Robot Lip Moving Device With Flexible Members And Cam Adjustment
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Solution Overview
Problem
Existing robot lip moving devices are limited in expressing diverse facial emotions and performing lip-sync due to their inability to change lip shapes delicately, relying on indirect or direct motor-driven methods that restrict the range of facial expressions.
Innovation Solution
A lip moving device comprising flexible lip members driven by motors through a system of coupling shafts and arms, which apply bending forces to deform the lips, and a cam mechanism to adjust the distance between motor shafts and coupling shafts, allowing for more nuanced shape changes and wider expression range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If motors are directly coupled to lip members to move them, then the structure is simple, but the ability to change lip shapes delicately is limited
Solution Approach 1:
The lip moving device is divided into multiple independent driving parts (first driving part, second driving part, third driving part, fourth driving part), each capable of independently applying torque to different ends of the lip members. This segmentation allows for more nuanced and delicate control of lip shapes compared to a single direct motor coupling, while maintaining relatively simple individual component structures.
Solution Approach 2:
The invention introduces a new dimension of control by adding multiple driving parts that can apply torque at different locations and in different directions. This multi-dimensional torque application capability enables delicate lip shape changes that cannot be achieved with simple direct motor coupling, resolving the contradiction between structural simplicity and shape change versatility.
2Adaptability or versatility
If multiple motors are used to rotate both ends of lip members, then facial expressions can be changed, but the range of expressions is limited
Solution Approach 1:
The device incorporates an adjusting part that can dynamically change the distance between the first and third driving parts, as well as the distance between the second and fourth driving parts. This dynamic adjustment capability allows the system to adapt its configuration for different facial expressions, expanding the range of expressible emotions while managing control complexity through a unified adjustment mechanism.
Solution Approach 2:
The adjusting part changes the physical parameter of distance between driving parts, which directly affects the torque distribution and lip shape formation. By varying this distance parameter, the system can achieve a wider range of facial expressions without proportionally increasing motor control complexity, as the same motors can produce different effects at different distances.
3Stability of the object's composition
If the distance between driving parts is fixed, then the structure is stable, but the ability to adjust lip shape width is restricted
Solution Approach 1:
The adjusting part transforms the fixed distance structure into a dynamic one, allowing the distance between driving parts to be changed when lip shape width adjustment is needed, while maintaining stability during each specific expression state. This dynamic adjustability resolves the contradiction between structural stability and shape width adaptability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables robots to display a greater variety of facial expressions and perform lip-sync by applying bending forces and adjusting lip shapes, enhancing the robots' emotional expression capabilities and synchrony with human speech.
Implementation Method 1
The first driving part applies a torque to one end of the first lip member. The second driving part applies a torque to the other end of the first lip member. The third driving part applies a torque to one end of the second lip member. The fourth driving part applies a torque to the other end of the second lip member.
Implementation Method 2
a cam mechanism to adjust the distance between motor shafts and coupling shafts
Data Source
AI summary
Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames.