Chin moving structure of AI child accompanying robot

Abstract

The utility model provides a jaw moving structure of an AI child accompanying robot, and belongs to the technical field of robots. The technical problem that in the prior art, interaction experience is poor is solved. The jaw moving structure of the AI child accompanying robot comprises a movable jaw, the jaw is arranged on a jaw seat, the jaw seat is hinged to a shell, and a swing driving mechanism capable of driving the jaw seat to swing around the hinged axis is arranged between the jaw seat and the shell. And a jaw radial moving mechanism capable of enabling the jaw to radially move along the hinged axis of the jaw seat when the jaw swings is arranged between the jaw and the jaw seat and / or between the jaw and the shell. Due to the design that the chin is movable, the interactive experience of a user can be improved; various motion mixed simulation is adopted, so that the simulation degree is higher; an automatic reset mechanism is arranged, and the service life is long; and a plurality of components are elastically connected and are not easy to damage due to external force, and the like.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, and relates to a simulation device, in particular to a chin moving structure of an AI playmate robot. BACKGROUND

[0002] The AI playmate robot is an interactive doll, which can react to voice input, thereby realizing the question and answer conversation function. In the prior art, the single question and answer function cannot meet the needs of users for product appearance and interactive experience. Therefore, people have carried out long-term exploration and proposed various solutions.

[0003] For example, the Chinese patent document discloses a voice recognition interactive doll [application number: 200310101622.5], which mainly comprises a microphone, a voice control device, a player and a peripheral device fixed in the doll body with a human appearance.

[0004] The above-mentioned scheme designs the doll body with a human appearance, but only has a simple external shape. The interactive experience is general, and therefore the needs of users cannot be met. SUMMARY

[0005] The utility model aims at the above-mentioned problem, and provides a chin moving structure of an AI playmate robot which is flexible and movable.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: the chin moving structure of the AI playmate robot comprises a movable chin, the chin is arranged on a chin seat, the chin seat is hinged to a shell, a swing driving mechanism capable of driving the chin seat to swing around the hinge axis is arranged between the chin seat and the shell, and a chin radial movement mechanism capable of moving the chin radially along the hinge axis of the chin seat when the chin swings is arranged between the chin, the chin seat and / or the shell.

[0007] The swing driving mechanism provides power to drive the chin seat to swing around the hinge axis, thereby driving the chin to simulate the movement of the mouth. The above-mentioned movement can be arranged to be performed at the same time as the AI playmate robot interacts with the user through voice or action, thereby enhancing the interactive effect of the product.

[0008] In the chin moving structure of the AI playmate robot, the chin radial movement mechanism comprises a radial movement guide assembly arranged between the chin seat and the chin, and a radial driving assembly capable of driving the chin to move radially is arranged between the chin, the chin seat and / or the shell. The radial movement guide assembly provides clear guidance for the movement of the chin, thereby ensuring that the chin remains stable during the movement and does not deviate or shake.

[0009] In the aforementioned chin movement structure of the AI ​​Companion Robot, the radial drive component includes a first elastic element connected to the housing. The movable end of the first elastic element is connected to the chin and can radially move outward from the chin when the outer end of the chin rotates downward around the hinge axis. The elastic force of the first elastic element makes the movement of the chin smoother and reduces tremors during chin movement.

[0010] In the aforementioned chin movement structure of the AI ​​Companion Robot, the outer side of the chin rests against a rubber sleeve, which allows for radial repositioning of the chin after the outer end rotates and resets around the hinge axis. The rubber sleeve on the outer side of the chin enhances visual realism during chin movement and provides stable support, facilitating a smoother chin reset.

[0011] In the chin movement structure of the AI ​​Companion Robot mentioned above, the first elastic element is a strip elastic plate. The upper end of the strip elastic plate is connected to the shell, and the lower end is abutted against the inner end of the chin. The axis of the strip elastic plate is inclined to the radial movement axis of the chin.

[0012] The aforementioned strip-shaped elastic plates are two in number and located on both sides of the chin. This arrangement not only increases the number of connection points between the chin and the shell but also improves the overall stability of the structure. The two elastic plates can share the stress generated when the chin moves, preventing the chin from shifting or wobbling during movement.

[0013] In the aforementioned chin movement structure of the AI ​​Companion Robot, the radial movement guide component includes a radial guide block disposed on the chin seat, and the chin passes through the radial guide block.

[0014] Furthermore, a wear-resistant sleeve is installed between the chin and the radial guide block. The radial guide block provides a clear movement path for the chin, ensuring its accuracy and stability during movement. This design helps reduce chin wobbling or offset during movement, thereby improving the overall motion accuracy of the mechanism.

[0015] In the aforementioned chin movement structure of the AI ​​Companion Robot, the swinging drive mechanism includes a hinge shaft passing through the chin seat. The hinge shaft is circumferentially connected to the chin seat, and both the hinge shaft and the chin seat are rotatably connected to the housing. The rotation axes of the hinge shaft, the chin seat, and the housing are aligned on the same straight line, forming the hinge axis. The hinge shaft is connected to a rotation drive unit. This arrangement, where the hinge shaft and the chin seat are rotatably connected to the housing with their rotation axes aligned on the same straight line to form the hinge axis, ensures the stability and efficiency of the swinging motion.

[0016] In the chin movable structure of the AI companion robot, the rotating drive unit includes an arc-shaped rack arranged at the offset rotating center of the hinge shaft, the arc-shaped rack is connected with the hinge shaft through a connecting piece, a driving gear is engaged with the arc-shaped rack, the driving gear is connected with the swing drive motor, and the driving gear is connected with an angle sensor. The engagement design of the arc-shaped rack and the driving gear enables the rotating drive unit to accurately control the rotation angle and speed of the hinge shaft. The addition of the angle sensor introduces angle position feedback, further improves the measurement accuracy of the rotation angle, and ensures the accuracy of the swing movement.

[0017] In the chin movable structure of the AI companion robot, the connecting piece is provided with a strip-shaped arc-shaped hole, the curvature of the strip-shaped arc-shaped hole is the same as that of the arc-shaped rack and is concentrically arranged, and the linkage shaft of the driving gear passes through the strip-shaped arc-shaped hole and is connected with the angle sensor. The strip-shaped arc-shaped hole and the arc-shaped rack have the same curvature and are concentrically arranged, which helps to reduce friction and wear caused by angle deviation or asynchronization, and improves the efficiency and stability of the rotating drive unit. The design of the strip-shaped arc-shaped hole optimizes the spatial layout of the rotating drive unit, so that the connection between the components is more compact and reasonable.

[0018] In the chin movable structure of the AI companion robot, the chin seat is connected with the circumferential limiting hole of the connecting piece through an L-shaped insertion rod.

[0019] The hinge shaft is connected with the shell through a first pin shaft, and the chin seat is connected with the shell through a second pin shaft, the first pin shaft is respectively inserted into the hinge shaft and the shell, and the second pin shaft is respectively inserted into the chin seat and the shell.

[0020] The chin seat and the hinge shaft are provided with an elastic support. The chin seat is connected with the circumferential limiting hole of the connecting piece through an L-shaped insertion rod, which ensures the stability of the chin seat during rotation and prevents it from deviating or shaking.

[0021] Compared with the prior art, the chin movable structure of the AI companion robot has the following advantages: 1. The movable chin design can improve the interactive experience of the user. 2. A variety of motion mixing simulation is adopted, and the fidelity is higher. 3. It has an automatic reset mechanism and a long service life. 4. Elastic connection is adopted between multiple components, which is not easy to be damaged by external force. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1 is a structural schematic diagram provided by the utility model.

[0023] Fig. 2 is an internal structure schematic diagram provided by the utility model.

[0024] Fig. 3 is another angle internal structure schematic view provided by the utility model.

[0025] Fig. 4 is the front internal structure schematic view provided by the utility model.

[0026] In the figure, chin 1, chin seat 11, wear-resistant sleeve 12, L-shaped insertion rod 13, elastic support 14, shell 2, first pin shaft 21, second pin shaft 22, swing driving mechanism 3, arc-shaped rack 31, connecting piece 32, strip-shaped arc-shaped hole 321, circumferential limiting hole 322, driving gear 33, swing driving motor 34, angle sensor 35, linkage shaft 36, hinged shaft 37, hinged axis 371, rotary driving unit 38, chin radial movement mechanism 4, radial movement guiding assembly 41, radial guide block 411, radial driving assembly 42, first elastic member 421, strip-shaped elastic plate 422. DETAILED DESCRIPTION

[0027] As Figs. 1 to 4 shown, a chin movable structure of an AI playmate robot, including movable chin 1, chin 1 is arranged on chin seat 11, chin seat 11 is hinged on shell 2, swing driving mechanism 3 that can drive chin seat 11 to swing around hinged axis 371 is arranged between chin seat 11 and shell 2, chin 1 and chin seat 11 and shell 2 are equipped with chin radial movement mechanism 4 that can make chin 1 move radially along chin seat 11 hinged axis 371 when chin 1 swings.

[0028] In the embodiment, chin 1 is driven to swing around hinged axis 371 by swing driving mechanism 3, and chin 1 is controlled to move radially along chin seat 11 hinged axis 371 by chin radial movement mechanism 4. The superposition of the two types of movements simulates the movement of the mouth, and such a scheme using the superposition of the two types of movements makes the simulation more realistic, and can realize more flexible control mode, so that the simulation is more flexible.

[0029] More specifically, chin radial movement mechanism 4 includes radial movement guiding assembly 41 arranged between chin seat 11 and chin 1, and radial driving assembly 42 arranged between chin 1 and shell 2 and capable of driving chin to move radially.

[0030] More specifically, radial driving assembly 42 includes first elastic member 421 connected with shell 2, the movable end of first elastic member 421 is connected with chin 1, and can move radially outward out of chin 1 when the outer end of chin 1 rotates downward around hinged axis 371.

[0031] More specifically, the outer side of chin 1 abuts against the rubber sleeve, and the rubber sleeve can be used for radially resetting chin 1 after the outer end of chin 1 rotates around hinged axis 371 to reset.

[0032] In the embodiment, the rubber sleeve is integrally covered outside the shell 2, and the rubber sleeve is entirely elastic. When the outer end of the chin 1 rotates around the hinge axis 371 and returns to the original position, the rubber sleeve can return the chin 1 radially along the hinge axis 371 by using the elasticity of the rubber sleeve.

[0033] More specifically, the first elastic member 421 is a strip-shaped elastic plate 422, the upper end of the strip-shaped elastic plate 422 is connected with the shell 2, the lower end is connected with the inner end of the chin 1, and the axis of the strip-shaped elastic plate 422 is inclined to the radial movement axis of the chin 1.

[0034] The strip-shaped elastic plate 422 has two pieces and is located on both sides of the chin 1.

[0035] More specifically, the radial movement guiding assembly 41 includes a radial guide block 411 arranged on the chin seat 11, and the chin 1 is arranged on the radial guide block 411.

[0036] A wear-resistant sleeve 12 is arranged between the chin 1 and the radial guide block 411.

[0037] More specifically, the swing driving mechanism 3 includes a hinge shaft 37 arranged on the chin seat 11, the hinge shaft 37 is connected with the circumferential limit of the chin seat 11, the hinge shaft 37 and the chin seat 11 are respectively connected with the shell 2 to rotate, and the rotation axes of the hinge shaft 37 and the chin seat 11 are located on the same straight line to form a hinge axis 371, and the hinge shaft 37 is connected with the rotation driving unit 38.

[0038] More specifically, the rotation driving unit 38 includes an arc-shaped rack 31 arranged at the rotation center of the hinge shaft 37, the arc-shaped rack 31 is connected with the hinge shaft 37 through a connecting piece 32, the arc-shaped rack 31 is engaged with a driving gear 33, the driving gear 33 is connected with a swing driving motor 34, and the driving gear 33 is connected with an angle sensor 35.

[0039] In the embodiment, the swing driving motor 34 is installed in a swing driving motor mounting seat, and the angle sensor 35 is installed in an angle sensor mounting seat, wherein the swing driving motor mounting seat and the angle sensor mounting seat are connected with the shell 2 as a whole.

[0040] More specifically, the connecting piece 32 is provided with a strip-shaped arc-shaped hole 321, the curvature of the strip-shaped arc-shaped hole 321 is the same as that of the arc-shaped rack 31 and is concentrically arranged, and the linkage shaft 36 of the driving gear 33 passes through the strip-shaped arc-shaped hole 321 and is connected with the angle sensor 35.

[0041] More specifically, the chin seat 11 is connected with the circumferential limit hole 322 of the connecting piece 32 through the L-shaped insertion rod 13.

[0042] The hinge shaft 37 is connected with the shell 2 through a first pin shaft 21, and the chin seat 11 is connected with the shell 2 through a second pin shaft 22, the first pin shaft 21 is respectively inserted on the hinge shaft 37 and the shell 2, and the second pin shaft 22 is respectively inserted on the chin seat 11 and the shell 2;

[0043] The elastic support 14 is arranged between the chin seat 11 and the hinge shaft 37.

[0044] The working principle of the embodiment is that when the AI companion robot interacts with the user in voice or action, the chin moving structure of the AI companion robot is synchronously operated to enhance the interactive experience of the user.

[0045] First, the swing driving motor 34 is started, the linkage shaft 36 connected with the output end of the swing driving motor 34 rotates correspondingly, and simultaneously drives the driving gear 33 and the angle sensor 35 to rotate, because the driving gear 33 rotates, the arc-shaped rack 31 engaged with the driving gear 33 rotates correspondingly. The arc-shaped rack 31 is connected with the hinge shaft 37 through the connecting piece 32, so that the chin seat 11 is swung upward.

[0046] When the chin seat 11 swings, the radial driving assembly 42 moves the chin 1 along the radial guide block 411 in the radial direction of the hinge axis 371, so as to realize the combination of the radial translation and the swing of the chin 1, and realize the lifelike motion effect.

[0047] The specific embodiments described herein are merely illustrative of the spirit of the utility model. Those skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or adopt similar ways to replace, but will not deviate from the spirit of the utility model or exceed the range defined by the appended claims.

[0048] Although the terms such as chin, chin seat, wear-resistant sleeve, L-shaped insertion rod, elastic support, shell, first pin shaft, second pin shaft, swing driving mechanism, arc-shaped rack, connecting piece, strip-shaped arc-shaped hole, circumferential limiting hole, driving gear, swing driving motor, angle sensor, linkage shaft, hinge shaft, hinge axis, rotary driving unit, chin radial moving mechanism, radial moving guide assembly, radial guide block, radial driving assembly, first elastic member, strip-shaped elastic plate and the like are used more frequently herein, but the possibility of using other terms is not excluded. Using these terms is only for more convenient description and explanation of the essence of the utility model, and any kind of additional limitation is contrary to the spirit of the utility model.

Claims

1. A chin moving structure of an AI companion robot, comprising a movable chin (1), wherein the chin (1) is arranged on a chin seat (11), the chin seat (11) is hinged on a shell (2), and a swing driving mechanism (3) capable of driving the chin seat (11) to swing around a hinge axis (371) is arranged between the chin seat (11) and the shell (2), characterized in that, The chin (1) and the chin seat (11) and / or the shell (2) are provided with a chin radial movement mechanism (4) capable of moving the chin (1) radially along the hinge axis (371) when the chin (1) swings. 2.The chin moving structure of the AI companion robot according to claim 1, wherein The chin radial movement mechanism (4) comprises a radial movement guide assembly (41) arranged between the chin seat (11) and the chin (1), and a radial drive assembly (42) arranged between the chin (1) and the chin seat (11) and / or the shell (2) and capable of driving the chin to move radially along the hinge axis (371). 3.The chin moving structure of the AI companion robot according to claim 2, wherein The radial drive assembly (42) comprises a first elastic member (421) connected with the shell (2), the active end of the first elastic member (421) being connected with the chin (1) and capable of moving radially outward out of the chin (1) when the outer end of the chin (1) rotates downward around the hinge axis (371). 4.The chin moving structure of the AI companion robot according to claim 3, wherein, The outer side of the chin (1) abuts against the rubber sleeve, which can be used for radial resetting of the chin (1) after the outer end of the chin (1) rotates around the hinge axis (371) and resets. 5.The chin moving structure of the AI companion robot according to claim 3, wherein The first elastic member (421) is a strip-shaped elastic plate (422), the upper end of the strip-shaped elastic plate (422) is connected with the shell (2), the lower end is abutted and connected with the inner end of the chin (1), and the axis of the strip-shaped elastic plate (422) is inclined to the radial movement axis of the chin (1). The strip-shaped elastic plate (422) has two pieces and is arranged on both sides of the chin (1). 6.The chin moving structure of the AI companion robot of claim 2, wherein The radial movement guide assembly (41) comprises a radial guide block (411) arranged on the chin seat (11), and the chin (1) is arranged on the radial guide block (411). 7.The chin moving structure of the AI companion robot according to any one of claims 1-6, wherein, The swing drive mechanism (3) comprises a hinge shaft (37) arranged on the chin seat (11), the hinge shaft (37) is connected with the circumferential limiting portion of the chin seat (11), the hinge shaft (37) and the chin seat (11) are respectively rotationally connected with the shell (2), the rotation axes of the hinge shaft (37) and the chin seat (11) and the shell (2) are located on the same straight line to form the hinge axis (371), and the hinge shaft (37) is connected with a rotation drive unit (38). 8.The chin moving structure of the AI companion robot according to claim 7, wherein, The rotation drive unit (38) comprises an arc-shaped rack (31) arranged at a position deviated from the rotation center of the hinge shaft (37), the arc-shaped rack (31) is connected with the hinge shaft (37) through a connecting piece (32), a driving gear (33) is engaged with the arc-shaped rack (31), the driving gear (33) is connected with a swing drive motor (34), and the driving gear (33) is connected with an angle sensor (35). 9.The chin moving structure of the AI companion robot according to claim 8, wherein, The connecting piece (32) is provided with a strip-shaped arc-shaped hole (321), the curvature of the strip-shaped arc-shaped hole (321) is the same as that of the arc-shaped rack (31) and is concentrically arranged, the linkage shaft (36) of the driving gear (33) passes through the strip-shaped arc-shaped hole (321) and is connected with the angle sensor (35). 10.The chin moving structure of the AI companion robot according to claim 8, wherein, The chin seat (11) is connected with the circumferential limiting hole (322) of the connecting piece (32) through an L-shaped insertion rod (13). The articulated shaft (37) is connected with the shell (2) through a first pin shaft (21), and the chin seat (11) is connected with the shell (2) through a second pin shaft (22), the first pin shaft (21) is respectively inserted on the articulated shaft (37) and the shell (2), and the second pin shaft (22) is respectively inserted on the chin seat (11) and the shell (2). The chin seat (11) and the articulated shaft (37) are provided with an elastic supporting piece (14) therebetween.

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