Intelligent steering structure of robot

Abstract

The utility model belongs to the technical field of robot structure design, and discloses a robot intelligent steering structure which comprises a shell, a support, a connecting frame, a connecting frame and a spring preloading mechanism, the shell is connected with a robot body, the support is arranged on the inner side of the shell, and the bottom end of the support is provided with a rotating motor connected with the interior of the robot body. According to the technical scheme, a spring preloading mechanism is introduced into a robot steering structure, so that the head of the robot can rotate quickly in a small range by means of initial force released by an energy storage spring when a motor is not completely started, and the robot can rotate quickly in the small range by means of the initial force released by the energy storage spring. By means of the structure, the hysteresis feeling of a traditional pure electric driving structure in the initial stage is effectively reduced, the motor load is reduced, the low-energy-consumption and high-sensitivity rapid orientation effect is achieved, and the structure is suitable for application scenes such as voice interaction and target recognition which have high requirements for the response speed.

Description

A robot intelligent steering structure Technical Field

[0001] This utility model relates to the field of robot structural design technology, and in particular to a robot intelligent steering structure. Background Technology

[0002] When performing tasks such as voice interaction, target recognition, or environmental perception, existing intelligent robots often require their heads or perception modules to have rapid and smooth turning capabilities in order to achieve immediate response to external stimuli and directional tracking.

[0003] While the currently widely used motor-driven steering mechanism is relatively mature in terms of precision control, it suffers from response delay, making it difficult to meet the robot's "low latency and high sensitivity" action requirements in complex human-robot interaction scenarios. In particular, when rapidly turning the head towards sudden events such as sound sources or visual targets, there are issues of mechanical response lag and efficiency loss. Summary of the Invention

[0004] This invention aims to provide a robot intelligent steering structure to solve the problems mentioned in the background art. This solution introduces a spring preload mechanism into the robot steering structure, enabling the robot head to achieve a small-amplitude rapid rotation by relying on the initial force released by the energy storage spring before the motor has fully started, thereby significantly improving the steering response speed. This structure not only effectively reduces the lag in the initial stage of traditional pure electric drive structures, but also reduces the motor load, achieving a low-energy-consumption, high-sensitivity, and rapid orientation effect. It is suitable for application scenarios such as voice interaction and target recognition that require high response speed.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robot intelligent steering structure includes a shell, a bracket, a connecting frame, and a spring preload mechanism. The shell is connected to the robot body. The bracket is located inside the shell, and a mounting plate is provided at the bottom of the bracket. The mounting plate is connected to a rotating motor inside the robot body. The connecting frame is connected to the top of the bracket, and the top of the connecting frame is connected to the robot head. The spring preload mechanism includes a first electric push rod, a spring, a limiting plate, a pair of second electric push rods, and a pair of baffles. The limiting plate is connected to the top of the bracket, and a connecting post is connected to the top of the bracket. The first electric push rod and the pair of second electric push rods are both connected to the inside of the shell. The output end of the first electric push rod is connected to a spring, and the end of the spring away from the first electric push rod is sleeved on the outer end of the connecting post. The output ends of the pair of second electric push rods are each connected to a baffle, and the pair of baffles abut against the two ends of one side of the limiting plate.

[0007] Preferably, the pair of second electric actuators are symmetrical to each other, and the pair of second electric actuators and the first electric actuator are symmetrically distributed along the axis of the bracket.

[0008] Preferably, the axes of the first electric actuator, spring, connecting column, and limiting plate are all located on the same vertical plane.

[0009] Preferably, the limiting plate and the centerline of the robot head are located on the same vertical plane.

[0010] Preferably, the mounting plate is rotatably connected to the center position of the bottom end of the bracket, and a torsion spring is sleeved on the outer end of the mounting plate, with the two ends of the torsion spring connected to the mounting plate and the bracket respectively.

[0011] The beneficial effects of this technical solution compared to existing technologies are as follows:

[0012] This solution introduces a spring preload mechanism into the robot's steering structure, enabling the robot's head to rotate rapidly with a small amplitude using the initial force released by the energy storage spring before the motor has fully started. This significantly improves the steering response speed. This structure not only effectively reduces the lag in the initial stage of traditional pure electric drive structures but also reduces the motor load, achieving a low-energy, high-sensitivity, and rapid orientation effect. It is suitable for application scenarios such as voice interaction and target recognition, which require high response speed. Attached Figure Description

[0013] Figure 1 is a schematic diagram of the overall structure provided by this utility model;

[0014] Figure 2 is a schematic cross-sectional view of the outer shell provided by this utility model;

[0015] Figure 3 is a schematic diagram of the structure of the limiting plate after rotation provided by this utility model.

[0016] Reference numerals in the attached drawings: 1. Outer shell; 2. Bracket; 3. Connecting frame; 4. First electric actuator; 5. Spring; 6. Limiting plate; 7. Connecting column; 8. Second electric actuator; 9. Baffle; 10. Torsion spring; 11. Mounting plate. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments:

[0018] As shown in Figures 1-3, a robot intelligent steering structure includes a shell 1, a bracket 2, a connecting frame 3, and a spring preload mechanism. The shell 1 is connected to the robot body. The bracket 2 is located inside the shell 1, and a mounting plate 11 is provided at the bottom of the bracket 2. The mounting plate 11 is connected to a rotating motor inside the robot body. The top of the bracket 2 is connected to the connecting frame 3, and the top of the connecting frame 3 is connected to the robot head. The spring preload mechanism includes a first electric push rod 4, a spring 5, a limiting plate 6, a pair of second electric push rods 8, and a pair of baffles 9. The limiting plate 6 is connected to the top of the bracket 2, and a connecting post 7 is connected to the top of the bracket 2. The first electric push rod 4 and a pair of second electric push rods 8 are both connected to the inner side of the outer shell 1. The output end of the first electric push rod 4 is connected to a spring 5. The end of the spring 5 away from the first electric push rod 4 is sleeved on the outer end of the connecting post 7. The output ends of the pair of second electric push rods 8 are each connected to a baffle 9. The pair of baffles 9 abut against the two ends of one side of the limiting plate 6. The pair of second electric push rods 8 are symmetrical to each other, and the pair of second electric push rods 8 and the first electric push rod 4 are symmetrically distributed along the axis of the bracket 2. The axes of the first electric push rod 4, the spring 5, the connecting post 7 and the limiting plate 6 are all on the same vertical plane. The limiting plate 6 and the center line of the robot head are on the same vertical plane.

[0019] When performing tasks such as voice interaction, target recognition, or environmental perception, existing intelligent robots often require their heads or perception modules to have rapid and smooth turning capabilities in order to achieve immediate response to external stimuli and direction tracking. Although the motor-driven steering mechanism currently used is relatively mature in terms of precision control, it has the problem of response delay, which makes it difficult to meet the robot's action requirements of "low latency and high sensitivity" in complex human-robot interaction scenarios. In particular, when turning the head quickly in response to sudden events such as sound sources and visual targets, there are problems of mechanical response lag and efficiency loss.

[0020] In this design, when the robot head does not need to rotate, a pair of baffles 9 abut against the two ends of the limiting plate 6, acting as a limit to ensure that the bracket 2 does not rotate on the mounting plate 11. At the same time, the first electric push rod 4 is in a retracted state, stretching the spring 5 and putting the spring 5 in a preloaded state. When the robot head needs to rotate to one side, the second electric push rod 8 on that side is activated first, forcing the baffle 9 connected to it to disengage from the limiting plate 6. Then, under the elastic force of the spring 5, the bracket 2 will quickly rotate a small angle to that side. This rotation process can appropriately offset the response time of the rotating motor that drives the mounting plate 11 and the bracket 2 to rotate. After the bracket 2 rotates a small angle, the rotating motor drives the robot head to make the final angle adjustment. This setting significantly improves the steering response speed, making the rotation of the robot head more natural and human-like.

[0021] Mounting plate 11 is rotatably connected to the center of the bottom end of bracket 2, and a torsion spring 10 is sleeved on the outer end of mounting plate 11. The two ends of torsion spring 10 are respectively connected to mounting plate 11 and bracket 2.

[0022] In this design, when the support 2 rotates under the action of the spring 5, it will compress the torsion spring 10. The elastic potential energy of the spring 5 is greater than that of the torsion spring 10, so the spring 5 has priority. When the robot head needs to be reset, the first electric push rod 4 is reset first, so that the spring 5 returns to its normal state. During this process, the support 2 will be reset under the elastic force of the torsion spring 10. Then, driven by the reset of the final rotating motor, the limiting plate 6 will re-abut against the baffle 9 on the other side. Then, the baffle 9, which is separated from the limiting plate 6, abuts against the limiting plate 6 again through the second electric push rod 8, limiting the support 2 again. Then, the first electric push rod 4 retracts again to apply preload to the spring 5, preparing for the next rotation.

[0023] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A robotic intelligent steering structure, characterized by: The system includes a shell (1), a bracket (2), a connecting frame (3), and a spring preload mechanism. The shell (1) is connected to the robot body. The bracket (2) is located inside the shell (1), and a mounting plate (11) is provided at the bottom of the bracket (2). The mounting plate (11) is connected to the rotating motor inside the robot body. The top of the bracket (2) is connected to the connecting frame (3), and the top of the connecting frame (3) is connected to the robot head. The spring preload mechanism includes a first electric push rod (4), a spring (5), a limiting plate (6), and a pair of second electric push rods (4). An electric actuator (8) and a pair of baffles (9) are provided. The limiting plate (6) is connected to the top of the bracket (2), and the top of the bracket (2) is connected to a connecting post (7). The first electric actuator (4) and a pair of second electric actuators (8) are both connected to the inner side of the outer shell (1). The output end of the first electric actuator (4) is connected to a spring (5). The end of the spring (5) away from the first electric actuator (4) is sleeved on the outer end of the connecting post (7). The output ends of the pair of second electric actuators (8) are both connected to baffles (9). The pair of baffles (9) abut against the two ends of one side of the limiting plate (6).

2. A robotic intelligent steering structure as claimed in claim 1, wherein: The pair of second electric actuators (8) are symmetrical to each other, and the pair of second electric actuators (8) and the first electric actuator (4) are symmetrically distributed along the axis of the bracket (2).

3. The robot intelligent steering structure as described in claim 1, characterized in that: The axes of the first electric actuator (4), spring (5), connecting column (7) and limiting plate (6) are all on the same vertical plane.

4. The robot intelligent steering structure as described in claim 1, characterized in that: The limiting plate (6) and the center line of the robot head are located on the same vertical plane.

5. The robot intelligent steering structure as described in claim 1, characterized in that: The mounting plate (11) is rotatably connected to the center of the bottom end of the bracket (2), and a torsion spring (10) is sleeved on the outer end of the mounting plate (11). The two ends of the torsion spring (10) are respectively connected to the mounting plate (11) and the bracket (2).

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