Eyebrow driving mechanism for bionic expression

Abstract

An eyebrow driving mechanism for bionic expressions comprises a facial bone structure and at least one mounting support, at least one driving unit device is mounted on the mounting support, a double-end rocker arm structure is arranged at the output end of the driving unit device, and the two ends of the double-end rocker arm structure are connected with control stay wire structures respectively. The telescopic control states of the two control stay wire structures are opposite, at least one eyebrow base piece is arranged on the outer surface of the facial bone structure, one control stay wire structure is connected to the upper side of the eyebrow base piece, and the other control stay wire structure is connected to the left side or the right side of the eyebrow base piece. The eyebrow movement control device is simple in structure, high in eyebrow movement control precision and stability, low in manufacturing cost, small in occupied space, high in adaptability of spatial position and posture layout, and beneficial for arranging more facial expression control units in the limited space of the head, and the use of driving units is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of bionic control, specifically relates to a bionic expression with eyebrow driving mechanism. BACKGROUND

[0002] The field of human-computer interaction is constantly exploring more natural and humanized interaction modes, and the research of bionic robots and intelligent wearable devices is increasingly in-depth, among which, giving the device human-like expression ability has become an important research direction, and the design of the bionic driving mechanism of the eyebrow as a key component of facial expression is of great significance.

[0003] In the prior art, the patent document with the publication number CN218226636U discloses a bionic eyebrow device for a bionic robot, which comprises a mounting member that can be fixed on the head of the robot, a support unit rotatably mounted on one side of the mounting member, an eyebrow fixing member rotatably connected with the support unit, an up-down adjusting assembly fixed to the mounting member or the support unit and capable of driving the support unit to swing up and down along the mounting member to adjust the vertical height thereof, and a left-right adjusting assembly fixed to the mounting member or the support unit and capable of driving the eyebrow fixing member to rotate left and right along the mounting member to realize the swinging of the eyebrow fixing member, the support unit, the left-right adjusting assembly, the up-down adjusting assembly and the eyebrow fixing member are symmetrically arranged relative to the center line of the mounting member and the number of each is two, by providing the mounting member, the device can be easily installed on the head of the bionic robot, thereby forming an expression robot after combination to adapt to different expression adjustment needs.

[0004] The above-mentioned scheme can meet the needs of expression adjustment, but it adopts a connecting rod type transmission structure, which not only has a mechanical and stiff movement control, but also has a high precision control, the eyebrow part is too small, the moving part is prone to jamming failure, and the space position and attitude layout adaptability of the driving unit is extremely low, it can only be fixedly arranged at the rear side of the eyebrow position, and it adopts four driving units, which has high manufacturing cost and occupies larger space position, which is extremely unfavorable for arranging more facial expression control movement degrees in the limited space of the head for bionic design. SUMMARY

[0005] The utility model in the light of the deficiency of prior art, propose a kind of structure simple, for eyebrow movement control precision and stability high, reduce the use of driving unit, manufacturing cost is low and occupies small space, and the adaptability of space position and attitude layout is high, it is favorable to arrange more facial expression control unit in the limited space of the head for bionic expression with eyebrow driving mechanism.

[0006] The specific technical scheme is as follows:

[0007] The eyebrow driving mechanism for bionic expression comprises a face bone structure and at least one mounting bracket, at least one driving unit device is mounted on the mounting bracket, a double-end rocker arm structure is arranged at the output end of the driving unit device, control pull wires are respectively connected to the two ends of the double-end rocker arm structure, the extension and contraction states of the two control pull wires are opposite, at least one eyebrow base sheet is arranged on the outer surface of the face bone structure, one of the control pull wires is connected to the upper side or lower side of the eyebrow base sheet, and the other control pull wire is connected to the left side and / or right side of the eyebrow base sheet.

[0008] As preferred, the double-end rocker arm structure is a character-shaped rocker arm, mounting holes are uniformly arranged at the two ends of the character-shaped rocker arm, a wire clamp is rotatably mounted on one of the mounting holes at the two ends of the character-shaped rocker arm through bolt structure, and the wire clamp is used for clamping the end of the control pull wire.

[0009] As preferred, a U-shaped bayonet mounting portion is arranged at one end of the wire clamp, the U-shaped bayonet mounting portion is clamped at the end of the character-shaped rocker arm, and a bolt structure penetrating the mounting hole is mounted on the U-shaped bayonet mounting portion;

[0010] A fixed wire pressing plate and a movable wire pressing plate are arranged at the other end of the wire clamp, the fixed wire pressing plate is fixedly connected to the end of the U-shaped bayonet mounting portion, the movable wire pressing plate is arranged above the fixed wire pressing plate, one end of the control pull wire is arranged between the fixed wire pressing plate and the movable wire pressing plate, and the movable wire pressing plate is used for tightly pressing one end of the control pull wire downward through a tightening screw.

[0011] As preferred, the control pull wire is connected to the side of the eyebrow base sheet through the face bone structure, and a sleeve structure is sleeved on the middle part of the control pull wire, the sleeve structure is arranged between the inner surface of the face bone structure and the mounting bracket.

[0012] As preferred, the sleeve structure adopts a polytetrafluoroethylene tube with low friction characteristics.

[0013] As preferred, a sleeve limiting clamp is arranged at the front end of the mounting bracket, and a positioning sleeve is arranged on the inner surface of the face bone structure in a tilt manner, and the sleeve structure is clamped between the positioning sleeve and the sleeve limiting clamp.

[0014] As preferred, the control pull wire adopts a 7*7-strand multi-core flexible stainless steel wire rope, and the driving unit device adopts an electric rudder servo driver.

[0015] As preferred, one mounting bracket is arranged, and two driving unit devices are arranged side by side on the mounting bracket.

[0016] As preferred, two mounting brackets are arranged, and driving unit devices are respectively arranged on the two mounting brackets.

[0017] As preferred: two driving unit devices are respectively left eyebrow driving unit device and right eyebrow driving unit device, the left eyebrow driving unit device and the right eyebrow driving unit device are respectively installed with left eyebrow control double-end rocker arm and right eyebrow control double-end rocker arm, the outer surface of the facial bone structure is provided with two eyebrow base sheets, and the two eyebrow base sheets are respectively left eyebrow base sheet and right eyebrow base sheet;

[0018] The left eyebrow control double-end rocker arm is respectively connected with left eyebrow up-drawing control pull wire and left eyebrow heart control pull wire at two ends, and the other ends of the left eyebrow up-drawing control pull wire and the left eyebrow heart control pull wire are respectively connected to the upper side and the left side of the left eyebrow base sheet.

[0019] The right eyebrow control double-end rocker arm is respectively connected with right eyebrow up-drawing control pull wire and right eyebrow heart control pull wire at two ends, and the other ends of the right eyebrow up-drawing control pull wire and the right eyebrow heart control pull wire are respectively connected to the upper side and the left side of the right eyebrow base sheet.

[0020] The beneficial effects of the utility model are as follows: the control pull wire structure can remotely arrange and install the support and the driving unit device, the arrangement posture of the support and the driving unit device can be in any direction, and the final control movement effect is not affected, and the two driving unit devices can be arranged on one support, or the two driving unit devices are arranged on two supports, so that the two driving unit devices and the two supports can be arranged in the clearance in the simulation head for convenient arrangement, the space position of a single unit is smaller, the adaptability of the overall space position and posture layout is high, and more facial expression control units can be arranged in the limited space of the simulation head; and the double-end rocker arm structure cooperates with the two control pull wire structures, so that the use of the driving unit is reduced, the part controlled finally is driven by the simple driving action of the eyebrow base sheet, the control precision and stability of the eyebrow movement are higher, the manufacturing cost is lower, and the occupied space is smaller. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the whole three-dimensional structure schematic diagram of the utility model.

[0022] Figure 2 It is the structure schematic diagram of the front side of the utility model.

[0023] Figure 3 It is the structure schematic diagram of the rear side of the utility model.

[0024] Figure 4 It is the installation schematic diagram of the driving unit device, double-end rocker arm structure and thread holder in the utility model.

[0025] In the figure: facial bone structure 1; mounting bracket 2; driving unit device 3; double-end rocker structure 4; control pull wire structure 5; eyebrow base sheet 6; thread clipper 7; sleeve structure 8;

[0026] Positioning sleeve 11; sleeve limiting chuck 21;

[0027] Left eyebrow driving unit device 31; right eyebrow driving unit device 32;

[0028] Left eyebrow control double-end rocker 41; right eyebrow control double-end rocker 42;

[0029] Left eyebrow base sheet 61; right eyebrow base sheet 62; left eyebrow up-drawing control pull wire 51; left eyebrow heart control pull wire 52; right eyebrow up-drawing control pull wire 53; right eyebrow heart control pull wire 54;

[0030] U-shaped socket mounting part 71; fixed thread pressing plate 72; movable thread pressing plate 73. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present application will be described in detail below with reference to the drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application can be more clearly defined.

[0032] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provision", "installation", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be directly connected, or it can be connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. EMBODIMENT

[0034] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown: a bionic expression eyebrow driving mechanism, including face bone structure 1 and mounting bracket 2, the outer surface of the face bone structure 1 is provided with eyebrow base sheet 6, the bionic expression is generally the expression simulation of human face, so the outer surface of the face bone structure 1 is generally provided with two eyebrow base sheets 6, two eyebrow base sheets 6 are respectively left eyebrow base sheet 61 and right eyebrow base sheet 62, for the robot role in fantasy engineering, may use less than or more than two eyebrow base sheets 6.

[0035] Among them, the number of mounting bracket 2 can be one, two driving unit devices 3 are installed side by side on the mounting bracket 2, the number of mounting bracket 2 can also be two, driving unit devices 3 are installed on the two mounting brackets 2 respectively, the corresponding number of driving unit devices 3 is also two, the number of driving unit devices 3 is set according to the number of eyebrow base sheet 6, one driving unit device 3 corresponds to one eyebrow base sheet 6, its eyebrow base sheet 6 and the eyebrow part of the simulated skin layer on the outside of the face bone structure 1 are bonded and fixed together, so as to finally drive the eyebrow part to move, form many different eyebrow gestures such as frowning and raising eyebrows, so as to reduce the use of driving unit, but through the simple driving action of the eyebrow base sheet 6, the control precision and stability of the eyebrow movement are higher, and the manufacturing cost is lower and the occupied space is smaller.

[0036] And the eyebrow base sheet 6 is generally attached to the outer surface of the face bone structure 1, generally not forming a limiting relationship, but can be attached and connected by elastic colloid, together with the elastic simulated skin layer to form elastic retraction to return to the double guarantee of the normal expression state of the eyebrow part.

[0037] The output end of the driving unit device 3 is provided with a double-head rocker structure 4, the double-head rocker structure 4 is connected with control pull wire structure 5 at both ends respectively, the extension and contraction states of the two control pull wire structures 5 are opposite, when completing different posture movements, one control pull wire structure 5 is tight, the other two control pull wire structures 5 must be relaxed, which is more conducive to accurate control and maintaining the movement state of the eyebrow base sheet 6, the outer surface of the face bone structure 1 is provided with the eyebrow base sheet 6, the control pull wire structure 5 is used to form control connection with the eyebrow base sheet 6, specifically the control pull wire structure 5 passes through the face bone structure 1 and is connected with the side of the eyebrow base sheet 6, and a sleeve structure 8 is sleeved in the middle of the control pull wire structure 5, the sleeve structure 8 is arranged between the inner surface of the face bone structure 1 and the mounting bracket 2, the sleeve structure 8 adopts a polytetrafluoroethylene tube with low friction characteristics.

[0038] Wherein, two driving unit devices 3 are respectively left eyebrow driving unit device 31 and right eyebrow driving unit device 32, left eyebrow driving unit device 31 and right eyebrow driving unit device 32 output end are respectively installed with left eyebrow control double-end rocker arm 41 and right eyebrow control double-end rocker arm 42, left eyebrow control double-end rocker arm 41 two ends are respectively connected with left eyebrow up control pull wire 51 and left eyebrow heart control pull wire 52, left eyebrow up control pull wire 51 and left eyebrow heart control pull wire 52 other end are respectively connected on left eyebrow base sheet 61 upper side and right side; Right eyebrow control double-end rocker arm 42 two ends are respectively connected with right eyebrow up control pull wire 53 and right eyebrow heart control pull wire 54, right eyebrow up control pull wire 53 and right eyebrow heart control pull wire 54 other end are respectively connected on right eyebrow base sheet 62 upper side and left side; Left eyebrow heart control pull wire 52 and right eyebrow heart control pull wire 54 branch out two branch lines and are respectively connected on left eyebrow base sheet 61 and right eyebrow base sheet 62 two sides, which can also be, which requires that the eyebrow base sheet has certain contraction or wrinkle performance, which is generally applicable to single eye control; When the control simulation needs to achieve the abstract effect, left eyebrow heart control pull wire 52 and right eyebrow heart control pull wire 54 branch out two branch lines and are respectively connected on left eyebrow base sheet 61 left side and right eyebrow base sheet 62 right side, which can also be, left eyebrow up control pull wire 51 and right eyebrow up control pull wire 53 are respectively connected on left eyebrow base sheet 61 and right eyebrow base sheet 62 lower side.

[0039] The control pull wire structure 5 can be remotely arranged and installed with the mounting bracket 2 and the driving unit device 3, the arrangement posture of the mounting bracket 2 and the driving unit device 3 can be any direction, which will not affect the final control movement effect, and the two driving unit devices 3 can be arranged on one mounting bracket 2, or the two driving unit devices 3 can be arranged on two mounting brackets 2, so that the two driving unit devices 3 and the two mounting brackets 2 can be respectively arranged in the gap in the simulation head for convenient arrangement, the single unit occupies smaller space position, the adaptability of the overall space position and posture layout is high, which is beneficial to arranging more facial expression control units in the limited space of the simulation head.

[0040] Wherein, the double-end rocker arm structure 4 is a character type rocker arm, installation holes are uniformly arranged at both ends of the character type rocker arm, a wire clamp 7 is rotatably installed in one of the installation holes at both ends of the character type rocker arm through bolt structure, and the wire clamp 7 is used for clamping one end of the control pull wire structure 5.

[0041] The wire clamp 7 is provided with a U-shaped bayonet mounting portion 71 at one end, the U-shaped bayonet mounting portion 71 is clamped at the end of the linear rocker arm, and a bolt structure passing through the mounting hole is mounted on the U-shaped bayonet mounting portion 71; the other end of the wire clamp 7 is provided with a fixed pressing plate 72 and a movable pressing plate 73, the fixed pressing plate 72 is fixedly connected at the end of the U-shaped bayonet mounting portion 71, the movable pressing plate 73 is arranged above the fixed pressing plate 72, and one end of the control wire structure 5 is arranged between the fixed pressing plate 72 and the movable pressing plate 73, the movable pressing plate 73 is downwardly and movably pressed on one end of the control wire structure 5 through a pressing screw, specifically, two pressing screw holes are formed in the fixed pressing plate 72, generally, more pressing screw holes are not needed, and more pressing screw holes will occupy more space, the pressing screws are mounted in the pressing screw holes, and the movable pressing plate 73 is sleeved between the pressing screws, and the movable pressing plate 73 is downwardly pressed on the control wire structure 5 by rotating the pressing screw downwardly and tightly.

[0042] The sleeve limiting clamp 21 is arranged at the front end of the mounting bracket 2, the positioning sleeve 11 is arranged on the inner surface of the facial bone structure 1 in an inclined manner, and the sleeve structure 8 is clamped between the positioning sleeve 11 and the sleeve limiting clamp 21. The control wire structure 5 adopts a 7*7-core flexible stainless steel wire rope, the service life of the control wire structure 5 is longer, and the driving unit device 3 adopts an electric rudder servo driver.

[0043] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims.

Claims

1. A brow driving mechanism for a biomimetic expression, characterized by: The application relates to a face bone structure (1) and at least one mounting bracket (2), at least one driving unit device (3) is mounted on the mounting bracket (2), a double-end rocker structure (4) is arranged at the output end of the driving unit device (3), two control pull wires (5) are respectively connected to the two ends of the double-end rocker structure (4), the extension and contraction states of the two control pull wires (5) are opposite, at least one eyebrow base sheet (6) is arranged on the outer surface of the face bone structure (1), one of the control pull wires (5) is connected to the upper side or the lower side of the eyebrow base sheet (6), and the other control pull wire (5) is connected to the left side and / or the right side of the eyebrow base sheet (6).

2. The eyebrow driving mechanism for bionic expression according to claim 1, characterized in that: The double-end rocker structure (4) is a character-shaped rocker, mounting holes are uniformly arranged at the two ends of the character-shaped rocker, a wire clamp (7) is rotatably arranged at one of the mounting holes at the two ends of the character-shaped rocker through bolt structure, and the wire clamp (7) is used for clamping one end of the control pull wire (5).

3. The eyebrow driving mechanism for bionic expression according to claim 2, characterized in that: One end of the wire clamp (7) is provided with a U-shaped clamping hole mounting portion (71), the U-shaped clamping hole mounting portion (71) is clamped at the end of the character-shaped rocker, and a bolt structure penetrating the mounting hole is arranged on the U-shaped clamping hole mounting portion (71); The other end of the wire clamp (7) is provided with a fixed wire pressing plate (72) and a movable wire pressing plate (73), the fixed wire pressing plate (72) is fixedly connected to the end of the U-shaped clamping hole mounting portion (71), the movable wire pressing plate (73) is arranged above the fixed wire pressing plate (72), one end of the control pull wire (5) is arranged between the fixed wire pressing plate (72) and the movable wire pressing plate (73), and the movable wire pressing plate (73) is used for being tightly pressed downwards on one end of the control pull wire (5) through a tight pressing screw.

4. The eyebrow driving mechanism for bionic expression according to any one of claims 1-3, characterized in that: The control pull wire (5) is connected to the side of the eyebrow base sheet (6) through the face bone structure (1), and a sleeve structure (8) is arranged in the middle of the control pull wire (5), the sleeve structure (8) is arranged between the inner surface of the face bone structure (1) and the mounting bracket (2).

5. The eyebrow driving mechanism for bionic expression according to claim 4, characterized in that: The sleeve structure (8) is a polytetrafluoroethylene pipe with low friction characteristics.

6. The eyebrow driving mechanism for bionic expression according to claim 4, characterized in that: A sleeve limiting clamp (21) is arranged at the front end of the mounting bracket (2), and a positioning sleeve (11) is arranged on the inner surface of the face bone structure (1) in a slanting mode, and the sleeve structure (8) is clamped between the positioning sleeve (11) and the sleeve limiting clamp (21).

7. The brow driving mechanism for bionic expression according to any one of claims 1-3, 5 or 6, characterized in that: The control pull wire (5) is a 7*7-strand multi-core flexible stainless steel wire rope, and the driving unit device (3) is an electric rudder servo driver.

8. The bionic expression eyebrow driving mechanism according to claim 7, characterized in that: The application further relates to a face bone structure (1) and at least one mounting bracket (2), two driving unit devices (3) are arranged on the mounting bracket (2) in parallel.

9. The eyebrow driving mechanism for bionic expression according to claim 7, characterized in that: The application further relates to a face bone structure (1) and two mounting brackets (2), a driving unit device (3) is arranged on each of the two mounting brackets (2).

10. The eyebrow driving mechanism for a bionic expression according to claim 8 or 9, characterized in that: Two driving unit devices (3) are respectively left eyebrow driving unit device (31) and right eyebrow driving unit device (32), the left eyebrow driving unit device (31) and right eyebrow driving unit device (32) output respectively install left eyebrow control double-end rocker (41) and right eyebrow control double-end rocker (42), the face bone structure (1) outer surface is provided with two eyebrow base sheets (6), two eyebrow base sheets (6) are respectively left eyebrow base sheet (61) and right eyebrow base sheet (62); The left eyebrow control double-end rocker (41) is respectively connected with left eyebrow up control pull wire (51) and left eyebrow heart control pull wire (52) on both ends, and the other end of the left eyebrow up control pull wire (51) and the left eyebrow heart control pull wire (52) is respectively connected on the upper side and the left side of the left eyebrow base sheet (61); The right eyebrow control double-end rocker (42) is respectively connected with right eyebrow up control pull wire (53) and right eyebrow heart control pull wire (54) on both ends, and the other end of the right eyebrow up control pull wire (53) and the right eyebrow heart control pull wire (54) is respectively connected on the upper side and the left side of the right eyebrow base sheet (62).

Images