Head mechanism for intelligent robot and intelligent robot

Abstract

The utility model provides a head mechanism for an intelligent robot. A head body, a head outer shell, a display screen and a head bottom shell are all fixed to a head support. The head shell comprises a mask and a head rear shell; the head body comprises a main control board, a capacitive touch sensor, a head direct current motor and a transmission structure of the head direct current motor. The capacitive touch sensor is fixed in the head shell; the head direct current motor and the transmission structure thereof comprise a head direct current motor, a head motor frame, a head gear set and a bearing; the head direct current motor drives the head gear set to rotate, and the head gear set is connected with the bearing. The bearing is arranged on the head bottom shell; the head direct current motor controls the head mechanism to shake the head and is fixed in the head motor frame; the head motor frame is fixed on the head bottom shell; the capacitive touch sensor communicates with the main control board and is used for transmitting a touch sensing signal, and the main control board controls the head direct current motor to move; the display screen is arranged in the head body, and the main control board is fixed to the back.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots and relates to a head mechanism for an intelligent robot and the intelligent robot. Background Art

[0002] China is currently in an aging society. How to help the elderly have a happy old age is a common concern of the government and society. At present, the problems that need to be solved in home care for the elderly include:

[0003] Improving the motion dimension and flexibility of the robot structure and enhancing the friendliness of human-machine interaction are the problems and directions that urgently need to be solved and explored in the current robot structure design. Utility Model Content

[0004] In order to solve the deficiencies of the above-mentioned technologies, the utility model proposes a head mechanism for an intelligent robot, comprising: a head bracket, a head body, a head shell, a display screen and a head bottom shell; the head body, the head shell, the display screen and the head bottom shell are all fixed on the head bracket; wherein,

[0005] The head shell includes: a mask and a head back shell;

[0006] The head body includes: a main control board, a capacitive touch sensor, a head DC motor and its transmission structure; the capacitive touch sensor is fixed in the head shell;

[0007] The head DC motor and its transmission structure include: a head DC motor, a head motor frame, a head gear set and a bearing; the head DC motor drives the head gear set to rotate, and the head gear set is connected to the bearing; the bearing is arranged on the head bottom shell; the head DC motor controls the shaking motion of the head mechanism, and is fixed in the head motor frame; the head motor frame is fixed on the head bottom shell;

[0008] The capacitive touch sensor communicates with the main control board to transmit touch sensing signals, and the main control board controls the movement of the head DC motor;

[0009] The display screen is arranged inside the head body, and the main control board is fixed at the back thereof.

[0010] In the utility model, the head mechanism further comprises: a microphone and a camera; the microphone and the camera are arranged on the head bracket, and are both communicatively connected with the main control board.

[0011] In the utility model, a microphone hole is arranged on the mask.

[0012] In the utility model, the maximum rotation angle of the head mechanism to the left and right sides is 180 degrees.

[0013] In the utility model, the capacitive touch sensor senses the user touching the head shell, and one capacitive touch sensor is respectively arranged on both sides and the top of the head shell.

[0014] In the utility model, the main control board is fixed on the main board frame; and the main board frame is fixed on the head bracket.

[0015] In the utility model, the head mechanism is connected with the robot neck mechanism through a bearing.

[0016] In the utility model, the head rear shell is provided with a positioning part adapted to the shape of the head bottom shell and the head DC motor and its transmission structure; the fixing part on the head bottom shell is fixed to the positioning part by screws.

[0017] The utility model also proposes a neck mechanism for an intelligent robot, comprising: a neck DC motor, a neck gear set, double-sided bearings, a neck bracket and upper and lower shells; wherein,

[0018] The neck DC motor controls the neck mechanism to roll up and down through the neck gear set and double-sided bearings;

[0019] The upper and lower shells are divided into an upper half and a lower half, and the upper half and the lower half are fixed by screws;

[0020] The double-sided bearings on both sides of the neck mechanism are connected to the neck bracket, and the neck bracket is provided with a fixing part that can be fixedly connected to the robot body mechanism;

[0021] Double-sided bearings are used to enhance the strength and stability of the mechanism, ensure smooth rotation and reduce noise;

[0022] The lower parts of the upper and lower shells are semicircular.

[0023] In the utility model, the maximum up and down nodding movement range of the neck mechanism is 90 degrees each.

[0024] In the utility model, the neck gear set comprises: a motor gear and a transmission gear; the motor gear is driven by a neck DC motor and meshes with the transmission gear; the transmission gear drives the connected double-sided bearings, and the double-sided bearings are fixed on the upper and lower shells to drive the movement of the upper and lower shells.

[0025] Examples of nodding movements:

[0026] Starting state: First, determine whether the robot's head, neck, and body are in the starting position, that is, the head, neck, and body are on the same axis, and the position of the company's logo on the body shell is preset as the starting position. If not in the starting position, the motor control board drives the head, neck, and body motors to move, so that the head, neck, and body return to the starting position.

[0027] In the utility model, the top of the neck mechanism is fixedly connected to the bottom of the robot head mechanism, so that the robot nods.

[0028] The utility model also proposes a body structure for an intelligent robot, comprising: a body shell, a turntable DC motor and its transmission structure, a speaker cavity, a turntable and a base body arranged in the body shell; wherein,

[0029] A body bearing assembly is fixed on the turntable;

[0030] The body shell is fixed on the turntable by screw connection, and it rotates with the turntable;

[0031] The turntable DC motor and its transmission structure include: a body bearing group, a body gear group and a turntable motor frame; wherein the turntable DC motor drives the body gear group to rotate, and the body gear group is connected to the body bearing group; the turntable DC motor controls the rotation of the body mechanism, and is fixed on the turntable motor frame; the turntable motor frame is fixed on the turntable;

[0032] The speaker cavity is fixed on the turntable.

[0033] In the utility model, the body bearing group includes: an inner bearing and an outer bearing; wherein,

[0034] The inner bearing is directly connected to the body gear set and is fixed on the turntable to drive the turntable to rotate;

[0035] The outer bearing is fixed in a groove close to the outer side of the turntable, and the outer bearing supports the outer shell of the body without deformation.

[0036] In the utility model, a speaker hole is arranged on the body shell, which corresponds to the position of the speaker cavity. The body shell rotates together with the turntable to ensure that the speaker cavity always corresponds to the speaker hole.

[0037] In the utility model, the top of the body shell is in an inwardly concave arc shape, which is used for accommodating the robot neck mechanism.

[0038] In the present invention, the rotation range of the body mechanism is 345 degrees.

[0039] In the utility model, the body shell is connected with the turntable and rotates with the turntable, and the maximum rotation range is determined by the limit point.

[0040] In the utility model, neck rotating shaft fixing frames are arranged on both sides of the inner wall of the body shell, and are used for connecting the neck mechanism of the robot.

[0041] In the utility model, the base body comprises: a base frame, a power control board and a rechargeable battery; the power control board is installed on the base frame, and a power input interface and a power output interface are arranged on the power control board;

[0042] The power input interface, the power output interface and the rechargeable battery are connected to the power control board through wires.

[0043] In the utility model, the turntable is fixed on the base frame of the base body by fixing screws.

[0044] In the utility model, the power control panel is further provided with: a power switch and a network distribution button.

[0045] In the utility model, the turntable comprises: a turntable base and a motor control panel.

[0046] Based on the head mechanism, neck mechanism, and body mechanism for the intelligent robot proposed above, the utility model further proposes an intelligent robot, including: a head mechanism, a neck mechanism, and a body mechanism; wherein,

[0047] The head structure includes: a head support, a head body, a head shell, a display screen and a head bottom shell; the head body, the head shell, the display screen and the head bottom shell are all fixed on the head support; wherein,

[0048] The head shell includes: a mask and a head back shell;

[0049] The head body includes: a main control board, a capacitive touch sensor, a head DC motor and its transmission structure; the capacitive touch sensor is fixed in the head shell;

[0050] The head DC motor and its transmission structure include: a head DC motor, a head motor frame, a head gear set and a bearing; the head DC motor drives the head gear set to rotate, and the head gear set is connected to the bearing; the bearing is arranged on the head bottom shell; the head DC motor controls the shaking motion of the head mechanism, and is fixed in the head motor frame; the head motor frame is fixed on the head bottom shell;

[0051] The capacitive touch sensor communicates with the main control board to transmit touch sensing signals, and the main control board controls the movement of the head DC motor;

[0052] The display screen is arranged inside the head body, and the main control panel is fixed at the back thereof;

[0053] The body mechanism is connected to the head mechanism via the neck mechanism.

[0054] In the utility model intelligent robot, the maximum rotation angle of the head mechanism to the left and right sides is 80 degrees. The maximum nodding movement range of the neck mechanism is 30 degrees up and down.

[0055] The innovative features of this utility model intelligent robot include:

[0056] 1. The neck has a hemispherical structure design. There is no similar structure used for desktop robots in the current domestic market. This design improves the load-bearing capacity and increases movement flexibility.

[0057] 2. The body rotation adopts an inner and outer bearing structure. The inner bearing is connected to the gear and motor, and the outer bearing is connected to the outer shell of the robot body. The outer bearing is also called a plane bearing, which can not only make the body rotate smoothly, but also support the outer shell to prevent deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1-Figure 12 The figure is a schematic diagram of the structure of the head mechanism of the intelligent robot of the present utility model.

[0060] Figure 13-Figure 19 The figure is a schematic diagram of the structure of the neck mechanism of the intelligent robot of the present utility model.

[0061] Figure 20-Figure 30 It is a structural schematic diagram of the body mechanism of the intelligent robot of the present utility model.

[0062] Fig.31 , 32 It is a structural schematic diagram of the intelligent robot of the utility model.

[0063] Fig.33 , 34 It is a structural schematic diagram of the intelligent robot of the present invention.

[0064] Figure 1-Figure 32 middle:

[0065] A-head mechanism; B-neck mechanism; C-body mechanism;

[0066] 1-mask; 11-microphone; 111-microphone hole; 12-camera;

[0067] 2-Head support;

[0068] 31-main control board; 311-main board frame; 32-capacitive touch sensor; 33-head DC motor and its transmission structure; 331-head DC motor; 332-head motor frame; 333-head gear set; 334-bearing; 335-head bottom shell; 336-positioning part;

[0069] 4-head shell; 41-head rear shell;

[0070] 5- Display screen;

[0071] 61-neck DC motor; 62-neck gear set; 63-double-side bearings; 64-neck bracket; 65-lower housing; 66-fixing part;

[0072] 71-body shell; 711-speaker hole; 72-turntable DC motor and its transmission structure; 73-speaker sound cavity; 74-body bearing group; 741-inner bearing; 742-outer bearing; 75-turntable; 751-turntable base; 752-groove; 753-upper turntable; 754-lower turntable; 76-body gear group; 77-neck shaft fixing frame; 78-turntable motor frame; 79-limit point;

[0073] 81-base body; 811-base frame; 812-power control board; 813-rechargeable battery; 814-power input interface; 815-power output interface; 816-power switch; 817-network distribution button; 822-motor control board. DETAILED DESCRIPTION

[0074] The utility model is further described in detail with reference to the following specific embodiments and drawings. The process, conditions, experimental methods, etc. for implementing the utility model, except for the contents specifically mentioned below, are all common knowledge and common common sense in the field, and the utility model has no special restrictions.

[0075] The intelligent robot in this embodiment has a structure including: a head mechanism, a neck mechanism, and a body mechanism. The movement mode is that the head shakes left and right, the neck nods up and down, the body rotates, and the base remains stationary.

[0076] 1. Head: control shaking motor, integrated display screen and frame, camera, transmission gear, dual microphones, capacitive touch sensor, main control board, shell;

[0077] The head can shake left and right with an amplitude of 80 degrees each, for a total of 160 degrees;

[0078] 2. Neck: control nodding motor, gear structure, and housing;

[0079] The range of motion of the neck nodding up and down is 30 degrees up and down, for a total of 60 degrees;

[0080] 3. Body: controls the body swing motor, sound cavity, sound outlet, and shell;

[0081] The body rotation range starts from 0 degrees and rotates in one direction up to 345 degrees. It is controlled by a limit switch;

[0082] 4. Base: 1 power interface, multiple charging interfaces, network distribution button, machine switch button, rechargeable battery, power control board, motor control board, turntable base, base frame.

[0083] The intelligent robot in this embodiment includes: a head mechanism, a neck mechanism, and a body mechanism;

[0084] The head structure includes: a mask, a bracket, a head body, a head shell, a display screen, a microphone, and a camera, all of which are fixed on the bracket with screws;

[0085] The head body includes: a main control board, a capacitive touch sensor, a head DC motor and its transmission structure; the main control board is fixedly arranged at the back of the display screen inside the head body; the capacitive touch sensor is pasted and fixed in the head shell; the DC motor controls the robot's head shaking movement and is fixed in the motor frame by screws, and the motor frame is fixed to the head shell by screws.

[0086] The DC motor and its transmission structure of the head include: DC motor, motor frame, gear set, bearing; the DC motor drives the gear set to rotate, the gear set drives the bearing, the bearing is fixed on the motor head shell, and drives the head to shake left and right. Taking the position of the robot body LOGO as the center, the maximum rotation angle of the head to the left and right is 80 degrees.

[0087] The capacitive touch sensor senses when the user touches the housing, communicates with the main control board to transmit touch sensing signals, and the main control board controls the movement of the head, neck, and body motors through the motor control board.

[0088] Specifically, in the head mechanism,

[0089] (1) Display screen:

[0090] a) Display device information: current time, battery level, charging mode, WIFI network status, Bluetooth connection status.

[0091] (2). Camera: above the screen.

[0092] (3). Dual microphones: on both sides of the camera.

[0093] Motor and gear: Control the robot's shaking motion. The motor's motion range is 80 degrees to the left and right, for a total of 160 degrees.

[0094] (4). Main control panel: behind the screen.

[0095] (5) Capacitive touch sensor:

[0096] a) One on the top of the head and one on each side of the cheek, a total of 3.

[0097] The top of the neck mechanism is fixedly connected to the bottom of the head by screws, and the two sides of the neck are fixedly connected to the body by screws. The neck connects the head and body, improves the load-bearing capacity, and increases the movement dimension and flexibility.

[0098] The neck includes a DC motor, a gear set, double-sided bearings, a bracket and upper and lower shells; the DC motor controls the robot's nodding action through the gear set and bearings; the motor shell is divided into an upper half and a lower half, and the upper and lower shells are fixed by screws;

[0099] The movement of the neck is controlled by the motor connected with the gear set and bearings. The bearings on the left and right sides are for movement balance.

[0100] The lower part of the upper and lower shells is a semicircular design. The semicircular structure of the neck is an innovative structure, which has significant improvements in increasing dimensions, improving movement flexibility, and improving load-bearing capacity.

[0101] There are screw holes inside the body mechanism, which correspond to the positions of the screw holes in the neck, and the neck and body are fixed by screw connection.

[0102] The body includes a speaker hole and a shell. There is a product logo on the front of the robot body. With this as the front base point, there is a speaker hole at the back, which corresponds to the position of the speaker cavity. The top of the shell is an arc shape, corresponding to the shape of the lower half of the neck shell, which is used to place the robot neck and facilitate the rotation of the robot neck.

[0103] The body is fixedly connected to the base turntable by screws.

[0104] The base includes a base body and two layers of a turntable body, and the turntable body is fixed to the base frame by screws;

[0105] The base body includes a base frame, input and output power interfaces, a power switch, a network distribution button, a rechargeable battery, and a power control board; the turntable body includes a turntable base, a DC motor and its transmission structure, a motor control board, and a speaker cavity.

[0106] The base frame includes 1 power input interface, multiple power output interfaces (2 Type C interfaces, 1 Type A interface), 1 network distribution button, 1 machine power switch button, rechargeable battery, and power control board. The input and output power interfaces, machine power switch, and rechargeable battery are all connected to the power control board through wires, and the power control board is connected to the main control board of the robot head through wires. The network distribution button is electrically connected to the main control board of the head.

[0107] The turntable body includes a turntable base, a DC motor and its transmission structure, a motor control board, and a speaker cavity.

[0108] The turntable base is fixed on the base frame through screws; the DC motor and its transmission structure, the motor control board, and the speaker sound cavity are fixed on the turntable base through screws.

[0109] The DC motor and its transmission structure include a DC motor, a gear set, an inner bearing, an outer (plane) bearing, a motor frame, and a motor control board;

[0110] The inner bearing is connected to the gear and rotates with the gear; the outer bearing, also known as the plane bearing, is connected to the body shell, driving the robot body to rotate. The plane bearing also plays a role in supporting the body shell to prevent deformation.

[0111] The body shell is connected to the turntable and rotates with the turntable. The maximum rotation range is determined by the limit point (the actual maximum rotation angle is 345 degrees).

[0112] The head, neck and base motors are all connected to the motor control board through wires, and the motor control board is electrically connected to the main control board.

[0113] Specifically, in the present utility model,

[0114] (1).Battery: rechargeable battery.

[0115] (2). Input power: Type C interface, provides power for the robot.

[0116] (3). Output power to charge other devices: 2 Type C interfaces and 1 Type A interface.

[0117] (4). Machine switch: Turn the machine power on and off.

[0118] (5) Power control board: The wires are used to electrically connect the battery, the machine switch, and the four USB ports. The power control board is electrically connected to the head main control board through wires.

[0119] (6) Network configuration button: connect to WIFI. Electrically connected to the head main control board through wires.

[0120] (7) Turntable base: Places the motor, supports the body shell, and rotates with the robot body.

[0121] (8) Motor control board: The three motors are electrically connected to the motor control board through wires. The motor control board is electrically connected to the head main control board through wires.

[0122] The protection content of the present invention is not limited to the above embodiments. Without departing from the spirit and scope of the utility model concept, changes and advantages that can be thought of by those skilled in the art are included in the present invention and are protected by the attached claims.

Claims

1. A head mechanism for an intelligent robot, characterized in that: include: A head support (2), a head body, a head shell (4), a display screen (5) and a head bottom shell (335); the head body, the head shell (4), the display screen (5) and the head bottom shell (335) are all fixed on the head support (2); wherein, The head shell (4) comprises: a face mask (1) and a head rear shell (41); The head body comprises: a main control board (31), a capacitive touch sensor (32), a head DC motor and a transmission structure (33); the capacitive touch sensor (32) is fixed in the head shell (4); The head DC motor and its transmission structure (33) include: a head DC motor (331), a head motor frame (332), a head gear set (333) and a bearing (334); the head DC motor (331) drives the head gear set (333) to rotate, and the head gear set (333) is connected to the bearing (334); the bearing (334) is arranged on the head bottom shell (335); the head DC motor (331) controls the shaking action of the head mechanism, and is fixed in the head motor frame (332); the head motor frame (332) is fixed on the head bottom shell (335); The capacitive touch sensor (32) communicates with the main control board (31) to transmit touch sensing signals, and the main control board (31) controls the movement of the head DC motor (331); The display screen (5) is arranged inside the head body, and the main control board (31) is fixed at the back thereof.

2. The head mechanism for an intelligent robot according to claim 1, characterized in that: The head mechanism further comprises: a microphone (11) and a camera (12); the microphone (11) and the camera (12) are arranged on the head bracket (2), and are both communicatively connected to the main control board (31).

3. The head mechanism for an intelligent robot as claimed in claim 2, characterized in that: The mask (1) is provided with a microphone hole (111).

4. The head mechanism for an intelligent robot according to claim 1, characterized in that: The maximum rotation angle of the head mechanism to the left and right sides is 180 degrees.

5. The head mechanism for an intelligent robot according to claim 1, characterized in that: The capacitive touch sensor (32) senses the user touching the head shell (4), and one capacitive touch sensor (32) is provided on each side and the top of the head shell (4).

6. The head mechanism for an intelligent robot according to claim 1, characterized in that: The main control board (31) is fixed on the main board frame (311); and the main board frame (311) is fixed on the head support (2).

7. The head mechanism for an intelligent robot according to claim 1, characterized in that: The head mechanism is connected to the robot neck mechanism via a bearing (334).

8. The head mechanism for an intelligent robot according to claim 1, characterized in that: The head rear shell (41) is provided with a positioning portion (336) adapted to the shape of the head bottom shell (335) and the head DC motor and its transmission structure (33); the fixing portion (3351) on the head bottom shell (335) is fixed to the positioning portion (336) by means of screws.

9. An intelligent robot, characterized in that: The robot comprises a head mechanism as described in any one of claims 1-3, 5-8.

10. The intelligent robot according to claim 9, characterized in that: The maximum rotation angle of the head mechanism to the left and right sides is 180 degrees.

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