors, as actuators used for angle control, are widely used in robotics, intelligent devices, and other fields. In practical applications, to ensure that the servo motor-driven components move according to a preset posture, it is usually necessary to calibrate the initial position of the servo motor during assembly, debugging, or maintenance. Especially in devices such as bionic human head bodies that involve the coordinated control of multiple servo motors, the accuracy of the servo motor's initial position directly affects the positional consistency of moving parts such as the corners of the mouth and eyes, as well as the overall motion effect.

[0003] In existing technologies, servo motor zero-point calibration typically relies on operators adjusting the servo to a preset position based on experience, or using simple angle measuring tools to determine the zero-point position. Due to the lack of a unified mechanical positioning benchmark, calibration deviations can easily occur between different servos and between different operators, leading to differences in the operational state of the same model of equipment after assembly, affecting product consistency during mass production. Furthermore, manual sensory adjustment methods are inefficient and lack accuracy.

[0004] It should be noted that the above content is not necessarily prior art, nor is it intended to limit the scope of patent protection of this application. Summary of the Invention

[0005] This application provides a servo calibration device, calibration method, bionic human head body, and mouth corner positioning fixture to solve or alleviate one or more technical problems in the prior art.

[0006] The first aspect of this application provides a servo calibration device for calibrating the initial position of a servo motor in a bionic human head body. The servo calibration device includes: A calibration fixture having a clearance hole, the inner wall of which is provided with a positioning protrusion for contacting the servo disc of a servo motor. A positioning pin is provided on one side of the calibration fixture, and the housing of the servo motor is also provided with a positioning groove that matches the positioning pin; When the calibration fixture is engaged with the positioning slot on the servo via the positioning pin, the initial position of the servo is when the servo disc rotates to the position where it abuts against the positioning protrusion.

[0007] Optionally, the calibration fixture includes opposing first and second sides, the positioning protrusion includes opposing third and fourth sides, the first and third sides are flush, and the thickness of the positioning protrusion is less than the depth of the clearance hole.

[0008] Optionally, there are two locating pins, and the two locating pins are located on the same side of the calibration fixture.

[0009] A second aspect of this application provides a method for calibrating the initial position of a servo motor, comprising calibrating the initial position of the servo motor using a servo motor calibration device as described in any of the preceding claims, the method comprising: The no-load current after the servo motor is powered on is obtained, and the no-load reference current is determined based on multiple sampled current values; The servo to be calibrated is installed in the servo calibration device, and the servo disc is controlled to rotate relative to the servo calibration device so that the servo disc gradually approaches the positioning protrusion on the servo calibration device. During the rotation of the servo disk, the operating current of the servo motor is collected in real time, and based on the difference between the real-time current and the no-load reference current, it is determined whether the servo disk is in contact with the positioning protrusion. When the detected change in current meets the preset conditions, determine the position corresponding to the contact between the servo disk and the positioning protrusion, and record the current servo control signal parameters; The control signal parameters are written into the servo motor storage unit to serve as the zero-point position parameters after the servo motor is powered on.

[0010] Optionally, the step of acquiring the no-load current after the servo motor is powered on and determining the no-load reference current based on multiple sampled current values ​​includes: After the servo motor is powered on, it outputs a control signal with a preset pulse width. When the servo motor is in an unloaded state, it continuously collects multiple current values, filters the multiple current values, and determines the unloaded reference current based on the filtered current values.

[0011] Optionally, the filtering process includes: The maximum and minimum values ​​of the continuously collected current values ​​are removed, and the remaining current values ​​are averaged to obtain the no-load reference current.

[0012] A third aspect of this application provides a bionic human head body, including a servo motor, a linkage assembly connected to the servo motor, the linkage assembly being used to control the movement of the corner of the mouth in the bionic human head body, wherein the servo motor is also initially calibrated by a servo motor calibration device as described in any of the above claims.

[0013] A fourth aspect of this application provides a corner-of-mouth positioning fixture for calibrating the corner of the mouth of the aforementioned bionic human head body. The corner-of-mouth positioning fixture includes a corner-of-mouth positioning fixture for contacting the corner-of-mouth point to determine the reference position of the corner-of-mouth point.

[0014] Optionally, the corner of the mouth positioning fixture includes an inclined rod and a limiting part disposed at one end of the inclined rod. The inclined rod extends inclinedly from the temple position of the bionic head body towards the corner of the mouth position, and the limiting part is used to contact the corner of the mouth position.

[0015] Optionally, the corner of the mouth positioning fixture is provided with a magnet mounting groove at one end away from the limiting part, and a magnet is provided in the magnet mounting groove so that the corner of the mouth positioning fixture can be detachably fixed to the bionic head body.

[0016] The embodiments of this application employing the above-described technical solution may have the following advantages: The calibration fixture positions the servo motor with locating pins and uses locating protrusions to define the target position of the servo disc, providing a unified zero-point calibration reference for the servo motor. This ensures that different servos have a consistent initial position and improves the accuracy of subsequent motion control.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0019] Figure 1 This is a schematic diagram of the servo calibration device provided in an embodiment of this application; Figure 2 A schematic diagram of a servo calibration device provided in this application embodiment calibrating a servo; Figure 3 Another schematic diagram of the servo calibration device provided in the embodiments of this application for calibrating a servo; Figure 4 A schematic diagram of the structure of the corner-of-mouth positioning fixture provided in the embodiments of this application; Figure 5 This is another structural schematic diagram of the corner-of-mouth positioning fixture provided in the embodiments of this application; Figure 6A schematic diagram of the structure of the mouth corner positioning fixture for calibrating the bionic human head body provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the bionic human head body in the embodiments of this application; Figure 8 This is another structural schematic diagram of the mouth corner positioning fixture used to calibrate the bionic human head body in an embodiment of this application; Figure 9 Another structural schematic diagram of the mouth corner positioning fixture provided in the embodiments of this application for calibrating the bionic human head body; Figure 10 for Figure 9 A magnified schematic diagram of a portion of the structure.

[0020] Explanation of reference numerals in the attached figures: Calibration fixture 10; clearance hole 11; positioning protrusion 12; positioning pin 13; servo motor 21; servo disc 22; right corner point 50; first right servo motor 51; first right servo disc 52; second right servo motor 54; second right servo disc 55; connector 57; slide groove 58; first right connecting rod 61; second right connecting rod 62; third right connecting rod 63; tilting rod 40; magnet mounting slot 41; limiting part 42. Detailed Implementation

[0021] The embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings. In the drawings, for clarity, the dimensions of layers, regions, elements, and their relative dimensions may be exaggerated. 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.

[0022] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this application, the first element, component, area, layer, or portion discussed below may be referred to as a second element, component, area, layer, or portion. And the discussion of a second element, component, area, layer, or portion does not imply that the first element, component, area, layer, or portion necessarily exists in this application.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] In this application, when numerical intervals (i.e., numerical ranges) are involved, unless otherwise specified, the distribution of selectable numerical values ​​within the numerical interval is considered continuous, and includes the two endpoints of the numerical interval (i.e., the minimum and maximum values), as well as every numerical value between these two endpoints. Unless otherwise specified, when a numerical interval refers only to integers within that numerical interval, it includes the two endpoint integers of the numerical range, as well as every integer between the two endpoints, which is equivalent to directly listing every integer. When multiple numerical ranges are provided to describe features or characteristics, these numerical ranges can be merged. In other words, unless otherwise specified, the numerical ranges disclosed in this application should be understood to include any and all subranges included therein. The "numerical value" in the numerical interval can be any quantitative value, such as a number, percentage, ratio, etc. The term "numerical interval" can be broadly included to include percentage intervals, ratio intervals, proportion intervals, etc.

[0026] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. It should be understood that these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0027] Please see Figures 1 to 3 This application provides a servo calibration device, which includes a calibration fixture and a positioning pin. The following is a detailed description: The calibration fixture 10 has a clearance hole 11, and the inner wall of the clearance hole 11 is provided with a positioning protrusion 12. The positioning protrusion 12 is used to contact the servo disk 22 of the servo motor 21. The size, shape, and position of the positioning protrusion 12 within the clearance hole 11 can be adjusted according to the structure of the servo disk 22 and the target initial position to adapt to different models of servo motors 21.

[0028] A positioning pin 13 is disposed on one side of the calibration fixture 10. The housing of the servo motor 21 also has a positioning groove that matches the positioning pin 13. The positioning groove can be disposed at a corresponding position on the housing of the servo motor 21 for insertion and engagement with the positioning pin 13. Through the engagement relationship between the positioning pin 13 and the positioning groove, the relative installation position between the calibration fixture 10 and the servo motor 21 can be defined, preventing changes in the positioning reference due to offset of the calibration fixture 10 during calibration, and improving the repeatability and accuracy of the calibration process.

[0029] When the calibration fixture 10 is engaged with the positioning slot on the servo motor 21 via the positioning pin 13, the initial position of the servo motor 21 is when the servo disc 22 rotates to a position that abuts against the positioning protrusion 12.

[0030] The calibration fixture positions the servo motor with locating pins and uses locating protrusions to define the target position of the servo disc, providing a unified zero-point calibration reference for the servo motor. This ensures that different servos have a consistent initial position and improves the accuracy of subsequent motion control.

[0031] In this embodiment, the calibration fixture 10 is a plate-shaped structure, and the clearance hole 11 is disposed through the calibration fixture 10 so that the servo disk 22 of the servo motor 21 can extend into the clearance hole 11 and rotate within a preset range. The positioning protrusion 12 can be disposed on the inner wall of the clearance hole 11 and protrude toward the center area of ​​the clearance hole 11 to limit the rotation position of the servo disk 22 during rotation. By setting the positioning protrusion 12, the servo disk 22 can reach a fixed position under the action of the mechanical structure, thereby providing a unified physical reference for the initial position of the servo motor 21.

[0032] When calibrating the initial position of the servo motor 21, the calibration fixture 10 is first installed on the housing of the servo motor 21, so that the positioning pin 13 and the positioning groove are engaged with each other to complete the positioning of the calibration fixture 10; then the servo disk 22 at the output end of the servo motor 21 is controlled to rotate, so that the servo disk 22 gradually approaches the positioning protrusion 12. When the servo disk 22 abuts against the positioning protrusion 12, the position is determined as the initial position of the servo motor 21.

[0033] Since the position of the positioning protrusion 12 is fixed, and the calibration fixture 10 and the servo motor 21 are fixedly engaged through the positioning pin 13 and the positioning groove, different servo motors 21 can determine their initial position based on the same mechanical reference position when using the same calibration fixture 10 for calibration, thereby improving the efficiency and accuracy of calibrating the zero position of the servo motor 21.

[0034] Furthermore, after determining the initial position of the servo motor 21, the corresponding control parameters, such as the pulse width value of the servo motor 21 control signal, can be recorded and written into the servo motor 21 storage unit, so that the servo motor 21 can automatically return to the initial position during subsequent operation. By combining mechanical positioning with parameter storage, the initial position of the servo motor 21 can be quickly calibrated and repeatedly recalled, reducing manual debugging costs and improving the assembly consistency of devices such as the bionic human head body.

[0035] The positioning protrusion 12 may include a long side and a short side connected to each other. During rotation, the servo disk 22 gradually approaches the positioning protrusion 12 and eventually contacts the intersection of the long and short sides of the positioning protrusion 12 to form a stable limiting fit. At this time, a preset angle is formed between the centerline of the servo disk 22 and the centerlines of the upper and lower sides of the calibration fixture 10. This preset angle corresponds to the initial direction of the servo motor 21 after calibration.

[0036] In practical applications, the position of the positioning protrusion 12 can be designed according to the initial posture requirements of moving parts such as the corners of the mouth and eyes in the bionic head body, so as to adjust the size of the preset angle. For example, the preset angle can be set to 0°, 90° or other required angles, so that when the servo motor 21 receives a preset control signal (such as a pulse width modulation signal with a pulse width of 1500μs), it can drive the servo disk 22 to automatically rotate to the direction corresponding to the preset angle, so as to realize that the default position of the servo motor 21 is consistent with the calibration direction.

[0037] Furthermore, there is a preset fitting clearance between the outer diameter of the rudder disk 22 and the corresponding size of the relief hole 11, which can be 0.1mm to 0.3mm. By setting the above fitting clearance, the rudder disk 22 can rotate smoothly within the relief hole 11, while avoiding significant shaking of the rudder disk 22 during rotation due to excessive clearance, thus improving the positional stability of the rudder disk 22 when it contacts the positioning protrusion 12.

[0038] In an optional embodiment, the calibration fixture 10 includes opposing first and second sides, the positioning protrusion 12 includes opposing third and fourth sides, the first and third sides are flush, and the thickness of the positioning protrusion 12 is less than the depth of the clearance hole 11.

[0039] The thickness of the positioning protrusion 12 is less than the depth of the clearance hole 11, so that the positioning protrusion 12 is located inside the clearance hole 11, rather than completely penetrating the clearance hole 11. In this way, during the rotation of the rudder disk 22, the rudder disk 22 can gradually enter the interior of the clearance hole 11 and form contact with the positioning protrusion 12 for limiting, while avoiding excessive obstruction of the rudder disk 22 by the positioning protrusion 12, thereby improving the smoothness of the rotation process of the rudder disk 22.

[0040] In an optional embodiment, there are two positioning pins 13, and the two positioning pins 13 are located on the same side of the calibration fixture 10.

[0041] The two positioning pins 13 can be spaced apart along the length or width of the calibration fixture 10 to form a multi-point positioning fit between the calibration fixture 10 and the servo motor 21 housing. The servo motor 21 housing is provided with corresponding positioning grooves that match the two positioning pins 13. By inserting the two positioning pins 13 into their respective positioning grooves, quick installation and positioning between the calibration fixture 10 and the servo motor 21 can be achieved.

[0042] The two locating pins 13 can have the same structural dimensions, such as both being cylindrical pins, to facilitate processing, manufacturing, and assembly; or they can be set with different sizes or shapes according to installation requirements to achieve error-proof installation. The locating pins 13 can be integrally formed with the calibration fixture 10, or they can be installed on the calibration fixture 10 by interlocking, threaded connection, or other fixing methods.

[0043] In an optional embodiment, the positioning protrusion 12 and the cuboid base are integrally formed. By making the positioning protrusion 12 and the cuboid base an integral structure, the assembly gap generated when using assembly connection can be avoided, the connection strength between the positioning protrusion 12 and the calibration fixture 10 can be improved, and deformation or positioning error caused by uneven force at the connection position can be reduced, so that the positioning protrusion 12 can maintain a stable positioning reference for a long time.

[0044] In an optional embodiment, the calibration fixture 10 can be made of aluminum alloy material by CNC machining or by injection molding of engineering plastics. When the calibration fixture 10 is made of aluminum alloy material, the overall structural strength and wear resistance of the calibration fixture 10 can be improved, making it suitable for applications requiring repeated calibration. When the calibration fixture 10 is made of engineering plastics, the manufacturing cost and overall weight of the calibration fixture 10 can be reduced, facilitating mass production and use.

[0045] Furthermore, the calibration fixture 10 can also be made of aluminum alloy by CNC machining. The corner positions of the positioning protrusion 12 can be equipped with a rounded structure, such as a rounded corner with a radius of 0.5mm, to reduce sharp edges generated during machining and reduce stress concentration of the positioning protrusion 12 during long-term stress. The inner wall of the clearance hole 11 can be precision machined to make its surface roughness Ra less than or equal to 0.8μm, so as to reduce the frictional resistance during the rotation of the rudder disk 22 and improve the smoothness of the rudder disk 22's movement.

[0046] Furthermore, after the aluminum alloy processing is completed, the calibration fixture 10 can be subjected to heat treatment and surface treatment. For example, solution treatment followed by artificial aging treatment can be used to improve the microstructure and properties of the aluminum alloy material, thereby increasing the strength and dimensional stability of the calibration fixture 10; subsequently, anodizing treatment can be performed to improve the wear resistance and corrosion resistance of the surface of the calibration fixture 10. In one specific embodiment, the solution treatment can be performed by holding at 530°C for 2 hours followed by water quenching, and the artificial aging treatment can be performed by holding at 165°C for 8 hours; the oxide film thickness formed by the anodizing treatment can be 12~15μm.

[0047] Furthermore, the surface of the positioning protrusion 12 that contacts the rudder disk 22 can be precision machined to achieve a surface roughness Ra of 0.4~0.8μm. By controlling the roughness of the contact surface, reliable contact between the rudder disk 22 and the positioning protrusion 12 can be ensured while reducing wear on the contact surface and improving the stability of the mechanical limit position during calibration.

[0048] In another optional embodiment, when the calibration fixture 10 is injection molded from ABS engineering plastic, the mold temperature can be controlled at 80±2℃ and the injection pressure at 120MPa during the injection process. By reasonably controlling the injection process parameters, the molding accuracy of the calibration fixture 10 can be improved, the warping deformation generated during the injection process can be reduced, and a high positional accuracy can be maintained between the positioning protrusion 12 and the clearance hole 11.

[0049] In an optional embodiment, the servo calibration device may further include a calibration board (not shown), which may be a rectangular printed circuit board. The calibration board is provided with multiple servo connectors, a button panel, indicator lights, and a power interface. The calibration board integrates a main control chip, a PWM signal generation module, a current detection module, a data storage module, and a programming control module.

[0050] The system includes multiple servo connectors for connecting to the servo motor to be calibrated, establishing an electrical connection between the servo motor and the calibration board. The button panel receives control commands input by the operator, such as initiating calibration, confirming calibration, or performing parameter programming. Indicator lights display calibration status, abnormal status, and completion status. By integrating signal generation, current detection, parameter storage, and programming control functions into a single calibration board, the servo motor calibration device possesses complete calibration control capabilities, facilitating rapid and batch calibration of servos.

[0051] In one optional embodiment, the PWM signal generation module is used to output a pulse width modulation signal to the servo motor to control the servo motor to move to a preset working state.

[0052] Specifically, the PWM signal generation module can generate a square wave control signal with a frequency of 50Hz and a pulse width of 1500μs, and the amplitude of the control signal can be 3.3V. In one embodiment, the rise time of the PWM signal is less than or equal to 50ns, the fall time is less than or equal to 50ns, and the signal overshoot is less than or equal to 10%.

[0053] By outputting a stable and precise PWM control signal, a unified initial position control command can be provided for the servo motor, enabling different servos to adjust their positions based on the same control conditions during the calibration process. At the same time, by controlling the edge characteristics and waveform quality of the control signal, the impact of signal distortion on the servo motor response process can be reduced, thereby improving the reliability of the calibration results.

[0054] In an optional embodiment, the current detection module is used to detect changes in the operating current during the operation of the servo motor, and includes a sampling resistor disposed in the servo motor power supply circuit and a differential amplifier circuit connected to the sampling resistor.

[0055] Specifically, the sampling resistor can be a low-resistance, high-precision resistor, such as a sampling resistor with a resistance of 10m ohms and a temperature coefficient of ±25ppm / ℃; the current detection module can collect the servo motor operating current according to a preset sampling frequency, such as a 1kHz sampling frequency, and convert the collected analog current signal into a digital signal through an analog-to-digital conversion module.

[0056] In one embodiment, the analog-to-digital conversion module can have a resolution of 12 bits, the sampling signal bandwidth can cover the range from DC to 1kHz, and the peak-to-peak noise level can be controlled within 1mV. By using a low-resistance sampling resistor, the impact of the current detection circuit on the servo motor power supply circuit can be reduced; through high-precision sampling and amplification processing, the accuracy of current change detection can be improved, enabling the calibration device to identify the current changes generated when the servo disk contacts the positioning structure.

[0057] In an optional embodiment, the data storage module is used to store relevant parameters during the servo calibration process.

[0058] Specifically, the data storage module may include a non-volatile memory area inside the main control chip and an external storage unit. The non-volatile memory area can be used to store calibration parameters such as the servo model, control parameters corresponding to the initial position, no-load current reference value, and calibration time information; the external storage unit can be used to save historical records generated from multiple calibrations.

[0059] In one embodiment, the external storage unit can store the 100 most recent calibration records to facilitate subsequent production process traceability, equipment maintenance, and calibration data analysis. By employing non-volatile storage, the loss of calibration parameters due to equipment power outages can be avoided, improving the reliability of calibration data management.

[0060] In an optional embodiment, the programming control module is used to write the calibrated initial position parameters into the internal storage unit of the servo motor.

[0061] Specifically, the programming control module can interact with the servo motor via single-wire communication to reduce the number of connection lines between the calibration device and the servo motor. The programming control module can also use half-duplex communication, sending calibration parameters to the servo motor and then receiving a response from the servo motor to confirm the data transmission status.

[0062] In one embodiment, the communication frequency of the single-wire communication protocol can be set to 100kHz, and the duration of a single data bit can be 10μs. By adopting a single-wire communication method, the calibration interface structure can be simplified, and the stability and reliability of the calibration parameter writing process can be improved by combining it with a data interaction confirmation mechanism.

[0063] In an optional embodiment, the calibration board may further include a current sampling calibration function to improve the detection accuracy of the current detection module. Specifically, the current detection module can be calibrated before servo calibration.

[0064] In one embodiment, without the servo motor connected, the operator can trigger the calibration process via the calibration button on the calibration board. The system automatically collects the current detection value and uses this value as the current zero-point reference. If the detected zero-point offset exceeds a preset threshold, the main control chip can generate compensation parameters based on the offset and perform software compensation on subsequent current sampling results. For example, when the detected offset is greater than 0.05A, the system performs offset correction on the collected current data.

[0065] Furthermore, to improve the linearity detection accuracy of the current detection module, it can be calibrated using an external precision current source. Specifically, the external precision current source can sequentially output multiple preset current values, such as 0A, 1A, 2A, 3A, 4A, and 5A, and obtain the corresponding analog-to-digital conversion results. Based on the mapping relationship between each current value and the corresponding sampled data, the linearity correction parameters of the current detection module are calculated. These linearity correction parameters can be stored in the non-volatile storage area of ​​the calibration board, such as in Flash memory. During subsequent servo calibration, the main control chip can call these correction parameters to correct the current detection results.

[0066] In an optional embodiment, the calibration board may also support firmware upgrade functionality to update the internal control program of the calibration board according to the requirements of different servo models or calibration algorithms.

[0067] Specifically, the calibration board can be configured with a firmware upgrade mode. During a firmware upgrade, the operator can press a preset function button and simultaneously turn on the calibration board's power to enter firmware download mode. Once in firmware download mode, the calibration board can connect to external devices via a communication interface and receive firmware program files sent by the external devices.

[0068] In one embodiment, the communication interface can be a USB interface, allowing external devices to load pre-generated firmware files into the calibration board. For example, an operator can send a HEX format firmware file to the calibration board via a host computer. After receiving the firmware file, the main control chip in the calibration board writes it into the corresponding program storage area.

[0069] Furthermore, during the firmware writing process, the calibration board can output the current upgrade status via indicator lights. For example, the indicator lights can be controlled to flash rapidly during firmware transfer or burning; once the firmware writing is complete, the main control chip completes program verification and automatically restarts, making the new firmware program effective.

[0070] This application embodiment also provides a method for calibrating the initial position of a servo motor, used to calibrate the initial position of the servo motor using the servo motor calibration device described in any of the above embodiments, the method comprising: Step S100: Obtain the no-load current after the servo motor is powered on, and determine the no-load reference current based on multiple sampled current values.

[0071] Before acquiring the no-load current of the servo motor after power-on, a power supply can be provided to the calibration device via a power adapter, and the calibration device can be initialized. Specifically, the power adapter output voltage can be set to 16V and the output current limit to 5A. After the calibration board powers on, the main control chip performs a reset operation and outputs a preset control signal after initialization to bring the servo motor into a stable operating state. For example, a PWM signal with a pulse width of 1500μs can be output and a preset time can be waited for to reduce the impact of the power-on transient process on the current detection results.

[0072] When the servo is in an unloaded state, the servo's operating current can be continuously collected by the current detection module, and the unloaded reference current can be determined based on multiple sampled current values.

[0073] Step S102: Install the servo to be calibrated into the servo calibration device, and control the servo disc to rotate relative to the servo calibration device so that the servo disc gradually approaches the positioning protrusion on the servo calibration device.

[0074] In one optional embodiment, a corresponding calibration fixture can be selected according to the model of the servo to be calibrated, and the servo can be installed in the servo calibration device. Specifically, the servo can be inserted into the servo connector on the calibration plate, and the anti-reverse insertion structure on the servo housing can be aligned with the corresponding position of the calibration device to ensure the correct installation direction of the servo.

[0075] Furthermore, the calibration fixture is positioned at the corresponding location on the servo housing, and the servo disc is mounted and fixed on the servo output shaft, maintaining a preset gap between the servo disc and the calibration fixture. In one embodiment, the preset gap can be 0.1mm to 0.5mm to prevent the servo disc from contacting the positioning structure in the initial state and to prevent external preload from affecting the no-load current detection results.

[0076] Furthermore, during the rotation of the rudder, the rudder can enter from the side of the clearance hole in the calibration fixture that does not have a positioning protrusion, and gradually approach the positioning protrusion along a preset direction. In one embodiment, the rudder can be controlled to rotate slowly at an angular velocity of less than 5° / s to ensure stability during the process of the rudder approaching the positioning protrusion.

[0077] Step S104: During the rotation of the servo disk, the operating current of the servo motor is collected in real time, and based on the difference between the real-time current and the no-load reference current, it is determined whether the servo disk is in contact with the positioning protrusion.

[0078] During the rotation of the servo head toward the positioning protrusion, the current of the servo motor is collected in real time by the current detection module, and the collected current data is filtered to obtain the real-time current value.

[0079] Specifically, a sliding window filtering algorithm can be used to process the collected data. For example, a sliding window containing 10 sampling points can be set. After acquiring each new sampling point, the maximum and minimum values ​​within the current window are removed, and the average value of the remaining 8 sampling points is calculated as the current real-time current.

[0080] Furthermore, the difference between the real-time current and the no-load reference current is used to determine whether the servo disc is in contact with the positioning protrusion. Since the servo motor load changes after the servo disc contacts the positioning protrusion, causing a change in the servo motor operating current, the contact state between the servo disc and the positioning protrusion can be determined by detecting the change in current.

[0081] Step S106: When the detected current change meets the preset conditions, determine the position corresponding to the contact between the servo disk and the positioning protrusion, and record the current servo control signal parameters.

[0082] The difference between the real-time current and the no-load reference current is calculated in real time, and the preset conditions are determined based on the difference. For example, when the current change reaches 0.3A or more, and the condition is met three times consecutively, it is determined that the rudder disk and the positioning protrusion have made stable contact.

[0083] Furthermore, after confirming that the servo disc is in contact with the positioning protrusion, the control signal parameters corresponding to the current servo are recorded. In one embodiment, the pulse width value of the PWM signal currently output to the servo and the corresponding time information can be recorded via an interrupt triggering method.

[0084] Furthermore, to avoid the impact of transient current fluctuations during servo motor commutation on the detection results, parameter recording can be performed after a preset time delay following the detection of a current change. For example, control signal parameters can be recorded after a 500μs delay to improve the stability of the recorded data.

[0085] Step S108: Write the control signal parameters into the servo motor storage unit to serve as the zero-point position parameters after the servo motor is powered on.

[0086] After recording the control signal parameters, the control signal parameters can be written into the servo motor storage unit in response to operator confirmation.

[0087] Specifically, the operator can input a confirmation command through the buttons on the calibration board. After receiving the confirmation command, the system will store the recorded PWM pulse width value in the temporary storage area. If no confirmation command is received within the preset time, the current parameter to be written will be canceled and the steering wheel position detection process will be re-executed.

[0088] Furthermore, during the parameter writing process, the programming control module can communicate with the servo motor to complete the parameter transmission. After programming is complete, the data in the servo motor's storage unit can be read and compared with the parameters to be written to verify whether the parameter writing was successful.

[0089] After successful calibration, information such as servo model, zero-point PWM value, no-load current reference, and calibration timestamp can be stored in the log area for subsequent calibration process traceability. Optionally, the log area can cyclically save the most recent 100 calibration records.

[0090] In an optional embodiment, multiple servos can be connected simultaneously, and time-division multiplexing can be used to calibrate multiple servos. Specifically, the main control chip can establish a corresponding status control unit for each servo interface to independently record the current calibration status, parameter confirmation status, and programming status of each servo.

[0091] Furthermore, the main control chip can also be configured with a mutual exclusion control mechanism to ensure that only one servo is allowed to perform parameter writing or programming operations at any given time, avoiding data conflicts caused by multiple servos communicating simultaneously. When one servo enters the programming stage, other servo interfaces can pause parameter writing operations and maintain current detection, status monitoring, or waiting states.

[0092] In one implementation, a preset time window can be allocated to each servo, for example, 2 seconds of processing time can be allocated to each servo. Within the corresponding time window, the servo status confirmation, calibration parameter reading and parameter burning operations are completed. When the current time window ends, the main control chip switches to the next servo interface to execute the calibration process of the next servo.

[0093] Through the time-division multiplexing calibration method described above, multiple servos can share the same calibration hardware and control system, eliminating the need to configure separate calibration equipment for each servo. At the same time, the mutual exclusion control mechanism avoids communication interference during the multi-channel burning process, improving the reliability of parameter writing. Furthermore, the continuous batch calibration of multiple servos is achieved through time window switching, improving the overall calibration efficiency.

[0094] In an optional embodiment, the step of acquiring the no-load current after the servo motor is powered on and determining the no-load reference current based on multiple sampled current values ​​(step S100) includes: After the servo motor is powered on, it outputs a control signal with a preset pulse width. When the servo motor is in an unloaded state, it continuously collects multiple current values, filters the multiple current values, and determines the unloaded reference current based on the filtered current values.

[0095] After the servo motor is powered on, the main control chip can first output a PWM control signal with a preset pulse width to bring the servo motor to a preset initial position and maintain an unloaded operating state, thus avoiding the influence of external mechanical loads on the current detection results. In one embodiment, the preset pulse width can be 1500μs, corresponding to the theoretical midpoint position of the servo motor; simultaneously, after outputting the control signal, a preset time can be waited for the internal drive circuit and mechanical mechanism of the servo motor to stabilize before starting to collect unloaded current data, thereby reducing the impact of power-on transient current on the detection results.

[0096] The continuous acquisition of multiple current values ​​can be accomplished by a current detection module, which can periodically acquire the operating current of the servo motor according to a preset sampling frequency. In one embodiment, the sampling frequency can be 1kHz, continuously acquiring 100 current values ​​to ensure that the acquired data can fully reflect the actual current characteristics of the servo motor under no-load conditions.

[0097] The filtering process may include: removing the maximum and minimum values ​​from multiple continuously acquired current values, and averaging the remaining current values ​​to obtain the no-load reference current.

[0098] Because the servo motor may be affected by factors such as power supply ripple, environmental electromagnetic interference, and analog-to-digital conversion errors during the initial power-on phase and sampling process, abnormal data may exist in the multiple continuously collected current values. Therefore, by removing the maximum and minimum values ​​before calculating the average value, the impact of occasional noise on the calculation results can be reduced, and the stability of the no-load reference current can be improved.

[0099] Furthermore, after obtaining the no-load reference current, it can be determined whether the no-load reference current is within a preset range. When the no-load reference current exceeds the preset range, an abnormality warning message can be output to remind the operator to check the servo motor connection status or power supply status. For example, when the no-load reference current is less than 0.1A or greater than 1.0A, an alarm message can be output through an indicator light, buzzer, or display interface, and subsequent calibration procedures can be paused to avoid continuing zero-point calibration under abnormal conditions and improve the reliability of calibration results.

[0100] This application embodiment also provides a bionic human head body, including a servo motor, on which a linkage assembly is connected. The linkage assembly is used to control the movement of the corner of the mouth in the bionic human head body. The servo motor is also calibrated to its initial position using the servo motor calibration device as described in the foregoing embodiment.

[0101] Specifically, the linkage assembly may include a first linkage and a second linkage. One end of the first linkage is connected to the rotating end of the servo motor, and the other end of the first linkage is movably connected to the second linkage. The second linkage is connected to the corner of the mouth of the bionic head body, so as to control the movement of the corner of the mouth through the linkage between the first linkage and the second linkage.

[0102] In one optional embodiment, the bionic head body includes a left corner mouth position and a right corner mouth position. There can be two linkage assemblies, one corresponding to one corner mouth position. Each corner mouth position is equipped with two servo motors, which drive the movement of the corner mouth positions within the bionic head body. For each corner mouth position, one servo motor controls its up-and-down movement, and the other servo motor controls its forward-and-backward movement.

[0103] Specifically, please refer to Figures 4 to 10 The left corner of the mouth (not shown in the figure) is equipped with a first left servo motor (not shown in the figure) and a second left servo motor (not shown in the figure), and the right corner of the mouth 50 is equipped with a first right servo motor 51 and a second right servo motor 54. Since the drive structures on the left and right sides are basically the same, the following description takes the drive structure corresponding to the right corner of the mouth 50 as an example.

[0104] The first right servo motor 51 drives the right corner of the mouth point 50 to move vertically, and the second right servo motor 54 drives the right corner of the mouth point 50 to move forward and backward. The first right servo motor 51 is located above the second right servo motor 54. By controlling different degrees of freedom of movement of the right corner of the mouth point 50 with two servo motors respectively, the right corner of the mouth point 50 can achieve compound movement in both vertical and forward and backward directions, improving the realism of the mouth expression; at the same time, arranging two servo motors vertically helps to shorten the transmission path and improve the compactness of the mechanism layout.

[0105] The output end of the first right servo motor 51 is connected to the first right servo disc 52, and the first right servo disc 52 is connected to a connector 57, which is arranged parallel to the first right servo disc 52.

[0106] Specifically, using the left and right symmetrical planes of the bionic head as a reference plane, the connector 57 is perpendicular to the reference plane. The connector 57 has a groove 58 on the side facing the back of the bionic head.

[0107] When the first right servo motor 51 drives the first right servo disc 52 to rotate, the first right servo disc 52 drives the connecting member 57 to move. Under the guidance of the slide groove 58, the connecting member 57 slides in the up-down direction, thereby converting the rotational motion of the first right servo disc 52 into the up-down linear motion of the connecting member 57. The slide groove 58 guides and constrains the connecting member 57, ensuring that the connecting member 57 moves only in a preset direction, improving the stability of the motion trajectory. At the same time, it realizes the motion conversion between the rotation direction of the servo disc and the up-down motion direction of the servo disc.

[0108] In an optional embodiment, the linkage assembly corresponding to the right corner of the mouth position 50 includes a first right linkage 61 and a second right linkage 62. One end of the first right linkage 61 is rotatably connected to the connector 57, and the other end of the first right linkage 61 is movably connected to the second right linkage 62. The second right linkage 62 is connected to the right corner of the mouth position 50.

[0109] When the connector 57 slides in the vertical direction, it drives the first right link 61 to move. The first right link 61 drives the second right link 62 to swing through the movable connection between the first right link 61 and the second right link 62, thereby causing the right corner of the mouth 50 to move in the vertical direction. A lever transmission structure is formed between the first right link 61 and the second right link 62, which can adjust the motion transmission ratio according to the connection position, so that the small angle of rotation of the servo motor is converted into a large motion displacement of the corner of the mouth, thereby improving the expressive ability of facial expressions.

[0110] When the connector 57 slides in the vertical direction, it drives the first right link 61 to move. The first right link 61 drives the second right link 62 to swing through the movable connection between the first right link 61 and the second right link 62, thereby causing the right corner of the mouth point 50 to move in the vertical direction. A lever transmission structure is formed between the first right link 61 and the second right link 62. The motion transmission ratio can be adjusted according to the connection position, so that the small angle of rotation of the servo motor is converted into a large motion displacement of the corner of the mouth point, thereby improving the expressive ability of facial expressions.

[0111] In an optional embodiment, the output end of the second right servo motor 54 is connected to a second right servo disc 55, and the second right servo disc 55 is connected to a third right linkage 63, the third right linkage 63 being connected to the end of the second right linkage 62 away from the right corner point 50.

[0112] Specifically, the middle part of the second right link 62 is movably connected to both the first right link 61 and the third right link 63, so that the second right link 62 serves as an output component driven by both servos.

[0113] When the second right servo motor 54 drives the second right servo disc 55 to rotate, the second right servo disc 55 drives the second right connecting rod 62 to move via the third right connecting rod 63, thereby driving the right corner of the mouth position 50 to move in the forward and backward direction. When the first right servo motor 51 is working, it drives the second right connecting rod 62 via the first right connecting rod 61 to realize the up and down movement of the corner of the mouth position. Therefore, the second right connecting rod 62 can receive the driving force of two servos at the same time, realizing the coordinated control of the two degrees of freedom of the corner of the mouth position, reducing the number of transmission components while improving motion coordination and transmission accuracy.

[0114] This application also provides a robot, including the bionic human head body described in the above embodiments.

[0115] Specifically, the robot can be a bionic robot, humanoid robot, service robot, welcoming robot, companion robot, educational robot, medical assistive robot, or other robot with facial expression interaction capabilities; this application does not limit this. The bionic head body is mounted on the robot body and is driven by multiple servo motors to move the corners of the mouth and other facial points to achieve different facial expressions such as smiling, surprise, anger, and sadness. Since the servo motors are all initially calibrated through the aforementioned servo motor calibration device, each servo motor has a unified zero-point reference, enabling the robot to obtain a consistent initial position during power-on initialization and expression switching. This improves the motion coordination and synchronization between multiple facial actuators, reduces expression distortion, left-right asymmetry, and cumulative motion errors caused by zero-point deviation, thereby improving the accuracy of the robot's facial expression control.

[0116] This application embodiment also provides a corner-of-mouth positioning fixture for calibrating the corner of the mouth of the aforementioned bionic human head body. The corner-of-mouth positioning fixture is used to abut against the corner-of-mouth point to determine the reference position of the corner-of-mouth point.

[0117] The mouth corner positioning fixtures can be set corresponding to the left and right mouth corner points 50 respectively, that is, including left and right mouth corner positioning fixtures. The structures of the two fixtures can be identical and mirror-imaged along the left-right direction of the bionic head body. During calibration, the corresponding mouth corner positioning fixtures are fixed to the bionic head body, establishing a fixed positional relationship between them and the corresponding mouth corner points. Then, two servo motors at the corresponding mouth corner points drive the mouth corner points to gradually move towards the mouth corner positioning fixtures. When the mouth corner points reach stable contact with the fixtures, the corresponding servo motor position parameters are recorded and written into the servo motor storage unit as the reference position parameters for that mouth corner point. By using the mouth corner positioning fixtures as a unified mechanical reference, the mouth corner points of different bionic head bodies can be calibrated to the same target position, improving the consistency and repeatability of facial expressions between different products.

[0118] In an optional embodiment, the corner of the mouth positioning fixture includes an inclined rod 40 and a limiting part 42 disposed at one end of the inclined rod 40. The inclined rod 40 extends inclinedly from the temple position of the bionic head body towards the corner of the mouth position, and the limiting part 42 is used to contact the corner of the mouth position.

[0119] Specifically, the tilting rod 40 can be tilted along the line connecting the temple and the corresponding corner of the mouth on the bionic head, so that the corner of the mouth positioning fixture extends from the side of the bionic head towards the corner of the mouth area, thereby avoiding obstruction of the front space of the bionic head and facilitating installation and observation of the calibration process. Furthermore, the limiting part 42 can be located at the end of the tilting rod 40 near the corner of the mouth, and preferably adopts a semi-circular arc structure. Its thickness can be greater than the thickness of other parts of the tilting rod 40, and it protrudes towards one side of the bionic head to form a contact surface matching the corner of the mouth. When the corner of the mouth gradually approaches the limiting part 42 and makes contact under the drive of the servo motor, the servo motor load increases, and the servo motor current changes accordingly. The system can determine that the corner of the mouth has reached the target calibration position based on the current change, and record the corresponding servo motor position parameters at this time, completing the calibration of the corner of the mouth. By setting a semi-circular arc-shaped limiting part 42, not only can the contact area between it and the corner of the mouth be increased and the limiting stability be improved, but also the excessive local force caused by sharp corner contact can be avoided, thus improving the calibration repeatability.

[0120] In an optional embodiment, the end of the mouth corner positioning fixture away from the limiting part 42 is provided with a magnet mounting groove 41, and a magnet is provided in the magnet mounting groove 41 so that the mouth corner positioning fixture can be detachably fixed to the bionic head body.

[0121] Specifically, the magnet mounting groove 41 can be located at the end of the inclined rod 40 away from the limiting part 42. The magnet is embedded in the magnet mounting groove 41 and attracts the human head skeleton or magnetic mounting part inside the bionic head body, allowing the corner of the mouth positioning fixture to be quickly installed and removed. Throughout the calibration process, the corner of the mouth positioning fixture remains fixed, providing a unique and stable mechanical reference position for the corner of the mouth. After calibration, the corner of the mouth positioning fixture can be directly removed without affecting the normal operation of the bionic head body. The magnetic detachable installation method eliminates the need for screws, clips, or other mechanical fastening structures, improving installation efficiency and avoiding damage to the bionic head body from repeated installation and removal. It also ensures consistency in the installation position each time, which helps improve the repeatability accuracy of the corner of the mouth calibration results.

[0122] In an optional embodiment, the mouth corner positioning fixture may include a left mouth corner positioning fixture and a right mouth corner positioning fixture, both of which may have the same structure and be mirror-image arranged along the left-right direction of the bionic head body. The mouth corner positioning fixture may be made of aluminum alloy by CNC machining or by injection molding of ABS engineering plastic.

[0123] Specifically, when the corner-of-the-mouth positioning fixture is made of aluminum alloy, the tilting rod and the limiting part can be integrally formed to improve the overall structural strength and positional accuracy. Furthermore, the surface roughness of the limiting part in contact with the corner-of-the-mouth point can be controlled to Ra less than or equal to 0.8 μm, and anodizing treatment is performed after processing. The thickness of the anodized film can be 10~15 μm, thereby improving the wear resistance and corrosion resistance of the fixture surface and ensuring high dimensional stability even during long-term repeated use.

[0124] When the corner positioning fixture is injection molded from ABS engineering plastic, the mold temperature can be controlled at 80±2℃ and the injection pressure can be controlled at 100MPa to ensure that the corner positioning fixture has high molding accuracy and dimensional consistency, while reducing manufacturing costs and overall weight to meet the needs of mass production.

[0125] By designing the tilting rod and the limiting part as an integral molding structure, the influence of assembly errors and connection gaps on calibration accuracy can be avoided, the positional accuracy of the limiting part relative to the tilting rod can be improved, thereby ensuring good consistency between different corner positioning fixtures.

[0126] Furthermore, during the calibration process, the left corner of the mouth positioning fixture and the right corner of the mouth positioning fixture are detachably fixed to the corresponding left and right mounting positions of the bionic head body via magnets, respectively, so that the limiting part is located at the target calibration positions of the left and right corners of the mouth. During the calibration process, the corner of the mouth positioning fixture remains fixed. When the corresponding corner of the mouth moves under the drive of the servo motor to contact the limiting part, it can be determined that the corresponding corner of the mouth has reached the preset calibration position.

[0127] In an optional embodiment, during the process of calibrating the corner of the mouth using the corner of the mouth positioning fixture, it can be determined whether the corner of the mouth is in contact with the limiting part based on the servo motor operating current.

[0128] Specifically, as the corresponding corner of the mouth gradually approaches the limiting part, the system continuously collects the operating current of multiple servo motors driving the movement of the corner of the mouth, and compares the real-time collected operating current with the no-load reference current of the corresponding servo motor to obtain the current change. When the current change of any servo motor exceeds a preset threshold, and the preset threshold is met for multiple consecutive sampling cycles, it is determined that the corner of the mouth has formed stable contact with the limiting part. The preset threshold can be 0.2A, and the number of consecutive samplings can be two or more; this application does not limit this.

[0129] By using current changes as the basis for determining contact at the corner of the mouth, the goal of accurately determining the location of the corner of the mouth can be achieved without relying on visual inspection or manual judgment by the operator, thus improving the objectivity and repeatability of the calibration process. At the same time, the fact that the determination conditions are met in multiple consecutive sampling cycles can effectively filter out misjudgments caused by instantaneous noise, power fluctuations, and mechanical vibrations, thereby improving the reliability and stability of contact determination.

[0130] In an optional embodiment, the positions of the calibrated left and right corners of the mouth can be determined as the median reference position of the bionic head body's facial expression, and the median reference position of the facial expression can be used as the reference zero point of the facial expression control algorithm.

[0131] Specifically, when performing different facial expressions, the control system can calculate the target offset corresponding to each corner of the mouth based on the aforementioned facial expression median reference position, and drive the corresponding servo motor to complete the corresponding movement, so that the corner of the mouth reaches the target facial expression position. Since different bionic head bodies are all calibrated using a unified corner of the mouth positioning fixture, each bionic head body has a consistent facial expression median reference position, thereby establishing a unified reference coordinate system.

[0132] By establishing a unified median reference position for facial expressions, all types of facial expressions and actions have a consistent initial reference position. This not only improves the consistency of facial expressions and actions across different devices, but also ensures a smoother and more natural facial expression switching process. It also facilitates the development, debugging, and parameter reuse of subsequent facial expression algorithms.

[0133] It should be noted 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," and "circumferential," etc., are used 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 on this application. The directional terms "inner" and "outer" refer to the inside or outside relative to the outline of the component itself. For example, if a device in the drawings is inverted, a device described as "above" or "on top of" other devices or structures will subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0134] It should also be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this application refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0135] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0136] It should also be noted that the above are merely preferred embodiments of this application and do not limit the scope of patent protection of this application. Any equivalent structural or procedural changes made using the content of this application’s specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A servo motor calibration device, characterized in that, The servo calibration device is used to calibrate the initial position of the servo motors in the bionic human head body, and includes: A calibration fixture having a clearance hole, the inner wall of which is provided with a positioning protrusion for contacting the servo disc of a servo motor. A positioning pin is provided on one side of the calibration fixture, and the housing of the servo motor is also provided with a positioning groove that matches the positioning pin; When the calibration fixture is engaged with the positioning slot on the servo via the positioning pin, the initial position of the servo is when the servo disc rotates to the position where it abuts against the positioning protrusion.

2. The servo calibration device according to claim 1, characterized in that, The calibration fixture includes a first side and a second side opposite to each other, and the positioning protrusion includes a third side and a fourth side opposite to each other. The first side and the third side are flush, and the thickness of the positioning protrusion is less than the depth of the clearance hole.

3. The servo calibration device according to claim 1, characterized in that, There are two positioning pins, and the two positioning pins are located on the same side of the calibration fixture.

4. A method for calibrating the initial position of a servo motor, characterized in that, The method for calibrating the initial position of a servo motor using the servo motor calibration device as described in any one of claims 1 to 3 includes: The no-load current after the servo motor is powered on is obtained, and the no-load reference current is determined based on multiple sampled current values; The servo to be calibrated is installed in the servo calibration device, and the servo disc is controlled to rotate relative to the servo calibration device so that the servo disc gradually approaches the positioning protrusion on the servo calibration device. During the rotation of the servo disk, the operating current of the servo motor is collected in real time, and based on the difference between the real-time current and the no-load reference current, it is determined whether the servo disk is in contact with the positioning protrusion. When the detected change in current meets the preset conditions, determine the position corresponding to the contact between the servo disk and the positioning protrusion, and record the current servo control signal parameters; The control signal parameters are written into the servo motor storage unit to serve as the zero-point position parameters after the servo motor is powered on.

5. The method for initial position calibration of a servo motor according to claim 4, characterized in that, The process of acquiring the no-load current after the servo motor is powered on and determining the no-load reference current based on multiple sampled current values ​​includes: After the servo motor is powered on, it outputs a control signal with a preset pulse width. When the servo motor is in an unloaded state, it continuously collects multiple current values, filters the multiple current values, and determines the unloaded reference current based on the filtered current values.

6. The method for initial position calibration of a servo motor according to claim 5, characterized in that, The filtering process includes: The maximum and minimum values ​​of the continuously collected current values ​​are removed, and the remaining current values ​​are averaged to obtain the no-load reference current.

7. A bionic human head body, characterized in that, The device includes a servo motor connected to a linkage assembly for controlling the movement of the corner of the mouth in the bionic head body. The servo motor is also calibrated to its initial position using a servo motor calibration device as described in any one of claims 1 to 3.

8. A corner-of-mouth positioning fixture, characterized in that, The mouth corner positioning fixture is used to calibrate the corner of the mouth of the bionic human head body according to claim 7. The mouth corner positioning fixture is used to abut against the corner of the mouth to determine the reference position of the corner of the mouth.

9. The corner-of-mouth positioning fixture according to claim 8, characterized in that, The corner of the mouth positioning fixture includes an inclined rod and a limiting part disposed at one end of the inclined rod. The inclined rod extends inclinedly from the temple position of the bionic head body towards the corner of the mouth position, and the limiting part is used to contact the corner of the mouth position.

10. The corner-of-mouth positioning fixture according to claim 8, characterized in that, The corner of the mouth positioning fixture is provided with a magnet mounting groove at one end away from the limiting part, and a magnet is provided in the magnet mounting groove so that the corner of the mouth positioning fixture can be detachably fixed to the bionic head body.

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