Cheekbone driving device and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to a cheekbone driving device and a bionic robot head. The utility model provides a cheekbone driving device which comprises a cheekbone driver, a cheekbone support and a cheekbone piece. The cheekbone driver is arranged on the cheekbone support, and the cheekbone driver is in transmission connection with the cheekbone piece; the cheekbone part is used for being connected with the skin of the cheekbone part, and the cheekbone driver is used for driving the cheekbone part to move forwards or backwards, so that the skin of the cheekbone part can move forwards or backwards along with the cheekbone part. The cheekbone support serves as a carrier of the whole cheekbone driving device and is arranged on the head of the bionic robot, the cheekbone driver drives the cheekbone part to move forwards so that the skin of the cheekbone part can be jacked up, the skin of the cheekbone part can be slightly convex, and the cheekbone driver drives the cheekbone part to move backwards so that the skin of the cheekbone part can be recovered to be in a non-jacked state. Therefore, the expression control of the cheekbone part is richer, finer and more concrete, and some micro expressions can be realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is involved in a zygomatic bone drive arrangement and bionic robot head. BACKGROUND

[0002] With the development of robot industry, service robot is also developing rapidly, and humanoid robot as a kind of service robot has similar external characteristics with human, and can realize some simple human basic actions while serving people. Psychology research shows that more than 60% of human emotional expression and information exchange is realized by non-language, such as expression, eye, head movement and the like, among which, head movement and facial expression account for a large proportion. Therefore, in the research of bionic robot, the realization of head movement and facial expression is an important basis for personification, and it is of great significance to design a robot head capable of easily expressing human expression action.

[0003] At present, in the processing of zygomatic bone part of bionic robot, generally, pull wire is connected to the zygomatic bone part of simulation head cover, although the movement of zygomatic bone part of simulation head cover can produce expression change by pulling the pull wire, but the skin of zygomatic bone part will be concave in the process of pulling, resulting in poor expression simulation effect. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of zygomatic bone drive arrangement and bionic robot head to solve the technical problem that the skin of zygomatic bone part can be moved in the prior art processing of zygomatic bone part of bionic robot, generally, pull wire is connected to the zygomatic bone part of simulation head cover, in the process of pulling, the skin of zygomatic bone part will be concave, resulting in poor expression simulation effect.

[0005] In the first aspect, the utility model provides a kind of zygomatic bone drive arrangement, is arranged in bionic robot head, for driving the skin movement of zygomatic bone part, the zygomatic bone drive arrangement includes: zygomatic bone driver, zygomatic bone support and zygomatic bone piece;

[0006] The zygomatic bone driver is arranged on the zygomatic bone support, and the zygomatic bone driver is in transmission connection with the zygomatic bone piece;

[0007] The zygomatic bone piece is used to be connected with the skin of zygomatic bone part, and the zygomatic bone driver is used to drive the forward movement or backward movement of the zygomatic bone piece, so that the skin of zygomatic bone part can move forward or backward with the zygomatic bone piece.

[0008] In optional implementation, it further includes zygomatic bone transmission slide rail and first zygomatic bone transmission piece;

[0009] The zygomatic bone transmission slide rail is arranged on the zygomatic bone support, and the first zygomatic bone transmission piece is connected to the slider of the zygomatic bone transmission slide rail and the zygomatic bone piece respectively;

[0010] The zygomatic driver is used to drive the first zygomatic transmission member to move.

[0011] In an optional embodiment, the zygomatic transmission slide rail is arranged obliquely relative to the front-back direction, the zygomatic transmission member comprises a first segment and a second segment, and the extension direction of the first segment is the same as the extension direction of the zygomatic transmission slide rail, and the extension direction of the second segment is the front-back direction.

[0012] The first segment is connected with the slider of the zygomatic transmission slide rail, and the second segment is connected with the zygomatic member.

[0013] In an optional embodiment, the zygomatic driver is in transmission connection with the first zygomatic transmission member.

[0014] In an optional embodiment, a second zygomatic transmission member is further included, and the zygomatic driver is in transmission connection with the first zygomatic transmission member through the second zygomatic transmission member.

[0015] In an optional embodiment, the second zygomatic transmission member is a zygomatic transmission rod.

[0016] One end of the zygomatic transmission rod is hingedly connected with the first zygomatic transmission member, and the other end is connected with the zygomatic driver.

[0017] In an optional embodiment, the zygomatic driver is a zygomatic steering engine.

[0018] In an optional embodiment, a zygomatic rocker arm is further included, the zygomatic rocker arm is connected with the output end of the zygomatic steering engine, and the second zygomatic transmission member is connected with the zygomatic rocker arm.

[0019] In an optional embodiment, a spherical surface is arranged on the zygomatic member, and the spherical surface is used to contact the skin of the zygomatic part.

[0020] In a second aspect, the utility model provides a kind of bionic robot head, including a pair of the zygomatic drive device of any one of the foregoing embodiments.

[0021] Compared with prior art, the technical advantages of the zygomatic drive device and the bionic robot head provided by the utility model are as follows:

[0022] The zygomatic drive device provided by the utility model is arranged on the bionic robot head and is used to drive the skin of the zygomatic part to move. The zygomatic drive device comprises a zygomatic driver, a zygomatic support and a zygomatic member. The zygomatic driver is arranged on the zygomatic support, and the zygomatic driver is in transmission connection with the zygomatic member. The zygomatic member is used to contact the skin of the zygomatic part. The zygomatic driver is used to drive the zygomatic member to move forward or backward, so that the skin of the zygomatic part can move forward or backward with the zygomatic member.

[0023] The zygomatic bone support is arranged on the bionic robot head as a carrier of the whole zygomatic bone driving device, the zygomatic bone part is driven to move forward by the zygomatic bone driver, the skin of the zygomatic bone part can be lifted up, the skin of the zygomatic bone part is slightly convex, the zygomatic bone part is driven to move backward by the zygomatic bone driver, the skin of the zygomatic bone part can return to the state before being lifted up, and thus the expression control of the zygomatic bone part is more abundant, delicate and figurative, some micro-expressions can be realized, and the bionic robot is more human-like.

[0024] The bionic robot head provided by the utility model, comprising the above-mentioned zygomatic bone driving device, and thus the technical advantages and effects reached by the above-mentioned zygomatic bone driving device are included, which will not be described in detail here.

[0025] Other features and advantages of the utility model will be described in detail in the subsequent specific embodiment part. ACCURATE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the attached drawings required in the specific embodiment or the prior art description will be briefly introduced below, and obviously, the attached drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other attached drawings according to these attached drawings without creating creative labor.

[0027] Fig. 1 The zygomatic bone driving device provided by the utility model embodiment is shown in the schematic diagram of the limit position of the oblique upward movement.

[0028] Fig. 2 The bionic robot head structure schematic diagram provided by the utility model embodiment is shown in the schematic diagram of the limit position of the oblique downward movement.

[0029] Fig. 3 The zygomatic bone driving device provided by the utility model embodiment is shown in the schematic diagram of the limit position of the oblique upward movement.

[0030] Icon: 1-zygomatic bone driving device;2-zygomatic bone support;3-zygomatic bone part;4-zygomatic bone transmission slide rail;5-first zygomatic bone transmission part;6-first section;7-second section;8-zygomatic bone transmission rod;9-zygomatic bone steering wheel;10-zygomatic bone rocker arm;11-spherical surface. SPECIFIC EMBODIMENT

[0031] The technical scheme of the utility model will be described clearly and completely in combination with the embodiments, and obviously, the described embodiments are some of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creating creative labor belong to the protection scope of the utility model.

[0032] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the device or element must have a specific orientation, a specific orientation and operation, therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second" and "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the utility model, it needs to explain, unless otherwise expressly provided and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0034] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on that the ordinary skilled in the art can realize, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0035] The utility model will be described further in detail below through specific embodiment and in conjunction with the drawings.

[0036] The specific structure is as shown in Figs. 1 to 3

[0037] The embodiment provides a zygomatic driving device 1, which is arranged on the head of a bionic robot and is used for driving the skin movement of the zygomatic part, and the zygomatic driving device 1 comprises a zygomatic driver, a zygomatic support 2 and a zygomatic piece 3; the zygomatic driver is arranged on the zygomatic support 2, and the zygomatic driver is in transmission connection with the zygomatic piece 3; the zygomatic piece 3 is used for being connected with the skin of the zygomatic part, and the zygomatic driver is used for driving the zygomatic piece 3 to move forward or move backward, so that the skin of the zygomatic part can move forward or move backward along with the zygomatic piece 3.

[0038] In the embodiment, the zygomatic support 2 is arranged on the head of the bionic robot as the carrier of the whole zygomatic driving device 1, the zygomatic driver drives the zygomatic piece 3 to move forward, the skin of the zygomatic part can be lifted up, the skin of the zygomatic part is slightly convex, the zygomatic driver drives the zygomatic piece 3 to move backward, the skin of the zygomatic part can return to the state before being lifted up, so that the expression control of the zygomatic part is more abundant, delicate and figurative, some micro expressions can be realized, and the bionic robot is more human-like.​

[0039] It should be noted that the bionic robot head can be a human-like head, or a head of other organisms with a similar organ distribution to a human head.

[0040] In this embodiment, the front-rear direction refers to the front-rear direction of the bionic robot head itself.

[0041] In the optional technical solution of this embodiment, a malar bone transmission sliding rail 4 and a first malar bone transmission member 5 are further included; the malar bone transmission sliding rail 4 is arranged on the malar bone support 2, and the first malar bone transmission member 5 is connected to the sliding block of the malar bone transmission sliding rail 4 and the malar bone member 3 respectively; and the malar bone driver is used to drive the first malar bone transmission member 5 to move.

[0042] In this embodiment, since the first malar bone transmission member 5 is connected to the sliding block of the malar bone transmission sliding rail 4, the first malar bone transmission member 5 can move along the malar bone transmission sliding rail 4 when moving, thereby ensuring the linear movement of the first malar bone transmission member 5, and further ensuring the linear movement of the malar bone member 3 and the stability of the movement.

[0043] In this embodiment, the malar bone transmission member can be arranged separately from the sliding block of the malar bone transmission sliding rail 4 and connected through a connecting member, or can be integrally formed.

[0044] In this embodiment, the malar bone transmission sliding rail 4 can be arranged along the front-rear direction.

[0045] Preferably in this embodiment, the malar bone transmission sliding rail 4 is arranged obliquely relative to the front-rear direction, the malar bone transmission member includes a first segment 6 and a second segment 7, the extension direction of the first segment 6 is the same as the extension direction of the malar bone transmission sliding rail 4, and the extension direction of the second segment 7 is the front-rear direction; the first segment 6 is connected to the sliding block of the malar bone transmission sliding rail 4, and the second segment 7 is connected to the malar bone member 3.

[0046] In this embodiment, the malar bone transmission member moves along the direction obliquely to the front-rear direction, wherein the second segment 7 is bent relative to the first segment 6, i.e., the second segment 7 extends forward relative to the first segment 6, and when the malar bone transmission member moves along the malar bone transmission sliding rail 4, the second segment 7 drives the malar bone member 3 to move along the obliquely upward or obliquely downward direction, and when the skin of the malar bone part is lifted, it is lifted obliquely upward, making the expression more lifelike.

[0047] In the optional technical solution of this embodiment, the malar bone driver is drivingly connected to the first malar bone transmission member 5. Specifically, the malar bone driver is drivingly connected to the first segment 6, and by driving the first segment 6, the first segment 6 moves along the malar bone transmission sliding rail 4 through the sliding block of the malar bone transmission sliding rail 4, which is simple in structure and stable in driving.

[0048] However, this embodiment is not limited thereto, and the malar bone driver can also be drivingly connected to the sliding block of the malar bone transmission sliding rail 4.

[0049] Specifically, the zygomatic driver can be directly connected with the slider of the zygomatic transmission slide rail 4, or directly connected with the first zygomatic transmission member 5.

[0050] In the optional technical solution of the embodiment, a second zygomatic transmission member is further included, and the zygomatic driver is in transmission connection with the first zygomatic transmission member 5 through the second zygomatic transmission member. The zygomatic driver can be arranged on one side of the extension direction of the zygomatic transmission slide rail 4, so as to avoid the zygomatic driver and the zygomatic transmission slide rail 4 being in a line, and improve the space utilization.

[0051] In the optional technical solution of the embodiment, the second zygomatic transmission member can be a zygomatic pull rope, one end of the zygomatic pull rope is connected to the first segment 6, and the other end is in transmission connection with the zygomatic driver. The structure is simple, and the transmission is convenient.

[0052] Preferably in the embodiment, the second zygomatic transmission member is a zygomatic transmission rod 8, one end of the zygomatic transmission rod 8 is hingedly connected with the first zygomatic transmission member 5, and the other end is connected with the zygomatic driver. The transmission through the zygomatic transmission rod 8 is highly reliable.

[0053] In the optional technical solution of the embodiment, the zygomatic driver is a zygomatic steering engine 9. The zygomatic steering engine 9 is more accurate in control, so that the expression of the zygomatic part is more accurate and delicate.

[0054] In the optional technical solution of the embodiment, a zygomatic rocker arm 10 is further included, the zygomatic rocker arm 10 is connected to the output end of the zygomatic steering engine 9, and the second zygomatic transmission member is connected to the zygomatic rocker arm 10.

[0055] In the embodiment, the second zygomatic transmission member is hingedly connected with the zygomatic rocker arm 10, at this time, the zygomatic rocker arm 10, the second zygomatic transmission member and the first zygomatic transmission member 5 form a crank slider structure, the movement is stable and the transmission effect is good.

[0056] The embodiment is not limited to this, the zygomatic driver can also be a rotary motor, the output end of the rotary motor is connected with the zygomatic rocker arm 10; or a telescopic motor, and the output end of the telescopic motor is connected with the zygomatic transmission rod 8 or directly connected with the first zygomatic transmission member 5.

[0057] In the optional technical solution of the embodiment, a spherical surface 11 is arranged on the zygomatic member 3, and the spherical surface 11 is used to be in contact with the skin of the zygomatic part. The contact between the spherical surface 11 and the skin of the zygomatic part makes the zygomatic part more humanized. The zygomatic member 3 can be in close contact with the skin of the zygomatic part, the skin of the zygomatic part is lifted up when the zygomatic member 3 moves forward, and the skin of the zygomatic part can rebound under the elasticity of itself when the zygomatic member 3 moves backward; the zygomatic member 3 can also be connected with the skin of the zygomatic part, at this time, the movement of the zygomatic member 3 directly drives the movement of the skin of the zygomatic part.

[0058] The bionic robot head provided by the embodiment comprises a pair of the above-mentioned malar bone driving devices 1, and thus the bionic robot head achieves the technical advantages and effects of the malar bone driving devices 1, which will not be repeated here.

[0059] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cheekbone driving device, disposed in the head of a bionic robot, for driving the movement of the skin in the cheekbone area, characterized in that, The zygomatic bone driving device (1) includes: a zygomatic bone driver, a zygomatic bone support (2), and a zygomatic bone component (3); The zygomatic bone actuator is disposed on the zygomatic bone support (2), and the zygomatic bone actuator is connected to the zygomatic bone component (3) in a transmission connection. The cheekbone component (3) is used to contact the skin of the cheekbone area, and the cheekbone actuator is used to drive the cheekbone component (3) to move forward or backward so that the skin of the cheekbone area can move forward or backward with the cheekbone component (3).

2. The cheekbone driving device according to claim 1, characterized in that, It also includes a zygomatic bone drive rail (4) and a first zygomatic bone drive component (5); The zygomatic bone transmission slide rail (4) is disposed on the zygomatic bone support (2), and the first zygomatic bone transmission component (5) is respectively connected to the slider of the zygomatic bone component (3) and the zygomatic bone transmission slide rail (4); The cheekbone actuator is used to drive the first cheekbone transmission component (5) to move.

3. The cheekbone driving device according to claim 2, characterized in that, The cheekbone transmission slide rail (4) is inclined relative to the front-back direction. The cheekbone transmission component includes a first section (6) and a second section (7). The extension direction of the first section (6) is the same as the extension direction of the cheekbone transmission slide rail (4), and the extension direction of the second section (7) is the front-back direction. The first segment (6) is connected to the slider of the cheekbone transmission slide rail (4), and the second segment (7) is connected to the cheekbone component (3).

4. The cheekbone driving device according to claim 2, characterized in that, The cheekbone driver is connected to the first cheekbone drive component (5).

5. The cheekbone driving device according to claim 4, characterized in that, It also includes a second zygomatic bone drive component, wherein the zygomatic bone driver is connected to the first zygomatic bone drive component (5) via the second zygomatic bone drive component.

6. The cheekbone driving device according to claim 5, characterized in that, The second zygomatic bone transmission component is a zygomatic bone transmission rod (8); One end of the zygomatic bone transmission rod (8) is hinged to the first zygomatic bone transmission component (5), and the other end is connected to the zygomatic bone driver.

7. The cheekbone driving device according to claim 5, characterized in that, The cheekbone actuator is a cheekbone servo motor (9).

8. The cheekbone driving device according to claim 7, characterized in that, It also includes a cheekbone rocker arm (10), which is connected to the output end of the cheekbone servo motor (9), and the second cheekbone transmission component is connected to the cheekbone rocker arm (10).

9. The cheekbone driving device according to any one of claims 1-8, characterized in that, The cheekbone component (3) is provided with a spherical surface (11), which is used to contact the skin of the cheekbone area.

10. A biomimetic robot head, characterized in that, Includes a pair of zygomatic bone driving devices (1) as described in any one of claims 1-9.

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