Humanoid robot head

Abstract

The utility model relates to the technical field of humanoid robots, and discloses a humanoid robot head which comprises a humanoid robot body, the humanoid robot comprises eyes, ears, a nose and mouth organs of the face, and the humanoid robot further comprises a face blinking transmission mechanism which comprises silica gel eyelids and a controller for driving the eyelids to move up and down; the eye driving mechanism comprises a rotating eyeball mechanism and a columnar shell, the columnar shell is connected with an eye hemisphere through an eye body, the inner side of the eyeball mechanism comprises a camera device, the columnar shell comprises a first control device and a second control device, eyeballs are controlled to rotate all around, and meanwhile the structure is compact, the control precision is high, friction is small, and the response speed is high. According to the humanoid robot head, through the corresponding design of the traction rope, the first control device, the second control device, the camera, the motor and the like, rotation of the eyes of the robot in the up-down direction, the left-right direction and the like can be achieved, good control can be achieved, the structure is compact, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, and specifically to a head of a humanoid robot. Background Art

[0002] At present, the head and facial structures of intelligent robots are divided into two categories: one is the head and face imitating humans, made of silicone materials, but it is very difficult to achieve the pronunciation effect of a real person when pronouncing, especially when pronouncing the five English vowels or Chinese vowels, it is difficult to make the lip shape realistic; the other is the robot head made of a metal or plastic shell, with a simple structure and a low technical level, which is very different from the real human head and face. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a head of a humanoid robot aiming at the deficiencies in the above-mentioned prior art.

[0004] To solve the above technical problem, the technical solution adopted by the utility model is: a head of a humanoid robot, including a humanoid robot body, wherein the humanoid robot includes the eye, ear, nose, and mouth organs on the face, and the humanoid robot further includes:

[0005] A facial blinking transmission mechanism, including silicone eyelids and a control for driving the eyelids to move up and down.

[0006] An eye driving mechanism, including a mechanism for rotating the eyeball and a cylindrical shell. The cylindrical shell is connected to the eye hemisphere through the eye body. The inner side of the eyeball mechanism includes a camera device. The cylindrical shell includes a first control device and a second control device, which control the eyeball to rotate in all directions. At the same time, it has a compact structure, high control precision, small friction, fast response speed, and a movement range close to that of the human eye, and has strong practicability; the camera device can help the robot achieve rapid target positioning, accurate target tracking, and image acquisition, thus maximizing the bionic of the human eye.

[0007] A facial opening and closing transmission mechanism, including the upper and lower lips, upper and lower teeth, and a transmission control for driving the lower jaw to open and close.

[0008] A facial smiling transmission mechanism, including imitating the facial laughing muscles and a transmission control for forming a smile.

[0009] The transmission control for the mouth to pronounce English vowels, Chinese vowels, and to have conversations with humans, including the lip shape for making the upper and lower lips protrude forward to pronounce, and the control for the microphone on the top of the head to receive human voices, identify them through the voice intelligent module, and communicate with humans.

[0010] Preferably, for the eye, ear, nose, and mouth organs on the face of the humanoid robot, an imported silicone is used to mold the head and face models. Short hair is implanted on the silicone skin of the top of the head for male characteristics, and long hair is implanted on the silicone skin of the top of the head for female characteristics. At the same time, the facial organs of the humanoid robot simulate blinking, up and down and left and right movement of the eyeballs, opening and closing of the mouth, smiling faces, making English vowels and Chinese vowels, and the transmission control for conversations with humans.

[0011] Preferably, for the eye, ear, nose, and mouth organs on the silicone skin face, the structures that simulate blinking, up and down and left and right movement of the eyeballs, opening and closing of the mouth, smiling faces, protruding of the lips to make English vowels and Chinese vowels, and conversations with humans are driven by motors and controlled by programs, so that the movements of the facial organs achieve the functional effects of a humanoid.

[0012] Preferably, for the facial blinking transmission mechanism, the silicone eyelid fits completely with the transmission mechanism surface. Through a special silicone glue, the fitting surface is firmly bonded. Then, a traction rope is used to connect to the servo turntable through a pulley. When the turntable rotates forward, the traction rope is pulled, causing the eyelid rotation mechanism to move along the axis. In this way, the silicone eyelid on the fitting surface moves downward, and the eyes blink and close. Conversely, when the servo turntable rotates in reverse, the silicone eyelid resets, and the eyes open.

[0013] Preferably, the cylindrical outer shell is threadedly connected to the upper hemisphere of the eye. At the cross-section of the lower hemisphere of the eye, a transmission line connection point is set every 90°, and four transmission lines are respectively installed. The transmission lines are connected to the first and second control devices. The transmission lines at both ends of the diameter are connected to the first control device, and the transmission lines at both ends of the diameter perpendicular to the horizontal diameter are connected to the second control device;

[0014] The first control device drives the eye hemisphere to rotate along the axis through the first motor, and the second control device drives the eye hemisphere to rotate along another axis through the second motor;

[0015] There is a through hole in the inner cavity of the upper hemisphere of the eye, and a micro camera is installed in the through hole. The diameter of the through hole is smaller than the diameter of the eyeball; both the first motor and the second motor are located inside the cylindrical outer shell, and the motors are simultaneously connected to the control device;

[0016] There are two circular notches on the outer side of the cylindrical outer shell, and the first control device and the first control device are respectively installed at the notches; both the first control device and the first control device are circular disk-shaped structures, and the first motor and the second motor are respectively installed inside. The ropes wound around the first motor and the second motor are traction ropes, and the first motor and the second motor pull the traction ropes to control the rotation of the lower hemisphere of the eye.

[0017] Preferably, the facial opening and closing transmission mechanism includes: the lower jaw and the upper jaw are connected by a tension spring, and the lower jaw is connected to the upper jaw by a ball head to facilitate opening and closing movement. A pulley is installed at the end of the root of the tongue of the lower jaw, and a pulling rope passes through the pulley and is fixed on the steering gear turntable of the brain power box after being pulled upward. When the steering gear turntable moves forward, the lower jaw opens, and thus the lips open; when the steering gear turntable rotates in the reverse direction, the tension spring connecting the upper and lower jaws resets, causing the lower jaw and the upper jaw to close, and thus the robot's lips close.

[0018] Preferably, the facial smiling transmission mechanism includes: a humanoid facial silicone skin customized by a mold is set on the robot's head, and the skin fits perfectly with the cheeks of the head. There are two concave grooves on the back of the lips of the silicone skin, and the traction rope is implanted into the grooves, and the rope is bonded to the silicone skin with a special glue. Then the traction rope passes through the pipeline structure of the head and is connected to the steering gear turntable of the brain power box. When the steering gear turntable rotates forward, it pulls the smiling muscles of the silicone skin, making the face show a smiling expression.

[0019] Preferably, the transmission control of pronouncing English vowels and Chinese finals in the mouth includes: on the back of the upper lip of the silicone skin, which fits with the upper lip of the head, a pulling rope is implanted at each of the left and right places. Then the rope passes through the small pulleys on the lips, passes through the special pipeline of the head, and is fixed on the steering gear turntable of the brain power box. When the turntable rotates forward, it drives the silicone skin lips to protrude forward, and the upper and lower lips form the shape of pronouncing English vowels and Chinese finals.

[0020] Preferably, the transmission control of human dialogue includes: there is a PCB board arranged with seven microphones on the top of the brain. These microphones are connected to the two ears and multiple pipeline holes above the head through special pipelines to receive sounds, which are judged and recognized by the voice module and converted into instructions to achieve communication and dialogue with humans.

[0021] Preferably, the head is a shell 3D printed with photosensitive materials. The left and right eyes are assembled inside the head shell, and a micro camera is placed inside the pupils of the eyes, which can identify and judge the objects seen. At the same time, the left and right eyeballs, that is, the micro cameras, are implanted into the eye structure, and under the action of the steering gear and the turntable, they can move up, down, left and right at the same time; it can also realize the up, down, left and right movement of a single eyeball.

[0022] Preferably, inside the 3D printed head shell, upper teeth are installed on the upper jaw, lower teeth are installed on the lower jaw, and the upper and lower jaws are connected by a tension spring. And there is a ball head at the root of the lower jaw connected to the upper jaw to facilitate rotation; a tongue is installed in the oral cavity, and thus it cooperates with the silicone lips to form a simulated human mouth. A fixed pulley is installed at the end of the root of the tongue, and the traction rope passes through the pulley and is pulled upward into the power box of the head and connected to the turntable of the steering gear. When the turntable of the steering gear in the power box rotates the rope forward, the traction rope pulls the lower jaw to open, forming an open mouth state; when the steering gear turntable moves in the reverse direction, under the action of the tension spring, the lips close.

[0023] Preferably, a voice circuit board is installed inside the 3D printed skull. There are seven microphones on the board, which are used to receive sounds from the front, back, left, right, and both ears on the top of the head. After recognition and determination, the sounds are converted into instructions to make the speaker emit sounds, forming communication between the robot and humans.

[0024] Adopting the above technical solution, the present utility model can bring the following beneficial effects:

[0025] 1. For this humanoid robot head, through corresponding design of traction ropes, the first control device, the second control device, cameras, motors, etc., the robot's eyes can rotate in four directions: up, down, left, and right, and can be well controlled. The structure is compact and the practicability is strong.

[0026] 2. For this humanoid robot head, it is connected to the brain power box through a traction rope. When the servo motor in the power box drives the turntable to rotate forward, the traction rope pulls the eyelid rotation mechanism, causing the upper eyelid to rotate downward to cover the eyeball, forming a blinking action.

[0027] 3. For this humanoid robot head, by setting up a camera device, it can help the robot achieve rapid target positioning, accurate target tracking, and image acquisition, thus maximizing the emulation of human eyes. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of male and female silicone headgear in the present utility model;

[0029] Figure 2 It is a schematic diagram of the skull facial structure in the present utility model;

[0030] Figure 3 It is a schematic diagram of the skull sectional structure in the present utility model;

[0031] Figure 4 It is a schematic diagram of the traction wire power box inside the skull in the present utility model;

[0032] Figure 5 It is a schematic diagram of the overall external structure of a single eye in the present utility model;

[0033] Figure 6 is Figure 5 a schematic diagram of side B in;

[0034] Figure 7 is Figure 5 a schematic diagram of the structure of side A in;

[0035] Figure 8 It is a top view of the eyeball in the present utility model;

[0036] Figure 9 It is a bottom view of the eyeball in the present utility model. Detailed implementation manners

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part rather than all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0038] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0039] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "setting" should be understood in a broad sense. For example, it can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "several" is two or more unless otherwise clearly and specifically defined.

[0041] As Figures 1-9 shown, the present utility model provides the following embodiments:

[0042] Embodiment 1: The blinking action is realized by an independent control system. Preferably, on the power box inside the skull, there is a special servo turntable that pulls the traction rope, causing the structural member of the eye to move downward, forming a blinking action. When the servo pulls the traction rope to move forward, the eyelid closes downward, and vice versa, the eyelid opens.

[0043] Embodiment 2: The eye driving mechanism of the present invention includes an eyeball and a cylindrical housing. A camera is installed in the inner cavity of the eye hemisphere above the eyeball, and the eye hemisphere is installed in the front part of the inner cavity of the cylindrical housing; two motors are installed in the inner cavity at the rear of the cylindrical housing; the two motors respectively drive the eyeball to rotate in two axial directions through two control devices.

[0044] The structure of the control device is as follows: The first and second control devices are both two circular grooves, and motors are installed in the grooves. The motors control the traction ropes to stretch and contract in two directions. The first motor controls the traction rope to stretch and contract, causing the eyeball to rotate left and right, and the second motor controls the traction rope to stretch and contract, causing the eyeball to rotate up and down. The operation is flexible and convenient, and the traction rope is strong and not easily broken.

[0045] The lower part of the eye is a hemispherical shell, and there is a through hole in the center to install a micro camera. The lens of the camera is aligned with the through hole on the upper hemisphere of the eye. The camera is connected to the imaging device located in the cavity of the cylindrical housing, and operations such as charging the camera can be performed.

[0046] The principle of the control device driving the eyeball to rotate is as follows: The first motor drives the first control device to rotate a certain angle, and the traction rope drives the eye hemisphere to rotate left and right by a certain angle; the second motor drives the second control device to rotate a certain angle, and the traction rope drives the eye hemisphere to rotate up and down by a certain angle. The camera in the through hole of the eyeball can capture images in different directions through the two axial rotations of the eyeball. For the convenience of installation on the robot's head, 4 injection molding screw holes are provided on the outside of the cylindrical housing of the eye, and this device can be fixed by screws.

[0047] Embodiment 3: The opening of the mouth. Preferably, it is realized by an independent control system. There is a servo turntable on the internal control box of the skull, which specifically pulls the rope. Through the pulley, the lower jaw opens with the ball head as the rotation point, so that the mouth opens. When the servo turntable moves in the reverse direction, under the action of the contraction force of the tension spring, the lower jaw closes.

[0048] Embodiment 4: The smiling face movement. Preferably, it is realized by an independent control system. There is a special servo turntable in the power box inside the skull, which pulls the traction rope to cause the facial laughing muscles of the silicone skin to move, the corners of the mouth to turn up, and the laughing muscles to be lifted, forming a simulated human smiling expression.

[0049] Embodiment 5: The robot voice dialogue function. Preferably, there is a microphone circuit board inside the skull, which has seven microphones to receive sound. After the audio signals from the front, back, left, right of the head and both ears are input, intelligent voice recognition is performed, converted into instructions, and the sound is emitted by the speaker to communicate with humans.

[0050] It should be noted that: In this embodiment, all are common devices in the prior art, and the models and the like can be customized according to actual usage requirements. Moreover, the power supply interface of the electrical equipment in this utility model is connected to the power supply system through a switch (not shown in the figure) and a wire (not shown in the figure) to realize its control. The circuits and controls involved are all prior art and are well-known in the current field, so no more details will be described here.

[0051] The present utility model provides a humanoid robot head. There are many methods and ways to specifically implement this technical solution. The above description is only the preferred embodiment of the present utility model. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model. Each component not clearly defined in this embodiment can be implemented by using the prior art.

Claims

1. A humanoid robot head, comprising a humanoid robot body, wherein the humanoid robot comprises facial organs of eyes, ears, nose and mouth, characterized in that: The humanoid robot further comprises: The facial blinking transmission mechanism includes a silicone eyelid and a control that drives the eyelid up and down; The eye driving mechanism comprises an eyeball rotating mechanism and a columnar shell, wherein the columnar shell is connected to the eye hemisphere through the eye body, the inner side of the eyeball mechanism comprises a camera device, and the columnar shell comprises a first control device and a second control device, which control the eyeball to rotate in all directions, and at the same time, the structure is compact, the control accuracy is high, the friction is small, the response speed is fast, and the movement range is close to that of the human eye, and it has strong practicality; the camera device can help the robot to achieve rapid target positioning, accurate target tracking and image acquisition, thereby realizing human eye bionics to the greatest extent; The facial opening and closing transmission mechanism includes the upper and lower lips, upper and lower teeth, and drives the transmission control of the opening and closing of the lower jaw; The facial smile transmission mechanism includes a transmission control that imitates the facial smile muscles to form a smile; The mouth is used to make English vowels, Chinese finals and control conversations with humans, including the lip shape of the upper and lower lips extending forward to produce pronunciation, and the microphone on the top of the head receiving human voice, recognizing it through the voice intelligence module, and controlling conversations with humans.

2. A humanoid robot head according to claim 1, characterized in that: The eyes, ears, nose and mouth organs of the humanoid robot's face are made of imported silicone molds to manufacture the head and facial models. Short hair is implanted on the top of the silicone skin for male characteristics, and long hair is implanted on the top of the silicone skin for female characteristics. At the same time, the facial organs of the human being are simulated, such as blinking, up and down and left and right movements of the eyeballs, opening and closing the mouth, smiling, pronouncing English vowels and Chinese finals, as well as the transmission control for dialogue with humans.

3. The humanoid robot head according to claim 1, characterized in that: The silicone skin facial organs of eyes, ears, nose and mouth simulate the structure of human face blinking, up and down and left and right eye movement, opening and closing mouth, smiling face, protruding lips to pronounce English vowels and Chinese finals, as well as the structure of dialogue with humans. Through motor transmission and program control, the facial organ movements can achieve the effect of simulating human functions at the same time.

4. The humanoid robot head according to claim 1, characterized in that: The facial blinking transmission mechanism, the silicone eyelid is completely fitted with the transmission mechanism surface, the fitting surface is firmly bonded by using special silicone glue, and then a traction rope is used to connect to the steering gear turntable through a pulley. The turntable rotates the traction rope in the positive direction to make the eyelid rotating mechanism move along the axis, so that the silicone eyelid on the fitting surface moves downward, and the eyes blink and close; conversely, the steering gear turntable is reversed, the silicone eyelid is reset, and the eyes open.

5. The humanoid robot head according to claim 1, characterized in that: The eye driving mechanism comprises: the columnar housing is threadedly connected to the upper hemisphere of the eye, a transmission line connection point is set at every 90° on the cross section of the lower hemisphere of the eye, and four transmission lines are respectively installed, the transmission lines are connected to the first and second control devices, the transmission lines at both ends of the diameter are connected to the first control device, and the transmission lines at both ends of the diameter that are perpendicular to the diameter are connected to the second control device; The first control device drives the eye hemisphere to rotate along an axis through a first motor, and the second control device drives the eye hemisphere to rotate along another axis through a second motor; The inner cavity of the upper hemisphere of the eye is provided with a through hole, a micro camera is installed in the through hole, and the diameter of the through hole is smaller than the diameter of the eyeball; the first motor and the second motor are both located inside the cylindrical housing, and the motors are connected to the control device at the same time; There are two circular notches on the outside of the columnar shell, and the first control device and the first control device are respectively installed at the notches; the first control device and the first control device are both circular disc structures, and the first motor and the second motor are respectively installed inside, wherein the ropes around the first motor and the second motor are traction ropes, and the first motor and the second motor pull the traction rope to control the rotation of the lower hemisphere of the eye.

6. The humanoid robot head according to claim 1, characterized in that: The facial opening and closing mouth transmission mechanism includes: the lower jaw and the upper jaw are connected by a tension spring, and the lower jaw is connected to the upper jaw by a ball head to facilitate opening and closing movement. A pulley is installed on the end of the tongue root of the lower jaw, and the pull rope passes through the pulley and is pulled upward into the servo turntable of the brain power box and fixed. When the servo turntable moves forward, the lower jaw opens, and thus the lips open; when the servo turntable rotates in the opposite direction, the tension spring connecting the upper and lower jaws is reset, causing the lower jaw and the upper jaw to close, and thus the robot's lips are closed.

7. The humanoid robot head according to claim 1, characterized in that: The facial smile transmission mechanism includes: a humanoid facial silicone skin customized through a mold is put on the head of the robot, the skin fits the cheeks of the head completely, there are two concave grooves on the back of the lips of the silicone skin, the traction rope is implanted in the groove, the rope and the silicone skin are bonded together with special glue, and then the traction rope is passed through the pipe structure of the head and connected to the servo turntable of the brain power box. When the servo turntable rotates forward, the silicone facial skin smile muscle is pulled to make a smiling expression appear on the face.

8. The humanoid robot head according to claim 1, characterized in that: The transmission control of the mouth for making English vowels and Chinese finals includes: a pull rope is implanted in the left and right places on the back side of the upper lips of the silicone skin, which fits with the upper lips of the skull. The rope then passes through a small pulley on the lips, passes through a special pipe in the skull, and enters the brain power box and is fixed on the servo turntable. When the turntable rotates forward, it drives the silicone lips to extend and bulge forward, and the upper and lower lips take the shape of lips for making English vowels and Chinese finals.

9. The humanoid robot head according to claim 1, characterized in that: The transmission control of human dialogue includes: there is a PCB board with seven microphones arranged on the top of the brain, and these microphones are connected to the two ears and multiple pipe holes above the head through special pipes to receive sounds, which are judged and recognized by the voice module and converted into commands to realize communication and dialogue with humans.

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