Mouth corner movement mechanism and mouth device

Abstract

The utility model relates to the technical field of robots, in particular to a mouth corner movement mechanism and a mouth device which are used for driving mouth corners of a robot to move. Comprising a first motor, a first connecting rod assembly, a second motor and a second connecting rod assembly; the input end of the first connecting rod assembly is connected to the output end of the first motor; the input end of the second connecting rod assembly is connected with the output end of the second motor. The output end of the second connecting rod assembly is rotationally connected with the output end of the first connecting rod assembly. The output end of the first connecting rod assembly is connected with the mouth corner through the connecting assembly and / or the output end of the second connecting rod assembly is connected with the mouth corner through the connecting assembly. By adopting the mode that the two motors are matched with the connecting rod for driving, one mouth corner of the lips can be driven to move up and down, forwards pushed, backwards pulled and the like, so that the mouth corner movement is more flexible and diversified.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mouth corner movement mechanism and a mouth device. Background Art

[0002] The following technical problems exist when the mouth corners of existing humanoid robots move:

[0003] Insufficient motion fidelity: Simple up-and-down movements cannot reproduce complex human mouth movements, such as up-and-down, pushing forward and pulling back, making the robot's expression stiff and unnatural;

[0004] Uncanny Valley Effect: Because the robot's mouth movement is not realistic enough, it will cause discomfort to users during human-computer interaction. This phenomenon is called the Uncanny Valley Effect, which seriously affects the application effect of humanoid robots. Utility Model Content

[0005] In order to solve the problem of unnatural mouth corner movement, the utility model provides a mouth corner movement mechanism and a mouth device.

[0006] The technical solution of the utility model is:

[0007] On the one hand, the utility model provides a mouth corner motion mechanism, which is characterized in that: it is used to drive the mouth corner motion of a robot, and is characterized in that it includes

[0008] First motor;

[0009] a first connecting rod assembly, wherein an input end of the first connecting rod assembly is connected to an output end of the first motor;

[0010] Second motor;

[0011] a second connecting rod assembly, wherein an input end of the second connecting rod assembly is connected to an output end of the second motor, and an output end of the second connecting rod assembly is rotatably connected to an output end of the first connecting rod assembly;

[0012] Wherein, the output end of the first connecting rod assembly is connected to the corner of the mouth through a connecting assembly and / or the output end of the second connecting rod assembly is connected to the corner of the mouth through a connecting assembly.

[0013] Furthermore, the connection component includes

[0014] a first connecting member connected to an output end of the first connecting rod assembly and / or an output end of the second connecting rod assembly;

[0015] A second connecting member, wherein the first end of the second connecting member is detachably connected to the corresponding first connecting member, and the second end of the second connecting member is connected to the corner of the mouth.

[0016] Furthermore, the first connecting member and the second connecting member are connected by magnetic attraction.

[0017] Furthermore, the first connecting member is configured as a positioning groove; the second connecting member can be clamped in the positioning groove; and both the positioning groove and the second connecting member are magnetic.

[0018] Furthermore, the first connecting rod assembly includes a first active rod and a first connecting rod that are rotatably connected to each other; the second connecting rod assembly includes a second active rod and a second connecting rod that are rotatably connected to each other.

[0019] Furthermore, the first active rod and the first connecting rod are connected by a ball head; the second active rod and the second connecting rod are connected by a ball head.

[0020] Furthermore, an avoidance groove is provided on at least one of the first connecting rod and the second connecting rod, and a connection point between the first connecting rod and the second connecting rod is located in a space avoidance area of ​​the avoidance groove.

[0021] Furthermore, the mouth corners are made of flexible material.

[0022] According to another aspect of the present invention, a mouth device is also provided, including the above-mentioned mouth corner movement mechanism, as well as a mandibular model and a lower lip movement mechanism; the lower lip movement mechanism includes a third motor installed at the bottom of the mandibular model, the output end of the third motor is connected to the input end of the third connecting rod assembly, the output end of the third connecting rod assembly is rotatably connected to the lower lip connecting seat, the lower lip connecting seat is magnetically connected to the connecting block, and the connecting block is used to connect to the inner wall of the lower lip.

[0023] Furthermore, the third connecting rod assembly includes a third active rod, a third connecting rod, and a fourth connecting rod that are rotatably connected to each other in sequence, and the fourth connecting rod is rotatably connected to the lower lip connecting seat; the mandibular model is provided with a guide portion, and the fourth connecting rod is clamped in the guide portion and is tilted toward the outside of the lower lip.

[0024] The beneficial effects achieved by the utility model are:

[0025] The mouth corner motion mechanism of the present invention is used to drive the mouth corners of the robot to move; it includes a first motor, a first connecting rod assembly, a second motor and a second connecting rod assembly; the input end of the first connecting rod assembly is connected to the output end of the first motor; the input end of the second connecting rod assembly is connected to the output end of the second motor, and the output end of the second connecting rod assembly is rotatably connected to the output end of the first connecting rod assembly; wherein, the output end of the first connecting rod assembly is connected to the mouth corner via a connecting assembly and / or the output end of the second connecting rod assembly is connected to the mouth corner via a connecting assembly; by adopting a dual-motor combined with connecting rod drive mode, one of the mouth corners of the lip can be driven to perform up and down, forward push and backward movements, making the movement of the mouth corner more flexible and diversified; optionally, in actual application, the embodiment of the present application can be set as two sets of mouth corner motion mechanisms to respectively drive the two mouth corners to perform specified movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0029] Figure 1 This is a schematic diagram of the first three-dimensional structure of the second embodiment of the present application;

[0030] Figure 2 Schematic diagram of the three-dimensional structure of the mouth corner movement mechanism of the embodiment of the present application;

[0031] Figure 3 This is a second three-dimensional structural diagram of the second embodiment of the present application;

[0032] Figure 4 This is a second three-dimensional structural diagram of Example 3 of the present application.

[0033] In the figure,

[0034] 100. First motor; 200. First connecting rod assembly; 300. Second motor; 400. Second connecting rod assembly; 500. Connecting assembly; 600. Mandibular model; 700. Lower lip movement mechanism; 210. First active rod; 220. First connecting rod; 221. Avoidance groove; 410. Second active rod; 420. Second connecting rod; 510. First connecting piece; 520. Second connecting piece; 610. Guide portion; 710. Third motor; 720. Third connecting rod assembly; 721. Third active rod; 722. Third connecting rod; 723. Fourth connecting rod; 730. Lower lip connecting seat; 740. Connecting block. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0037] For ease of description, spatially relative terms may be used herein to describe the relative position or movement of an element or feature relative to another element or feature as shown in the figures, such as "inside", "outside", "inside", "outside", "below", "beneath", "above", "above", "front", "back", etc. Such spatially relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures undergoes a position flip or a change in posture or a change in motion state, then these directional indications will also change accordingly. For example, an element described as "below" or "below" another element or feature will then be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device can be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein will be interpreted accordingly.

[0038] Example 1

[0039] Embodiment 1 of the present application shows a mouth corner motion mechanism for driving the mouth corner of a robot to move. The mouth corner can be made of a flexible material with elasticity, such as silicone, to adapt to elastic deformation; it includes a first motor 100, a first connecting rod assembly 200, a second motor 300 and a second connecting rod assembly 400; the input end of the first connecting rod assembly 200 is connected to the output end of the first motor 100; the input end of the second connecting rod assembly 400 is connected to the output end of the second motor 300, and the output end of the second connecting rod assembly 400 is rotatably connected to the output end of the first connecting rod assembly 200; wherein, the output end of the first connecting rod assembly 200 is connected to the mouth corner through the connecting assembly 500 and / or the output end of the second connecting rod assembly 400 is connected to the mouth corner through the connecting assembly 500; optionally, a supplementary explanation is given as follows: the mouth corner connection is the inner side of the mouth corner, that is, the side facing the oral cavity, so as to hide the motion mechanism to achieve an aesthetic effect.

[0040] In this embodiment, if Figure 2 As shown, the dual motors and connecting rod drive are used to drive one of the corners of the lips to move up and down, push forward and pull back, making the movement of the corner of the mouth more flexible and diverse; optionally, in actual application, the embodiment of the present application can be set as two sets of corner of the mouth movement mechanisms to drive the two corners of the mouth to perform specified movements respectively.

[0041] In an optional embodiment, the first connecting rod assembly 200 includes a first active rod 210 and a first connecting rod 220 that are rotatably connected to each other; the second connecting rod assembly 400 includes a second active rod 410 and a second connecting rod 420 that are rotatably connected to each other; the first active rod 210 cooperates with the first connecting rod 220, and the second active rod 410 cooperates with the second connecting rod 420. The simplest and most compact connecting rod structure design can be used to achieve the up and down, forward pushing and backward pulling movements of the corners of the mouth, thereby simulating the normal movements of the human mouth corner muscles.

[0042] In an optional embodiment, the first active rod 210 and the first connecting rod 220 are connected by a ball head; the second active rod 410 and the second connecting rod 420 are connected by a ball head; due to the shape characteristics of the robot's mouth corners themselves, if the first active rod 210 and the first connecting rod 220, and the second active rod 410 and the second connecting rod 420 are connected by ordinary rotating shafts, then when the first motor 100 and the second motor 300 respectively drive the first connecting rod assembly 200 and the second connecting rod assembly 400 to move, the first connecting rod 220 and the second connecting rod 420 cannot adapt to the deformation of the mouth corners, resulting in the up and down, forward pushing and backward pulling movements of the mouth corners being relatively stiff, and the connecting rod structure adopts a ball head design, which is an under-driven system. This design can adapt to the deformation of the flexible mouth skin, and while providing power, it makes the lips move smoothly and in line with the natural movement characteristics of the human mouth.

[0043] In an optional embodiment, the connecting assembly 500 includes a first connecting member 510, which is connected to the output end of the first connecting rod assembly 200 and / or the output end of the second connecting rod assembly 400; a second connecting member 520, the first end of the second connecting member 520 is detachably connected to the corresponding first connecting member 510, and the second end of the second connecting member 520 is connected to the corner of the mouth.

[0044] In this embodiment, the first connecting member 510 and the second connecting member 520 are detachably connected, so that when the mouth corner model or the motion mechanism itself needs to be maintained or repaired, they can be quickly disassembled and replaced.

[0045] In an optional embodiment, an avoidance groove 221 is provided on at least one of the first link 220 and the second link 420, and the connection between the first link 220 and the second link 420 is located on the avoidance groove 221, so that the rotational connection between the two links will not cause the connection to protrude toward the outside of the mouth, so that the connection structure between the first link 220 and the second link 420 is small and compact and does not affect the aesthetics; at the same time, the connecting component 500 can also be installed on the avoidance groove 221 to reduce its volume.

[0046] In an optional embodiment, the first connecting member 510 and the second connecting member 520 are magnetically connected; the magnetic connection makes the connection and separation of the first connecting member 510 and the second connecting member 520 easier and faster, and the operation is simpler.

[0047] In an optional embodiment, the first connecting member 510 is configured as a positioning groove, and the second connecting member 520 can be clamped in the positioning groove; the positioning groove and the second connecting member 520 are both magnetic.

[0048] In this embodiment, the first connecting member 510 and the second connecting member 520 are connected through the guide positioning of the positioning groove itself on the basis of the magnetic connection, which can improve the connection stability between the first connecting member 510 and the second connecting member 520 and effectively prevent the disconnection phenomenon that may occur at the connection when driving the corner of the mouth to move.

[0049] In an optional embodiment, the side area of ​​the second connecting member 520 connected to the corner of the mouth is made larger to increase the contact area between the two, which is beneficial to ensure the stability of the connection between the second connecting member 520 and the corner of the mouth and the reliability of long-term use; optionally, the second connecting member 520 and the corner of the mouth can be connected by adhesive.

[0050] In an optional embodiment, as Figure 2 As shown, the second connecting member 520 is a T-shaped block, the slender end of the T-shaped block is snapped into the positioning groove for positioning, and the large end of the T-shaped block can be connected to the corner of the mouth to increase the connection area between the T-shaped block and the corner of the mouth.

[0051] In an optional embodiment, a fixing portion for clamping the T-block is provided in the positioning groove, and the fixing portion can be fixed by friction, for example, an elastic protrusion is provided in the T-block or the positioning groove, the T-block is interference fit with the positioning groove, and the T-block is designed to be hollow, etc.; the fixing portion can also be a fit between a buckle and a slot.

[0052] Example 2

[0053] The mouth device includes the mouth corner movement mechanism as described above, and also includes a mandibular model 600 and a lower lip movement mechanism 700; the lower lip movement mechanism 700 is installed on the mandibular model 600, and the lower lip movement mechanism includes a third motor 710 installed at the bottom of the mandibular model 600, the output end of the third motor 710 is connected to the input end of the third connecting rod assembly 720, the output end of the third connecting rod assembly 720 is connected to the lower lip connecting seat 730, and the lower lip connecting seat 730 is magnetically connected to the connecting block 740; wherein, the lower lip connecting seat 730 is connected to the output end of the third connecting rod assembly 720; the connecting block 740 is used to connect to the inner wall of the lower lip.

[0054] In this embodiment, the lower lip movement mechanism is installed on the mandibular model 600, and the third motor 710 is arranged at the bottom of the mandibular model, so that the structural design of the entire mouth device is reasonable and compact, and can effectively reduce the space occupied; the lower lip connecting seat 730 is driven by the third motor 710 and the third connecting rod assembly 720 to drive the lower lip to move up and down, and can cooperate with the mouth corner movement mechanism or other parts of the robot to complete anthropomorphic actions such as pouting; and the lower lip connecting seat 730 and the connecting block 740 are magnetically connected, so as to facilitate rapid installation and disassembly between the two.

[0055] In an optional embodiment, the third link assembly 720 includes a third active rod 721, a third link 722, and a fourth link 723 that are rotatably connected to each other in sequence, and the fourth link 723 is rotatably connected to the lower lip connecting seat 730; the mandibular model 600 has a guide portion 610, and the fourth link 723 is clamped in the guide portion 610 and is tilted upward toward the outside of the lower lip.

[0056] In this embodiment, since the fourth connecting rod 723 is clamped in the guide portion 610 and is tilted upward toward the outside of the lower lip, when the third motor 710 starts working, it drives the third active rod 721, the third connecting rod 722, and the fourth connecting rod 723 to drive the lower lip connecting seat 730 to move obliquely upward or downward along the guide portion 610, and the fourth connecting rod 723 is rotatably connected to the lower lip connecting seat 730, and the lower lip connected to the connecting block 740 is flexible. Therefore, it is equivalent to the third motor 710 driving the fourth connecting rod 723 to move along the guide portion 610 while also driving the lower lip connecting seat 730 to move. It is a one-belt-multiple under-driven structure design, which can better simulate various natural movements of the human lower lip.

[0057] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0058] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0059] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. Mouth corner movement mechanism, characterized by: Used to drive the robot's mouth corner movement, characterized by including a first motor (100); a first connecting rod assembly (200), wherein an input end of the first connecting rod assembly (200) is connected to an output end of the first motor (100); a second motor (300); a second connecting rod assembly (400), wherein the input end of the second connecting rod assembly (400) is connected to the output end of the second motor (300), and the output end of the second connecting rod assembly (400) is rotationally connected to the output end of the first connecting rod assembly (200); Wherein, the output end of the first connecting rod assembly (200) is connected to the corner of the mouth via a connecting assembly (500) and / or the output end of the second connecting rod assembly (400) is connected to the corner of the mouth via a connecting assembly (500).

2. The mouth corner movement mechanism according to claim 1, characterized in that: The connection assembly (500) includes a first connecting member (510) connected to an output end of the first connecting rod assembly (200) and / or an output end of the second connecting rod assembly (400); A second connecting member (520), wherein a first end of the second connecting member (520) is detachably connected to the corresponding first connecting member (510), and a second end of the second connecting member (520) is connected to the corner of the mouth.

3. The mouth angle movement mechanism according to claim 2, characterized in that: The first connecting member (510) and the second connecting member (520) are connected by magnetic attraction.

4. The mouth corner movement mechanism according to claim 3, characterized in that: The first connecting member (510) is configured as a positioning groove; the second connecting member (520) can be locked in the positioning groove; and both the positioning groove and the second connecting member (520) are magnetic.

5. The mouth corner movement mechanism according to any one of claims 1 to 4, characterized in that: The first connecting rod assembly (200) includes a first active rod (210) and a first connecting rod (220) that are rotatably connected to each other; the second connecting rod assembly (400) includes a second active rod (410) and a second connecting rod (420) that are rotatably connected to each other.

6. The mouth corner movement mechanism according to claim 5, characterized in that: The first active rod (210) and the first connecting rod (220) are connected by a ball head; the second active rod (410) and the second connecting rod (420) are connected by a ball head.

7. The mouth corner movement mechanism according to claim 5, characterized in that: An avoidance groove (221) is provided on at least one of the first connecting rod (220) and the second connecting rod (420), and a connection point between the first connecting rod (220) and the second connecting rod (420) is located in a space avoidance area of ​​the avoidance groove (221).

8. The mouth corner movement mechanism according to claim 1, characterized in that: The mouth corner is made of flexible material.

9. A mouth device, comprising a mouth corner movement mechanism as described in any one of claims 1 to 8, a mandibular model (600), and a lower lip movement mechanism (700); the lower lip movement mechanism (700) comprises a third motor (710) installed at the bottom of the mandibular model (600), the output end of the third motor (710) is connected to the input end of a third connecting rod assembly (720), the output end of the third connecting rod assembly (720) is rotatably connected to a lower lip connecting seat (730), the lower lip connecting seat (730) is magnetically connected to a connecting block (740), and the connecting block (740) is used to connect to the inner wall of the lower lip.

10. The mouthpiece according to claim 9, wherein: The third connecting rod assembly (720) includes a third active rod (721), a third connecting rod (722), and a fourth connecting rod (723) which are rotatably connected to each other in sequence, and the fourth connecting rod (723) is rotatably connected to the lower lip connecting seat (730); the mandibular model (600) is provided with a guide portion (610), and the fourth connecting rod (723) is clamped in the guide portion (610) and is tilted toward the outside of the lower lip.

Images