Robot mouth structure of pneumatic soft body

Abstract

The utility model relates to a pneumatic soft robot mouth structure which mainly comprises a driving structure and a lip structure, the lip structure is composed of a conductive yarn braided fabric and a rubber hose, an air pipe is arranged in the rubber hose, and a dense braided area and a sparse braided area are distributed on the conductive yarn braided fabric so as to achieve different elasticity and conductivity. The air chambers are symmetrically distributed and connected with a lip structure through an adjusting structure such as a telescopic rod, and accurate control is achieved. The two ends of the rubber hose are connected with the air chamber through air pipes, the air pipes are sleeved with sliding blocks, branch air pipes are arranged in the air pipes and matched with sliding grooves in the air chamber, and the air flow can be adjusted. An arc-shaped communicating air pipe is arranged in the air chamber to ensure uniform distribution of air pressure. The whole structure is in universal connection, movement flexibility and stability are improved, the robot mouth can simulate natural movement of human lips, and the robot mouth is suitable for communication, expressions and specific function execution.

Description

TECHNICAL FIELD

[0001] The utility model provides a mouth structure belongs to robot technical field, especially relates to a kind of robot mouth structure of pneumatic soft body. BACKGROUND

[0002] The mouth of a robot refers to a part of its face that mimics the mouth of a human or other creature, used for communication, expressing emotions or performing specific functions. The structure of the mouth can be very diverse, ranging from simple slit designs to complex structures that simulate human lips and teeth. Some robot mouths can contain mechanisms for movement, such as servo motors, to achieve opening and closing actions, while others can be static, used for decoration or visual recognition. In terms of functionality, robot mouths can integrate microphones, speakers or other sensors to enable the input and output of sound.

[0003] Existing robot mouth structures mostly use rigid structure driving mechanisms. This driving method of structure results in a single activity structure, and cannot effectively simulate the contraction and bulging of muscles when human lips move, making the robot's lip movements appear too stiff. Specifically, these structures usually include servo steering machines, driving gears, driven gears and simulation lower jaw skeletons and other components. In work, the power of servo steering machine is transmitted through driving gear and driven gear, to drive the simulation lower jaw skeleton to open and close, to realize the opening or closing of mouth. However, this driving method of rigid structure limits the natural fluency of lip movement, and cannot reproduce the realism of human mouth movement. SUMMARY

[0004] To make up for the shortcomings of the prior art, the present application provides a robot mouth structure of pneumatic soft body, which solves the problems of single activity and stiff appearance of rigid structure, and realizes more natural and flexible lip movement simulation.

[0005] To solve the above technical problems, the utility model provides the following technical scheme: a robot mouth structure of pneumatic soft body, including driving structure, driving structure between being equipped with lip structure, a pair of symmetrical distribution gas chamber is equipped between driving structure, lip structure includes the electrically conductive yarn knitting between gas chamber, rubber hose;

[0006] The rubber hose is placed inside the electrically conductive yarn knitting, and the rubber hose has a gas pipe penetrating through itself inside.

[0007] The electrically conductive yarn knitting is provided with a dense weaving area and a sparse weaving area.

[0008] Preferably, the lip structure is symmetrically distributed up and down, and the adjusting structure is fixedly connected between the gas chambers on one side of the lip structure, and the adjusting structure includes but is not limited to an extension rod.

[0009] Preferably, the rubber hose is fixedly connected with an air pipe in communication with itself at both ends, and the air pipe is arranged outside one end of the air chamber.

[0010] Preferably, the air chamber is provided with a sliding groove corresponding to the sliding block.

[0011] Preferably, the air chamber is provided with an arc-shaped communication air pipe penetrating through itself, the communication air pipe is arranged in the inner wall of the air chamber, the air chamber and the adjusting structure are connected in a universal manner, including but not limited to a universal connecting ball, and the two ends of the communication air pipe are both arranged on the inner side of the air chamber.

[0012] Preferably, the dense weaving area and the sparse weaving area of the conductive yarn fabric realize different elasticity and conductivity by different weaving densities, so as to adapt to different motion and sensing requirements.

[0013] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0014] The mouth structure of the pneumatic soft robot of the utility model realizes the lip movement through a series of components designed carefully. First, the air chamber symmetrically distributed between the driving structures provides a power source for the lip structure. The lip structure is composed of a conductive yarn fabric and a rubber hose, wherein the rubber hose is arranged inside the conductive yarn fabric. Such a structure design enables the lip structure to flexibly respond to the change of the air pressure in the air chamber. The rubber hose is provided with a gas pipe penetrating through itself, and the gas pipe is connected to the gas source. The expansion and contraction of the rubber hose can be adjusted by controlling the inflow and outflow of the gas, so as to control the opening and closing of the lip structure. When the air pressure in the air chamber increases, the rubber hose expands to push the lip structure to open; on the contrary, when the air pressure decreases, the rubber hose contracts, and the lip structure closes. The dense weaving area and the sparse weaving area on the conductive yarn fabric provide different elasticity and conductivity, which not only helps the motion control of the lip structure, but also can be used for sensing and feedback. The dense weaving area can have higher elasticity to provide more accurate motion control, and the sparse weaving area can be used for a wider range of motion and basic tactile feedback.

[0015] Other advantages, objects, and features of the utility model will be set forth in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following, or can be taught from the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a main structure schematic view of the utility model pneumatic soft robot mouth structure;

[0017] Figure 2 Figure 2 is a sectional view of the robot mouth structure of the pneumatic soft robot of the utility model;

[0018] Figure 3 Figure 2 is a sectional view of the robot mouth structure of the pneumatic soft robot of the utility model;

[0019] As shown in the figure:

[0020] 1, drive structure;

[0021] 11, air chamber; 12, adjusting structure; 13, sliding block; 14, branch air pipe; 15, sliding groove; 16, communication air pipe;

[0022] 2, lip structure;

[0023] 21, conductive yarn knitted fabric; 22, rubber hose; 23, air pipe; 24, dense knitting area; 25, sparse knitting area; 26, connecting air pipe. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part 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 creative labor fall within the scope of protection of the utility model.

[0025] It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs; the terms used in the specification of the utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0027] As Figure 1 and Figure 2As shown, a kind of pneumatic soft robot mouth structure, including drive structure 1, drive structure 1 between being equipped with lip structure 2.The lip structure 2 is symmetrically distributed, and the air chamber 11 between the lip structure 2 side is equipped with the fixedly connected adjusting structure 12, and the adjusting structure 12 includes but is not limited to telescopic rod.The lip structure 2 includes the electrically conductive yarn knitting 21 and rubber hose 22 between the air chamber 11.The rubber hose 22 is placed inside the electrically conductive yarn knitting 21, and the rubber hose 22 is equipped with the air pipe 23 through itself.The electrically conductive yarn knitting 21 is equipped with dense knitting area 24 and sparse knitting area 25, and different elasticity and conductive properties are realized by different knitting densities to adapt to different movement and sensing needs.

[0028] In this embodiment, the core of the structure is the cooperation of air chamber 11 and lip structure 2, where the symmetric distribution of air chamber 11 provides balanced power source for lip structure 2.In the design of lip structure 2, the combination of electrically conductive yarn knitting 21 and rubber hose 22 enables lip structure 2 to not only respond to changes in air pressure in air chamber 11, but also adjust elasticity and conductivity through different knitting density areas 24 and 25 of electrically conductive yarn knitting 21, thus achieving more precise motion control and sensing feedback.This design simulates the contraction and bulging of human lips when moving, making the lip movement of the robot more natural and smooth.The introduction of adjusting structure 12, such as telescopic rod, further enhances the adjusting ability of lip structure 2, allowing more precise control of the opening and closing degree of the lips.This adjusting ability not only simulates the subtle changes of human lips when speaking or expressing emotions, but also adjusts the shape and position of lip structure 2 according to needs to adapt to different communication and functional needs.

[0029] In addition, the pneumatic characteristics of the pneumatic soft robot mouth structure make it have advantages in response speed and force control.The pneumatic system can quickly charge and discharge, realizing the rapid opening and closing of lip structure 2, and the precise control of air pressure also enables lip structure 2 to move with different force, thus simulating the force changes of human lips in different situations.

[0030] As Figure 3As shown, the rubber hose 22 is fixedly connected at both ends with a connecting air pipe 26 that communicates with itself, and the connecting air pipe 26 is placed outside the inner part of the air chamber 11. The inner part of the sliding block 13 is provided with a reverse T-shaped branch air pipe 14 that corresponds to the connecting air pipe 26, and the air chamber 11 is provided with a sliding groove 15 that corresponds to the sliding block 13. The air chamber 11 is provided with an arc-shaped communication air pipe 16 that penetrates through itself, and the communication air pipe 16 is placed in the inner wall of the air chamber 11. The air chamber 11 and the adjusting structure 12 are connected in a universal manner, including but not limited to a universal connecting ball, and the two ends of the communication air pipe 16 are both located inside the air chamber 11. This design enables the mouth structure of the pneumatic soft robot to achieve fine motion control and pressure sensing while maintaining stability and reliability.

[0031] In this embodiment, the two ends of the rubber hose 22 are connected to the air chamber 11 through the connecting air pipe 26, which allows the air pressure in the air chamber 11 to directly act on the rubber hose 22, thereby controlling the opening and closing action of the lip structure 2. The outer part of one end of the connecting air pipe 26 is sleeved with a sliding block 13, which allows the connecting air pipe 26 to move freely inside the air chamber 11, providing additional adjustment capability. The reverse T-shaped branch air pipe 14 inside the sliding block 13 corresponds to the connecting air pipe 26, and such a structural design allows the sliding block 13 to slide freely in the sliding groove 15 of the air chamber 11, thereby adjusting the relative position of the connecting air pipe 26 and the branch air pipe 14. This adjustment mechanism allows precise control of air flow, thereby fine-tuning the motion range and force of the lip structure 2, simulating the subtle changes of human lips in different expressions and languages. The arc-shaped communication air pipe 16 on the air chamber 11 is designed to allow air pressure to be evenly distributed inside the air chamber, ensuring that the motion of the lip structure 2 is smoother and more synchronized. The two ends of the communication air pipe 16 are open inside the air chamber 11, which helps to maintain the structural integrity of the air chamber 11 while providing better air tightness.

[0032] In addition, the universal connection between the air chamber 11 and the adjusting structure 12, such as a universal connecting ball, provides omnidirectional adjustment capability, allowing the lip structure 2 to be precisely controlled in multiple directions. This universal connection design not only enhances the motion flexibility of the lip structure 2, but also improves the stability and reliability of the entire mouth structure.

[0033] In use, first, the initialization setting of the pneumatic soft-bodied robot mouth structure, ensure that all components are correctly installed and connected. Start, adjust the structure 12 such as telescopic rod to the initial position, ensure that the connection between the air chamber 11 and the lip structure 2 without obstruction. Then, by the control unit to the air chamber 11 input compressed air, the increase of air pressure makes the rubber hose 22 expansion, push the lip structure 2 open. The connecting air pipe 26 connects the air chamber 11 and the rubber hose 22, ensure that the air pressure can be uniformly transmitted, and the branch air pipe 14 in the sliding block 13 corresponds to the connecting air pipe 26, allows the fine adjustment of air flow by the movement of the sliding block 13 in the sliding groove 15, so as to fine control the movement of the lip structure 2. The dense weaving area 24 and the sparse weaving area 25 on the conductive yarn braid 21 provide different elasticity and conductivity according to the needs, to adapt to different movement and sensing needs, simulate the contraction and bulge of the muscle when the human lip movement. The arc-shaped communication air pipe 16 on the air chamber 11 ensures uniform distribution of air pressure, so that the movement of the lip structure 2 is more smooth and synchronous, while maintaining the structural integrity and air tightness of the air chamber. Finally, the universal connection between the air chamber 11 and the adjusting structure 12 provides omnidirectional adjustment ability, so that the lip structure 2 can be accurately controlled in multiple directions, enhance the movement flexibility and improve the stability and reliability of the whole mouth structure. Through a series of steps, the pneumatic soft-bodied robot mouth structure can simulate the natural movement of human lips, realize fine expression and language communication.

[0034] Although the utility model has disclosed as above with preferred embodiment, it is not used to limit the utility model, anyone who is familiar with this technology, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited by the claims.

Claims

1. A pneumatically soft robotic mouth structure comprising drive structures (1) between which are provided lip structures (2), characterised in that: The driving structure (1) is provided with a pair of symmetrically distributed air chambers (11), and the lip structure (2) comprises a conductive yarn braid (21) arranged between the air chambers (11) and a rubber hose (22); The rubber hose (22) is arranged inside the conductive yarn braid (21), and the rubber hose (22) is provided with an air pipe (23) penetrating through itself; The conductive yarn braid (21) is provided with a dense weaving area (24) and a sparse weaving area (25).

2. A pneumatically soft-bodied robotic mouth structure according to claim 1, wherein: The lip structure (2) is symmetrically distributed upward and downward, and the air chambers (11) on one side of the lip structure (2) are provided with fixedly connected adjusting structures (12), and the adjusting structures (12) include but are not limited to telescopic rods.

3. The pneumatically soft-bodied robotic mouth structure of claim 1, wherein: Both ends of the rubber hose (22) are fixedly connected with connecting air pipes (26) in communication with the rubber hose (22), and an outer end of the connecting air pipe (26) arranged inside the air chamber (11) is sleeved with a sliding block (13).

4. A pneumatically soft-bodied robotic mouth structure according to claim 3, wherein: The sliding block (13) is provided with a branch air pipe (14) in the shape of inverted T and corresponding to the connecting air pipe (26), and the air chamber (11) is provided with a sliding groove (15) corresponding to the sliding block (13).

5. The pneumatically soft-bodied robotic mouth structure of claim 1, wherein: The air chamber (11) is provided with an arc-shaped communication air pipe (16) penetrating through itself, and the communication air pipe (16) is arranged in the inner wall of the air chamber (11); the air chamber (11) and the adjusting structure (12) are connected in a universal manner, including but not limited to a universal connecting ball, and both ends of the communication air pipe (16) are arranged on the inner side of the air chamber (11).

6. The pneumatically soft-bodied robotic mouth structure of claim 1, wherein: The dense weaving area (24) and the sparse weaving area (25) of the conductive yarn braid (21) realize different elasticities and conductive properties through different weaving densities, so as to adapt to different sports and sensing requirements.

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