Facial expression control device for humanoid robot

Abstract

The utility model provides a facial expression control device for a humanoid robot. The device comprises a head shell, the head shell is sequentially provided with an eyebrow control device, an eye control device and a mouth control device from top to bottom, and the eyebrow control device, the eye control device and the mouth control device are all driven by independent driving devices. The utility model relates to the field of robots.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a facial expression control device for a humanoid robot. Background Technology

[0002] A facial expression control device for humanoid robots is used to control changes in the robot's facial expressions, thereby giving the robot certain emotional characteristics. It is typically used to move the robot's eyebrows, eyelids, eyes, and mouth to adjust facial expressions.

[0003] Currently, most humanoid robot facial expression control devices on the market rely on very few power sources to control facial expressions. This results in complex mechanical structures and difficulties in debugging. The intricate mechanical designs of many facial expression devices lead to high manufacturing and maintenance costs, as well as difficulties in debugging. The high cost of sophisticated facial expression control devices limits their widespread market application, and the need for regular maintenance due to their complex mechanical and electronic systems increases long-term operating costs. Utility Model Content

[0004] In view of the problems existing in the prior art, this utility model proposes a new type of humanoid robot facial expression control device that is simple to debug and has low maintenance cost.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a humanoid robot facial expression control device, which includes a head shell, and the head shell is provided with an eyebrow control device, an eye control device and a mouth control device from top to bottom, and the eyebrow control device, the eye control device and the mouth control device are all driven by separate drive devices.

[0006] Based on the above, this utility model adopts a modular design. The eyebrow control device, eye control device, and mouth control device are all driven by separate drive devices, resulting in low correlation between the actions of different devices and simple debugging. At the same time, each part can be maintained and upgraded independently, reducing maintenance costs and improving the system's flexibility and scalability.

[0007] Furthermore, the eyebrow control device includes a first connecting rod, a second connecting rod, a limiting frame, a gear transmission device, and a concave spherical pressure rod. One end of the first connecting rod and one end of the second connecting rod are respectively fitted with eyebrow one and eyebrow two. The first connecting rod and the second connecting rod are connected by the gear transmission device and are limited by the limiting frame. The other end of the first connecting rod is provided with a spherical connector, which is rotatably connected to the concave spherical end of the concave spherical pressure rod. The other end of the concave spherical pressure rod is provided with a first driving device.

[0008] Based on the above, the first connecting rod drives the second connecting rod through the gear transmission device, enabling the movements of eyebrow one and eyebrow two to be synchronized, making the changes in expression faster and smoother. The first driving device drives the concave spherical pressure rod to rotate the first connecting rod, thereby changing the angle of eyebrow one and eyebrow two; when the concave spherical pressure rod presses down, it forms an angle with the first connecting rod. At this time, the first connecting rod drives the second connecting rod upward through the limiting frame, thereby realizing the height adjustment of eyebrow one and eyebrow two.

[0009] Furthermore, the eye control device includes an eyeball outer frame and an eyeball limiting frame. The four ends of the eyeball limiting frame are rotatably connected to the outer surface of the eyeball outer frame via rotating shafts. An eyeball device is disposed inside the eyeball outer frame. A control groove for controlling the rotation angle of the eyeball device is disposed on the eyeball limiting frame. An eyeball control rod is disposed on the eyeball device. One end of the eyeball control rod passes through the control groove and is connected to the eyeball device, and the other end is engaged with a second driving device.

[0010] Based on the above, the second driving device drives the eyeball control rod to rotate the eyeball device, thereby realizing the expression control of the eye part. The eyeball limiting frame limits the eyeball device to prevent it from falling. The eyeball limiting frame rotates with the outer frame of the eyeball and is provided with a control groove. The eyeball control rod can drive the eyeball limiting frame to rotate through the control groove, so that the eyeball limiting frame can limit the eyeball device without affecting the angle control of the eyeball device.

[0011] Furthermore, the mouth control device includes an upper jaw component, a lower jaw component, an active transmission rod, and a mouth connector. The lower jaw component has symmetrically arranged connecting blocks with connecting holes. The active transmission rod passes through the connecting holes and rotates with the lower jaw component. Both the active transmission rod and the lower jaw component are provided with connecting grooves. The two connecting grooves respectively cooperate with the two ends of the mouth connector. One end of the active transmission rod is provided with a third driving device, which drives the active transmission rod to rotate. Under the control of the active transmission rod, the mouth connector drives the lower jaw component to realize the mouth opening and closing action.

[0012] Based on the above, the active transmission rod is driven by the third driving device and cooperates with the jaw driving block to realize the mouth opening and closing action, achieving a human-like effect.

[0013] Furthermore, an eyelid device is provided on the upper part of the outer frame of the eyeball. The two sides of the eyelid device are rotatably engaged with the outer frame of the eyeball. An eyelid control assembly is provided at the rear end of the eyelid device. The eyelid control assembly includes a crank and a rocker arm. One end of the crank is provided with a fourth drive device and is rotatably engaged with the head shell. The other end is rotatably engaged with one end of the rocker arm. The other end of the rocker arm is rotatably engaged with the eyelid device.

[0014] Based on the above, the rocker arm rotates in conjunction with the eyelid device, and drives the crank to swing by driving the fourth driving device, thereby controlling the opening and closing of the eyelid device.

[0015] Furthermore, the gear transmission device includes a driving gear and a driven gear, the driving gear and the driven gear being fixedly engaged with the first connecting rod and the second connecting rod respectively, and the limiting frame is provided with a gear limiting groove, which limits the position of the driving gear and the driven gear.

[0016] Based on the above, the limiting groove limits the driving wheel and the driven wheel to prevent misalignment of the driving wheel and the driven wheel during meshing transmission.

[0017] To more clearly illustrate the above-mentioned features of this utility model and the objectives it aims to achieve, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1 : This is the front view of the present invention;

[0019] Figure 2 : This is a rear view of the present invention;

[0020] Figure 3 : A schematic diagram of the eyebrow control device;

[0021] Figure 4 : A schematic diagram of the eye control device;

[0022] Figure 5 : Front view of the eye control device;

[0023] Figure 6 : A schematic diagram of the mouth control device;

[0024] Figure 7 : Schematic diagram of the exploded structure of the mouth control device;

[0025] Figure 8 : This is a schematic diagram of the limit frame structure;

[0026] Figure 9: This is a schematic diagram of the structure of the first driving device;

[0027] Figure 10 : This is a schematic diagram of the second drive device;

[0028] Figure 11 : This is a schematic diagram of the third drive unit;

[0029] Figure 12 : This is a schematic diagram of the fourth drive unit.

[0030] Explanation of reference numerals: 1. Head shell; 2. Eyebrow control device; 3. Eye control device; 4. Mouth control device; 5. First connecting rod; 6. Second connecting rod; 7. Limiting frame; 8. Gear transmission device; 9. Concave spherical pressure rod; 10. Eyebrow one; 11. Eyebrow two; 12. Spherical connector; 13. First drive device; 14. Eyeball outer frame; 15. Eyeball limiting frame; 16. Eyeball component; 17. Control groove; 18. Eyeball control rod; 19. Second drive device; 20. Upper jaw component; 21. Lower jaw component; 22. Active transmission rod; 23. Connector; 24. Connecting hole; 25. Connecting block; 26. Connecting groove; 27. Third drive device; 28. Eyelid component; 29. ​​Eyelid control assembly; 30. Crank; 31. Rocker arm; 32. Fourth drive device; 33. Drive wheel; 34. Driven wheel; 35. Gear limiting groove; 38. Lifting platform; 39. Servo motor one; 40. Servo motor one; 41. Servo motor position control console; 42. Servo motor two. Detailed Implementation

[0031] like Figures 1 to 12 As shown, a humanoid robot facial expression control device is provided. The humanoid robot facial expression control device includes a head shell 1. The head shell 1 is provided with an eyebrow control device 2, an eye control device 3 and a mouth control device 4 arranged from top to bottom. The eyebrow control device 2, the eye control device 3 and the mouth control device 4 are all driven by separate drive devices.

[0032] Preferably, the eyebrow control device 2 includes a first connecting rod 5, a second connecting rod 6, a limiting frame 7, a gear transmission device 8, and a concave spherical pressure rod 9. One end of the first connecting rod 5 and the second connecting rod 6 are respectively fitted with an eyebrow first 10 and an eyebrow second 11. The first connecting rod 5 and the second connecting rod 6 are connected by the gear transmission device 8 and are limited by the limiting frame 7. The other end of the first connecting rod 5 is provided with a spherical connector 12, which is rotatably connected to the concave spherical end of the concave spherical pressure rod 9. The other end of the concave spherical pressure rod 9 is provided with a first driving device 13. The first driving device 13 includes a lifting platform 38 and a servo motor 39 mounted on the lifting platform 38. The output end of the servo motor 39 is fitted with the concave spherical pressure rod 9. The first connecting rod 5 drives the second connecting rod 6 through the gear transmission device 8, enabling the movements of eyebrow one 10 and eyebrow two 11 to be synchronized, making the changes in expression faster and smoother. The servo motor one 39 drives the concave spherical pressure rod 9 to rotate the first connecting rod 5, thereby changing the angle of eyebrow one 10 and eyebrow two 11; the lifting platform 38 lifts and lowers the concave spherical pressure rod 9 to form an angle with the first connecting rod 5. At this time, the first connecting rod 5 drives the second connecting rod 6 to tilt upward through the limiting frame 7, thereby realizing the height adjustment of eyebrow one 10 and eyebrow two 11.

[0033] Preferably, the eye control device 3 includes an eyeball outer frame 14 and an eyeball limiting frame 15. The four ends of the eyeball limiting frame 15 are rotatably connected to the outer surface of the eyeball outer frame 14 via rotating shafts. An eyeball device 16 is disposed inside the eyeball outer frame 14. A control groove 17 for controlling the rotation angle of the eyeball device 16 is disposed on the eyeball limiting frame 15. An eyeball control rod 18 is disposed on the eyeball device 16. One end of the eyeball control rod 18 passes through the control groove 17 and is connected to the eyeball device 16. The other end is engaged with a second driving device 19. The second driving device 19 includes a servo motor 40 and a servo motor position control console 41. The output end of the servo motor 40 is connected to one end of the eyeball control rod 18. The servo position control console 41 can adjust the position of the servo motor 40 in the horizontal and vertical directions, thereby driving the eyeball control lever 18 to rotate the eyeball device 16, realizing the expression control of the eye part. The eyeball limiting frame 15 limits the eyeball device 16 to prevent it from falling. The eyeball limiting frame 15 rotates with the outer frame 14 of the eyeball and is provided with a control groove 17. The eyeball control lever 18 can drive the eyeball limiting frame 15 to rotate through the control groove 17, so that the eyeball limiting frame 15 can limit the eyeball device 16 without affecting the angle control of the eyeball device 16.

[0034] Preferably, the mouth control device 4 includes an upper jaw component 20, a lower jaw component 21, an active transmission rod 22, and a mouth connector 23. The lower jaw component 21 has symmetrically arranged connecting blocks 25 with connecting holes 24. The active transmission rod 22 passes through the connecting holes 24 and rotatably engages with the lower jaw component 21. Both the active transmission rod 22 and the lower jaw component 21 are provided with connecting grooves 26, which respectively engage with both ends of the mouth connector 23. One end of the active transmission rod 22 is provided with a third driving device 27, which is a servo motor. The third driving device 27 drives the active transmission rod 22 to rotate. Under the control of the active transmission rod 22, the mouth connector 23 drives the lower jaw component 21 to achieve mouth opening and closing movements. By driving the active transmission rod 22 with the lower jaw driving block through the third driving device 27, the mouth opening and closing movements are achieved, achieving a human-like effect.

[0035] Preferably, an eyelid device 28 is further provided on the upper part of the eyeball outer frame 14. The eyelid device 28 is rotatably engaged with the eyeball outer frame 14. An eyelid control assembly 29 is provided at the rear end of the eyelid device 28. The eyelid control assembly 29 includes a crank 30 and a rocker arm 31. One end of the crank 30 is provided with a fourth drive device 32 and is rotatably engaged with the head shell 1. The other end is rotatably engaged with one end of the rocker arm 31. The other end of the rocker arm 31 is rotatably engaged with the eyelid device 28. The rocker arm 31 is rotatably engaged with the eyelid device 28. The fourth drive device 32 includes a second servo motor 42. The fourth drive device 32 is fixedly engaged with one end of the crank 30 through the output end of the second servo motor 42. By driving the second servo motor 42, the crank 30 is driven to swing the rocker arm 31, thereby controlling the opening and closing of the eyelid device 28.

[0036] Preferably, the gear transmission device 8 includes a driving gear 33 and a driven gear 34. The driving gear 33 and the driven gear 34 are fixedly engaged with the first connecting rod 5 and the second connecting rod 6, respectively. The limiting frame 7 is provided with a gear limiting groove 35, which limits the position of the driving gear 33 and the driven gear 34. The limiting groove limits the driving gear 33 and the driven gear 34 to prevent misalignment during meshing transmission.

[0037] In summary, this utility model adopts a modular design. The eyebrow control device 2, eye control device 3, and mouth control device 4 are all driven by separate drive devices, resulting in low correlation between the actions of different devices and simple debugging. Furthermore, each part can be maintained and upgraded independently, reducing maintenance costs and improving the system's flexibility and scalability.

[0038] The above description is only the optimal solution embodiment of this utility model and is not intended to limit this utility model. Various modifications or substitutions made by those skilled in the art to this utility model without departing from the essence and protection scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A facial expression control device for a humanoid robot, characterized in that: The device includes a head shell (1), which is provided with an eyebrow control device (2), an eye control device (3) and a mouth control device (4) from top to bottom. The eyebrow control device (2), the eye control device (3) and the mouth control device (4) are all driven by separate drive devices.

2. The humanoid robot facial expression control device according to claim 1, characterized in that: The eyebrow control device (2) includes a first connecting rod (5), a second connecting rod (6), a limiting frame (7), a gear transmission device (8), and a concave spherical pressure rod (9). One end of the first connecting rod (5) and the second connecting rod (6) are respectively fitted with eyebrow one (10) and eyebrow two (11). The first connecting rod (5) and the second connecting rod (6) are connected by the gear transmission device (8) and are installed by the limiting frame (7). The other end of the first connecting rod (5) is provided with a spherical connector (23). The spherical connector (23) is rotatably connected to the concave spherical end of the concave spherical pressure rod (9). The other end of the concave spherical pressure rod (9) is provided with a first driving device (13).

3. The humanoid robot facial expression control device according to claim 1, characterized in that: The eye control device (3) includes an eyeball outer frame (14) and an eyeball limiting frame (15). The four ends of the eyeball limiting frame (15) are rotatably connected to the outer surface of the eyeball outer frame (14) through a rotating shaft. An eyeball device (16) is provided inside the eyeball outer frame (14). A control groove (17) for controlling the rotation angle of the eyeball device (16) is provided on the eyeball limiting frame (15). An eyeball control rod (18) is provided on the eyeball device (16). One end of the eyeball control rod (18) passes through the control groove (17) and is fixedly connected to the eyeball device (16). The other end is equipped with a second driving device (19).

4. The humanoid robot facial expression control device according to claim 1, characterized in that: The mouth control device (4) includes an upper jaw component (20), a lower jaw component (21), an active transmission rod (22), and a mouth connector (23). The lower jaw component (21) is symmetrically provided with connecting blocks (25) with connecting holes (24). The active transmission rod (22) passes through the connecting holes (24) and rotates with the lower jaw component (21). Both the active transmission rod (22) and the lower jaw component (21) are provided with connecting grooves (26). The two connecting grooves (26) respectively cooperate with the two ends of the mouth connector (23). One end of the active transmission rod (22) is provided with a third driving device (27). The active transmission rod (22) is driven to rotate by the third driving device (27). Under the control of the active transmission rod (22), the mouth connector (23) drives the lower jaw component (21) to realize the mouth opening and closing action.

5. The humanoid robot facial expression control device according to claim 3, characterized in that: An eyelid device (28) is also provided on the upper part of the outer frame (14) of the eyeball. The two sides of the eyelid device (28) are rotatably engaged with the outer frame (14) of the eyeball. An eyelid control assembly (29) is provided at the rear end of the eyelid device (28). The eyelid control assembly (29) includes a crank (30) and a rocker arm (31). One end of the crank (30) is provided with a fourth drive device (32) and is rotatably engaged with the head shell (1). The other end is rotatably engaged with one end of the rocker arm (31). The other end of the rocker arm (31) is rotatably engaged with the eyelid device (28).

6. The humanoid robot facial expression control device according to claim 2, characterized in that: The gear transmission device (8) includes a driving wheel (33) and a driven wheel (34). The driving wheel (33) and the driven wheel (34) are fixedly engaged with the first connecting rod (5) and the second connecting rod (6), respectively. The limiting frame (7) is provided with a gear limiting groove (35), which limits the position of the driving wheel (33) and the driven wheel (34).

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