Robotic head following mechanism, robot, control method, and electronic device

Abstract

The application belongs to the technical field of robots, and provides a robot head follow-up mechanism, which comprises a base, a longitudinal rotation assembly and a transverse rotation assembly; the longitudinal rotation assembly comprises a first driver, a first position recorder and a support connected with a robot head, the first driver drives the support to reciprocate longitudinally on the base; the first position recorder is used for recording a first initial position of the support rotated by the first driver; the transverse rotation assembly comprises a second driver and a second position recorder, an output end of the second driver is connected to the base, and the second driver drives the base to drive the support to reciprocate horizontally. The application provides a robot comprising the robot head follow-up mechanism, a control method and an electronic device based on the control method. The technical problem that the head of the robot cannot face the user flexibly in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a robot head follow-up mechanism, a robot, a control method and electronic equipment. BACKGROUND

[0002] Robots are applied in all aspects of life and bring great convenience to people's life. For example, robots can be applied in restaurants and other places to provide customers with meal delivery and dish collection services.

[0003] In the prior art, a staff controls a robot through an interactive interface. The robot receives an instruction issued by the staff and completes execution of the instruction.

[0004] However, the existing robot interaction is not diverse enough, and the robot still has a rigid device feel, and the human-machine experience is not strong. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a robot head follow-up mechanism, a robot, a control method and electronic equipment to solve the technical problem of the weak human-machine experience of the robot in the prior art.

[0006] To achieve the above purpose, the technical solution adopted by the present application is:

[0007] In a first aspect, the present application provides a robot head follow-up mechanism, comprising a base, a longitudinal rotation assembly and a transverse rotation assembly: the longitudinal rotation assembly comprises a first driver, a first position recorder and a support connected with a robot head, the first position recorder is used to record a first initial position of rotation of the support; the base, the first driver is arranged on the base, and the first driver drives the support to reciprocate longitudinally on the base; the transverse rotation assembly comprises a second driver and a second position recorder, the output end of the second driver is connected to the base, and the second driver drives the base to drive the support to reciprocate horizontally; the second position recorder is used to record a second initial position of rotation of the base; a control unit, the first position recorder and the second position recorder are respectively electrically connected with the control unit, wherein the control unit controls the first driver and the second driver according to the first initial position and the second initial position respectively, and then controls the support to make a reset movement.

[0008] The technical scheme provided by the embodiment has the beneficial effects that: the robot head follow-up mechanism is arranged on the robot, the first driver in the mechanism can drive the robot head to realize the pitching action, the second driver in the mechanism can drive the robot head to realize the horizontal rotation, such as the left or right rotation of the head, and the left and right reciprocating rotation of the head. The above actions can be performed continuously, effectively reducing the stiffness of the robot head, and further improving the experience of the user. In addition, the first position recorder for recording the first initial position of the first driver and the second position recorder for recording the second initial position of the second driver are arranged on the robot head follow-up mechanism. When the first driver and the second driver are powered on again after power failure, the control unit drives the first driver and the second driver to reset, respectively, according to the first initial position recorded by the first position recorder and the second initial position recorded by the second position recorder, so as to adjust the robot head and the robot body to return to the longitudinal zero position and the transverse zero position.

[0009] In one embodiment of the present application, the base is provided with a first fixing hole for fixing the first output shaft of the first driver. The first output shaft of the first driver is fixed to the first fixing hole of the base, so that the first driver rotates and drives the support to rotate when it is started. In this way, the output end of the first driver is constrained by the base to prevent relative rotation of the first output shaft, thereby realizing the effect of self-rotation of the first driver and driving the support connected thereto to rotate longitudinally.

[0010] In one embodiment of the present application, the longitudinal rotation assembly further comprises a first damping member, the support is provided with a mounting seat, and the first damping member is sleeved in the mounting seat. The first damping member comprises a magnetic deflection shaft and two first elastic members. One end of the magnetic deflection shaft is placed in the mounting seat, and the other end of the magnetic deflection shaft is fixed to the base. One end of each of the two first elastic members is fixedly connected with the mounting seat, and the other end of each of the two first elastic members is arranged on the opposite side of the magnetic deflection shaft. In this way, the relative positions of the robot head and the robot body are fixed in the case of damage of the first driver and the second driver or manual operation, thereby realizing the effect of hovering.

[0011] In one embodiment of the present application, the lateral rotation assembly comprises a coupling and a transmission shaft; the transmission shaft is fixedly connected with the base; the coupling is provided with a second fixing hole for fixing the second output shaft of the second driver and a third fixing hole for fixing the transmission shaft at two ends thereof respectively; the coupling is connected between the output end of the second driver and the transmission shaft, so that the second driver drives the coupling to rotate horizontally with the transmission shaft and the base. In this way, the second driver indirectly drives the base fixedly connected with the transmission shaft to rotate horizontally, and the robot head connected with the base is driven to rotate horizontally relative to the robot body.

[0012] In one embodiment of the present application, the robot head follow-up mechanism further comprises a linkage frame, the linkage frame comprises a connecting plate and a first connecting seat and a second connecting seat provided on the same side of the connecting plate; the first connecting seat is fixedly connected with the second driver; the second connecting seat is provided on the transmission shaft through a bearing; the connecting plate is further provided with two second elastic members for increasing the damping force on the transmission shaft, and the two second elastic members are arranged on opposite sides of the transmission shaft respectively. In this way, the relative position of the robot head and the robot body is fixed when the second driver is damaged or needs manual operation, so as to realize the hovering effect.

[0013] In one embodiment of the present application, the first driver comprises a first servo motor and a first planetary reducer connected with the first servo motor; the second driver comprises a second servo motor and a second planetary reducer connected with the second servo motor; and the outer part of the first planetary reducer and the outer part of the second planetary reducer are provided with damping members and / or sound insulation members for reducing noise. In this way, the whole driving structure is more compact, the transmission efficiency is high, the noise is small, and the transmission is stable and reliable.

[0014] In one embodiment of the present application, the transmission shaft and the magnetic deflection shaft are both provided with magnets for eliminating the return gap of the first planetary reducer and the second planetary reducer respectively. In this way, the return gap of the first planetary reducer and the second planetary reducer is further eliminated.

[0015] In one embodiment of the present application, the first connecting seat, the second connecting seat and the connecting plate are integrally formed. In this way, the stress between each part is reduced, and the stability after assembly is improved.

[0016] In one embodiment of the present application, the first elastic member and the second elastic member are both made of high-rigidity quenched spring steel. In this way, the corresponding shaft can be matched to form a more stable and reliable damping force.

[0017] In one embodiment of the present application, the first driver drives the pitch angle range of the robot head to be 0°-45°, and the mechanical limit of the longitudinal rotation assembly is in the range of -2°-47°; the second driver drives the horizontal rotation angle of the robot head to be -25° to +25°, and the mechanical limit of the transverse rotation assembly is in the range of ±27°.

[0018] In a second aspect, the present application also provides a robot, which comprises a head of the robot, a main body, and the robot head follow-up mechanism in any one of the above embodiments, and the head is fixedly connected to the support.

[0019] Since the robot of the present application adopts all the technical solutions of the robot head follow-up mechanism in the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0020] In a third aspect, the present application also provides a control method, which is suitable for a robot head follow-up mechanism, and comprises: a first driver drives a support connected with a robot head to move longitudinally, a first position recorder records a first initial position of the support; a second driver drives a base indirectly connected with the support to move, the base drives the support to move horizontally, and a second position recorder records a second initial position of the base; a control unit controls the first driver and the second driver according to the first initial position and the second initial position respectively, and then controls the support to move to a reset position; wherein the first driver and the second driver drive the support to reset at the same time.

[0021] In one embodiment of the present application, the position of the robot head relative to the robot main body includes an origin position, the origin position is defined as the position where the support is at the first initial position and the second initial position at the same time; the first initial position is defined as the position where the pitch angle between the robot head and the robot main body is 0°, and the second initial position is defined as the position where the horizontal angle between the robot head and the robot main body is 0°; wherein after the first driver and the second driver are powered on, the robot head will be driven back to the origin position first.

[0022] In one embodiment of the present application, the control unit obtains the distance between the robot head and a user, sends a moving signal to the first driver and / or the second driver according to the distance, so as to drive the support to move to a position facing the user with the robot head.

[0023] In one embodiment of the present application, the control unit determines that the current of the first driver and / or the second driver exceeds a preset value, cuts off the power supply electrically connected to the control unit for 10 seconds, and after power is turned on again, the control unit controls the first driver and the second driver to drive the robot head to return to the original position.

[0024] In a fourth aspect, the embodiments of the present application further provide an electronic device, including: a memory, configured to store one or more programs; and one or more processors, configured to read and execute the one or more programs stored in the memory, so as to implement the robot control method according to any one of the embodiments of the present application.

[0025] The technical scheme disclosed by the embodiments of the present application has the following beneficial effects:

[0026] Through the adjustment of the robot head follow-up mechanism by the control instruction, the robot head interactive screen adjusts the pitch angle and rotates freely left and right, so that the screen always faces the human face in the middle. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0028] Figure 1 The whole structure schematic diagram of the robot in one embodiment of the present application is provided.

[0029] Figure 2 The internal structure schematic diagram of the robot in one embodiment of the present application is provided.

[0030] Figure 3 The whole structure schematic diagram of the robot head follow-up mechanism in one embodiment of the present application is provided.

[0031] Figure 4 The whole structure exploded view of the longitudinal rotation assembly in one embodiment of the present application is provided.

[0032] Figure 5 The whole structure schematic diagram of the base in one embodiment of the present application is provided.

[0033] Figure 6 The whole structure schematic diagram of the mounting seat in one embodiment of the present application is provided.

[0034] Figure 7 The whole structure schematic diagram of the magnetic deflection shaft in one embodiment of the present application is provided.

[0035] Figure 8 Overall structure schematic diagram of the lateral rotation assembly in one embodiment provided in the present application;

[0036] Figure 9 Partial structure exploded view of the lateral rotation assembly in one embodiment provided in the present application;

[0037] Figure 10 Overall structure schematic diagram of the shaft coupling in one embodiment provided in the present application;

[0038] Figure 11 Overall structure schematic diagram of the second elastic member in one embodiment provided in the present application;

[0039] Figure 12 Flow chart of the control method in one embodiment provided in the present application.

[0040] In the drawings, various reference numerals refer to:

[0041] 100 - base; 110 - first connecting end; 111 - first fixing hole; 112 - first fixing plate; 120 - second connecting end; 121 - fourth fixing hole; 122 - second fixing plate;

[0042] 200 - longitudinal rotation assembly; 210 - first driver; 211 - driving main body; 212 - first output shaft; 220 - first position recorder; 230 - support; 231 - extension plate; 231a - through hole; 232 - mounting seat; 232a - first shaft sleeve; 232a-1 - stepped hole; 232b - extension block; 240 - first damping member; 241 - magnetic deflection shaft; 241a - connecting shaft; 241a-1 - through hole; 241b - matching shaft; 241c - limiting shaft; 241c-1 - first clamping groove; 241c-2 - first recess; 241d - first clamping ring; 242 - first elastic member; 242a - first plastic sheet; 242a-1 - first arc-shaped groove; 242b - first metal sheet; 243 - limiting ring; 250 - shock-absorbing pad;

[0043] 300 - lateral rotation assembly; 310 - second driver; 311 - second output shaft; 312 - action main body; 320 - second position recorder; 330 - shaft coupling; 331 - second fixing hole; 332 - third fixing hole; 333 - upper end; 334 - lower end; 340 - transmission shaft; 341 - flat slot; 342 - second clamping groove; 343 - second clamping ring; 344 - second recess; 350 - linkage frame; 351 - connecting plate; 351a - second elastic member; 351a-1 - second plastic sheet; 351a-11 - second arc-shaped groove; 351a-2 - second metal sheet; 352 - first connecting seat; 353 - second connecting seat; 354 - bearing;

[0044] 400 - magnet

[0045] A - head

[0046] B - body

[0047] C - robot head follow-up mechanism

[0048] X - first direction

[0049] Y - second direction DETAILED DESCRIPTION

[0050] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0051] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0052] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0053] The robot can be applied to a restaurant, a canteen, a supermarket or other scenes requiring delivery of goods, so as to realize delivery of dishes or other goods. In the present embodiment, the structure of the delivery robot is described taking the delivery robot as an example.

[0054] With reference to Figure 1 and Figure 2 , the delivery robot comprises a robot body B and a tray mechanism (not labeled in the figure), the tray mechanism is arranged on the robot body B and is used to carry goods to be delivered; the robot body B can realize automatic movement, so as to realize carrying or transferring of the goods.

[0055] In the embodiment, the robot body B comprises a moving chassis and a rack arranged on the moving chassis. The moving chassis is used to realize autonomous movement of the robot body B, and is provided with a driving wheel mechanism, a follower wheel, an obstacle avoidance radar and the like. The rack is used to mount a tray mechanism, which comprises two side arms arranged opposite and spaced apart along the left-right direction of the delivery robot, and a top arm connected to the top ends of the two side arms. The top arm, the two side arms and the moving chassis jointly form a mounting space through in the front-rear direction, and the tray mechanism is mounted in the mounting space.

[0056] Further, the robot body B is further provided with a robot head A and a control assembly. The robot head A can be provided with a display screen, which is used to display delivery information, so as to improve delivery accuracy and delivery intelligence. The display screen is preferably arranged on the top arm and is arranged obliquely upward from front to back, so as to facilitate personnel to view the information displayed on the display screen. The control assembly is used to control the operation of the robot.

[0057] The embodiment provides a robot head follower mechanism C, which is used to control flexible rotation of the robot head A such as a display screen and a decorative piece. Please refer to Figures 1 to 3 , which comprises a base 100, a longitudinal rotation assembly 200, a transverse rotation assembly 300 and a control unit. The longitudinal rotation assembly 200 comprises a first driver 210, a first position recorder 220 and a bracket 230 connected with the robot head A. The first position recorder 220 is used to record a first initial position of rotation of the bracket 230. The first driver 210 is arranged on the base 100, and drives the bracket 230 to reciprocate longitudinally on the base 100. The transverse rotation assembly 300 comprises a second driver 310 and a second position recorder 320. The output end of the second driver 310 is connected to the base 100, and drives the base 100 to drive the bracket 230 to reciprocate horizontally. The second position recorder 320 is used to record a second initial position of rotation of the base 100. The control unit is electrically connected with the first position recorder 220 and the second position recorder 320 respectively. The control unit controls the first driver 210 and the second driver 310 according to the first initial position and the second initial position respectively, and further controls the bracket 230 to reset.

[0058] The first direction X refers to a horizontal direction relative to the position in the figure. The pointing direction of the first direction X is defined as right, and the pointing direction away from the first direction X is defined as left.

[0059] The second direction Y refers to a vertical direction relative to the position in the figure. The pointing direction of the second direction Y is defined as upward, and the pointing direction away from the second direction Y is defined as downward.

[0060] The base 100 distributes the work pieces of two components for realizing the lateral rotation of the robot head and for realizing the longitudinal rotation of the robot head A on the same straight line. Referring to Figure 5 , the base 100 is placed along the second direction Y, and the base 100 has a first connecting end 110 and a second connecting end 120 arranged oppositely, the longitudinal rotation assembly 200 is connected through the first connecting end 110, and the lateral rotation assembly 300 is connected through the second connecting end 120.

[0061] The base 100 plays a role in the robot similar to that of the neck of the human body on the human body, and is used to connect the robot head A and the robot main body B, while enabling the robot head A and the robot main body B to have an included angle and to be relatively rotatable.

[0062] The longitudinal rotation assembly 200 refers to a component for realizing the pitch rotation of the robot head A with the first direction X as the rotation axis, so as to improve the user experience in different scenarios in the use of the robot. For example, the robot head A includes a screen, and when facing users of different heights, the pitch angle of the robot head A can be adjusted through the longitudinal rotation assembly 200 to ensure that the robot head A can always face the users for information interaction, and also to reduce the situation that the user cannot clearly see the content on the screen due to the backlight of the screen of the robot head A.

[0063] Referring to Figure 3 and Figure 4 , the longitudinal rotation assembly 200 includes a first driver 210, a first position recorder 220, and a bracket 230.

[0064] The first driver 210 refers to a component for providing longitudinal rotation power to the robot head A, and the above longitudinal rotation is the pitch rotation with the first direction X as the rotation axis. The first driver 210 can be motor-driven, can be electrically driven, or can be hydraulically driven, and is not specifically limited here. In order to clearly explain the driving structure in the embodiment, the connection relationship of the structure is described below by taking motor driving as an example. If the first driver 210 adopts motor driving, it can be a servo motor, can be synchronous belt transmission, or can be worm gear tooth transmission, and is not specifically limited here. Various implementation manners are alternative solutions.

[0065] The first position recorder 220 refers to a component for recording the angle of the robot head A driven by the first driver 210 to rotate longitudinally. It should be noted that the information recorded by the first position recorder 220 includes two:

[0066] Firstly, the first position recorder 220 records a first initial position point between the robot head A and the robot body B driven by the first driver 210, which is a longitudinal zero position, i.e., the robot head A is facing the front direction and the pitch angle between the robot head A and the robot body B is 0°.

[0067] Secondly, the first position recorder 220 records a current position point between the robot head A and the robot body B driven by the first driver 210.

[0068] Optionally, the first position recorder 220 is an absolute value encoder.

[0069] The support 230 is a component connecting the first driver 210 to the robot head A, which is used to enable the robot head A to move with the first driver 210. More specifically, the support 230 includes an extension plate 231, which is provided with a through hole 231a through which the first driver 210 passes. The driving body 211 of the first driver 210 is fixed to the support 230 by a bolt, and the first output shaft 212 of the first driver 210 is fixedly connected to the base 100 through the through hole 231a. When the first driver 210 works, the driving body 211 drives the support 230 to rotate to adjust the pitch angle between the robot head A and the robot body B, because the first output shaft 212 is fixed to the base 100.

[0070] The lateral rotation assembly 300 is a component used to enable the robot head A to rotate horizontally around the second direction Y, which reduces the stiffness of the robot in use and enables the horizontal angle between the robot head A and the robot body B to be adjusted in different scenarios, thereby improving the user experience. For example, the robot head A includes a screen, which can be adjusted by the lateral rotation assembly 300 to ensure that the robot head A can always face the user for information interaction, while reducing the situation that the user cannot see the content on the screen due to the backlight of the screen of the robot head A.

[0071] Referring to Figure 3 and Figure 8 , the lateral rotation assembly 300 includes a second driver 310 and a second position recorder 320.

[0072] The second driver 310 refers to a component for providing transverse rotation power to the robot head A, and the transverse rotation is a horizontal rotation with the second direction Y as the rotation axis. The second driver 310 can be a motor drive, can be an electric drive, or can be a hydraulic drive, and the specific limitation is not made here. In order to clearly explain the driving structure in the embodiment, the connection relationship of the structure is described below by taking the motor drive as an example. When the second driver 310 adopts the motor drive, a servo motor can be used, or a synchronous belt transmission mode can be used, and the specific limitation is not made here. Various implementation manners are alternative solutions. The output end of the second driver 310 is fixedly connected with the base 100, and when the second driver 310 works, the base 100 drives the bracket 230 to make a horizontal reciprocating motion, so as to adapt to users in different directions / positions. The second position recorder 320 refers to a component for recording the angle of the transverse rotation of the robot head A driven by the second driver 310. It should be noted that the information recorded by the second position recorder 320 includes two aspects:

[0073] Firstly, the second position recorder 320 records the second initial position point of the transverse zero position between the robot head A and the robot main body B driven by the second driver 310. The transverse zero position refers to the position of the robot head A facing the front, and at this time, the horizontal included angle between the robot head A and the robot main body B is 0°, that is, the second initial position point is the transverse zero position between the robot head A and the robot main body B.

[0074] Secondly, the second position recorder 320 records the current position point between the robot head A and the robot main body B driven by the second driver 310.

[0075] Optionally, the second position recorder 320 adopts an absolute value encoder.

[0076] The control unit refers to a terminal electrically connected with the first driver 210, the second driver 310, the first position recorder 220 and the second position recorder 320. When the first driver 210 and the second driver 310 are powered again after power-off, the control unit will drive the first driver 210 and the second driver 310 to make a reset motion, respectively, according to the first initial position recorded by the first position recorder 220 and the second initial position recorded by the second position recorder 320, so as to adjust the robot head A and the robot main body B to return to the longitudinal zero position (that is, the first initial position) and the transverse zero position (that is, the second initial position).

[0077] The beneficial effects of the technical solutions provided in the embodiment relative to the prior art are as follows: the first driver 210 in the robot head follow-up mechanism drives the robot head A to rotate longitudinally relative to the robot body B, realizing the effects of lifting the head, lowering the head, and nodding; the second driver 310 in the robot head follow-up mechanism drives the robot head A to rotate transversely relative to the robot body B, realizing the effects of turning left, turning right, and shaking the head relative to the first direction X; and the above two actions can be performed simultaneously, reducing the stiffness of the robot head A and improving the experience of the user. For example, in a catering scenario, the robot head A can realize the actions of lifting the head and shaking the head, increasing the interaction between the user and the robot head A, and endowing the robot with the ability to actively invite and communicate, especially in voice interaction, the robot head screen as a communication medium is more in line with the scenario. Meanwhile, the base 100 in the robot head follow-up mechanism connects the longitudinal rotation assembly 200 and the transverse rotation assembly 300 together, realizing the effect that the rotation centers are on the same straight line, so as to reduce the space required for rotating the robot head A and achieve the flexibility of the robot head A required by the user. Furthermore, when the first driver 210 and the second driver 310 are powered again after power-off, the control unit electrically connected with the first driver 210, the second driver 310, the first position recorder 220, and the second position recorder 320 drives the first driver 210 and the second driver 310 to perform reset movements respectively according to the first initial position recorded by the first position recorder 220 and the second initial position recorded by the second position recorder 320, so as to adjust the robot head A and the robot body B to return to the longitudinal zero position and the transverse zero position.

[0078] In some embodiments, the rated voltage of the first driver 210 is 12V, the power is 18W, the rated current is 1.8A, the output rotation speed is 23r / s, and the torque is 3.2Nm.

[0079] In some embodiments, the rated voltage of the second driver 310 is 12V, the power is 12W, the rated current is 1A, the output rotation speed is 67r / s, and the torque is 2.0Nm.

[0080] In one embodiment provided in the application, the base 100 is provided with a first fixing hole 111 for fixing the first output shaft 212 of the first driver 210, and the first output shaft 212 of the first driver 210 is fixed on the first fixing hole 111 of the base 100, so that the first driver 210 rotates when it is started and drives the support 230 to rotate.

[0081] Reference Figure 4 and Figure 5The base 100 has a first connecting end 110 and a second connecting end 120 arranged oppositely, the first connecting end 110 is provided with a first fixing hole 111, the shape of the cross section of the first fixing hole 111 can be rectangular, semicircular or any other shape, as long as the shape of the cross section of the first fixing hole 111 is the same as that of the first output shaft 212, which is not limited specifically herein. In order to clearly illustrate the assembly structure, the shape of the cross section of the first fixing hole 111 and the first output shaft 212 is exemplarily illustrated as rectangular, but it is not limited to this.

[0082] When fixing the first output shaft 212 of the first driver 210, the first output shaft 212 is first placed into the first fixing hole 111 of the base 100, and then the position of the first fixing hole 111 of the first output shaft 212 on the side facing the first fixing hole 111 is matched with the first fixing plate 112 to limit the rotational movement of the first output shaft 212.

[0083] It can be understood that the above assembly scheme can also be replaced by: the first output shaft 212 is placed in the rectangular slot formed in the middle after the first fixing plate 112 and the first fixing hole 111 of the first output shaft 212 are fixedly connected.

[0084] In the embodiment, the output end (the first output shaft 212) of the first driver 210 is constrained by the base 100 to prevent the relative rotation of the first output shaft 212, so as to realize the self-rotation effect of the driving body 211 of the first driver 210 and drive the longitudinal rotation of the support 230 connected with the driving body 211.

[0085] In one embodiment of the application, the longitudinal rotation assembly 200 further comprises a first damping member 240, the support 230 is provided with a mounting seat 232, and the first damping member 240 is sleeved in the mounting seat 232; the first damping member 240 comprises a magnetic deflection shaft 241 and two first elastic members 242, one end of the magnetic deflection shaft 241 is placed in the mounting seat 232, and the other end of the magnetic deflection shaft 241 is fixed on the base 100; one end of each of the two first elastic members 242 is fixedly connected with the mounting seat 232, and the other end of each of the two first elastic members 242 is arranged on the opposite side of the magnetic deflection shaft 241.

[0086] The support 230 is provided with a mounting seat 232, and the first damping member 240 is sleeved in the mounting seat 232. Figure 4 and Figure 6The mounting seat 232 comprises a first shaft sleeve 232a and an extension block 232b, the extension block 232b is fixedly connected to the first shaft sleeve 232a perpendicularly, one end of the first shaft sleeve 232a is fixedly connected to the support 230 through a bolt / screw, and the other end of the first shaft sleeve 232a is perpendicular to the support 230 and freely extends. A stepped hole 232a-1 is arranged on the first shaft sleeve 232a, which is used for limiting the first damping member 240.

[0087] The first damping member 240 refers to a position at which the robot head A and the robot main body B can be stably kept at the current included angle when the first driver 210 is powered on or powered off, that is, the first damping member 240 can make the robot head A hover at any position of the pitch angle relative to the robot main body B.

[0088] Referring to Figure 4 The first damping member 240 comprises a magnetic deflection shaft 241 and two first elastic members 242.

[0089] Referring to Figure 7 The magnetic deflection shaft 241 refers to a shaft for providing resistance to the first output shaft 212 of the first driver 210. The magnetic deflection shaft 241 comprises a connecting shaft 241a, a matching shaft 241b, a limiting shaft 241c and a first clamping ring 241d, wherein the connecting shaft 241a, the matching shaft 241b and the limiting shaft 241c are integrally formed. The connecting shaft 241a is provided with a through hole 241a-1, and a bolt / screw passes through the through hole 241a-1 of the first fixed plate 112 and the connecting shaft 241a to be fixedly connected with the base 100. The limiting shaft 241c is provided with a first clamping groove 241c-1 arranged on the outer peripheral wall of the limiting shaft 241c, which is used for clamping cooperation with the first clamping ring 241d to limit the magnetic deflection shaft 241 in the first shaft sleeve 232a.

[0090] Referring to Figure 4 The first elastic member 242 comprises a first plastic sheet 242a and a first metal sheet 242b, the first plastic sheet 242a is provided with a first arc-shaped groove 242a-1, the diameter of the first arc-shaped groove 242a-1 is the same as that of the matching shaft 241b, which is used for closely fitting the matching shaft 241b to provide damping force to the matching shaft 241b. The first metal sheet 242b is fixedly arranged outside the first plastic sheet 242a, which is used for providing pressure to the first plastic sheet 242a to prevent the first plastic sheet 242a from expanding outwardly along the second direction Y. In this embodiment, the first damping member 240 comprises two first elastic members 242, the two first elastic members 242 are arranged on the upper and lower sides of the matching shaft 241b along the second direction Y, and the first plastic sheet 242a is in direct contact with the matching shaft 241b, and the first metal sheet 242b is arranged outside.

[0091] Specific installation, can include limit shaft 241c installation, connecting shaft 241a installation and matching shaft 241b limit three steps.

[0092] Limit shaft 241c installation: first limit shaft 241c from the first shaft sleeve 232a step hole 232a-1 hole diameter smaller one end into, again from the first shaft sleeve 232a step hole 232a-1 hole diameter larger one end, the limit ring 243 set on the limit shaft 241c, the thickness of the limit shaft 241c is not greater than the first card slot 241c-1 distance step hole 232a-1 length of the step, and then the first card ring 241d buckle on the first card slot 241c-1, to limit the position of the limit shaft 241c and the first shaft sleeve 232a.

[0093] Connecting shaft 241a installation: bolt / screw through the first fixed plate 112 and the connecting shaft 241a through hole 241a-1, and the base 100 fixed connection.

[0094] Matching shaft 241b limit: bolt / screw through the first metal sheet 242b, the first plastic sheet 242a and the extension block 232b in turn, the first elastic member 242 is fixed on the extension block 232b along the second direction Y upper and lower sides.

[0095] Optionally, the first position recorder 220 can be fixed on the first shaft sleeve 232a by bolt / screw.

[0096] In this embodiment, by connecting the first damping member 240 at the end of the first output shaft 212 of the first driver 210, the relative position of the robot head A and the robot body B can be fixed in the case of damage / need for manual operation of the first driver 210 and the second driver 310, so as to realize the effect of hovering.

[0097] In one embodiment of the present application, with reference to Figure 9 , the transverse rotating assembly 300 comprises a coupling 330 and a transmission shaft 340; the transmission shaft 340 is fixedly connected with the base 100; the coupling 330 is provided with a second fixed hole 331 for fixing the second output shaft 311 of the second driver 310 and a third fixed hole 332 for fixing the transmission shaft 340 at two ends respectively; the coupling 330 is connected between the output end of the second driver 310 and the transmission shaft 340, so that the second driver 310 drives the coupling 330 to rotate horizontally with the transmission shaft 340 and the base 100.

[0098] The coupling 330 refers to a workpiece for coupling the transmission shaft 340 and the second output shaft 311 of the second driver 310, so that the two are firmly coupled together and transmit motion and torque.

[0099] With reference to Figure 10The coupling 330 has oppositely arranged upper end 333 and lower end 334. The upper end 333 is provided with the third fixing hole 332, and the transmission shaft 340 is connected with the coupling 330 through the third fixing hole 332. The lower end 334 is provided with the second fixing hole 331, and the second output shaft 311 of the second driver 310 is connected with the coupling 330 through the second fixing hole 331.

[0100] It should be noted that the third fixing hole 332 and the second fixing hole 331 can have the same shape or different shapes. If the third fixing hole 332 and the second fixing hole 331 have the same shape, in order to prevent the transmission shaft 340 and the second output shaft 311 from being temporarily disconnected from the coupling 330 when they are not moving or suddenly moving in opposite directions, the third fixing hole 332 and the second fixing hole 331 can be mirror-symmetrically arranged on both sides of the coupling 330, for example, as shown in Figure 10 but the specific shape is not limited to the shape shown in the figure. Here, applicable shapes are not illustrated one by one, but shapes with the same direction of mirror symmetry are excluded.

[0101] The transmission shaft 340 refers to a workpiece for fixedly connecting with the base 100 to achieve the effect of driving the base 100 to move through the transmission shaft 340. When the second driver 310 is working, the transmission shaft 340 is connected with the second output shaft 311 of the second driver 310 through the coupling 330, and rotates together with the second output shaft 311, thereby driving the base 100 fixedly connected with the transmission shaft 340 to rotate transversely, achieving the effect of horizontal rotation of the robot head A relative to the robot body B.

[0102] There are various ways to fixedly connect the transmission shaft 340 with the base 100, and in this embodiment, one of the implementable ways is provided as an exemplary description of the structure of the transmission shaft 340, but it is not limited to this way.

[0103] Referring to Figure 9 The transmission shaft 340 is provided with two symmetrical flat grooves 341 arranged on the outer peripheral wall of the transmission shaft 340. The second connecting end 120 of the base 100 is provided with a fourth fixing hole 121, and the cross-sectional shape of the fourth fixing hole 121 is the same as that of the flat groove 341, which is rectangular. When fixing the transmission shaft 340 and the base 100, the fourth fixing hole 121 of the base 100 is first corresponded to one flat groove 341, then the second fixing plate 122 is corresponded to the other flat groove 341, and the second fixing plate 122 and the second connecting end 120 of the base 100 are connected by bolts / screws, so as to fixedly connect the transmission shaft 340 and the base 100.

[0104] If the base 100 is controlled to rotate through the output end of the second driver 310, but the second output shaft 311 of the second driver 310 is directly fixed to the base 100, the structure of the second output shaft 311 of the second driver 310 needs to be improved, which is relatively high in cost and cannot be adapted to robots of different structures. Therefore, in order to solve this problem, in the embodiment, the second output shaft 311 of the second driver 310 and the transmission shaft 340 are connected through the shaft coupling 330, so as to indirectly drive the base 100 fixedly connected with the transmission shaft 340 to rotate horizontally by the second driver 310, and then realize the effect that the robot head A connected with the base 100 rotates horizontally relative to the robot main body B.

[0105] In one embodiment provided in the application, the robot head follow-up mechanism further comprises a linkage frame 350, the linkage frame 350 comprises a connecting plate 351, a first connecting seat 352 and a second connecting seat 353 arranged on the same side of the connecting plate 351, the first connecting seat 352 is fixedly connected with the second driver 310, and the second connecting seat 353 is sleeved on the transmission shaft 340 through a bearing 354. Two second elastic members 351a for increasing the damping force on the transmission shaft 340 are further arranged on the connecting plate 351, and the two second elastic members 351a are arranged on opposite sides of the transmission shaft 340, respectively.

[0106] The linkage frame 350 refers to a position at which the robot head A and the robot main body B can be stably kept at the current included angle in the state that the second driver 310 is powered on or not powered on, that is, the linkage frame 350 can allow the robot head A to hover at any position relative to the robot main body B at a horizontal included angle.

[0107] Referring to Figure 8 , the linkage frame 350 comprises the connecting plate 351, the first connecting seat 352 and the second connecting seat 353.

[0108] The second driver 310 comprises an action body 312 and a second output shaft 311, the action body 312 is fixedly connected with the first connecting seat 352, and the second output shaft 311 is freely rotatable through the first connecting seat 352.

[0109] Referring to Figure 9 , the two ends of the connecting plate 351 are connected with the first connecting seat 352 and the second connecting seat 353, respectively, the second connecting seat 353 is sleeved on the transmission shaft 340 through the bearing 354, the transmission shaft 340 is provided with a second clamping groove 342, and the bearing 354 is constrained at the current position on the transmission shaft 340 through the second clamping ring 343. The connecting plate 351 is fixedly connected with two second elastic members 351a, the two second elastic members 351a are arranged on opposite sides of the transmission shaft 340, respectively, for providing a damping force to the transmission shaft 340, so as to realize the effect that the robot head A hovers relative to the robot main body B.

[0110] Referring to Figure 11 The second elastic member 351a includes a second plastic sheet 351a-1 and a second metal sheet 351a-2. The second plastic sheet 351a-1 is provided with a second arc-shaped groove 351a-11, and the diameter of the second arc-shaped groove 351a-11 is the same as, slightly larger than, or slightly smaller than the diameter of the transmission shaft 340, so as to tightly fit the transmission shaft 340 and provide damping force to the transmission shaft 340. The second metal sheet 351a-2 is fixedly arranged on the outer side of the second plastic sheet 351a-1, so as to provide pressure to the second plastic sheet 351a-1 and prevent the second plastic sheet 351a-1 from being inclined after being pressed by the transmission shaft 340. In this embodiment, the connecting plate 351 is fixedly connected with two second elastic members 351a, and the two second elastic members 351a are arranged on the left and right sides of the transmission shaft 340 along the first direction X. The second plastic sheet 351a-1 of each second elastic member 351a is in direct contact with the transmission shaft 340, and the second metal sheet 351a-2 is arranged on the outer side.

[0111] In this embodiment, the first connecting seat 352 provides a fixed support structure for the two second elastic members 351a connected with the action body 312 of the second driver 310. In order to make the connection structure more stable, the second connecting seat 353 sleeved on the transmission shaft 340 is connected with the first connecting seat 352 through the connecting plate 351. Since the action body 312 does not rotate, the bearing 354 is arranged between the transmission shaft 340 and the second connecting seat 353, so that the connecting plate 351 connecting the second connecting seat 353 and the first connecting seat 352 does not rotate. The damping formed by the two second elastic members 351a fixedly connected with the connecting plate 351 and the transmission shaft 340 can fix the relative position of the robot head A and the robot body B when the second driver 310 is damaged or needs manual operation, so as to achieve the effect of hovering.

[0112] In an embodiment of the present application, the first driver 210 includes a first servo motor and a first planetary reducer connected to the first servo motor; and the second driver 310 includes a second servo motor and a second planetary reducer connected to the second servo motor. The exterior of the first planetary reducer and the exterior of the second planetary reducer are both provided with a damping member and / or a sound insulation member for reducing noise.

[0113] In the embodiment, the driving body 211 of the first driver 210 and the action body 312 of the second driver 310 are both electrically driven, and both are servo motors. A servo mechanism is an automatic control system that enables the position, orientation, state, etc. of an object to follow the arbitrary changes of an input target (or given value). Servo mainly relies on pulses to position, and a servo motor receives a pulse, which will rotate an angle corresponding to the pulse, thereby realizing displacement. Because the servo motor itself has the function of sending pulses, the servo motor will send a corresponding number of pulses every time it rotates an angle, thus forming a response with the pulses received by the servo motor, forming a closed loop. Therefore, the control unit electrically connected with the first driver 210 and the second driver 310 can know how many pulses are sent to the servo motor and how many pulses are received back, so as to accurately control the rotation of the first servo motor and the second servo motor, thereby realizing accurate positioning, which can reach 0.001 mm.

[0114] Preferably, the first servo motor and the second servo motor are both brushless motors. Brushless motors have small size, light weight, large output, fast response, high speed, small inertia, smooth rotation, stable torque, maintenance-free, high efficiency, low operating temperature, small electromagnetic radiation, long service life, and can be used in various environments.

[0115] In the embodiment, the first planetary reducer and the second planetary reducer are connected behind the first servo motor and the second servo motor respectively, so that the whole driving structure is more compact, has high transmission efficiency, low noise, and stable and reliable transmission. However, during the driving process using the first planetary reducer and the second planetary reducer, there will be a return gap. Taking the first driver 210 as an example, the first driver 210 includes a driving body 211 and a first output shaft 212, the driving body 211 includes a first servo motor and a first planetary reducer, and the return gap refers to that the input end of the first planetary reducer is fixed, the output end of the first planetary reducer rotates clockwise and counterclockwise, and when the output end of the first planetary reducer bears a positive and negative 2% rated torque, there is a small angular displacement of the output end of the first planetary reducer. If the return gap is too large, the movement of the first output shaft 212 will be obviously behind, which will reduce the transmission efficiency and increase the running noise and vibration. In the above embodiment, the return gap of the first planetary reducer is eliminated by the first damping member 240, and the return gap of the second planetary reducer can be eliminated by the cooperation of the transmission shaft 340 and the connecting plate 351.

[0116] Optionally, in order to further reduce noise, a layer / multiple layers of sound insulation cotton is wrapped outside the first servo motor and the second servo motor, and a damping pad 250 is used at the position of the mounting flange of the first servo motor and the second servo motor, the damping pad can be nitrile rubber, which effectively reduces the noise of the first planetary reducer and the second planetary reducer, and reduces the noise caused by the resonance of the base 100.

[0117] In the embodiment, the combination of the servo motor and the planetary reducer is used to improve the compactness of the overall drive structure, the transmission efficiency is high, the noise is small, and the sound insulation cotton and the damping pad are further used to reduce the noise, thereby improving the comfort of the overall structure, and preventing the problem of shell vibration caused by being installed in the robot.

[0118] In an embodiment provided in the application, the transmission shaft 340 and the magnetic deflection shaft 241 are both provided with magnets 400 for eliminating the back stroke gap of the first planetary reducer and the second planetary reducer, respectively.

[0119] Referring to Figure 7 , the magnetic deflection shaft 241 is provided with a first groove 241c-2, which is arranged at the end of the limiting shaft 241c close to the first position recorder 220, and is used to place the magnet 400, so as to eliminate the gap generated in the transmission process of the first planetary reducer, improve the accuracy of the output end position of the first position recorder 220 fed back to the control unit of the first driver 210, and improve the rotation angle and other parameters of the first driver 210.

[0120] Similarly, referring to Figure 9 , the transmission shaft 340 is provided with a second groove 344, which is arranged at the end of the transmission shaft 340 close to the second position recorder 320, and is used to place the magnet 400, so as to eliminate the gap generated in the transmission process of the second planetary reducer 311b, improve the accuracy of the output end position of the second position recorder 320 fed back to the control unit of the second driver 310, and improve the rotation angle and other parameters of the second driver 310.

[0121] When the magnet 400 is placed in the first groove 241c-2 and the second groove 344, in order to prevent the magnet 400 from sliding out of the first groove 241c-2 and the second groove 344, the magnet 400 and the first groove 241c-2, and the magnet 400 and the second groove 344 can be designed as an interference fit, or a layer of glue can be coated on the outside of the magnet 400 during installation, and the specific fixing mode is not limited here.

[0122] In the embodiment, the magnet 400 is further used to eliminate the back stroke gap of the first planetary reducer and the second planetary reducer.

[0123] In one embodiment of the present application, the first connecting seat 352, the second connecting seat 353 and the connecting plate 351 are integrally formed.

[0124] In the present embodiment, the first connecting seat 352, the second connecting seat 353 and the connecting plate 351 are integrally formed, thereby reducing the stress between the parts and improving the stability after assembly.

[0125] In one embodiment of the present application, the first elastic member 242 and the second elastic member 351a are made of high-rigidity quenched spring steel (65Mn). After heat treatment and cold-drawing hardening, the spring steel has relatively high strength, certain flexibility and plasticity.

[0126] Preferably, in the present embodiment, the first plastic sheet 242a and the second plastic sheet 351a-1 are made of polyoxymethylene (POM) material. Polyoxymethylene (POM) material is a thermoplastic crystalline polymer with high strength, rigidity and hardness, excellent tensile, impact and bending strength, and excellent wear resistance and other properties. The first plastic sheet 242a and the second plastic sheet 351a-1 made of polyoxymethylene (POM) material can form more stable and reliable damping force after being matched with the corresponding shaft.

[0127] In one embodiment of the present application, the first driver 210 drives the head A of the robot to rotate relative to the main body B by an angle of 0°-45° in the longitudinal direction.

[0128] Optionally, the following mechanism C can be mechanically actuated to rotate the longitudinal rotation assembly so that the mechanical limit between the plane where the head A of the robot is located and the plane where the main body B of the robot is located is -2° to +47°.

[0129] Optionally, the rotation speed of the first driver 210 is 3 revolutions per second.

[0130] It should be noted that when the longitudinal rotation angle between the head A and the main body B is 0°, the head A is directly facing forward, and the first driver 210 is in the first initial position. When the longitudinal rotation angle between the head A and the main body B is greater than 0°, there is a pitch angle between the head A and the main body B, i.e., the robot starts to lift the head. In order to prevent the pitch angle between the head A and the main body B from being too large and causing instability of the head A, the first driver 210 controls the maximum pitch angle between the head A and the main body B to be 45°, which includes a relatively large visible range and reduces the risk of damage to the head A of the robot. In one embodiment of the present application, the second driver 310 drives the head A of the robot to rotate relative to the main body B by an angle of -25° to +25° in the horizontal direction.

[0131] Optionally, the lateral rotation component of the robot head follow-up mechanism can mechanically limit the angle between the plane of the robot head A and the plane of the robot body B to ±27°.

[0132] Optionally, the rotation speed of the second driver 310 is 3 revolutions per second.

[0133] It should be noted that when the lateral rotation angle between the head A and the body B (the lateral rotation angle is also the horizontal rotation angle) is 0°, the head A is facing forward, and the second driver 310 is in the second initial position. In this case, the first driver 210 is in the first initial position. Figure 1 As an example, if the pointing direction of the first direction X is right, when the lateral rotation angle between the head A and the body B is greater than 0°, the head A rotates right relative to the body B, and when the lateral rotation angle between the head A and the body B is less than 0°, the head A rotates left relative to the body B. In order to prevent the horizontal rotation angle between the head A and the body B from being too large and causing instability of the head A, the second driver 310 controls the maximum horizontal angle between the head A and the body B to be 25°, where the maximum horizontal angle can be a right turn of 25° (+25°) or a left turn of 25° (-25°), which includes a relatively large visible range and reduces the risk of damage to the robot head A.

[0134] The application also provides a robot, which refers to Figure 1 and Figure 2 , comprising the head A of the robot, the body B, and the robot head follow-up mechanism C in any one of the above embodiments, and the head A is fixedly connected to the bracket 230.

[0135] Since the robot of the application adopts all the technical solutions of the robot head follow-up mechanism C in the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0136] The application also provides a control method, which is suitable for the robot head follow-up mechanism C, comprising: Figure 12 , the first driver 210 drives the longitudinal reciprocating motion of the bracket 230 connected with the robot head A, and the first position recorder 220 records the first initial position of the bracket 230; the second driver 310 drives the motion of the base 100 indirectly connected with the bracket 230, and the base 100 drives the bracket 230 to make horizontal reciprocating motion, and the second position recorder 320 records the second initial position of the base 100; the control unit controls the first driver 210 and the second driver 310 respectively according to the first initial position and the second initial position, and then controls the bracket 230 to make resetting motion; wherein the first driver 210 and the second driver 310 simultaneously drive the bracket 230 to reset.

[0137] In the embodiment, the control unit drives the first driver 210 to bring the support 230 connected with the robot head A back to the first initial position and drives the second driver 310 to move the base 100 so as to bring the support 230 back to the second initial position according to the first initial position recorded in the first position recorder 220 and the second initial position recorded in the second position recorder 320 respectively.

[0138] It should be noted that the first position recorder 220 and the second position recorder 320 can also record the current driving information of the first driver 210 and the second driver 310 respectively, so as to more accurately control the positions of the first driver 210 and the second driver 310 to drive the robot head A to move.

[0139] In an embodiment provided by the application, the position of the robot head A relative to the robot body B includes an origin position, which is defined as the position of the support 230 when the support 230 is at the first initial position and the second initial position simultaneously; the first initial position is defined as the position of the robot head A and the robot body B with a pitch angle of 0°, and the second initial position is defined as the position of the robot head A and the robot body B with a horizontal angle of 0°; wherein, after the first driver 210 and the second driver 310 are powered on, the robot head A will be first driven to return to the origin position.

[0140] The power-on in the above embodiment refers to the state of electrical connection when the robot is powered on for the first time each time it is used, or the state of electrical connection when the robot is powered on again after a short power-off due to current protection during each use, or the state of electrical connection when the robot is powered on again after automatic power-off due to sensing that someone mechanically moves the robot head A. That is, each time the robot is used, as long as the robot is powered on again after power-off, the control unit will control the robot head A to return to the origin position first, and then control the first driver 210 and the second driver 310 according to other control commands of the control unit to adjust the relative position relationship between the robot head A and the robot body B.

[0141] In an embodiment provided by the application, the control unit acquires the distance between the robot head A and the user, and sends a moving signal to the first driver 210 and / or the second driver 310 according to the distance, so as to drive the support 230 to move the robot head A to a position facing the user.

[0142] The control unit comprises a distance sensor, a processor and a controller. The distance sensor is configured to acquire the distance between the robot head A and the user, and send the measured distance to the processor. The processor is configured to send the processed information to the controller. The controller is configured to send control instructions to the first driver 210 and / or the second driver 310, so as to drive the first driver 210 and / or the second driver 310 to work, thereby driving the support 230 to move with the robot head A, and then enabling the robot head A to face the user during use, thereby preventing the user from being unable to clearly see the content on the screen due to the backlight of the screen carried by the robot head A.

[0143] In one embodiment of the present application, the control unit determines that the current of the first driver 210 and / or the second driver 310 exceeds the preset value, and cuts off the power supply electrically connected to the control unit for 10 seconds. After being powered on again, the control unit controls the first driver 210 and the second driver 310, so as to drive the robot head A to return to the original position.

[0144] In the embodiment, the control unit comprises a current sensor, a memory, a processor and a controller. The memory pre-stores the current threshold of the first driver 210 and the second driver 310. When the current sensor detects that the current value exceeds the current threshold, the controller will cut off the power supply electrically connected to the first driver 210 and the second driver 310, and automatically power on again after 10 seconds. After being powered on, the robot head A will first return to the original position, and then the next step of control will be performed.

[0145] In the embodiment, the overcurrent protection is performed by detecting whether the current of the first driver 210 and the second driver 310 exceeds the current threshold.

[0146] In one embodiment of the present application, the memory of the control unit comprises a plurality of state information. The plurality of state information comprises standby state information. The standby state information comprises that the pitch angle of the head and the main body is 18°-22°.

[0147] Preferably, in the standby state, the pitch angle of the head and the main body is 20°.

[0148] In one embodiment of the present application, the memory of the control unit comprises a plurality of state information. The plurality of state information comprises moving and delivering state information. The moving and delivering state information comprises that the pitch angle of the head and the main body is 8°-12°.

[0149] Preferably, in the moving and delivering process, the pitch angle of the head and the main body is 10°.

[0150] In one embodiment provided by the application, the memory of the control unit comprises a plurality of state information, and the plurality of state information comprises the meal delivery arrival state information, and the pitch angle of the head and the body is 1-3°.

[0151] Preferably, the pitch angle of the head and the body is 1° when the meal arrives.

[0152] Since the control method of the embodiment of the application adopts all the technical solutions of the robot head follow-up mechanism C in the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0153] Another embodiment provides an electronic device; the electronic device is in the form of a general-purpose computing device. The electronic device can include but is not limited to: a memory for storing one or more programs; one or more processors for reading and executing one or more programs stored in the memory to implement the robot control method of any embodiment of the application.

[0154] The electronic device typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media. The memory can include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. For example only, the memory can include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the application. The processing unit performs various functional applications and data processing by running the programs stored in the system memory, such as implementing the robot control method provided by the embodiments of the application, including:

[0155] During the movement of the robot head driven by the robot head follow-up mechanism, the position of the robot head is collected, and a movement instruction is issued according to the position information to control the longitudinal and lateral rotation of the robot head to reach the specified position, so as to realize the robot control method of the robot head.

[0156] It should be noted that the above explanation and description of the robot control method embodiments are also applicable to the

[0157] The electronic device of the embodiment, which has similar implementation principles, will not be repeated here.

[0158] The technical scheme provided by the embodiment of the application solves the problems that the screen cannot face the person and the screen is not clear, the screen cannot adapt to people with different heights, the robot appears very stiff and not flexible, and the customer experience is poor. The scheme can follow the face of the person, automatically adjust the pitch angle, freely rotate left and right, and keep the screen facing the face of the person all the time.

[0159] The above merely describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot head servo mechanism characterized by comprising: On an autonomous mobile robot, adjusting an angle of a robot head relative to a robot body according to state information, comprising: a longitudinal rotating assembly, comprising a first driver, a first position recorder and a support connected with the robot head, the first position recorder being used to record a first initial position of rotation of the support, the support being fixedly connected to a driving body of the first driver; a base having oppositely arranged first and second connecting ends, a first output shaft of the first driver being arranged on the base through the first connecting end, the driving body of the first driver driving the support to reciprocate longitudinally on the base; a transverse rotating assembly, comprising a second driver and a second position recorder, an output end of the second driver being connected to the base through the second connecting end and driving the base to drive the support to reciprocate horizontally, the second position recorder being used to record a second initial position of rotation of the base, the longitudinal rotating assembly and the transverse rotating assembly being connected together through the base so that the centers of rotation are on the same straight line; a control unit, the first and second position recorders being electrically connected to the control unit respectively, wherein the control unit controls the first and second drivers according to the first and second initial positions respectively, and further controls the support to make a resetting movement, a mechanical limiting range of the longitudinal rotating assembly being -2°~47°, a mechanical limiting range of the transverse rotating assembly being ±27°, the mechanical limiting being a position of the robot head relative to the robot body under mechanical driving, the position of the robot head relative to the robot body including an origin position, the origin position being a position where the support is at the first and second initial positions simultaneously; the longitudinal rotating assembly further comprising a first damping member, the support being provided with a mounting seat, the first damping member being sleeved in the mounting seat, the mounting seat comprising a first shaft sleeve and an extension block, the extension block being fixedly connected to the first shaft sleeve perpendicularly, one end of the first shaft sleeve being fixedly connected to the support, the first shaft sleeve being provided with a stepped hole for limiting the first damping member.

2. The robotic head follow-up mechanism according to claim 1, characterized in that: the base being provided with a first fixing hole for fixing the first output shaft of the first driver, the first output shaft of the first driver being fixed to the first fixing hole of the base so that the first driver rotates and drives the support to rotate when started.

3. The robotic head follow-up mechanism according to claim 1, characterized in that: the first damping member comprising a magnetic deflection shaft and two first elastic members, one end of the magnetic deflection shaft extending into the mounting seat, the other end of the magnetic deflection shaft being fixed to the base, the two first elastic members being fixed to the mounting seat and arranged on opposite sides of the magnetic deflection shaft respectively, the magnetic deflection shaft being a shaft for providing resistance to the first output shaft of the first driver.

4. The robotic head follow-up mechanism according to claim 1, characterized in that: The robot head follow-up mechanism further comprises a linkage frame, the linkage frame comprises a connecting plate, a first connecting seat and a second connecting seat arranged on the same side of the connecting plate, the first connecting seat is fixedly connected with the second driver, and the second connecting seat is sleeved on the transmission shaft through a bearing sleeve; The connecting plate is further provided with two second elastic members for increasing the damping force of the transmission shaft, and the two second elastic members are arranged on opposite sides of the transmission shaft.

5. The robotic head follow-up mechanism according to claim 3, characterized in that: The first driver comprises a first servo motor and a first planetary reducer connected to the first servo motor; The second driver comprises a second servo motor and a second planetary reducer connected to the second servo motor; and the transmission shaft and the magnetic deflection shaft are both provided with magnets for eliminating the return gap of the first planetary reducer and the second planetary reducer, respectively.

6. The robot head follow-up mechanism according to any one of claims 1 to 5, characterized in that: The first driver drives the pitch angle range of the robot head to be 0°-45°, and the second driver drives the horizontal rotation angle of the robot head to be -25° to +25°.

7. A robot, characterized by: The robot comprises a head, a main body and the robot head follow-up mechanism according to any one of claims 1 to 6, and the robot head is fixedly connected to the support in the robot head follow-up mechanism.

8. A control method suitable for a robot head servo mechanism, characterized by, The robot comprises: The first driver drives the support connected with the robot head to move longitudinally, and a first position recorder records the first initial position of the support; The second driver drives the base indirectly connected with the support to move, and the base drives the support to move horizontally, and a second position recorder records the second initial position of the base; A control unit controls the first driver and the second driver according to the first initial position and the second initial position, respectively, and then controls the support to move to the reset position; The first driver and the second driver drive the support to reset at the same time, and the robot head follow-up mechanism is the robot head follow-up mechanism according to any one of claims 1 to 6.

9. The control method according to claim 8, characterized in that: The position of the robot head relative to the robot main body comprises an origin position, and the origin position is defined as the position where the support is at the first initial position and the second initial position at the same time; The first initial position is defined as the position where the pitch angle between the robot head and the robot main body is 0°, and the second initial position is defined as the position where the horizontal included angle between the robot head and the robot main body is 0°; After the first driver and the second driver are powered on, the robot head is first driven to return to the origin position.

10. The control method according to claim 8, characterized by: The control unit obtains the distance between the robot head and a user, sends a movement signal to the first driver and / or the second driver according to the distance, and drives the support to move to a position facing the user with the robot head.

11. The control method according to claim 9, characterized by: The control unit determines that the current of the first driver and / or the second driver exceeds a preset value, cuts off the power supply electrically connected with the control unit for 10 seconds, and after being powered on again, the control unit controls the first driver and the second driver to drive the robot head to return to the original position.

12. An electronic device, comprising: The control method comprises the following steps: a memory for storing one or more programs; one or more processors for reading and executing the one or more programs stored in the memory to implement the control method according to any one of claims 8-11.

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