Intelligent robot system

Abstract

The utility model relates to an intelligent robot system, belongs to the technical field of intelligent robots, and solves the problem that an intelligent robot capable of stably and vertically reciprocating at different heights for a long time does not exist in the prior art. The system comprises a robot and a vertical guide rail, the robot comprises a shell, a worm and gear speed reducer, a motor and a synchronizing wheel. The worm and gear speed reducer and the motor are arranged in the shell; an input shaft of the worm and gear speed reducer is connected with the motor, and an output shaft of the worm and gear speed reducer is connected with the synchronizing wheel; one part of the synchronizing wheel is located in the shell, and the other part of the synchronizing wheel is exposed out of the hole through an opening in the rear wall of the robot shell; a synchronous belt is arranged in the vertical guide rail and meshed with the synchronous wheel, so that the robot moves up and down on the vertical guide rail.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to an intelligent robot system. Background Art

[0002] Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Based on the application environment, my country's robot experts also divide robots into two categories, namely industrial robots and special robots. Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. Special robots are various advanced robots used in non-manufacturing industries and serving humans, including service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. Among special robots, some branches are developing rapidly and tend to be independent systems, such as service robots, underwater robots, military robots, micro-manipulation robots, etc.

[0004] At present, in some occasions, the position where the robot needs to inspect is a certain height away from the bottom surface. Robots that simply rely on flat ground movement or are mounted at a certain height cannot complete the task, and need to reciprocate at different heights; intelligent inspection robots must be able to reciprocate vertically and stably for a long time, and overcome problems such as motion system failure or out-of-limit operation when affected by environmental interference in special environments. Due to the particularity of the application environment, staff cannot enter the site for maintenance in time, which can easily cause the inspection robot equipment to be unable to resume working status in time, affecting the inspection effect. Utility Model Content

[0005] In view of the above analysis, the utility model aims to provide an intelligent robot system to solve the problem in the prior art that there is a lack of an intelligent robot that can perform vertical reciprocating motion stably for a long time at different heights.

[0006] The purpose of this utility model is mainly achieved through the following technical solutions:

[0007] An intelligent robot system, the system includes a robot and a vertical guide rail; the robot includes a housing, a worm gear reducer, a motor, and a synchronous wheel; the worm gear reducer and the motor are arranged in the housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel; a part of the synchronous wheel is located in the housing, and the other part leaks out of the hole through an opening in the rear wall of the robot housing; a synchronous belt is arranged in the vertical guide rail, and the synchronous wheel is engaged with the synchronous belt to realize the up and down movement of the robot on the vertical guide rail.

[0008] Furthermore, the vertical guide rail also includes an I-beam arranged parallel to both sides of the synchronous belt; the robot also includes a mounting plate, and the rear wall of the robot shell is fixed on the mounting plate; pulleys are arranged on the left and right sides of the mounting plate; when the robot moves up and down on the vertical guide rail, the pulleys on the mounting plate roll up and down inside the I-beam of the vertical guide rail.

[0009] Furthermore, an L-shaped hook is provided on the rear wall of the robot shell; a through hole is provided on the mounting plate at a position corresponding to the L-shaped hook; and the robot shell is hung on the through hole of the mounting plate through the L-shaped hook.

[0010] Furthermore, the robot also includes a main control board, which is arranged inside the shell; a photoelectric sensor is arranged on the left wall or the right wall of the robot shell; a photoelectric sensor sensing board is arranged on the left or right side of the upper and lower ends of the vertical guide rail; the photoelectric sensor is electrically connected to the main control board, and the drive signal output end of the main control board is connected to the control signal input end of the motor.

[0011] Furthermore, the robot also includes a motor control board, which is arranged inside the shell; a hard limit switch block is arranged above the photoelectric sensor sensing board on the upper part of the vertical guide rail and below the photoelectric sensor sensing board on the lower part of the vertical guide rail; a limit switch is arranged on the upper part of the rear wall of the robot shell, and the limit switch is electrically connected to the main control board and the motor control board.

[0012] Furthermore, a detachable shock absorbing device is provided at the bottom of the vertical guide rail; the shock absorbing device comprises a shock absorbing plate and a shock absorbing seat; the shock absorbing plate is installed on the shock absorbing seat; the shock absorbing device is installed directly below the vertical guide rail.

[0013] Furthermore, a plurality of screw rods are arranged below the shock absorbing plate, each screw rod is provided with a spring, and the screw rods are fixed on the shock absorbing seat.

[0014] Furthermore, an aviation head connector is provided on the right side wall of the robot shell, and the cables on the aviation head connector include a power cable, a network cable, and a serial communication cable; the robot also includes a power board; the power cable of the aviation head connector is internally connected to the power board and externally connected to a power supply; the network cable and serial communication cable of the aviation head connector are internally connected to the main control board and externally connected to a host computer.

[0015] Furthermore, an audible and visual alarm is also provided on the robot shell, and the audible and visual alarm is connected to the main control board.

[0016] Furthermore, a microphone is also provided on the robot shell, and the microphone signal is connected to the main control board.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0018] 1. A photoelectric sensor is arranged on the left side wall or the right side wall of the robot shell of the present invention. During the movement of the robot, the photoelectric sensor senses the surrounding objects to realize the soft limit of the robot's movement position; a limit switch is arranged on the upper part of the rear wall of the robot shell, and the limit switch is electrically connected to the main control board and the motor control board. When the limit switch touches an obstacle, the change of the limit switch signal state is transmitted to the main control board and the motor control board, and the main control board and the motor control board control the motor to cut off power or rotate in the opposite direction, driving the robot to leave the limit area, so as to avoid collision damage to the robot or surrounding objects.

[0019] 2. A synchronous belt is arranged on the vertical guide rail of the present invention, and I-beams are arranged on both sides of the synchronous belt; the robot includes a worm gear reducer, a motor, and a synchronous wheel; the synchronous wheel engages with the synchronous belt, and the worm gear reducer reduces the running speed of the robot while increasing the output torque, and the engagement of the synchronous wheel and the synchronous belt can withstand a maximum weight of 50kg; the robot also includes a mounting plate, the rear wall of the robot shell is fixed on the mounting plate, an L-shaped hook is arranged on the rear wall of the robot shell, and a through hole is arranged at a position corresponding to the L-shaped hook on the mounting plate, and the robot shell is hung on the through hole of the mounting plate through the L-shaped hook, which increases the portability of the robot body mounting on the one hand; on the other hand, even if the fixing screws are loosened, the body will not fall off; pulleys are arranged on the left and right sides of the mounting plate; when the robot moves up and down on the vertical guide rail, the pulley on the mounting plate rolls up and down inside the I-beam of the vertical guide rail, so that the robot moves smoothly on the guide rail.

[0020] 3. The shell of the present invention is also provided with a microphone, and the microphone signal is connected to the main control board. The main control board transmits the microphone signal to the host computer through the network port. The host computer is installed with audio analysis software to judge the collected sound. If the sound is abnormal, the power is cut off in time.

[0021] 4. An aviation head connector is provided on the right side wall of the robot shell of the present invention, and the cables on the aviation head connector include a power cable, a network cable, and a serial communication cable; the robot communicates with the host computer through the network cable and the serial port, and the single-chip microcomputer on the main control board receives the command of the host computer to control the motor and the sound and light alarm, thereby realizing remote control of the robot through the host computer.

[0022] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be obvious from the description or understood by implementing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the contents specifically pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components.

[0024] Figure 1 The figure is a schematic diagram of the overall structure of an intelligent robot system;

[0025] Figure 2 A schematic diagram of a robot structure of an intelligent robot system;

[0026] Figure 3 A schematic diagram of the installation of a robot and a vertical guide rail of an intelligent robot system and a schematic diagram of the installation position of the robot's internal circuit board;

[0027] Figure 4 The present invention is a flow chart of controlling the motor power supply through a limit switch of an intelligent robot system.

[0028] Reference numerals:

[0029] 1- Robot;

[0030] 2- Vertical guide rails;

[0031] 3- shock absorbing plate;

[0032] 4- shock absorber seat;

[0033] 5- screw;

[0034] 6-Hard limit switch block;

[0035] 7-Photoelectric sensor sensing board;

[0036] 8- Photoelectric sensor;

[0037] 9-Aviation head connector;

[0038] 10-synchronous wheel;

[0039] 11-Limit switch;

[0040] 12-L-shaped hook;

[0041] 13-Mounting plate;

[0042] 14-I-beam;

[0043] 15- Sound and light alarm;

[0044] 16- Power board;

[0045] 17- Main control board;

[0046] 18- Motor control board. DETAILED DESCRIPTION

[0047] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0048] A specific embodiment of the utility model discloses an intelligent robot system, such as Figure 1 The system includes a robot 1 and a vertical guide rail 2; the robot 1 includes a housing, a worm gear reducer, a motor, and a synchronous wheel 10; the worm gear reducer and the motor are arranged in the housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel 10; a part of the synchronous wheel 10 is located in the housing, and the other part leaks out of the hole through the opening of the rear wall of the housing of the robot 1; a synchronous belt is arranged in the vertical guide rail 2, and the synchronous wheel 10 is engaged with the synchronous belt to realize the up and down movement of the robot 1 on the vertical guide rail 2.

[0049] The robot structure diagram is as follows Figure 2 shown.

[0050] Specifically, the worm gear reducer reduces the running speed of the robot 1 while increasing the output torque, and the synchronous wheel 10 and the synchronous belt can withstand a maximum weight of 50kg when engaged; the robot 1 also includes a mounting plate 13, the rear wall of the robot 1 shell is fixed on the mounting plate 13, an L-shaped hook 12 is provided on the rear wall of the robot 1 shell, and a through hole is provided at a position corresponding to the L-shaped hook 12 on the mounting plate 13, and the robot 1 shell is hung on the through hole of the mounting plate 13 through the L-shaped hook 12, so that the robot 1 is very convenient to disassemble and assemble; pulleys are provided on the left and right sides of the mounting plate 13; when the robot 1 moves up and down on the vertical guide rail 2, the pulley on the mounting plate 13 rolls up and down inside the I-beam 14 of the vertical guide rail 2, so that the robot 1 moves smoothly on the guide rail.

[0051] The vertical guide rail 2 also includes an I-beam 14 arranged in parallel on both sides of the synchronous belt; the robot 1 also includes a mounting plate 13, and the rear wall of the robot 1 shell is fixed on the mounting plate 13; pulleys are arranged on the left and right sides of the mounting plate 13; when the robot 1 moves up and down on the vertical guide rail 2, the pulleys on the mounting plate 13 roll up and down inside the I-beam 14 of the vertical guide rail 2.

[0052] The installation diagram of robot 1 and vertical guide rail 2 is as follows Figure 3 shown.

[0053] Specifically, pulleys are provided on the left and right sides of the mounting plate 13; when the robot 1 moves up and down on the vertical guide rail 2, the pulleys on the mounting plate 13 roll up and down inside the I-beam 14 of the vertical guide rail 2, so that the robot 1 moves smoothly on the guide rail.

[0054] An L-shaped hook 12 is provided on the rear wall of the robot 1 shell; a through hole is provided on the mounting plate 13 at a position corresponding to the L-shaped hook 12; and the robot 1 shell is hung on the through hole of the mounting plate 13 through the L-shaped hook 12.

[0055] Specifically, the shell of the robot 1 is hung on the through hole of the mounting plate 13 by the L-shaped hook 12, which increases the portability of the mounting of the robot 1 on the one hand; on the other hand, even if the fixing screws between the robot 1 and the mounting plate are loosened, the robot 1 will not fall off.

[0056] The robot 1 also includes a main control board 17, which is arranged inside the shell; a photoelectric sensor 8 is arranged on the left side wall or the right side wall of the robot 1 shell; a photoelectric sensor sensing board 7 is respectively arranged on the left side or the right side of the upper and lower ends of the vertical guide rail 2; the photoelectric sensor 8 is electrically connected to the main control board 17, and the drive signal output end of the main control board 17 is connected to the control signal input end of the motor.

[0057] Specifically, the photoelectric sensor 8 and the photoelectric sensor induction plate 7 are arranged on the same side, a photoelectric sensor 8 is arranged on the robot 1, and two photoelectric sensor induction plates 7 are arranged at the upper and lower ends of the vertical guide rail 2. When the robot 1 moves to the vicinity of the photoelectric sensor induction plate 7, the photoelectric sensor 8 on the robot 1 sends out a sensing signal when it is blocked by the photoelectric sensor induction plate 7. After receiving the sensing signal, the main control board 17 sends a command through the single-chip microcomputer to control the motor of the robot 1 to stop running. If the photoelectric sensor 8 does not detect the sensing signal or the command sent by the main control board 17 is missing or the software is out of control, the robot 1 continues to run in one direction, which will trigger the power-off protection device of the hard limit switch 11, forcing the motor to be powered off, thereby protecting the motor from damage due to stalling. The device can be reset later by manual means in the background to perform the restoration operation.

[0058] The installation positions of the circuit boards inside the robot 1 are as follows: Figure 3 shown.

[0059] The robot 1 also includes a motor control board 18, which is arranged inside the shell; a hard limit switch block 6 is arranged above the photoelectric sensor sensing board 7 on the upper part of the vertical guide rail 2 and below the photoelectric sensor sensing board 7 on the lower part of the vertical guide rail 2; a limit switch 11 is arranged on the upper part of the rear wall of the robot 1 shell, and the limit switch 11 is electrically connected to the main control board 17 and the motor control board 18.

[0060] Specifically, when the upper limit switch 11 on the rear wall of the robot 1 touches the hard limit switch block 6 on the vertical guide rail 2, the limit switch 11 will send a trigger signal to the main control board 17 and the motor control board 18, and the motor control board 18 will cut off the power to the motor of the robot 1 by controlling the relay switch.

[0061] The motor control board 18 includes an OR gate, an AND gate logic chip, and a relay; the signal output end of the limit switch 11 is simultaneously connected to the first input pin of the OR gate and the signal input pin of the main control board 17, the first logic output pin of the main control board 17 is connected to the second input pin of the OR gate, the output pin of the OR gate is connected to the first input pin of the AND gate, and the second logic output pin of the main control board 17 is connected to the second input pin of the AND gate; the output pin of the AND gate is connected to a relay, and the relay is connected in series with the motor power line.

[0062] The flow chart of controlling the motor power supply through the limit switch 11 is as follows Figure 4 shown.

[0063] Specifically, the switch signal cable of the limit switch 11 located at the upper part of the rear wall of the shell is connected to the signal input pin of the single-chip computer of the main control board 17 and the first input pin of the OR gate of the motor control board 18 at the same time. When the limit switch 11 is not triggered, the limit switch 11 is closed, the switch signal is high level, that is, the first input pin of the OR gate is high level, the first logic output pin of the main control board 17 outputs a logic low to the OR gate; the OR gate outputs a high level to the first input pin of the AND gate; the second logic output pin of the main control board 17 outputs a logic high to the second input pin of the AND gate; the AND gate output pin outputs a high level to control the relay to close, the relay is connected in series with the motor power line, and the motor is powered normally. When the limit switch 11 of the robot 1 device is triggered, the limit switch 11 is opened, the switch signal cable sends a low level; the first input pin of the OR gate is low level, the first logic output pin of the main control board 17 still outputs a logic low to the OR gate; the OR gate outputs a low level to the first input pin of the AND gate, and the AND gate output pin outputs a low level to control the relay to disconnect; the motor is powered off. When the main control board 17 single chip microcomputer captures the low level of the limit switch 11 signal, it sends abnormal information to the upper computer through the network. The relevant personnel can remotely control the main control board 17 to output a logic high to the OR gate. At this time, the OR gate outputs a logic high to the AND gate, and the AND gate outputs a logic high to control the relay to close, and the motor is powered normally. The background uses manual means to reset the device and perform the restoration operation.

[0064] A detachable shock absorbing device is arranged at the bottom of the vertical guide rail 2; the shock absorbing device comprises a shock absorbing plate 3 and a shock absorbing seat 4; the shock absorbing plate 3 is mounted on the shock absorbing seat 4; the shock absorbing device is mounted directly below the vertical guide rail 2.

[0065] Specifically, when the robot 1 needs to be installed on the vertical guide rail 2, the shock absorbing device is first removed, and the mounting plate 13 of the robot 1 pushes the pulley of the mounting plate 13 upward from the bottom of the vertical guide rail 2 to the I-beam 14, and then the shock absorbing device is installed to the bottom of the vertical guide rail 2. The shock absorbing device prevents the robot 1 from being damaged due to loss of control.

[0066] A plurality of screw rods 5 are arranged below the shock absorbing plate 3 , each screw rod 5 is provided with a spring, and the screw rod 5 is fixed on the shock absorbing seat 4 .

[0067] Specifically, the spring provided on the screw rod 5 can play a shock absorbing role.

[0068] An aviation head connector 9 is provided on the right side wall of the robot 1 shell, and the cables on the aviation head connector 9 include a power cable, a network cable, and a serial communication cable; the robot 1 also includes a power board 16; the power cable pair of the aviation head connector 9 is internally connected to the power board 16 and externally connected to the power supply; the network cable and serial communication cable pair of the aviation head connector 9 are internally connected to the main control board 17 and externally connected to the host computer.

[0069] Compared with the prior art, a photoelectric sensor 8 is provided on the left side wall or the right side wall of the shell of the robot 1 provided in this embodiment. During the movement of the robot 1, the photoelectric sensor 8 senses the surrounding objects to realize the soft limit of the movement position of the robot 1; a limit switch 11 is provided on the upper part of the rear wall of the shell of the robot 1, and the limit switch 11 is electrically connected to the main control board 17 and the motor control board 18. When the limit switch 11 touches an obstacle, the change of the signal state of the limit switch 11 is transmitted to the main control board 17 and the motor control board 18, and the main control board 17 and the motor control board 18 control the motor to cut off the power or rotate in the opposite direction, driving the robot 1 to leave the limit area, thereby avoiding collision damage to the robot 1 or surrounding objects. In this embodiment, a synchronous belt is provided on the vertical guide rail 2, and I-beams 14 are provided on both sides of the synchronous belt; the robot 1 includes a worm gear reducer, a motor, and a synchronous wheel 10; the synchronous wheel 10 is engaged with the synchronous belt, and the worm gear reducer reduces the running speed of the robot 1 while increasing the output torque, and the engagement of the synchronous wheel 10 with the synchronous belt can withstand a maximum weight of 50 kg; the robot 1 also includes a mounting plate 13, the rear wall of the robot 1 shell is fixed on the mounting plate 13, an L-shaped hook 12 is provided on the rear wall of the robot 1 shell, and a through hole is provided at a position corresponding to the L-shaped hook 12 on the mounting plate 13, and the robot 1 shell is hung on the through hole of the mounting plate 13 through the L-shaped hook 12, so that the robot 1 is very convenient to disassemble and assemble; pulleys are provided on the left and right sides of the mounting plate 13; when the robot 1 moves up and down on the vertical guide rail 2, the pulley on the mounting plate 13 rolls up and down inside the I-beam 14 of the vertical guide rail 2, so that the robot 1 moves smoothly on the guide rail. In this embodiment, a microphone is also provided on the shell, and the microphone signal is connected to the main control board 17. The main control board transmits the microphone signal to the host computer through the network port. The host computer is installed with audio analysis software to judge the collected sound, and promptly cut off the power if the sound is abnormal. In this embodiment, the right side wall of the shell of the robot 1 is provided with an aviation head connector 9, and the cables on the aviation head connector 9 include a power cable, a network cable, and a serial communication cable; the robot 1 communicates with the host computer through the network cable and the serial port, and the single-chip microcomputer on the main control board 17 controls the motor and the sound and light alarm 15 with the host computer command received, so that the robot 1 can be remotely controlled by the host computer.

[0070] Those skilled in the art can understand that the programs / software involved in the above embodiments are common methods in the prior art, and the present invention does not involve any software improvements. The present invention only requires that each device with corresponding functions be connected through the connection relationship given in the embodiment of the present invention, and does not involve any program software improvements. As for the connection method between the hardware devices with corresponding functions, it can be implemented by those skilled in the art using the prior art, and will not be described in detail here.

[0071] The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent robot system, characterized in that: The system includes a robot and a vertical guide rail; the robot includes a housing, a worm gear reducer, a motor, and a synchronous wheel; the worm gear reducer and the motor are arranged in the housing; the input shaft of the worm gear reducer is connected to the motor, and the output shaft of the worm gear reducer is connected to the synchronous wheel; a part of the synchronous wheel is located in the housing, and the other part leaks out of the hole through the opening on the rear wall of the robot housing; a synchronous belt is arranged in the vertical guide rail, and the synchronous wheel is engaged with the synchronous belt to realize the up and down movement of the robot on the vertical guide rail.

2. The robot system according to claim 1, characterized in that: The vertical guide rail also includes an I-beam arranged in parallel on both sides of the synchronous belt; the robot also includes a mounting plate, and the rear wall of the robot shell is fixed on the mounting plate; pulleys are arranged on the left and right sides of the mounting plate; when the robot moves up and down on the vertical guide rail, the pulleys on the mounting plate roll up and down inside the I-beam of the vertical guide rail.

3. The robot system according to claim 2, characterized in that: An L-shaped hook is arranged on the rear wall of the robot shell; a through hole is arranged at a position corresponding to the L-shaped hook on the mounting plate; and the robot shell is hung on the through hole of the mounting plate through the L-shaped hook.

4. The robot system according to claim 2, characterized in that: The robot also includes a main control board, which is arranged inside the shell; a photoelectric sensor is arranged on the left wall or the right wall of the robot shell; a photoelectric sensor sensing board is respectively arranged on the left side or the right side of the upper and lower ends of the vertical guide rail; the photoelectric sensor is electrically connected to the main control board, and the drive signal output end of the main control board is connected to the control signal input end of the motor.

5. The robot system according to claim 4, characterized in that: The robot also includes a motor control board, which is arranged inside the shell; a hard limit switch block is arranged above the photoelectric sensor sensing board on the upper part of the vertical guide rail and below the photoelectric sensor sensing board on the lower part of the vertical guide rail; a limit switch is arranged on the upper part of the rear wall of the robot shell, and the limit switch is electrically connected to the main control board and the motor control board.

6. The robot system according to claim 2, characterized in that: A detachable shock absorbing device is arranged at the bottom of the vertical guide rail; the shock absorbing device comprises a shock absorbing plate and a shock absorbing seat; the shock absorbing plate is installed on the shock absorbing seat; the shock absorbing device is installed directly below the vertical guide rail.

7. The robot system according to claim 6, characterized in that: A plurality of screw rods are arranged below the shock absorbing plate, each screw rod is provided with a spring, and the screw rod is fixed on the shock absorbing seat.

8. The robot system according to claim 4, characterized in that: An aviation head connector is provided on the right side wall of the robot shell, and the cables on the aviation head connector include a power cable, a network cable, and a serial communication cable; the robot also includes a power board; the power cable of the aviation head connector is connected to the power board internally and to the power supply externally; the network cable and serial communication cable of the aviation head connector are connected to the main control board internally and to the host computer externally.

9. The robot system according to claim 4, characterized in that: The robot shell is also provided with an audible and visual alarm, and the audible and visual alarm is connected to the main control board.

10. The robot system according to claim 4, characterized in that: The robot shell is also provided with a microphone, and the microphone signal is connected to the main control board.

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