Nose driving device and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to a nose driving device and a bionic robot head. The utility model provides a nose driving device which comprises a nose driver, a nose support, a nose pull rope, a pair of nose back traction pieces and a pair of nose wing traction pieces. The nose driver is arranged on the nose support, the pair of nose back traction pieces are used for being connected with the skin of the nose back portions on the two sides of the nose bridge respectively, and the pair of nose wing traction pieces are used for being connected with the skin of the nose wing portions on the two sides of the nose tip respectively. And the nose driver is in transmission connection with the pair of nose back traction pieces and the pair of nose wing traction pieces through a nose pull rope. The nose support serves as a carrier of the whole nose driving device and is arranged on the head of the bionic robot, the nose driver drives the pair of nose back traction pieces and the pair of nose wing traction pieces to move through the nose pull rope so as to drive the nose backs and the nose wings to move, control over nose expressions is richer, finer, smoother and concrete, some micro expressions can be achieved, and the effect of improving the nose expression is achieved. Therefore, humanization is improved.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to a nose drive device and a bionic robot head. Background Technology

[0002] Robotics technology has developed rapidly alongside the advancement of modern science and technology, and robots are becoming increasingly capable, gradually approaching human capabilities. As robots evolve, the gap between them and humans will narrow, making biomimetic robots one of the latest research directions in the field of robotics. They can achieve effective human-machine interaction, enabling natural, harmonious, and friendly communication between humans and machines, reducing the emotional distance between them, and thus satisfying both human material needs and emotional needs.

[0003] Currently, in order to make the head of a bionic robot conform to human aesthetic standards, it is necessary to place organs such as eyes, ears, nose, mouth, and eyebrows, as well as corresponding drive components and transmission mechanisms, in a space that is close to the size of the human brain. Furthermore, the overall mechanism must move in a coordinated manner and conform to the movement patterns of the human head and face, so as to better simulate human facial expressions and emotional movements.

[0004] However, existing bionic robots generally use a nasal wing drive mechanism to move the nasal wings to simulate human facial expressions, which is relatively simple in terms of facial expression control and cannot realize the expression of some micro-expressions. Utility Model Content

[0005] The purpose of this invention is to provide a nose driving device and a bionic robot head to solve the technical problem that existing bionic robots generally use a nose wing driving mechanism to drive the nose wing to simulate human facial expressions, which is relatively simple in terms of facial expression control and cannot realize some micro-expression expressions.

[0006] In a first aspect, this utility model provides a nose driving device, which is disposed on the head of a bionic robot and is used to drive the movement of the skin in the nose area. The nose driving device includes: a nose driver, a nose support, a nose pull rope, a pair of nose bridge traction members and a pair of nose wing traction members.

[0007] The nasal actuator is mounted on the nasal support. A pair of nasal dorsum traction members are respectively used to connect with the skin of the nasal dorsum on both sides of the bridge of the nose, and a pair of nasal wing traction members are respectively used to connect with the skin of the nasal wing on both sides of the tip of the nose.

[0008] The nose actuator is connected via the nose pull cord to a pair of nose bridge traction members and a pair of nose wing traction members.

[0009] In an optional embodiment, at least one nose back traction slide rail and at least one ala nasi traction slide rail are further included;

[0010] The nose back traction slide rail and the ala nasi traction slide rail are arranged on the nose support, and the nose back traction member is connected to the sliding block of the nose back traction slide rail, and the ala nasi traction member is connected to the sliding block of the ala nasi traction slide rail;

[0011] The nose driver is in transmission connection with the sliding blocks of the nose back traction slide rail and the ala nasi traction slide rail through the nose pull rope.

[0012] In an optional embodiment, the nose back traction slide rail is arranged along the inclined direction of the nose bridge.

[0013] In an optional embodiment, the nose back traction slide rail is arranged in a pair, the ala nasi traction slide rail is arranged in one, and the pair of nose back traction slide rails are respectively located on the two sides of the ala nasi traction slide rail;

[0014] The pair of nose back traction members are respectively connected to the sliding blocks of the pair of nose back traction slide rails, and the pair of ala nasi traction members are respectively connected to the sliding blocks of the ala nasi traction slide rail.

[0015] In an optional embodiment, a nose back ala nasi traction slide rail mounting frame is further included, and the nose back ala nasi traction slide rail mounting frame is connected to the nose support;

[0016] The nose back traction slide rail and the ala nasi traction slide rail are arranged on the nose back ala nasi traction slide rail mounting frame.

[0017] In an optional embodiment, a nose guide wire frame is further included, and the nose guide wire frame is arranged on the nose back ala nasi traction slide rail mounting frame;

[0018] The nose guide wire frame is provided with a wire collecting portion and a plurality of wire distributing portions, and the wire collecting portion is in communication with all the wire distributing portions;

[0019] The nose pull rope is provided with a plurality of ropes, all the nose pull ropes are arranged in the wire collecting portion, and are arranged in the wire distributing portion one by one;

[0020] One end of all the nose pull ropes is connected to the nose driver, and the other end is connected to the sliding blocks of the nose back traction slide rail and the ala nasi traction slide rail one by one.

[0021] In an optional embodiment, the ala nasi traction member includes an embedded block and an embedded block traction rod;

[0022] The embedded block is connected to the embedded block traction rod, and is used for embedding the skin of the ala nasi part;

[0023] The embedded block traction rod is in transmission connection with the nose pull rope.

[0024] In an optional embodiment, a magnetic attraction part is arranged on the nose back traction part, and the magnetic attraction part is used for magnetic attraction cooperation with a magnetic part on the skin of the nose back part.

[0025] In an optional embodiment, a nose rocker is further included, the nose driver is a nose steering engine, the nose rocker is connected to an output end of the nose steering engine, and the nose pull rope is connected to the nose rocker.

[0026] In a second aspect, the utility model provides a kind of bionic robot head, including the nose driver of any one of preceding embodiment.

[0027] Compared with prior art, the technical advantages of the nose driver provided by the utility model and the bionic robot head are as follows:

[0028] The nose driver provided by the utility model is arranged on the bionic robot head, and is used for driving the skin of nose part to move.The nose driver includes a nose driver, a nose support, a nose pull rope, a pair of nose back traction parts and a pair of alar traction parts.The nose driver is arranged on the nose support, the pair of nose back traction parts are respectively connected to the skin of the nose back part on both sides of the nose bridge, and the pair of alar traction parts are respectively connected to the skin of the alar part on both sides of the nose head.The nose driver is in transmission connection with the pair of nose back traction parts and the pair of alar traction parts through the nose pull rope.

[0029] The nose support is arranged on the bionic robot head as the carrier of the whole nose driver, and the nose driver drives the pair of nose back traction parts and the pair of alar traction parts to move through the nose pull rope, so as to drive the nose back and the alar to move, make the control of nose expression more rich, delicate and concrete, can realize some micro-expression, so as to be more human-like.

[0030] The bionic robot head provided by the utility model includes the above-mentioned nose driver, and the technical advantages and effects achieved thereby include those achieved by the above-mentioned nose driver, which will not be described in detail here.

[0031] Other features and advantages of the utility model will be described in detail in the subsequent specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described in the following are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0033] Fig. 1 The nose driving device structure schematic view provided by the embodiment of the present application is shown in the figure.

[0034] Fig. 2 The nose driving device side view when the nose back traction member and the nose back traction member are in normal position is shown in the figure.

[0035] Fig. 3 The nose driving device side view when the nose back traction member and the nose back traction member are in normal position is shown in the figure.

[0036] Figure: 1-nose driving device; 2-nose support; 3-nose pull rope; 4-nose back traction member; 5-nose wing traction member; 6-nose back traction slide rail; 7-nose wing traction slide rail; 8-nose back and nose wing traction slide rail mounting frame; 9-nose guide wire frame; 10-distribution part; 11-embedded block; 12-embedded block traction rod; 13-nose rocker arm; 14-nose steering engine. DETAILED DESCRIPTION

[0037] The technical solutions of the present application will be described in detail below in combination with embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0038] In the description of the present application, it should be pointed out that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0039] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "installation", "connection" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be the communication inside two elements.For the ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0040] In addition, the technical solutions among various embodiments 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 mutual contradiction or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0041] The utility model will be described further in detail below through specific embodiment and in conjunction with the drawings.

[0042] Specific structure as Figs. 1 to 3 It is shown.

[0043] The embodiment provides a nose driving device 1, which is arranged on a bionic robot head and is used for driving skin movement of a nose part, and the nose driving device 1 comprises a nose driver, a nose support 2, a nose pull rope 3, a pair of nose back traction members 4 and a pair of alar traction members 5; the nose driver is arranged on the nose support 2, the pair of nose back traction members 4 are respectively used for being connected with the skin of the nose back part on both sides of the nose bridge, and the pair of alar traction members 5 are respectively used for being connected with the skin of the alar part on both sides of the nose head; the nose driver is in transmission connection with the pair of nose back traction members 4 and the pair of alar traction members 5 through the nose pull rope 3.

[0044] It should be noted that the bionic robot head can be a human head, or a head of other organisms with similar human head organ distribution.

[0045] In the embodiment, the nose support 2 is arranged on the bionic robot head as a carrier of the whole nose driving device 1, the nose driver drives the pair of nose back traction members 4 and the pair of alar traction members 5 to move through the nose pull rope 3, thereby driving the nose back and the alar to move, so that the control of the nose expression is more rich, delicate and figurative, some micro expressions can be realized, thereby being more human-like.

[0046] In the embodiment, the nose pull rope 3 can be directly connected with the nose back traction member 4 and the alar traction member 5, and the structure is simple.

[0047] In the optional technical solutions of the embodiment, at least one nose back traction slide rail 6 and at least one ala nasi traction slide rail 7 are further included; the nose back traction slide rail 6 and the ala nasi traction slide rail 7 are both arranged on the nose support 2, the nose back traction member 4 is connected to the sliding block of the nose back traction slide rail 6, and the ala nasi traction member 5 is connected to the sliding block of the ala nasi traction slide rail 7; the nose driver is in transmission connection with the sliding blocks of the nose back traction slide rail 6 and the ala nasi traction slide rail 7 through the nose pulling rope 3.

[0048] In the embodiment, the nose back traction slide rail 6 and the ala nasi traction slide rail 7 are both arranged vertically, the nose pulling rope 3 and the nose back traction member 4 are both connected to the sliding block of the nose back traction slide rail 6, and when the nose driver drives the sliding block of the nose back traction slide rail 6 to move up and down through the nose pulling rope 3, the sliding block of the nose back traction slide rail 6 can drive the nose back traction member 4 to move up and down, and the arrangement of the nose back traction slide rail 6 can ensure the linear motion of the nose back traction member 4, thereby ensuring the stability of the motion; the nose pulling rope 3 and the ala nasi traction member 5 are both connected to the sliding block of the ala nasi traction slide rail 7, and when the nose driver drives the sliding block of the ala nasi traction slide rail 7 to move up and down through the nose pulling rope 3, the sliding block of the ala nasi traction slide rail 7 can drive the ala nasi traction member 5 to move up and down, and the arrangement of the ala nasi traction slide rail 7 can ensure the linear motion of the ala nasi traction member 5, thereby ensuring the stability of the motion.

[0049] In the embodiment, the nose back traction slide rail 6 is arranged along the inclined direction of the bridge of the nose. The nose back traction member 4 moves along the direction of the bridge of the nose, and the skin of the nose back part is prevented from being excessively raised by the nose back traction member 4, thereby ensuring that the micro-expression is more realistic.

[0050] In the embodiment, one nose back traction slide rail 6 and one ala nasi traction slide rail 7 can be arranged, one pair of nose back traction members 4 are connected to the sliding block of one nose back traction slide rail 6, and one pair of ala nasi traction members 5 are connected to the sliding block of one ala nasi traction slide rail 7; two nose back traction slide rails 6 and two ala nasi traction slide rails 7 can also be arranged, and are connected to one pair of nose back traction members 4 and one pair of ala nasi traction members 5 in one-to-one correspondence; or one nose back traction slide rail 6 and two ala nasi traction slide rails 7 can be arranged, and the connection mode is as described above.

[0051] In the embodiment, preferably, one pair of nose back traction slide rails 6 are arranged, one ala nasi traction slide rail 7 is arranged, and the pair of nose back traction slide rails 6 are respectively located on the two sides of the ala nasi traction slide rail 7; one pair of nose back traction members 4 are respectively connected to the sliding blocks of the pair of nose back traction slide rails 6, and one pair of ala nasi traction members 5 are connected to the sliding block of the ala nasi traction slide rail 7. The overall occupied space is smaller, and the motion is coordinated to avoid mutual interference.

[0052] In the optional technical scheme of the embodiment, the nose dorsum and ala nasa traction slide rail mounting frame 8 is connected to the nose support 2; the nose dorsum traction slide rail 6 and the ala nasa traction slide rail 7 are arranged on the nose dorsum and ala nasa traction slide rail mounting frame 8. The nose dorsum traction slide rail 6 and the ala nasa traction slide rail 7 are mounted on the nose support 2 through the nose dorsum and ala nasa traction slide rail mounting frame 8, which is convenient to install, more reasonable in design, and high in space utilization.

[0053] In the optional technical scheme of the embodiment, the nose lead frame 9 is arranged on the nose dorsum and ala nasa traction slide rail mounting frame 8; the nose lead frame 9 is provided with a wire collecting part and a plurality of wire distribution parts 10, and the wire collecting part is in communication with all the wire distribution parts 10; the nose pull rope 3 is provided with a plurality of roots, all the nose pull ropes 3 are arranged in the wire collecting part and the wire distribution part 10 one by one; one end of all the nose pull ropes 3 is connected with the nose driver, and the other end is connected with the slider of the nose dorsum traction slide rail 6 and the slider of the ala nasa traction slide rail 7 one by one.

[0054] In the embodiment, all the nose pull ropes 3 are connected with the output end of one nose driver after being converged through the wire collecting part, and are connected with the slider of the nose dorsum traction slide rail 6 and the slider of the ala nasa traction slide rail 7 one by one after being separated through the wire distribution part 10. The nose lead frame 9 not only has a guiding effect on the nose pull rope 3, but also has a converging and separating effect, so that all the nose pull ropes 3 can be driven by one nose driver. The structure is simple, the occupied space is small, and the driving synchronization is good.

[0055] The embodiment is not limited to this, and the nose driver can be provided with a plurality of roots and correspond to the nose pull rope 3 one by one, that is, one nose pull rope 3 is driven by one nose driver; or the nose driver can be provided with a plurality of roots and less than the number of roots of the nose pull rope 3, and at least one nose driver is connected with a plurality of nose pull ropes 3.

[0056] In the optional technical scheme of the embodiment, the ala nasa traction member 5 comprises an embedded block 11 and an embedded block traction rod 12; the embedded block 11 is connected to the embedded block traction rod 12 and is used for embedding in the skin of the ala nasa part; the embedded block traction rod 12 is in transmission connection with the nose pull rope 3.

[0057] In the embodiment, the embedded block 11 is integrally formed with the skin of the ala nasa part and embedded in the inside, the embedded block traction rod 12 is detachably connected with the embedded block 11, which is convenient to install; at the same time, the embedded block traction rod 12 is connected with the slider of the ala nasa traction slide rail 7, the overall structure is simple, the skin of the ala nasa part is stably and reliably driven to move.

[0058] In the optional technical scheme of the embodiment, the nose dorsum traction member 4 is provided with a magnetic attraction part, which is used for magnetic attraction cooperation with the magnetic member on the skin of the nose dorsum part. The structure is simple and convenient to install and disassemble.

[0059] In an optional technical solution of the embodiment, a nose rocker 13 is further included, the nose driver is a nose steering engine 14, the nose rocker 13 is connected to an output end of the nose steering engine 14, and the nose pull rope 3 is connected to the nose rocker 13. The nose steering engine 14 controls the stretching amount of the nose pull rope 3 more accurately, so that the nose expression is more accurate and delicate. Meanwhile, the nose pull rope 3 is connected to the output end of the nose steering engine 14 through the nose rocker 13, so that the connection is stable and the movement effect is good.

[0060] The embodiment is not limited to this, the nose driver can also be a rotary motor, the output end of the rotary motor is connected to the nose pull rope 3 or connected to the nose pull rope 3 through the nose rocker 13; or a telescopic motor, and the output end of the telescopic motor is connected to the nose pull rope 3.

[0061] The embodiment provides a bionic robot head, which comprises the nose driving device 1, so that the technical advantages and effects of the bionic robot head include the technical advantages and effects of the nose driving device 1, which will not be repeated here.

[0062] 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 above embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the above 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 nose actuation device provided in a head of a bio-robot for actuating skin movement of a nose portion, characterized by, The nose driving device (1) comprises a nose driver, a nose support (2), a nose pull rope (3), a pair of nose back traction members (4) and a pair of alar traction members (5); The nose driver is arranged on the nose support (2), a pair of the nose back traction members (4) are respectively used for connecting with the skin at the nose back positions on both sides of the bridge of the nose, and a pair of the alar traction members (5) are respectively used for connecting with the skin at the alar positions on both sides of the nose tip; The nose driver is in transmission connection with the pair of the nose back traction members (4) and the pair of the alar traction members (5) through the nose pull rope (3).

2. The nose drive of claim 1, wherein Further comprising at least one nose back traction slide rail (6) and at least one alar traction slide rail (7); The nose back traction slide rail (6) and the alar traction slide rail (7) are both arranged on the nose support (2), and the nose back traction member (4) is connected to the sliding block of the nose back traction slide rail (6), and the alar traction member (5) is connected to the sliding block of the alar traction slide rail (7); The nose driver is in transmission connection with the sliding blocks of the nose back traction slide rail (6) and the alar traction slide rail (7) through the nose pull rope (3).

3. The nose drive of claim 2, wherein, The nose back traction slide rail (6) is arranged along the inclined direction of the bridge of the nose.

4. The nose drive of claim 2, wherein, The nose back traction slide rail (6) is arranged in pairs, the alar traction slide rail (7) is arranged in one, and the pair of the nose back traction slide rails (6) are respectively located on both sides of the alar traction slide rail (7); The pair of the nose back traction members (4) are respectively connected to the sliding blocks of the pair of the nose back traction slide rails (6), and the pair of the alar traction members (5) are both connected to the sliding block of the alar traction slide rail (7).

5. The nose drive of claim 2, wherein, Further comprising a nose back alar traction slide rail mounting frame (8), the nose back alar traction slide rail mounting frame (8) is connected to the nose support (2); The nose back traction slide rail (6) and the alar traction slide rail (7) are both arranged on the nose back alar traction slide rail mounting frame (8).

6. The nose drive of claim 5, wherein, Further comprising a nose guide wire frame (9), the nose guide wire frame (9) is arranged on the nose back alar traction slide rail mounting frame (8); The nose guide wire frame (9) is provided with a wire collecting part and a plurality of wire distributing parts (10), and the wire collecting part is in communication with all the wire distributing parts (10); The nose pull rope (3) is provided with a plurality of, all the nose pull ropes (3) are all arranged in the wire collecting part, and are one-to-one corresponding arranged in the wire distributing part (10); One end of all the nose pull ropes (3) is connected with the nose driver, and the other end is one-to-one corresponding connected with the sliding blocks of the nose back traction slide rail (6) and the alar traction slide rail (7).

7. Nose drive according to any of claims 1-6, characterized in that The alar traction member (5) comprises an embedded block (11) and an embedded block traction rod (12); The embedded block (11) is connected to the embedded block traction rod (12), and is used for embedding in the skin at the alar position; The embedded block traction rod (12) is in transmission connection with the nose pull rope (3).

8. Nose drive according to any of claims 1-6, characterized in that The nose back traction member (4) is provided with a magnetic attraction part, and the magnetic attraction part is used for magnetically attracting the magnetic member on the skin at the nose back position.

9. Nose drive according to any of claims 1-6, characterized in that Also included is a nose rocker (13), the nose driver being a nose rudder (14), the nose rocker (13) being connected to the output of the nose rudder (14), the nose pull rope (3) being connected to the nose rocker (13).

10. A biomimetic robotic head, characterized by The nose drive device (1) according to any one of claims 1-9 is included.

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