Eyebrow driving device and bionic robot head

Abstract

The utility model relates to the technical field of bionic robots, in particular to an eyebrow driving device and a bionic robot head. The utility model provides an eyebrow driving device which comprises an eyebrow head driving assembly, an eyebrow tail driving assembly and an eyebrow support. The header driving assembly comprises a header transverse movement driver, a header support, a header longitudinal movement driver and a header traction rod, the header transverse movement driver is arranged on the header support and is in transmission connection with the header support, and the header longitudinal movement driver is arranged on the header support and is in transmission connection with the header traction rod; the eyebrow tail driving assembly comprises an eyebrow tail longitudinal movement driver and an eyebrow tail traction rod, and the eyebrow tail longitudinal movement driver is arranged on the eyebrow support and is in transmission connection with the eyebrow tail traction rod. The eyebrow part is divided into three independent degrees of freedom, namely up-and-down movement of the eyebrow head, left-and-right movement of the eyebrow head and up-and-down movement of the eyebrow tail, and the three independent degrees of freedom are independently controlled, so that the skin of the eyebrow part can show more expressions, and the expressions are more vivid.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a brow driving device and bionic robot head. BACKGROUND

[0002] With the population aging and the birth rate reduction, the gradually reduced labor force promotes the research of intelligent service type robot. In order to expand the application scene of service robot, the researched service type robot not only wants to be similar to people on appearance, more importantly, it wants to have emotional communication with human, and the most important in emotional expression is facial expression.

[0003] At present, the existing bionic facial expression robot expression driving point is few, leading to the expression made by robot not enough realistic, far from the rich expression presented by human, especially the expression of eyebrow part is less. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a brow driving device and bionic robot head to solve the technical problem of the existing bionic facial expression robot expression driving point being few, leading to the expression made by robot not enough realistic, far from the rich expression presented by human.

[0005] Firstly, the utility model provides a brow driving device, sets up in bionic robot head and is used for driving the skin movement of eyebrow part, and the brow driving device includes brow head driving assembly, brow tail driving assembly and brow support;

[0006] The brow head driving assembly includes brow head transverse drive, brow head support, brow head longitudinal drive and brow head traction rod, the brow head transverse drive is set up in the brow support, and is transmissionally connected with the brow head support, the brow head longitudinal drive is set up in the brow head support, and is transmissionally connected with the brow head traction rod, and the brow head traction rod is used for being connected with the skin of brow head part;

[0007] The brow tail driving assembly includes brow tail longitudinal drive and brow tail traction rod, the brow tail longitudinal drive is set up in the brow support, and is transmissionally connected with the brow tail traction rod, and the brow tail traction rod is used for being connected with the skin of brow tail part.

[0008] In optional implementation, the brow head driving assembly further includes brow head transverse sliding rail, and the brow head transverse sliding rail is set up on the brow support;

[0009] The brow head support is connected with the sliding block of the brow head transverse sliding rail.

[0010] In optional implementation, the brow head driving assembly further includes brow head transverse rocker arm;

[0011] The output end of the eyebrow horizontal movement driver is connected to the eyebrow horizontal movement rocker arm, and the eyebrow horizontal movement rocker arm is connected to the eyebrow support.

[0012] In an optional embodiment, the eyebrow driving assembly further comprises an eyebrow vertical movement slide rail arranged on the eyebrow support.

[0013] The eyebrow traction rod is connected to the sliding block of the eyebrow vertical movement slide rail.

[0014] In an optional embodiment, the eyebrow driving assembly further comprises an eyebrow vertical movement rocker arm and an eyebrow vertical movement connecting rod.

[0015] The output end of the eyebrow vertical movement driver is connected to the eyebrow vertical movement rocker arm, and the two ends of the eyebrow vertical movement connecting rod are rotatably connected to the eyebrow vertical movement rocker arm and the eyebrow traction rod respectively.

[0016] In an optional embodiment, the eyebrow support is provided with a slide rail mounting groove.

[0017] The eyebrow horizontal movement slide rail is arranged in the slide rail mounting groove.

[0018] In an optional embodiment, the eyebrow tail driving assembly further comprises an eyebrow tail vertical movement slide rail arranged on the eyebrow support.

[0019] The eyebrow tail traction rod is connected to the sliding block of the eyebrow tail vertical movement slide rail.

[0020] In an optional embodiment, the eyebrow tail driving assembly further comprises an eyebrow tail vertical movement rocker arm, an eyebrow tail vertical movement transmission rod and an eyebrow tail vertical movement connecting rod.

[0021] The output end of the eyebrow tail vertical movement driver is connected to the eyebrow tail vertical movement rocker arm, the eyebrow tail vertical movement rocker arm is rotatably connected to the eyebrow tail vertical movement connecting rod through the eyebrow tail vertical movement transmission rod, the eyebrow tail vertical movement connecting rod is connected to the sliding block of the eyebrow tail vertical movement slide rail, and the eyebrow tail traction rod is connected to the eyebrow tail vertical movement connecting rod.

[0022] In an optional embodiment, the eyebrow tail traction rod is rotatably connected to the eyebrow tail vertical movement connecting rod and can swing laterally.

[0023] In a second aspect, the utility model provides a kind of bionic robot head, comprising the eyebrow driving device of any one of preceding embodiment.

[0024] Compared with prior art, the eyebrow driving device and bionic robot head provided by the utility model have the following technical advantages:

[0025] The eyebrow driving device provided by the utility model is arranged on the head of the bionic robot and is used for driving the skin movement of the eyebrow part, and the eyebrow driving device comprises: an eyebrow head driving assembly, an eyebrow tail driving assembly and an eyebrow support; the eyebrow head driving assembly comprises an eyebrow head transverse driving device, an eyebrow head support, an eyebrow head longitudinal driving device and an eyebrow head traction rod, the eyebrow head transverse driving device is arranged on the eyebrow support and is in transmission connection with the eyebrow head support, the eyebrow head longitudinal driving device is arranged on the eyebrow head support and is in transmission connection with the eyebrow head traction rod, and the eyebrow head traction rod is used for being connected with the skin of the eyebrow head part; the eyebrow tail driving assembly comprises an eyebrow tail longitudinal driving device and an eyebrow tail traction rod, the eyebrow tail longitudinal driving device is arranged on the eyebrow support and is in transmission connection with the eyebrow tail traction rod, and the eyebrow tail traction rod is used for being connected with the skin of the eyebrow tail part.

[0026] The eyebrow part is divided into three independent degrees of freedom, the up-down movement of the eyebrow head, the left-right movement of the eyebrow head and the up-down movement of the eyebrow tail respectively, and the three independent degrees of freedom are controlled independently, so that the skin of the eyebrow part can express more expressions, and the expressions are more realistic.

[0027] The bionic robot head provided by the utility model comprises the eyebrow driving device, and the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the eyebrow driving device, which will not be described in detail here.

[0028] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. ACCURACY

[0029] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0030] Figure 1 The eyebrow driving device structure schematic view provided for the embodiment of the utility model is shown in the figure.

[0031] Figure 2 The eyebrow driving device explosion view provided for the embodiment of the utility model is shown in the figure.

[0032] Figure 3 The eyebrow head driving assembly explosion view provided for the embodiment of the utility model is shown in the figure.

[0033] Figure 4 The eyebrow tail driving assembly explosion view provided for the embodiment of the utility model is shown in the figure.

[0034] Figure 5 The eyebrow support explosion view provided for the embodiment of the utility model is shown in the figure.

[0035] Figure icon: 1 - eyebrow driving device; 2 - eyebrow head driving assembly; 3 - eyebrow tail driving assembly; 4 - eyebrow support; 5 - eyebrow head transverse moving driver; 6 - eyebrow head support; 7 - eyebrow head longitudinal moving driver; 8 - eyebrow head traction rod; 9 - eyebrow tail longitudinal moving driver; 10 - eyebrow tail traction rod; 11 - eyebrow head transverse moving sliding rail; 12 - eyebrow head transverse moving rocker arm; 13 - eyebrow head longitudinal moving sliding rail; 14 - eyebrow head longitudinal moving rocker arm; 15 - eyebrow head longitudinal moving connecting rod; 16 - sliding rail mounting groove; 17 - eyebrow tail longitudinal moving sliding rail; 18 - eyebrow tail longitudinal moving rocker arm; 19 - eyebrow tail longitudinal moving transmission rod; 20 - eyebrow tail longitudinal moving connecting rod. DETAILED DESCRIPTION

[0036] The technical solutions of the present application will be described below in conjunction with the embodiments, obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0037] In the description of the present application, it should be pointed out that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the application. The application must have a specific orientation, a specific orientation and operation, and therefore cannot be understood as limiting the 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.

[0038] In the description of the present application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; 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.

[0039] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and it is not within the scope of protection required by the present application.

[0040] The present application will be described in further detail below through specific embodiments and in conjunction with the drawings.

[0041] The specific structure is shown in Figures 1 to 5 .

[0042] The embodiment provides a brow driving device 1 arranged on a bionic robot head and used for driving skin movement of a brow part, the brow driving device 1 comprising a brow head driving assembly 2, a brow tail driving assembly 3 and a brow support 4; the brow head driving assembly 2 comprises a brow head transverse movement driver 5, a brow head support 6, a brow head longitudinal movement driver 7 and a brow head traction rod 8, the brow head transverse movement driver 5 is arranged on the brow support 4 and is in transmission connection with the brow head support 6, the brow head longitudinal movement driver 7 is arranged on the brow head support 6 and is in transmission connection with the brow head traction rod 8, and the brow head traction rod 8 is used for being connected with skin of a brow head part; the brow tail driving assembly 3 comprises a brow tail longitudinal movement driver 9 and a brow tail traction rod 10, the brow tail longitudinal movement driver 9 is arranged on the brow support 4 and is in transmission connection with the brow tail traction rod 10, and the brow tail traction rod 10 is used for being connected with skin of a brow tail part.

[0043] In the embodiment, the brow part is divided into three independent degrees of freedom, namely up-down movement of the brow head, left-right movement of the brow head and up-down movement of the brow tail, and the three independent degrees of freedom are controlled independently, so that the skin of the brow part can exhibit more expressions, and the expressions are more realistic.

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

[0045] In an optional technical solution of the embodiment, the brow head driving assembly 2 further comprises a brow head transverse movement sliding rail 11, the brow head transverse movement sliding rail 11 is arranged on the brow support 4, and the brow head support 6 is connected to a sliding block of the brow head transverse movement sliding rail 11. The stability of the brow head support 6 in transverse movement is ensured through the guiding action of the brow head transverse movement sliding rail 11.

[0046] In an optional technical solution of the embodiment, the brow head driving assembly 2 further comprises a brow head transverse movement rocker arm 12, an output end of the brow head transverse movement driver 5 is connected to the brow head transverse movement rocker arm 12, and the brow head transverse movement rocker arm 12 is connected to the brow head support 6. The structure is simple, and transmission is stable.

[0047] In an optional technical solution of the embodiment, the brow head driving assembly 2 further comprises a brow head longitudinal movement sliding rail 13, the brow head longitudinal movement sliding rail 13 is arranged on the brow head support 6, and the brow head traction rod 8 is connected to a sliding block of the brow head longitudinal movement sliding rail 13. The stability of the brow head traction rod 8 in longitudinal movement is ensured through the guiding action of the brow head longitudinal movement sliding rail 13.

[0048] In an optional technical solution of the embodiment, the eyebrow head driving assembly 2 further comprises an eyebrow head longitudinal movement rocker arm 14 and an eyebrow head longitudinal movement connecting rod 15; an output end of the eyebrow head longitudinal movement driver 7 is connected to the eyebrow head longitudinal movement rocker arm 14, and two ends of the eyebrow head longitudinal movement connecting rod 15 are respectively rotationally connected to the eyebrow head longitudinal movement rocker arm 14 and the eyebrow head traction rod 8. The structure is simple, and the transmission is stable.

[0049] In an optional technical solution of the embodiment, the eyebrow support 4 is provided with a sliding rail mounting groove 16; and the eyebrow head transverse movement sliding rail 11 is arranged in the sliding rail mounting groove 16. The eyebrow head transverse movement sliding rail 11 is conveniently mounted, and the space utilization rate is high.

[0050] In an optional technical solution of the embodiment, the eyebrow tail driving assembly 3 further comprises an eyebrow tail longitudinal movement sliding rail 17, which is arranged on the eyebrow support 4; and the eyebrow tail traction rod 10 is connected to a sliding block of the eyebrow tail longitudinal movement sliding rail 17. The guiding effect of the eyebrow tail longitudinal movement sliding rail 17 ensures the stability of the eyebrow tail traction rod 10 during longitudinal movement.

[0051] In an optional technical solution of the embodiment, the eyebrow tail driving assembly 3 further comprises an eyebrow tail longitudinal movement rocker arm 18, an eyebrow tail longitudinal movement transmission rod 19 and an eyebrow tail longitudinal movement connecting rod 20; an output end of the eyebrow tail longitudinal movement driver 9 is connected to the eyebrow tail longitudinal movement rocker arm 18, the eyebrow tail longitudinal movement rocker arm 18 is rotationally connected to the eyebrow tail longitudinal movement connecting rod 20 through the eyebrow tail longitudinal movement transmission rod 19, the eyebrow tail longitudinal movement connecting rod 20 is connected to the sliding block of the eyebrow tail longitudinal movement sliding rail 17, and the eyebrow tail traction rod 10 is connected to the eyebrow tail longitudinal movement connecting rod 20. The structure is simple, and the transmission is stable.

[0052] In an optional technical solution of the embodiment, the eyebrow tail traction rod 10 is rotationally connected to the eyebrow tail longitudinal movement connecting rod 20 and can swing transversely. The eyebrow tail traction rod 10 has a passive degree of freedom in the left-right direction, so that the expression transition is natural.

[0053] In the embodiment, the movement range of each point is larger, and the expressiveness of the expression is stronger. In the large-range movement, the skin can be more reduced from being excessively concave or convex due to internal transmission.

[0054] The bionic robot head provided in the embodiment comprises the eyebrow driving device 1, and therefore, the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the eyebrow driving device 1, which will not be described herein again.

[0055] Finally, it should be noted that: the above embodiments are used to illustrate the technical solutions of the present application, but not limited to 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 to 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 brow driving device provided in a bionic robot head for driving skin movement of a brow part, characterized in that, The eyebrow driving device (1) comprises an eyebrow head driving assembly (2), an eyebrow tail driving assembly (3) and an eyebrow support (4); The eyebrow head driving assembly (2) comprises an eyebrow head transverse driving device (5), an eyebrow head support (6), an eyebrow head longitudinal driving device (7) and an eyebrow head traction rod (8), the eyebrow head transverse driving device (5) is arranged on the eyebrow support (4) and is in transmission connection with the eyebrow head support (6), the eyebrow head longitudinal driving device (7) is arranged on the eyebrow head support (6) and is in transmission connection with the eyebrow head traction rod (8), and the eyebrow head traction rod (8) is used for being connected with the skin of the eyebrow head part. The eyebrow tail driving assembly (3) comprises an eyebrow tail longitudinal driving device (9) and an eyebrow tail traction rod (10), the eyebrow tail longitudinal driving device (9) is arranged on the eyebrow support (4) and is in transmission connection with the eyebrow tail traction rod (10), and the eyebrow tail traction rod (10) is used for being connected with the skin of the eyebrow tail part.

2. The brow drive device of claim 1, wherein, The eyebrow head driving assembly (2) further comprises an eyebrow head transverse sliding rail (11), and the eyebrow head transverse sliding rail (11) is arranged on the eyebrow support (4). The eyebrow head support (6) is connected with the sliding block of the eyebrow head transverse sliding rail (11).

3. The brow drive device of claim 2, wherein, The eyebrow head driving assembly (2) further comprises an eyebrow head transverse rocker arm (12). The output end of the eyebrow head transverse driving device (5) is connected with the eyebrow head transverse rocker arm (12), and the eyebrow head transverse rocker arm (12) is connected with the eyebrow head support (6).

4. The brow drive device of claim 1, wherein, The eyebrow head driving assembly (2) further comprises an eyebrow head longitudinal sliding rail (13), and the eyebrow head longitudinal sliding rail (13) is arranged on the eyebrow head support (6). The eyebrow head traction rod (8) is connected with the sliding block of the eyebrow head longitudinal sliding rail (13).

5. The brow drive device of claim 4, wherein, The eyebrow head driving assembly (2) further comprises an eyebrow head longitudinal rocker arm (14) and an eyebrow head longitudinal connecting rod (15). The output end of the eyebrow head longitudinal driving device (7) is connected with the eyebrow head longitudinal rocker arm (14), and the two ends of the eyebrow head longitudinal connecting rod (15) are rotationally connected with the eyebrow head longitudinal rocker arm (14) and the eyebrow head traction rod (8) respectively.

6. The brow drive device of claim 2, wherein, The eyebrow support (4) is provided with a sliding rail mounting groove (16); The eyebrow head transverse sliding rail (11) is arranged in the sliding rail mounting groove (16).

7. The brow driving device according to any one of claims 1 to 6, characterized in that The eyebrow tail driving assembly (3) further comprises an eyebrow tail longitudinal sliding rail (17), and the eyebrow tail longitudinal sliding rail (17) is arranged on the eyebrow support (4). The eyebrow tail traction rod (10) is connected with the sliding block of the eyebrow tail longitudinal sliding rail (17).

8. The brow drive device of claim 7, wherein, The eyebrow tail driving assembly (3) further comprises an eyebrow tail longitudinal rocker arm (18), an eyebrow tail longitudinal transmission rod (19) and an eyebrow tail longitudinal connecting rod (20). The output end of the eyebrow tail longitudinal driving device (9) is connected with the eyebrow tail longitudinal rocker arm (18), the eyebrow tail longitudinal rocker arm (18) is rotationally connected with the eyebrow tail longitudinal connecting rod (20) through the eyebrow tail longitudinal transmission rod (19), the eyebrow tail longitudinal connecting rod (20) is connected with the sliding block of the eyebrow tail longitudinal sliding rail (17), and the eyebrow tail traction rod (10) is connected with the eyebrow tail longitudinal connecting rod (20).

9. The brow drive device of claim 8, wherein, The brow tail traction rod (10) is rotationally connected to the brow tail longitudinal displacement connecting rod (20) and can swing laterally.

10. A biomimetic robotic head, characterized by The brow driving device (1) according to any one of claims 1-9.

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