Heavy-load anti-explosion humanoid robot head assembly and humanoid robot composed of heavy-load anti-explosion humanoid robot head assembly

Abstract

The invention belongs to the technical field of humanoid robots, and particularly relates to a large-load anti-explosion humanoid robot head assembly and a humanoid robot comprising the same, the large-load anti-explosion humanoid robot head assembly comprises a head main body assembly, the appearance of the head main body assembly imitates the head of a human body, and an accommodating space is formed in the head main body assembly; the neck moving assembly is provided with three joints and can realize three-degree-of-freedom rotation; the voice control module is used for realizing voice interaction with the outside; the head body assembly is fixed to the top of the neck moving assembly and can rotate in three directions along with the neck moving assembly. The voice control module is installed in the containing space of the head body assembly and moves along with the head body assembly. The multi-degree-of-freedom movement, the man-machine interaction function and the heat dissipation effect of the head assembly can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a heavy-load explosion-proof humanoid robot head assembly and a humanoid robot composed of the head assembly. Background Art

[0002] Humanoid robots can imitate the appearance and movement posture of the human body. Currently, the research and development of humanoid robots has received more and more attention.

[0003] The neck components of some existing humanoid robots have complex structures and are difficult to assemble. In addition, multiple heat-generating components are arranged inside the components. When the components are working, the heat generated by the components accumulates, causing the working environment temperature to rise, thus affecting the operation of the components.

[0004] The design of the neck structure of some robots generally adopts the method of directly connecting the joint actuator to the head structure, and driving the head structure to rotate in one direction through the joint actuator, so that the robot can nod or shake its head. Such a structural design makes the head structure only able to move in a certain direction, such as left-right rotation or up-down rotation, that is, the movement direction of the head structure is single, which makes the bionic effect of the humanoid robot not ideal and the ability to interact with the outside world is limited. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and provide a large-load explosion-proof humanoid robot head assembly and a humanoid robot composed of the same, which can improve the multi-degree-of-freedom movement, human-computer interaction function, and heat dissipation effect of the head assembly.

[0006] Technical solution: In the first aspect, the large-load explosion-proof humanoid robot head assembly of the present invention includes: a head main body assembly, the shape of which imitates the human head and has a receiving space inside; a neck movable assembly, which has three joints and can realize three-degree-of-freedom rotation; a voice control module, which is used to realize voice interaction with the outside world; wherein, the head main body assembly is fixed on the top of the neck movable assembly and can follow the neck movable assembly to realize rotation in three directions; the voice control module is installed in the receiving space of the head main body assembly and moves with the head main body assembly.

[0007] To further improve the above technical solution, the rotation in three directions includes: the first direction is the left-right direction, the second direction is the front-back direction, and the third direction is the rotation direction.

[0008] Furthermore, the neck movable component includes: a first joint connecting flange, a first joint, a second joint connecting flange, a second joint, a third joint, and a third joint connecting flange; the input end of the first joint is connected to the first joint connecting flange, the output end of the first joint is connected to one side of the second joint connecting flange, the other side of the second joint connecting flange is fixed with a second joint, the output end of the second joint is connected to one side of the third joint connecting flange, the other side of the third joint connecting flange is connected to a third joint, and the output end of the third joint is connected to the head main body component through the head component mounting flange; wherein, the first joint connecting flange is fixed to the robot torso and supports the head main body component to rotate along the third direction, the second joint supports the head main body component to rotate along the second direction, and the third joint supports the head main body component to rotate along the first direction.

[0009] Furthermore, the head body assembly includes: a head shell top cover, a head shell body, and a PWM dimming driver, wherein the PWM dimming driver is fixed in the inner cavity of the head shell body and is used to adjust the brightness of the head light source.

[0010] Furthermore, the voice control module maintains a heat dissipation distance with the head shell body.

[0011] Furthermore, the voice control module includes: a sound card mainboard, a mainboard mounting plate, a control mainboard, two voice interaction module mounting plates, four linear microphones, two speakers, a camera, and a microphone; the mainboard mounting plate has a mainboard surface and wing plates protruding at both ends of the mainboard surface, and the mainboard surface is provided with a first mounting hole and a second mounting hole. The sound card mainboard and the control mainboard are distributed on both sides of the mainboard surface of the mainboard mounting plate and are respectively installed and fixed through the first mounting hole and the second mounting hole. One end of the two voice interaction module mounting plates is fixed to the wing plates at both ends of the mainboard mounting plate, and the other end of the two voice interaction module mounting plates is fixed to the head component mounting flange.

[0012] Furthermore, the head shell body is provided with relatively arranged through holes at the ear and side face positions, and the through holes are connected to the internal accommodation space; the linear four microphones are installed at the ear positions of the head shell body, and partially overlap with the ear through holes; the two speakers are installed at the side face portion of the head shell body, and the speakers partially overlap with the side face through holes; the camera is installed at the front face position of the head shell body, and the microphones are installed on both sides of the ears of the head shell body.

[0013] Furthermore, the voice control module also includes a visual system for detecting the surrounding environment.

[0014] In a second aspect, the present application provides a humanoid robot comprising the above-mentioned large-load explosion-proof humanoid robot head assembly, including a humanoid robot torso, and the head body assembly is connected to the humanoid robot torso through a neck movable assembly.

[0015] Beneficial effects: Compared with the prior art, the advantages of the present invention are: the head of the present invention can achieve multi-dimensional movements that are closer to humans, the bionic effect is more natural and smooth, and the movement performance is significantly improved; the present invention uses a reasonable spatial layout to make the heat distribution more uniform and improve the working stability; the present application improves the intelligence of human-computer interaction; the present application adopts a modular design, which is easy to maintain, has a compact structure, improved load-bearing capacity, and significantly improved overall reliability.

[0016] The present invention comprehensively solves the key technical bottlenecks of existing humanoid robot head components through innovative multi-degree-of-freedom neck component design, intelligent heat dissipation solution and system integration technology, and provides important technical support for the intelligence and bionics of humanoid robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the head structure of the present invention; Figure 2 It is a schematic diagram of the structure of the neck movable component in the present invention; Figure 3 It is a structural diagram of the voice interaction control module in the present invention; Figure 4 It is a structural schematic diagram of the head body in the present invention; The reference numbers in the figure are: 1-head main body component; 2-voice control module; 3-neck movable component; 4-first joint connecting flange; 5-first joint; 6-second joint connecting flange; 7-third joint; 8-head component mounting flange; 9-third joint connecting flange; 10-second joint; 11-sound card motherboard; 12-motherboard mounting plate; 13-control motherboard; 14a / 14b-voice interaction module mounting plate; 15-head shell-top cover; 16-linear four-microphone; 17-head shell-main body; 18a / 18b-speaker; 19-camera; 20-PWM dimming drive. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0019] Example 1: Figure 1 The large-load explosion-proof humanoid robot head assembly shown is used for a humanoid robot, and includes a head main body assembly 1, a voice control module 2 and a neck movable assembly 3. The head main body assembly 1 is similar in appearance to a human head and has a large receiving space inside.

[0020] The head main body component 1 is fixed to the top of the neck movable component 3 through the internal mounting plate. The neck movable component 3 is constructed by three joints and can rotate with three degrees of freedom. The voice control module 2 is installed on the top of the neck movable component 3 and moves with the head main body component 1. The voice control module 2 can interact with the outside world through voice, and has a visual system to detect the surrounding environment of the robot. The neck movable component 3 is connected to the robot torso and has three degrees of freedom, which can realize anthropomorphic movements. For the convenience of subsequent explanations, the three directions of the neck movable component are explained. The first direction is the left and right direction of the humanoid robot, the second direction is the front and back direction of the humanoid robot, and the third direction is the rotation direction of the humanoid robot.

[0021] like Figure 2 As shown, the neck movable component 3 includes a first joint connection flange 4, a first joint 5, a second joint connection flange 6, a third joint 7, a head component mounting flange 8, a third joint connection flange 9, and a second joint 10. The first joint connection flange 4 is fixed to the torso of the humanoid robot, the input end of the first joint 5 is connected to the first joint connection flange 4, one side of the second joint connection flange 6 is fixed to the output end of the first joint 5, the second joint 10 is fixed on the other side of the second joint connection flange 6, one side of the third joint connection flange 9 is fixed to the output end of the second joint 10, the third joint 7 is fixed on the other side of the third joint connection flange 9, one side of the head component mounting flange 8 is connected to the output end of the third joint 7, and the first joint 5 neck movable component 3 has a compact structure, wherein the first joint 5 supports the head component to rotate along the third direction, the second joint 10 supports the head component to rotate along the second direction, and the third joint 7 supports the head component to rotate along the first direction.

[0022] like Figure 3 As shown, the voice control module 2 includes a sound card mainboard 11, a mainboard mounting plate 12, a control mainboard 13, two voice interaction module mounting plates 14a, 14b, a linear four-microphone 16, two speakers 18a, 18b, a camera 19, and a microphone. The sound card mainboard 11 is fixed to the mainboard mounting plate 12 by bolts, and a certain space is left between the mainboard mounting plate 12 and the mainboard mounting plate 12 for heat dissipation. The control mainboard 13 is installed on the other side of the mainboard mounting plate 12 and is installed in close contact with the mainboard mounting plate 12. The sound card mainboard 11, the mainboard mounting plate 12, and the control mainboard 13 are connected to the two voice interaction module mounting plates 14a, 14b. The voice control module 2 is installed on the head component mounting flange 8 in the neck movable component 3.

[0023] like Figure 4As shown, the head main body assembly 1 includes a head shell-top cover 15, a head shell-main body 17, and a PWM dimming driver 20. The head shell-main body 17 has through holes on the ears and side faces. Both through holes are connected to the receiving space and are opposite in the first direction. The head shell-top cover 15 is fixed to the top of the head shell-main body 17 by bolts. The voice control module 2 is installed inside the receiving space and has a large spacing with the head shell-main body. While facilitating installation, the heat dissipation effect is better. The camera is installed in the front face of the head shell-main body, and the field of view is wider. The linear four-microphone 16 is installed on the rear side of the inner cavity of the head shell-main body 17 near the ear position, and the ear through hole can better receive external sound waves; two speakers 18a and 18b are installed on the side face of the head shell-main body 17, and most of the speakers and the side face through holes are in overlap, which is conducive to the better propagation of the speaker sound waves to the outside of the head. The sound card mainboard 11 and the control mainboard 13 are located in the middle of the inner cavity of the head shell-main body 17 through the mainboard mounting plate 12 and the voice interaction module mounting plate 14a / 14b on both sides and are fixed to the head component mounting flange 8. The voice control module 2 has the ability to interact with the outside world, making the human-machine interaction of the humanoid robot more intelligent.

[0024] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A large-load explosion-proof humanoid robot head assembly, characterized in that: include: A head main body component (1), wherein the head main body component (1) has an appearance that imitates a human head and has a receiving space inside; The neck movable component (3) has three joints and can realize three-degree-of-freedom rotation; A voice control module (2), used to realize voice interaction with the outside world; The head main body component (1) is fixed on the top of the neck movable component (3) and can follow the neck movable component (3) to achieve rotation in three directions; the voice control module (2) is installed in the receiving space of the head main body component (1) and moves together with the head main body component (1).

2. The heavy-load explosion-proof humanoid robot head assembly according to claim 1, characterized in that: The rotation in three directions includes: the first direction is the left-right direction, the second direction is the front-back direction, and the third direction is the rotation direction.

3. The heavy-load explosion-proof humanoid robot head assembly according to claim 2, characterized in that: The neck movable component comprises: a first joint connecting flange (4), a first joint (5), a second joint connecting flange (6), a second joint (10), a third joint (7), and a third joint connecting flange (9); the input end of the first joint (5) is connected to the first joint connecting flange (4), the output end of the first joint (5) is connected to one side of the second joint connecting flange (6), the second joint (10) is fixed to the other side of the second joint connecting flange (6), the output end of the second joint (10) is connected to one side of the third joint connecting flange (9), the other side of the third joint connecting flange (9) is connected to the third joint (7), and the output end of the third joint (7) is connected to the head main body component (1) through the head component mounting flange (8); The first joint connection flange (4) is fixed on the robot body and supports the head main body component (1) to rotate along a third direction, the second joint supports the head main body component (1) to rotate along a second direction, and the third joint (7) supports the head main body component (1) to rotate along the first direction.

4. The heavy-load explosion-proof humanoid robot head assembly according to claim 3, characterized in that: The head body component (1) comprises: a head shell top cover (15), a head shell body (17), and a PWM dimming driver (20); the PWM dimming driver (20) is fixed to the inner cavity of the head shell body (17) and is used to adjust the brightness of the head light source; the head light source comprises a dimming drive component and a light-emitting component; the dimmer is a 0-10V dimmer, and the driver is an LED dimming power supply.

5. The large-load explosion-proof humanoid robot head assembly according to claim 4, characterized in that: The voice control module (2) and the head shell body (17) maintain a heat dissipation distance.

6. The heavy-load explosion-proof humanoid robot head assembly according to claim 4, characterized in that: The voice control module comprises: a sound card mainboard (11), a mainboard mounting plate (12), a control mainboard (13), two voice interaction module mounting plates (14a, 14b), four linear microphones (16), two loudspeakers (18a, 18b), a camera (19), and a microphone; the mainboard mounting plate (12) comprises a mainboard surface and wing plates protruding from both ends of the mainboard surface, the mainboard surface is provided with a first mounting hole and a second mounting hole, the sound card mainboard (11) and the control mainboard (13) are distributed on both sides of the mainboard surface of the mainboard mounting plate and are respectively fixed and installed through the first mounting hole and the second mounting hole, one end of the two voice interaction module mounting plates (14a, 14b) is fixed to the wing plates at both ends of the mainboard mounting plate, and the other end of the two voice interaction module mounting plates (14a, 14b) is fixed to the head assembly mounting flange (8).

7. The heavy-load explosion-proof humanoid robot head assembly according to claim 6, characterized in that: The head shell body (17) is provided with oppositely arranged through holes at the ear and side face positions, and the through holes are connected to the internal receiving space; the linear four-microphone (16) is installed at the ear position of the head shell body (17), and partially overlaps with the ear through holes; the two speakers are installed at the side face position of the head shell body (17), and the speakers and the side face through holes partially overlap; the camera (19) is installed at the front face position of the head shell body (17), and the microphones are installed on both sides of the ears of the head shell body (17).

8. The heavy-load explosion-proof humanoid robot head assembly according to any one of claim 1, characterized in that: The voice control module also includes a visual system for detecting the surrounding environment.

9. A large-load explosion-proof humanoid robot comprising the large-load explosion-proof humanoid robot head assembly according to any one of claims 1 to 8, characterized in that: It comprises a humanoid robot torso, wherein the head main body component (1) is connected to the humanoid robot torso via a neck movable component.

Images