Head structure of humanoid expression robot and robot

A robot and facial expression technology, applied in the field of robotics, can solve the problems of difficult cost, low imitation of facial expressions, complex structure, etc., and achieve the effect of flexible movement, simple and compact structure, and enhanced stability

Pending Publication Date: 2021-06-11
常州龙源智能机器人科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In related technologies, scholars at home and abroad have done a lot of research on the structural design of humanoid facial expressions, but they are all limited to the laboratory level. Simple structural facial expression imitation is not high, and complex structural ones are difficult to implement and the cost is high.

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  • Head structure of humanoid expression robot and robot
  • Head structure of humanoid expression robot and robot
  • Head structure of humanoid expression robot and robot

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Embodiment Construction

[0028] The present invention is made based on the research and cognition of the following problems:

[0029] For robots with humanoid expressions and neck structures, linkage mechanisms are mostly used to achieve neck movement. However, linkage mechanisms cannot provide large torques to achieve head pitch and side swing, because the head movement At this time, the torque on the neck is the torque amplified by the neck lever principle, and it is difficult to install a large torque motor in such a narrow space in the neck. Although a differential bevel gear mechanism is also proposed, this structure will produce a large vibration when the head moves, because all the weight of the head is concentrated on the meshing position of the bevel gear, and it is very difficult to rely on the transmission of the meshing part to realize the neck movement during movement. Stable, and the horizontal placement of the motor in this structure greatly affects the bionic design of the neck.

[00...

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Abstract

The invention provides a head structure of a humanoid expression robot and the robot. The head structure comprises a facial expression realization mechanism, a neck mechanism and a base, the facial expression realization mechanism is connected with the neck mechanism, the neck mechanism is connected with the base, the neck mechanism comprises a differential bevel gear structure based on a parallelogram, the neck mechanism is used for achieving neck rotation, pitching and side-sway movement, the facial expression realization mechanism comprises a multi-connecting-rod driving structure and external silica gel skin, and the facial expression realization mechanism is used for achieving facial frowning, eyelid opening and closing, eyeball rotation and mouth stretching and opening and closing movement. The robot is simple and compact in structure, flexible in action and capable of truly simulating head swinging, head shaking and nodding actions of human beings and achieving frowning, eyelid opening and closing, eyeball rotation and mouth stretching and opening and closing movement, so that the humanoid robot is more anthropomorphic, and human-computer interaction activities with people are easier.

Description

technical field [0001] The invention relates to the technical field of intelligent machines, in particular to a head structure of a humanoid expression robot and a robot. Background technique [0002] With the development of the robot industry, service robots are also developing rapidly. As a kind of service robot, humanoid robots have similar appearance characteristics to human beings. They can perform some simple humanoid basic actions while serving people. Psychological research shows that more than 60% of human emotional expression and information exchange is realized by non-language, such as facial expressions, eyes, head movements, etc., of which head movements and facial expressions account for a large proportion. Therefore, in the research of humanoid robots, the realization of head movements and facial expressions is an important basis for anthropomorphism, and it is of great significance to design a robot head that can easily express humanoid expressions and moveme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J17/00B25J19/00
CPCB25J11/0015B25J17/00B25J19/00
Inventor 赵鸣晖骆敏舟郭发勇李涛刘露
Owner 常州龙源智能机器人科技有限公司
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