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CN-121973253-A - Skin layering structure of bionic robot

CN121973253ACN 121973253 ACN121973253 ACN 121973253ACN-121973253-A

Abstract

The invention discloses a skin layered structure of a bionic robot, which relates to the field of bionic robots and comprises a skull base layer, a muscle driving layer, a fat buffer layer, a dermis outer layer and a platinum silica gel material, wherein the skull base layer is sequentially arranged from inside to outside and is used as a supporting foundation of an overall structure, the muscle driving layer is arranged on the outer side of the skull base layer and comprises a plurality of driving units, each driving unit corresponds to a specific muscle group of a human face, the fat buffer layer covers the outer side of the muscle driving layer and is made of an elastic platinum silica gel material, and the dermis outer layer is arranged on the outermost side and is made of a platinum silica gel material similar to the human skin texture. The four-layer bionic skin structure based on the human face anatomical structure realizes the comprehensive promotion of high bionic performance, fine driving, material characteristic optimization and strong expandability of the robot skin structure.

Inventors

  • WEI YUFEI
  • YU KE

Assignees

  • 北京翌脑科技有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. The skin layering structure of the bionic robot is characterized by comprising the following steps of: The skull base layer is used as a supporting foundation of the whole structure; The muscle driving layer is arranged outside the skull base layer and comprises a plurality of driving units, and each driving unit corresponds to a specific muscle group of the face of the human body; the fat buffer layer is covered on the outer side of the muscle driving layer and is made of elastic platinum silica gel material; the dermis is positioned at the outermost side and is made of platinum silica gel material similar to the texture of human skin.
  2. 2. The bionic robot skin layered structure according to claim 1, wherein the driving unit comprises a motor, a force arm, a connecting rod and a front-end pulp sheet, wherein the motor is fixed on the skull base layer, an output shaft of the motor is connected with one end of the force arm, the other end of the force arm is connected with the front-end pulp sheet through the connecting rod, and the front-end pulp sheet is attached to the inner side of the fat buffer layer.
  3. 3. The biomimetic robotic skin layered structure of claim 2, wherein the shape and size of the front end paddle is contoured according to its corresponding human muscle attachment area.
  4. 4. The biomimetic robotic skin layered structure according to claim 1, wherein the thickness of the fat buffer layer varies between 3mm-10mm according to facial area.
  5. 5. The biomimetic robotic skin layered structure according to claim 1, wherein the surface of the dermal outer layer has a fine dermatoglyph structure with a thickness of 0.5mm-3mm.
  6. 6. A drive system for a skin layered structure of a biomimetic robot as in any one of claims 1-5, comprising: a plurality of driving units respectively corresponding to the main facial expression muscle groups; the controller is electrically connected with the motors of the driving units; the expression data interface is used for receiving an external expression control signal; The controller drives the corresponding motor to rotate according to the received expression control signal, so that the front-end pulp sheet pushes the upper layer structure to deform, and the corresponding expression is displayed on the surface of the dermis outer layer.
  7. 7. The drive system of claim 6, wherein the data received by the expression data interface comprises ARKit blendshape coefficients.
  8. 8. The drive system of claim 6, wherein the human muscles to which the drive unit corresponds include at least 30 of frontal muscle, frowning muscle, orbicularis oculi, zygomatic large muscle, zygomatic small muscle, levator labialis, orbicularis stomatalis, angle drop muscle, and platysma.
  9. 9. A biomimetic robotic face comprising the biomimetic robotic skin layered structure of any one of claims 1-5.
  10. 10. A biomimetic robot comprising the biomimetic robot face of claim 9.

Description

Skin layering structure of bionic robot Technical Field The invention relates to the field of bionic robots, in particular to a skin layering structure of a bionic robot. Background With the rapid development of robot technology, the bionic robot is increasingly widely applied in the fields of medical treatment, service, entertainment and the like. The facial expression simulation is one of key technologies for improving the anthropomorphic degree of the robot and human-computer interaction experience. At present, the existing robot facial skin mainly has the technical defects that most of the existing robot facial skin adopts a silica gel solid structure made of single material, has hard texture, is far different from that of real human skin in color and touch sense, is easy to crack when the environment changes, lacks bionic design of a skin layered structure, cannot truly simulate the mechanical characteristics and the motion performance of human skin, and has a driving mode that the facial skin is driven by single pulling points, so that fine and natural expression change is difficult to realize, and a bionic driving mechanism corresponding to muscles and tendons of the human body is lacking. In recent years, although there have been studies on the preparation of simulated skin using a multi-layer composite structure, such as three-layer composite simulated skin (surface layer, middle layer, inner layer) for medical training model, and stretchable flexible skin integrating sensors, these techniques mainly focus on touch simulation or sensing function integration, and a layered skin system and driving mechanism corresponding to human anatomy have not been constructed for the requirements of facial expression driving. Therefore, how to provide a bionic robot silica gel skin capable of truly simulating human facial anatomy and realizing refined expression driving is a technical problem to be solved in the field. Disclosure of Invention The invention provides a skin layering structure of a bionic robot, which comprises the following steps of: The skull base layer is used as a supporting foundation of the whole structure; The muscle driving layer is arranged outside the skull base layer and comprises a plurality of driving units, and each driving unit corresponds to a specific muscle group of the face of the human body; the fat buffer layer is covered on the outer side of the muscle driving layer and is made of elastic platinum silica gel material; the dermis is positioned at the outermost side and is made of platinum silica gel material similar to the texture of human skin. The bionic robot skin layered structure comprises a motor, a force arm, a connecting rod and a front-end pulp sheet, wherein the motor is fixed on a skull base layer, an output shaft of the motor is connected with one end of the force arm, the other end of the force arm is connected with the front-end pulp sheet through the connecting rod, and the front-end pulp sheet is attached to the inner side of a fat buffer layer. The bionic robot skin layered structure is characterized in that the shape and the size of the front-end pulp sheet are designed in a profiling way according to the corresponding human body muscle attachment area. The skin layered structure of the bionic robot as described above, wherein the thickness of the fat buffer layer varies between 3mm and 10mm according to facial area. The bionic robot skin layered structure is characterized in that the surface of the dermis outer layer is provided with a fine dermatoglyph structure, and the thickness of the dermis outer layer is 0.5mm-3mm. The invention also provides a driving system for the skin layered structure of the bionic robot, which comprises: a plurality of driving units respectively corresponding to the main facial expression muscle groups; the controller is electrically connected with the motors of the driving units; the expression data interface is used for receiving an external expression control signal; The controller drives the corresponding motor to rotate according to the received expression control signal, so that the front-end pulp sheet pushes the upper layer structure to deform, and the corresponding expression is displayed on the surface of the dermis outer layer. A drive system as described above wherein the data received by the expression data interface comprises ARKit blendshape coefficients. The driving system as described above, wherein the human muscles corresponding to the driving unit include at least 30 of frontal muscle, frown muscle, orbicular muscle, zygomatic large muscle, zygomatic small muscle, levator labialis, orbicular muscle, angle-of-mouth muscle, and platysma. The beneficial effects achieved by the invention are as follows: 1. The high bionic level is that a four-layer bionic skin structure based on the anatomical structure of the human face is used for supporting the head bone, driving the muscle and buffering fat to the outer layer of