Facial skin of bionic robot and bionic robot head

Abstract

The utility model relates to the technical field of biomimetic robots, in particular to facial skin of a biomimetic robot and a biomimetic robot head. The utility model provides facial skin of a bionic robot. The facial skin of the bionic robot comprises a wrapper, a fixed insert and a movable insert, the fixed insert and the movable insert are both embedded in the wrapper and are both integrally formed with the wrapper; the fixing insert is used for being fixedly connected with the skull of the head of the bionic robot. The movable insert is used for being connected with a driving device in the head of the bionic robot, and the movable insert is used for driving the part, corresponding to the movable insert, of the wrapper to move. When the face skin is manufactured, the fixed insert and the movable insert are integrally formed with the face skin, so that the fixed insert and the movable insert are stably connected with the face skin, after the face skin of the bionic robot is manufactured, the fixed insert is fixedly connected with a skull of the head of the bionic robot, and the movable insert is connected with a driving device in the head of the bionic robot. And the connection is convenient and stable.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic robot technical field especially is related to a bionic robot's face skin and bionic robot head. BACKGROUND

[0002] The simulation robot is a kind of machine device that automatically executes work task, can accept human command, can also run prearranged program, can also act according to the principle of artificial intelligence technology, simulation robot can imitate life, assist or replace the work of human, can provide a lot of convenient services for human, such as guide, guide, inquiry etc., can also replace human to complete some dangerous or difficult work, has broad development prospect, simulation robot can have exactly the same size and appearance as real person.But the simulation skin exposed to the outside, especially the face skin of simulation robot on the market, is fixed with skull by adhesive means, the part needing motion to generate expression is connected with driving device in skull by adhesive means, and the adhesive connection method is too dependent on the skill of operator, and the adhesive connection has the following problems:1, cannot ensure the batch positioning of silicone skin in batch production, cannot guarantee batch consistency;2, adhesive scheme needs to pressurize the adhesive part, and the adhesive time is longer;3, the adhesive scheme uses silicone glue and silicone layer to be adhesive, and there is the problem that the adhesive strength is different from the strength of original silicone layer, and the hardness of silicone glue after solidification is different from that of original silicone layer, and there is silicone layer peeling problem under long-term use condition;4, the silicone connection method using adhesive can not be completely disassembled, and the maintainability is poor. CONTENT OF UTILITY MODEL

[0003] The utility model aims at providing a kind of bionic robot's face skin and bionic robot head to solve the technical problems existing in the face skin of prior art.

[0004] Firstly, the utility model provides a kind of bionic robot's face skin, is set to bionic robot head, and the face skin of bionic robot includes: face skin and fixed insert and movable insert;

[0005] The fixed insert and the movable insert are embedded in the face skin, and are integrally formed with the face skin;

[0006] The fixed insert is used to be fixedly connected with the skull of bionic robot head;

[0007] The movable insert is used to be connected with the driving device in bionic robot head, and the movable insert is used to drive the part of the face skin corresponding to the movable insert to move.

[0008] In optional implementation, along the left-right symmetry midline of the face skin, the face skin is provided with a plurality of fixed inserts;

[0009] And / or, the lower eyelid of the face skin is provided with a plurality of the fixed inserts;

[0010] And / or, along the edge of the inner surface of the face skin, the face skin is provided with a plurality of the fixed inserts.

[0011] In an optional embodiment, the glabella and the tail of the eyebrow of the face skin are both provided with the movable inserts.

[0012] In an optional embodiment, the alae nasi on both sides of the nose tip of the face skin and the dorsum nasi on both sides of the nose bridge of the face skin are both provided with the movable inserts.

[0013] In an optional embodiment, the middle part of the upper lip of the face skin, the middle part of the lower lip of the face skin and the pair of corners of the mouth between the upper lip of the face skin and the lower lip of the face skin are all provided with the movable inserts.

[0014] In an optional embodiment, the upper eyelid of the face skin is provided with the movable inserts.

[0015] In an optional embodiment, the inner surface of the face skin is provided with a thinning area;

[0016] The thinning area is located between the glabella of the face skin and the left-right symmetry center line of the face skin;

[0017] And / or, the thinning area is located at the upper eyelid of the face skin;

[0018] And / or, the thinning area is located at the lower eyelid of the face skin.

[0019] In an optional embodiment, the inner surface of the face skin is provided with a thickening area;

[0020] The thickening area is located at the zygomatic part of the face skin;

[0021] And / or, the thickening area is located at the lip of the face skin.

[0022] In an optional embodiment, further comprising an eyebrow skin, the hardness of the eyebrow skin is greater than the hardness of the face skin;

[0023] The eyebrow skin is connected to the eyebrow part of the face skin and located at the inner side of the face skin.

[0024] In a second aspect, the utility model provides a kind of bionic robot head, comprising the face skin of bionic robot of any one of preceding embodiment.

[0025] Compared with prior art, the face skin of bionic robot and the bionic robot head provided by the utility model have the following technical advantages:

[0026] The face skin of the bionic robot is provided with the fixed insert and the movable insert, and the fixed insert and the movable insert are integrally formed with the face skin, so that the connection between the fixed insert and the movable insert and the face skin is stable.

[0027] When the face skin is manufactured, the fixed insert and the movable insert are integrally formed with the face skin, so that the connection between the fixed insert and the movable insert and the face skin is stable.

[0028] The bionic robot head provided by the utility model, including the face skin of the bionic robot, therefore, the technical advantages and effects reached by the bionic robot head include the technical advantages and effects reached by the face skin of the bionic robot, which will not be described in detail here.

[0029] Other features and advantages of the utility model will be described in detail in the subsequent specific implementation mode part. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific implementation mode 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 implementation mode or the prior art description, obviously, the drawings in the following description are some implementation modes of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without paying creative labor.

[0031] Figure 1 The face skin of the bionic robot is provided with the fixed insert and the movable insert, and the fixed insert and the movable insert are integrally formed with the face skin, so that the connection between the fixed insert and the movable insert and the face skin is stable.

[0032] Icon: 1-face skin;2-fixed insert;3-movable insert;4-thinning area;5-thickening area;6-brow skin. SPECIFIC IMPLEMENTATION MODE

[0033] The technical scheme of the utility model will be described clearly and completely in combination with embodiments, obviously, the described embodiments are some 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 paying creative labor belong to the protection scope of the utility model.

[0034] 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 not indicate or imply that the device or element indicated must have a particular orientation, construct and operate with a particular orientation, therefore cannot be understood as the limitation of the utility model. In addition, the term "first", "second", "third" is only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the utility model, it needs to explain, unless otherwise explicitly provided and limited, the term "installation", "connection", "connection" should be broad understanding, for example, can be fixed connection, can also be detachable connection, or integrally connected, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through the intermediate medium, can be the communication inside two elements. For 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.

[0036] 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 mutual contradiction or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not in the protection scope required by the utility model.

[0037] The utility model will be described further in detail below through specific example and in conjunction with the drawings.

[0038] Specific structure as Figure 1 Indicated.

[0039] The embodiment provides a face skin of bionic robot, is arranged in the head of bionic robot, and the face skin of bionic robot includes: face skin 1 and fixed insert 2 and movable insert 3;Fixed insert 2 and movable insert 3 are embedded in face skin 1, and are integrally formed with face skin 1;Fixed insert 2 is used to be fixedly connected with the skull of the head of bionic robot;Movable insert 3 is used to be connected with the driving device in the head of bionic robot, and movable insert 3 is used to drive the part of face skin 1 corresponding to movable insert 3 to move.

[0040] In the embodiment, the fixed insert 2 and the movable insert 3 are integrally formed with the face skin 1 when the face skin 1 is manufactured, so that the connection between the fixed insert 2 and the movable insert 3 and the face skin 1 is stable. After the face skin of the bionic robot is manufactured, the fixed insert 2 is fixedly connected with the skull of the bionic robot head, and the movable insert 3 is connected with the driving device in the bionic robot head. The connection is convenient and stable, and the face skin of the bionic robot can be effectively prevented from being separated from the skull and the driving device, so as to ensure the reliability of the facial expression.

[0041] In the embodiment, the fixed insert 2 can be a screw, and a screw rod portion of the screw is exposed for convenient connection with the skull. The fixed insert 2 can also be a magnet, which can be exposed or not exposed. The fixed insert 2 can also be a plastic sheet and a screw, and the screw is integrally formed on the plastic sheet, and then the plastic sheet is integrally formed on the face skin 1. At this time, the screw can also be replaced by a magnet. The fixed insert 2 can also be an elastic body and a screw, and the screw is integrally formed on the elastic body, and then the elastic body is integrally formed on the face skin 1. At this time, the screw can also be replaced by a magnet.

[0042] In the embodiment, the movable insert 3 can be a screw, and a screw rod portion of the screw is exposed for convenient connection with the driving device. The movable insert 3 can also be a magnet, which can be exposed or not exposed. The movable insert 3 can also be a plastic sheet and a screw, and the screw is integrally formed on the plastic sheet, and then the plastic sheet is integrally formed on the face skin 1. At this time, the screw can also be replaced by a magnet. The movable insert 3 can also be an elastic body and a screw, and the screw is integrally formed on the elastic body, and then the elastic body is integrally formed on the face skin 1. At this time, the screw can also be replaced by a magnet.

[0043] In the optional technical solution of the embodiment, the face skin 1 is provided with a plurality of fixed inserts 2 along the left-right symmetrical center line of the face skin 1; and / or, the face skin 1 is provided with a plurality of fixed inserts 2 at the lower eyelid; and / or, the face skin 1 is provided with a plurality of fixed inserts 2 along the edge of the inner surface of the face skin 1.

[0044] In the embodiment, a plurality of fixed inserts 2 are arranged at the left-right symmetrical center line of the face skin 1, so that the entire face skin 1 is attached to the forehead of the skull, the overall shape is maintained, excessive force is prevented from being transmitted to the movable insert 3, the stress at the movable insert 3 is optimized, and the overall performance of the face skin 1 is enhanced in cooperation with other movable inserts 3.

[0045] In the embodiment, a plurality of fixed inserts 2 are arranged at the lower eyelid of the face skin 1, so that the lower eyelid is pulled to prevent the lower eyelid from descending and the lower eyelid from being too large.

[0046] In this embodiment, a plurality of fixed inserts 2 are arranged at the inner surface edge of the face skin 1, which can flatten the whole face skin 1 and ensure that the face skin 1 cannot be naturally wrinkled, and ensure that the whole face skin 1 is attached to the skull part, and the image is more lifelike.

[0047] In an optional technical solution of this embodiment, the brow and the tail of the face skin 1 are provided with movable inserts 3. The brow and the tail can be driven to move by the driving device, so as to realize more micro-expressions.

[0048] In an optional technical solution of this embodiment, the alae nasi on both sides of the nose tip of the face skin 1 and the dorsum nasi on both sides of the nose bridge of the face skin 1 are provided with movable inserts 3. The alae nasi on both sides of the nose tip and the dorsum nasi on both sides of the nose bridge can be driven to move by the driving device, so as to realize more micro-expressions.

[0049] In an optional technical solution of this embodiment, the middle part of the upper lip of the face skin 1, the sides of the middle part of the upper lip of the face skin 1, the middle part of the lower lip of the face skin 1, the sides of the middle part of the lower lip of the face skin 1, and a pair of corners of the mouth between the upper lip and the lower lip of the face skin 1 are provided with movable inserts 3. The middle part of the upper lip, the sides of the middle part of the upper lip, the middle part of the lower lip, the sides of the middle part of the lower lip, and a pair of corners of the mouth between the upper lip and the lower lip can be driven to move by the driving device, so as to realize more micro-expressions.

[0050] In an optional technical solution of this embodiment, the upper eyelid of the face skin 1 is provided with a movable insert 3. The upper eyelid can be driven to move by the driving device, so as to realize more micro-expressions.

[0051] In an optional technical solution of this embodiment, the inner surface of the face skin 1 is provided with a thinning area 4; the thinning area 4 is located between the brow of the face skin 1 and the left-right symmetry center line of the face skin 1; and / or, the thinning area 4 is located at the upper eyelid of the face skin 1; and / or, the thinning area 4 is located at the lower eyelid of the face skin 1.

[0052] In this embodiment, the thickness of the thinning area 4 is smaller than the thickness of other parts of the face skin 1, the part between the brow and the left-right symmetry center line of the face skin 1 is thinned to form the thinning area 4, which can enhance the expressiveness of the frowning expression.

[0053] In this embodiment, the upper eyelid part is thinned to form the thinning area 4, which can reduce the driving force when the upper eyelid is closed, and the upper eyelid moves more naturally.

[0054] In this embodiment, the lower eyelid part is thinned to form the thinning area 4, which makes the closed-eye performance effect more realistic.

[0055] In an optional technical solution of this embodiment, the inner surface of the face skin 1 is provided with a thickening area 5; the thickening area 5 is located at the cheek of the face skin 1; and / or, the thickening area 5 is located at the lip of the face skin 1.

[0056] In the embodiment, the thickness of the thickened area 5 is greater than the thickness of other parts of the face skin 1, the thickened area 5 is formed by thickening the cheek part, the flesh feeling when smiling is improved, and the smiling expression is more real.

[0057] In the embodiment, the thickened area 5 is formed by thickening the lip part, the flesh feeling of the lip part is improved, and the three-dimensional feeling of the lip part is stronger.

[0058] In the optional technical solution of the embodiment, the eyebrow skin 6 is further included, the hardness of the eyebrow skin 6 is greater than the hardness of the face skin 1, the eyebrow skin 6 is connected to the eyebrow part of the face skin 1 and is located on the inner side of the face skin 1.

[0059] In the embodiment, the shape of the eyebrow skin 6 is shaped according to the eyebrow part, the eyebrow skin 6 is attached to the eyebrow part of the inner surface of the face skin 1, or the eyebrow skin 6 is integrally connected with the face skin 1, since the hardness of the eyebrow skin 6 is greater than the hardness of the face skin 1, the eyebrow skin 6 can improve the hardness of the eyebrow part of the face skin 1 and improve the three-dimensional feeling. It should be noted that the movable inserts 3 arranged at the brow and the tail of the eyebrow are arranged in the eyebrow skin 6.

[0060] The bionic robot head provided in the embodiment includes the face skin of the bionic robot, and therefore, the technical advantages and effects achieved by the bionic robot head include the technical advantages and effects achieved by the face skin of the bionic robot, which will not be described herein.

[0061] 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 facial skin for a bionic robot, disposed on the head of the bionic robot, characterized in that, The facial skin of the bionic robot includes: a face skin (1), a fixed insert (2), and a movable insert (3); Both the fixed insert (2) and the movable insert (3) are embedded in the face skin (1) and are integrally formed with the face skin (1); The fixing insert (2) is used to fix and connect to the skull of the bionic robot head; The movable insert (3) is used to connect with the drive device inside the head of the bionic robot, and the movable insert (3) is used to drive the part of the face skin (1) corresponding to the movable insert (3) to move.

2. The facial skin of the bionic robot according to claim 1, characterized in that, Along the left and right symmetrical center lines of the surface (1), the surface (1) is provided with a plurality of the fixing inserts (2); And / or, the lower eyelid of the face skin (1) is provided with a plurality of the fixing inserts (2); And / or, along the edge of the inner surface of the face sheet (1), the face sheet (1) is provided with a plurality of the fixing inserts (2).

3. The facial skin of the bionic robot according to claim 1, characterized in that, The movable insert (3) is provided at both the brow head and the brow tail of the face skin (1).

4. The facial skin of the bionic robot according to claim 1, characterized in that, The movable inserts (3) are provided on both sides of the nose tip of the face skin (1) and on both sides of the nose bridge of the face skin (1).

5. The facial skin of the bionic robot according to claim 1, characterized in that, The movable insert (3) is provided at the middle part of the upper lip of the face skin (1), the middle part of the lower lip of the face skin (1), and a pair of lip corners between the upper lip and the lower lip of the face skin (1).

6. The facial skin of the bionic robot according to claim 1, characterized in that, The upper eyelid of the face skin (1) is provided with the movable insert (3).

7. The facial skin of the bionic robot according to claim 1, characterized in that, The inner surface of the dough (1) is provided with a thinning area (4); The thinning area (4) is located between the eyebrow of the face skin (1) and the left and right symmetrical midline of the face skin (1); And / or, the thinning area (4) is located on the upper eyelid of the face skin (1); And / or, the thinning area (4) is located on the lower eyelid of the face skin (1).

8. The facial skin of the bionic robot according to claim 1, characterized in that, The inner surface of the dough (1) is provided with a thickened area (5); The thickened area (5) is located on the cheekbone area of ​​the skin (1); And / or, the thickened area (5) is located on the lips of the face skin (1).

9. The facial skin of the bionic robot according to any one of claims 1-8, characterized in that, It also includes eyebrow skin (6), the hardness of which is greater than that of the face skin (1); The eyebrow skin (6) is connected to the eyebrow part of the face skin (1) and is located on the inner side of the face skin (1).

10. A biomimetic robot head, characterized in that, Including the facial skin of the bionic robot as described in any one of claims 1-9.

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