Human-shaped bionic robot face and eyebrow expression structure based on stepping motor driving

Abstract

The utility model provides a humanoid bionic robot face and eyebrow expression structure based on stepping motor driving, which comprises four stepping motors, two eyebrow driving blocks and two face driving blocks, the two eyebrow driving blocks are fixedly arranged at the output ends of the two stepping motors respectively, and the two face driving blocks are fixedly arranged at the output ends of the two stepping motors respectively. The two face driving blocks are fixedly installed at the output ends of the other two stepping motors respectively, the two eyebrow driving blocks are small cambered surface blocks, the two face driving blocks are small sector blocks, the two eyebrow driving blocks are middle cambered surface blocks, and the two face driving blocks are middle sector blocks. According to the face and eyebrow expression structure of the humanoid bionic robot based on driving of the stepping motors, the eyebrow driving blocks and the face driving blocks are driven by the stepping motors, the service life can be prolonged, noise can be reduced, muscles are simulated in a block-shaped mode, and the appearance of the humanoid bionic robot is more attractive. And compared with a mechanical form of only a push rod, the mechanical form is more suitable for muscle movement when people make expressions.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a facial and eyebrow expression structure of a humanoid bionic robot driven by a stepping motor. Background Technique

[0002] With the continuous aggravation of the aging of the world's population, the labor population in many countries has shown a downward trend to varying degrees, and the shortage of labor has become an urgent social problem. With the development of artificial intelligence, it has gradually become possible to turn a robot into a "human". Service robots can imitate humans and complete tasks with high precision requirements for movement accuracy, and are gradually entering the service industry.

[0003] At present, service robots, especially companion robots for accompanying the elderly and taking care of children, have received more and more attention. Users' requirements for robots are not only to be able to complete various actions, but also to hope that the robots can have human expressions.

[0004] Existing robots to achieve facial expression movements mostly use push rods to push large pieces of facial silica gel to form. This kind of design occupies a large space, and uses a servo structure, which has a large noise during operation and a short service life.

[0005] Therefore, it is necessary to provide a facial and eyebrow expression structure of a humanoid bionic robot driven by a stepping motor to solve the above technical problems. Content of the Utility Model

[0006] The utility model provides a facial and eyebrow expression structure of a humanoid bionic robot driven by a stepping motor, which solves the problems of large noise during operation and short service life caused by using a push rod to push large pieces of facial silica gel to generate expressions.

[0007] To solve the above technical problems, the facial and eyebrow expression structure of a humanoid bionic robot driven by a stepping motor provided by the utility model includes:

[0008] Four stepping motors, two eyebrow driving blocks and two facial driving blocks. The two eyebrow driving blocks are respectively fixedly installed at the output ends of the two stepping motors, and the two facial driving blocks are respectively fixedly installed at the output ends of the other two stepping motors.

[0009] Preferably, both of the two eyebrow driving blocks are small arc surface blocks, and both of the two facial driving blocks are small fan surface blocks.

[0010] Preferably, both of the two eyebrow driving blocks are medium arc surface blocks, and both of the two facial driving blocks are medium fan surface blocks.

[0011] Preferably, both of the two eyebrow driving blocks are large arc surface blocks, and both of the two facial driving blocks are large fan surface blocks.

[0012] Preferably, the four stepping motors act on the driving of the two eyebrow driving blocks and the two face driving blocks.

[0013] Preferably, a rotating rod is fixedly installed at the output end of each of the four stepping motors, and a limiting groove is formed at one end of the top of the rotating rod.

[0014] Preferably, sliding cavities are formed inside the two eyebrow driving blocks and the two face driving blocks. A limiting block is slidably connected to the inner side surface of the sliding cavity. A pull rod is fixedly installed at the top of the limiting block, and an arc-shaped plate is fixedly installed at the top of the pull rod. A spring is arranged at the top of the limiting block, and the bottom of the limiting block is clamped to the inner side surface of the limiting groove.

[0015] Compared with the related art, the facial and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided by the present utility model has the following beneficial effects:

[0016] The present utility model provides a facial and eyebrow expression structure of a humanoid bionic robot driven by a stepping motor. By driving the eyebrow driving block and the face driving block with the stepping motor, the service life can be increased and the noise can be reduced. Moreover, the muscle is simulated in a block form, which is more in line with the muscle movement of a person when making expressions compared with the mechanical form with only a push rod. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the first embodiment of the facial and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided by the present utility model;

[0018] Figure 2 It is Figure 1 A schematic structural diagram of the eyebrow driving block and the face driving block shown in

[0019] Figure 3 It is Figure 1 Another schematic structural diagram of the eyebrow driving block and the face driving block shown in

[0020] Figure 4 It is a schematic structural diagram of the second embodiment of the facial and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided by the present utility model;

[0021] Figure 5 It is Figure 4 A schematic top view structural diagram of the stepping motor shown in

[0022] Figure 6 It is Figure 4 A schematic side sectional structural diagram of the face driving block shown in

[0023] Reference numerals in the figure: 1, stepper motor; 2, eyebrow driving block; 3, face driving block; 4, sliding cavity; 41, limit block; 42, spring; 43, pull rod; 44, arc plate; 11, rotating rod; 12, limit groove. Detailed implementation mode

[0024] The present invention will be further described below in conjunction with the accompanying drawings and the implementation mode.

[0025] First embodiment

[0026] Please refer to Figure 1 , Figure 2 , Figure 3 , wherein Figure 1 is a schematic structural diagram of the first embodiment of the face and eyebrow expression structure of the humanoid bionic robot driven by a stepper motor provided by the present invention;

[0027] Figure 2 is Figure 1 a schematic structural diagram of the eyebrow driving block and the face driving block shown in; Figure 3 is Figure 1 another schematic structural diagram of the eyebrow driving block and the face driving block shown in. The face and eyebrow expression structure of the humanoid bionic robot driven by a stepper motor includes: four stepper motors 1, two eyebrow driving blocks 2 and two face driving blocks 3. The two eyebrow driving blocks 2 are respectively fixedly installed at the output ends of the two stepper motors 1, and the two face driving blocks 3 are respectively fixedly installed at the output ends of the other two stepper motors 1.

[0028] Both of the two eyebrow driving blocks 2 are small arc surface blocks, and both of the two face driving blocks 3 are small fan surface blocks.

[0029] Both of the two eyebrow driving blocks 2 are medium arc surface blocks, and both of the two face driving blocks 3 are medium fan surface blocks.

[0030] Both of the two eyebrow driving blocks 2 are large arc surface blocks, and both of the two face driving blocks 3 are large fan surface blocks.

[0031] Referring to Figure 1 , the two eyebrow driving blocks 2 are small arc surfaces, and the two face driving blocks 3 are small fan surface blocks; referring to Figure 2 , the two eyebrow driving blocks 2 are medium arc surfaces, and the two face driving blocks 3 are medium fan surface blocks; referring to Figure 3 , the two eyebrow driving blocks 2 are large arc surfaces, and the two face driving blocks 3 are large fan surface blocks. By changing the eyebrow driving blocks 2 and the face driving blocks 3, different facial expressions can be simulated on the face of the robot.

[0032] The four stepping motors 1 act on the driving of the two eyebrow driving blocks 2 and the two face driving blocks 3.

[0033] During actual use, a headgear made of silica gel needs to be installed on the outside of the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor, so as to imitate the skin. The large-piece integral silica gel is changed into silica gel skin and adhered to the expression activity parts of the robot. In this way, the torque required to push the silica gel can be reduced. The reduction of torque is beneficial to improving the service life of the structure and reducing the running noise of the stepping motor 1;

[0034] Moreover, by adopting the large-area eyebrow driving blocks 2 and face driving blocks 3 to be in fixed contact with the silica gel skin, this kind of contact method can ensure the overall performance of the facial muscle blocks when making movements, and there will be no problem of expression deformation.

[0035] The working principle of the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided by the present utility model is as follows:

[0036] When in use, the rotation of the stepping motor 1 drives the eyebrow driving block 2 and the face driving block 3 to drive, so as to change the expression of the robot's face.

[0037] Compared with the related technology, the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided by the present utility model has the following beneficial effects:

[0038] By driving the eyebrow driving block 2 and the face driving block 3 with the stepping motor 1, the service life can be increased and the noise can be reduced. Moreover, the muscle is simulated in a block form, which is more in line with the muscle movement of people when making expressions compared with the mechanical form with only a push rod.

[0039] Second Embodiment

[0040] Please refer to Figure 4 , Figure 5 and Figure 6 , based on the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided in the first embodiment of the present application, the second embodiment of the present application proposes another face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor. The second embodiment is only the preferred way of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0041] Specifically, the difference between the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor provided in the second embodiment of the present application is that for the face and eyebrow expression structure of the humanoid bionic robot driven by a stepping motor, a rotating rod 11 is fixedly installed at the output end of each of the four stepping motors 1, and a limiting groove 12 is opened at one end of the top of the rotating rod 11.

[0042] A sliding cavity 4 is formed inside each of the two eyebrow driving blocks 2 and the two face driving blocks 3. A limiting block 41 is slidably connected to the inner side surface of the sliding cavity 4. A pull rod 43 is fixedly installed at the top of the limiting block 41. An arc-shaped plate 44 is fixedly installed at the top of the pull rod 43. A spring 42 is arranged at the top of the limiting block 41. The bottom of the limiting block 41 is clamped to the inner side surface of the limiting groove 12.

[0043] The working principle of the facial and eyebrow expression structure of the humanoid bionic robot based on stepping motor drive provided by the present utility model is as follows:

[0044] When in use, when the user needs to replace the eyebrow driving block 2 or the face driving block 3, the user can pull the arc-shaped plate 44, so that the arc-shaped plate 44 drives the pull rod 43 to move. When the pull rod 43 moves, it will drive the limiting block 41 to move out from the inner side surface of the limiting groove 12, so that the limiting block 41 slides on the inner side surface of the sliding cavity 4 and compresses the spring 42. Then the user can take out the rotating rod 11 from inside the eyebrow driving block 2 or the face driving block 3, so as to disassemble the eyebrow driving block 2 or the face driving block 3;

[0045] When installing, only need to abut one end of the rotating rod 11 against the inclined surface at the bottom of one side of the limiting plate 41, so as to push the limiting block 41 and make the limiting block 41 snap into the inner side surface of the limiting groove 12.

[0046] Compared with the related technology, the facial and eyebrow expression structure of the humanoid bionic robot based on stepping motor drive provided by the present utility model has the following beneficial effects:

[0047] Through the cooperation of structures such as the sliding cavity 4, the limiting block 41, the spring 42, the pull rod 43, the arc-shaped plate 44, the rotating rod 11 and the limiting groove 12, when disassembling and installing the eyebrow driving block 2 or the face driving block 3, the user only needs to pull the arc-shaped plate 44, and then drive the limiting block 41 to move out from the inner side surface of the limiting groove 12, then the eyebrow driving block 2 or the face driving block 3 can be disassembled, and the operation is convenient and fast.

[0048] The above are only the embodiments of the present utility model, and thus do not limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. A humanoid bionic robot facial and eyebrow expression structure driven by a stepper motor, characterized in that: include: Four stepper motors, two eyebrow driving blocks and two facial driving blocks, the two eyebrow driving blocks are respectively fixedly installed on the output ends of the two stepper motors, and the two facial driving blocks are respectively fixedly installed on the output ends of the other two stepper motors.

2. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 1, characterized in that: The two eyebrow driving blocks are both small arc blocks, and the two facial driving blocks are both small fan blocks.

3. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 1, characterized in that: The two eyebrow driving blocks are both middle arc surface blocks, and the two facial driving blocks are both middle fan surface blocks.

4. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 1, characterized in that: The two eyebrow driving blocks are both large arc blocks, and the two facial driving blocks are both large sector blocks.

5. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 1, characterized in that: The four stepping motors act to drive the two eyebrow driving blocks and the two facial driving blocks.

6. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 1, characterized in that: The output ends of the four stepper motors are all fixedly mounted with a rotating rod, and one end of the top of the rotating rod is provided with a limiting groove.

7. The humanoid bionic robot facial and eyebrow expression structure based on stepper motor drive according to claim 6, characterized in that: A sliding cavity is provided inside the two eyebrow driving blocks and the two facial driving blocks, and the inner side surface of the sliding cavity is slidably connected to a limiting block, a pull rod is fixedly installed on the top of the limiting block, and an arc plate is fixedly installed on the top of the pull rod, a spring is arranged on the top of the limiting block, and the bottom of the limiting block is clamped on the inner side surface of the limiting groove.

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