A multi-axis robot display system with head tracking function

Abstract

This utility model relates to the field of consumer electronics and human-computer interaction technology, and discloses a multi-axis robot display system with head tracking function. It includes an electric support frame and an integrated display and sensing module. The electric support frame includes: a base assembly, internally housing a power module, a computing control module, and a lifting drive component; a lifting motion unit, mounted on the base assembly and connected to the output end of the lifting drive component; and a pitch motion unit, mounted on the lifting motion unit with its drive end electrically connected to the computing control module. The integrated display and sensing module includes: a display and a visual sensing module. The display is mounted on the output end of the pitch motion unit, and the visual sensing module is electrically connected to the computing control module. The visual sensing module is used to collect user head posture information. This utility model includes at least two degrees of freedom (height and pitch) for electric adjustment, meeting ergonomic and aesthetic requirements while considering structural rigidity, assembly reliability, and mass production feasibility.

Description

Technical Field

[0001] This utility model relates to the field of consumer electronics and human-computer interaction technology, and more specifically, to a multi-axis robot display system with head tracking function. Background Technology

[0002] With the rapid development of technologies such as virtual reality, remote collaboration, and smart office, users have placed higher demands on the interactive experience and immersiveness of display systems. Intelligent support systems capable of automatically adjusting the orientation of display terminals are gradually becoming a research and application hotspot.

[0003] Conventional desktop monitor stands are mostly manually adjustable, which suffers from inconvenience, poor repeatability, and insufficient precision, failing to meet emerging demands such as dynamic viewing angle adjustment and real-time screen following. One existing technology for achieving automatic adjustment of display device posture involves using multi-degree-of-freedom robotic arms. These arms typically have multiple rotational or translational joints, enabling precise and flexible positioning of the monitor in three-dimensional space, and even complex motion trajectories. However, this solution is structurally complex, space-consuming, and costly, with high energy consumption and noise levels, making large-scale application in ordinary desktop or home environments difficult. Furthermore, the high energy consumption and safety controls increase the barrier to entry and technical risks associated with its use.

[0004] Therefore, there is an urgent need for a multi-axis robot display system with head tracking function that is structurally simplified, cost-controllable, stable, reliable and highly integrated, providing the daily required automatic height and pitch adjustment in desktop space, while also taking into account wiring harness management and overall system integration. Utility Model Content

[0005] The utility model description section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, this utility model provides a multi-axis robot display system with head tracking function, including an electric support and an integrated display and sensing module. The electric support includes:

[0007] The base assembly internally houses the power module, computing control module, and lifting drive assembly with electrical connections.

[0008] The lifting motion unit is mounted on the base assembly and connected to the output end of the lifting drive component;

[0009] The pitch motion unit is mounted on the lifting motion unit and its drive end is electrically connected to the computing control module.

[0010] The integrated display and sensing module includes a display and a visual sensing module. The display is mounted on the output end of the pitch motion unit, and the visual sensing module is electrically connected to the computing control module. The visual sensing module is used to collect user head posture information.

[0011] Preferably, the wiring harness assembly for electrical connection is passed through the integrated display and sensing module, the pitch motion unit, and the lifting motion unit and is concentrated in the base assembly.

[0012] Preferably, the base assembly includes:

[0013] The base, power module, computing control module and lifting drive assembly are installed inside the base. The lifting drive assembly includes a lifting drive motor and a motor drive board. The lifting drive motor is installed on the base and its output end is connected to the lifting motion unit. The motor drive board is electrically connected to the lifting drive motor and the computing control module.

[0014] The machine support base is installed on the top of the base, and the lifting motion unit is connected to the machine support base.

[0015] Preferably, the lifting motion unit is a motor-driven screw lifting mechanism, a multi-stage sleeve lifting mechanism, or a swing arm multi-link lifting mechanism.

[0016] Preferably, the lifting motion unit includes:

[0017] The lead screw is connected to the output end of the lifting drive motor via a coupling;

[0018] The guide is set parallel to the lead screw;

[0019] The mover is provided with a sliding part that cooperates with the guide and a nut that meshes with the lead screw;

[0020] A rigid connecting plate, attached to one side of the mover, is used to mount the pitch motion unit.

[0021] Preferably, the lower end of the lead screw is provided with a lower angular contact bearing connected to the machine support base, the upper end of the lead screw is provided with an upper angular contact bearing connected to the upper cover plate, and the guide is connected between the base and the upper cover plate.

[0022] Preferably, the pitch motion unit includes:

[0023] Joint support, connected to the lifting motion unit;

[0024] The pitch joint, mounted on the joint support and with its output connected to the integrated display and sensing module, is used to drive the integrated display and sensing module to rotate around the horizontal axis.

[0025] Preferably, the integrated display and sensing module further includes: a display support, which is disposed at the output end of the pitch joint, the display is mounted on the display support, and the visual sensing module is integrated into the display structure.

[0026] Preferably, the guide is configured as a guide shaft or a linear guide, and the sliding component is configured as a self-lubricating bushing or a slider.

[0027] Preferably, the lead screw is configured as a ball screw or a trapezoidal lead screw.

[0028] Preferably, a trough-shaped floating structure is provided between the nut and the mover.

[0029] Preferably, the coupling is configured as a flexible coupling or a gear coupling.

[0030] Preferably, the nut is configured as a split anti-back gap nut.

[0031] Preferably, the lifting end of the lifting motion unit is equipped with upper and lower mechanical stops.

[0032] Preferably, the lifting motion unit and / or pitching motion unit are equipped with a fall protection structure.

[0033] Preferably, the lifting motion unit is equipped with a weight compensation mechanism, which is set as one or more combinations of counterweight, gas spring, torsion spring or constant force spring.

[0034] Preferably, the lifting motion unit is equipped with a drive source independent of the base assembly, and this drive source is electrically connected to the computing control module.

[0035] Preferably, a flange interface is provided between the pitch joint and the display support.

[0036] Preferably, the pitch joint is configured as an integrated module with a built-in motor and reducer, and the reducer is configured as any one of a planetary reducer, a worm gear reducer, or a harmonic reducer, and has self-locking and / or power-off retention functions.

[0037] Preferably, a mechanical stop structure and an angle detection sensor are installed inside the pitch joint.

[0038] Preferably, the visual sensing module is set as an independent unit, which is communicatively connected to the computing control module, and the visual sensing module is installed on the base assembly, the lifting motion unit, the pitch motion unit, or the equipment placement surface.

[0039] Preferably, the display and sensing integrated module, the pitch motion unit, the lifting motion unit, and the base assembly are provided with a wiring harness guide channel and a stress relief structure.

[0040] Preferably, at least one power interface is provided on the base, and the power interface is electrically connected to the computing control module.

[0041] Preferably, the multi-axis robot display system with head tracking function further includes at least one of the following additional joints:

[0042] A yaw rotary joint is located between the base assembly and the lifting motion unit to enable the display and sensing integrated module to rotate left and right.

[0043] The intermediate rotary joint is located between the lifting motion unit and the pitch motion unit and is used to align the integrated display and sensing module.

[0044] A rotary joint located between the pitch motion unit and the integrated display and sensing module, used to enable the horizontal / vertical screen switching of the integrated display and sensing module;

[0045] Small-stroke translation joints are installed between the base assembly and the lifting motion unit, and / or between the lifting motion unit and the pitch motion unit, and / or between the pitch motion unit and the integrated display and sensing module.

[0046] Compared to existing technologies, this utility model provides a multi-axis robot display system with head tracking function. While ensuring the stability, rigidity, and safety of the support frame, it enables electric adjustment of a large-size display screen, including at least two degrees of freedom: height and pitch. Simultaneously, it achieves aesthetically pleasing internal wiring layout and reliable assembly, pre-tensioning, and error compensation, reducing assembly difficulty and maintenance costs. It also includes the following beneficial effects:

[0047] (1) Simple structure and high integration: The power supply, drive, computing and control are concentrated in the base, the internal power distribution and signal connection are unified, and only a single power cord is needed externally.

[0048] (2) Stiffness and stability: The axial preload of the upper and lower end angular contact bearings, together with the guide and the moving part, ensures that the display can hover stably at different heights and pitch attitudes;

[0049] (3) Error tolerance: The grooved floating design between the nut and the mover, combined with the floating upper support, reduces the bending moment and jamming caused by assembly errors;

[0050] (4) Safety and reliability: It is equipped with mechanical stops and software limits, overcurrent / overtemperature protection and zero calibration; it can be configured with power failure retention, self-locking and anti-fall safety structure to improve the safety and reliability of the system adjustment process;

[0051] (5) Wiring harness routing: Setting up guide channels and stress relief structures to shorten exposed wiring harnesses and improve appearance and durability;

[0052] (6) Expandable degrees of freedom: It can use base yaw, horizontal / vertical screen rotation, center rotation and their combinations to expand the degrees of freedom and be compatible with eye tracking and multi-station requirements.

[0053] The present invention relates to a multi-axis robot display system with head tracking function. Other advantages, objectives and features of the present invention will be partly apparent from the following description, and partly understood by those skilled in the art through research and practice of the present invention. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0055] Figure 1 This is a schematic diagram of the structure of a multi-axis robot display system with head tracking function according to this utility model;

[0056] Figure 2 For the disassembly and explosion of the whole machine of this utility model Figure 1 (Exterior parts omitted);

[0057] Figure 3 For the disassembly and explosion of the whole machine of this utility model Figure 2 (Exterior parts omitted);

[0058] Figure 4 This is an exploded view of the base assembly in this utility model;

[0059] Figure 5 This is an exploded view of the lifting motion unit in this utility model;

[0060] Figure 6 This is an exploded view of the pitch motion unit in this utility model;

[0061] Figure 7 This is an exploded view of the integrated display and sensing module of this utility model;

[0062] Figure 8 This is a schematic diagram of the first pose relationship in this utility model;

[0063] Figure 9 This is a schematic diagram of the second pose relationship in this utility model;

[0064] Figure 10 This is a schematic diagram of the third pose relationship in this utility model.

[0065] In the diagram: 1. Base assembly; 1-1. Base; 1-2. Lifting drive motor; 1-3. Motor drive board; 1-4. Power module; 1-5. Computing control module; 1-6. Overall support base;

[0066] 2. Lifting motion unit; 2-1. Coupling; 2-2. Sliding component; 2-3. Lower end angular contact bearing; 2-4. Lead screw nut; 2-5. Moving element; 2-6. Guide component; 2-7. Lead screw; 2-8. Upper end angular contact bearing; 2-9. Upper cover plate; 2-10. Rigid connecting plate;

[0067] 3. Pitch-up motion unit; 3-1. Pitch-up joint; 3-2. Joint support;

[0068] 4. Display and sensing integrated module; 4-1. Display support; 4-2. Display; 4-3. Visual sensing module. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0070] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0071] Example 1:

[0072] like Figures 1-10 As shown, this utility model provides a multi-axis robot display system with head tracking function, including an electric support and an integrated display and sensing module 4. The electric support includes:

[0073] The base assembly 1 internally houses the power modules 1-4, the computing control modules 1-5, and the lifting drive assembly, which are electrically connected.

[0074] The lifting motion unit 2 is mounted on the base assembly 1 and connected to the output end of the lifting drive component, and is used to provide the display terminal with linear motion freedom in the vertical direction;

[0075] The pitch motion unit 3 is mounted on the lifting motion unit 2 and its drive end is electrically connected to the computing control module. It is used to provide the display terminal with rotational freedom around the horizontal axis.

[0076] The integrated display and sensing module 4 includes: a display 4-2 and a visual sensing module 4-3. The display 4-2 is installed at the output end of the pitch motion unit 3, and the visual sensing module 4-3 is electrically connected to the computing control module 1-5. The visual sensing module 4-3 is used to collect user head posture information.

[0077] The wiring harness assembly for electrical connection is installed within the integrated display and sensing module 4, the pitch motion unit 3, and the lifting motion unit 2, and is concentrated in the base assembly 1.

[0078] The working principle and beneficial effects of the above technical solution are as follows:

[0079] This invention provides a multi-axis robot display system with head tracking function. After the system is powered on, the vision sensing module 4-3 acquires images of the user's head in real time and transmits them to the computing control module 1-5 to obtain the user's position and posture information. The computing control module 1-5 processes and calculates the received data information, generates motion control commands, and sends them to the drive ends of the lifting motion unit 2 and the pitch motion unit 3. This causes the lifting motion unit 2 to move the display terminal up and down, and the pitch motion unit 3 to move the display terminal up and down, adjusting the position and angle of the display terminal so that the display area of ​​the monitor 4-2 is aligned with the user's head, maintaining a better viewing position and angle. The wiring harness inside the system uses internal routing, concentrating the wiring harness ends within the base assembly 1, so that the display system retains only a single power line on the base assembly 1.

[0080] The method used by the calculation and control modules 1-5 to calculate the deviation between the display position and the real-time head position based on the acquired head image and then convert it into control commands is a common method in existing human-computer interaction technology, and will not be elaborated here.

[0081] Through the above structural design, a simplified, cost-controllable, stable, reliable and highly integrated electric display bracket is provided. It adopts a combined adjustment structure of lifting motion unit 2 and pitch motion unit 3, which enables the display terminal to perform precise adjustment of at least two degrees of freedom, height and pitch, to provide the required posture state within the desktop space and improve the user experience.

[0082] A multi-axis robot display system with head tracking function is provided. The system is equipped with an integrated display and perception module 4. The system collects the user's head posture information through the visual sensing module 4-3 and controls the movement of the electric support based on the real-time head position. It is suitable for desktop office and near-field interaction scenarios, and realizes electric precise adjustment of the height and tilt angle of the display to adapt to the human head posture.

[0083] The wiring harness assembly passes through each motion unit and is concentrated in the base assembly 1, with unified internal power distribution and signal connection, reducing the risk of exposed wiring harnesses.

[0084] like Figures 1-7 As shown, in a preferred embodiment, the base assembly 1 includes:

[0085] The base 1-1, power module 1-4, computing control module 1-5 and lifting drive assembly are installed inside the base 1-1. The lifting drive assembly includes lifting drive motor 1-2 and motor drive board 1-3. Lifting drive motor 1-2 is installed on the base 1-1 and its output end is connected to lifting motion unit 2. Motor drive board 1-3 is electrically connected to lifting drive motor 1-2 and computing control module 1-5.

[0086] The machine support base 1-6 is installed on the top of the base 1-1, and the lifting motion unit 2 is connected to the machine support base 1-6.

[0087] The lifting motion unit 2 includes:

[0088] Lead screw 2-7 is connected to the output end of lifting drive motor 1-2 via coupling 2-1;

[0089] Guide component 2-6 is set parallel to lead screw 2-7;

[0090] The mover 2-5 is provided with a sliding member 2-2 that cooperates with the guide member 2-6, and a lead screw nut 2-4 that meshes with the lead screw 2-7;

[0091] Rigid connecting plate 2-10 is connected to one side of mover 2-5 and is used to install pitch motion unit 3.

[0092] The lower end of the lead screw 2-7 is provided with a lower angular contact bearing 2-3 connected to the machine support base 1-6, and the upper end of the lead screw 2-7 is provided with an upper angular contact bearing 2-8 connected to the upper cover plate 2-9. The guide 2-6 is connected between the base 1-1 and the upper cover plate 2-9.

[0093] Pitch motion unit 3 includes:

[0094] Joint support 3-2 is connected to lifting motion unit 2;

[0095] The pitch joint 3-1 is mounted on the joint support 3-2 and its output end is connected to the integrated display and sensing module 4. It is used to drive the integrated display and sensing module 4 to rotate around the horizontal axis. The pitch joint 3-1 is set as an integrated module with a built-in motor and reducer.

[0096] The integrated display and sensing module 4 also includes: a display support 4-1, which is located at the output end of the pitch joint 3-1; a display 4-2 mounted on the display support 4-1; and a visual sensing module 4-3 integrated on the structure of the display 4-2.

[0097] The working principle and beneficial effects of the above technical solution are as follows:

[0098] During the assembly of the multi-axis robot display system, the power module 1-4, motor drive board 1-3, and computing control module 1-5 are sequentially assembled in the base 1-1, and the wiring harness is pre-laid. Then, the lifting drive motor 1-2 is installed and connected to the lead screw 2-7 via coupling 2-1. The guide shaft 2-6 is assembled with the lower angular contact bearing 2-3, and the lead screw 2-7 is inserted. The mover 2-5 of the sliding component 2-2 is installed and connected to the nut 2-4 in a groove-shaped floating connection. The upper angular contact bearing 2-8 is assembled and axially pre-tightened with the upper cover plate 2-9. The rigid connecting plate 2-10, joint support 3-2, and pitch joint 3-1 are fixed. Finally, the display support 4-1, display 4-2, and vision sensor module 4-3 are installed. After completion, a full-stroke limit check and zero-return calibration are performed to complete the installation of the system.

[0099] When the system is in use, power module 1-4 supplies power. The calculation and control module 1-5 calculates and generates motion control commands based on the real-time head image captured by the vision sensing module 4-3, and sends them to the motor drive board 1-3 and the pitch joint 3-1. The motor drive board 1-3 activates the output of the lifting drive motor 1-2, driving the lead screw 2-7 to rotate. The lead screw 2-7 is threadedly connected to the nut 2-4 on the mover 2-5, causing the mover 2-5 to move up and down under the guidance of the guide 2-6. The mover 2-5 drives the joint support 3-2 to move up and down via the rigid connecting plate 2-10, causing the pitch motion unit 3 to rise or fall as a whole. The calculation and control module 1-5 activates the pitch joint 3-1, causing its output to rotate. This rotation, via the display support 4-1, causes the display 4-2 to rotate around the horizontal axis, thus adjusting the pitch.

[0100] This embodiment provides a multi-axis robot display system with head tracking function. The lifting motion unit 2 is configured as a motor-driven lead screw lifting mechanism. The structure of the lifting motion unit 2, the pitch motion unit 3, and the integrated display and sensing module 4 are specifically designed. While ensuring the stability, rigidity, and safety of the support, electric adjustment of both the height and pitch degrees of freedom of the large-size display screen is achieved.

[0101] Example 2:

[0102] Based on the above embodiment 1, the lead screws 2-7 are configured as ball screws or trapezoidal lead screws.

[0103] Guide component 2-6 is set as a guide shaft or linear guide rail, and sliding component 2-2 is set as a self-lubricating bushing or slider.

[0104] Coupling 2-1 is configured as a flexible coupling or a drum gear coupling.

[0105] The working principle and beneficial effects of the above technical solution are as follows:

[0106] The lead screw 2-7 can be a ball screw to improve efficiency and lifespan, or a trapezoidal lead screw to enhance self-locking characteristics; the guiding schemes of the guide 2-6 and the sliding member 2-2 can be replaced between "double guide shafts + four self-lubricating bushings" and "a pair of linear guide rail sliders"; the coupling 2-1 is set as a flexible coupling, or it can be replaced with a drum-shaped gear coupling to improve anti-eccentricity. The above substitutions do not change the structural essence of this utility model.

[0107] Example 3:

[0108] Based on the above embodiment 1, a groove-shaped floating structure is provided between the nut 2-4 and the mover 2-5. The nut 2-4 can be configured as a split anti-backlash nut.

[0109] The working principle and beneficial effects of the above technical solution are as follows:

[0110] A grooved floating structure is installed at the connection position between the lead screw nut 2-4 and the mover 2-5 to compensate for the assembly and coaxiality errors of the lead screw 2-7 and the guide 2-6, thereby reducing the transmission bending moment. Using a split anti-backlash lead screw nut or axial preload measures can reduce backlash and noise.

[0111] Example 4:

[0112] Based on the above embodiment 1, the lifting end of the lifting motion unit 2 is equipped with upper and lower mechanical stops.

[0113] Fall protection structures are provided in the lifting motion unit 2 and / or the pitching motion unit 3.

[0114] The pitch joint 3-1 is equipped with a mechanical stop structure and an angle detection sensor, and has self-locking and / or power-off retention functions.

[0115] The working principle and beneficial effects of the above technical solution are as follows:

[0116] The lifting end is equipped with upper and lower mechanical stops; the motor drive board 1-3 implements soft limit, overcurrent / overtemperature protection, and zero-return calibration logic; when abnormal current / torque or speed change is detected, the lifting drive motor 1-2 stops and reverses to reduce the risk of pinching injury; the pitch end is equipped with a mechanical stop and an angle detection sensor to achieve dual software and hardware limits; and preferably, a self-locking / braking function is configured in the pitch joint 3-1 to achieve power-off retention. All the above limit schemes are compatible with the structure in Embodiment 1.

[0117] Example 5:

[0118] Based on the above embodiment 1, a flange interface is provided between the pitch joint 3-1 and the display support 4-1.

[0119] The pitch joint 3-1 is configured as an integrated module with a built-in motor and reducer. The reducer is any one of a planetary reducer, worm gear reducer, or harmonic reducer, and has self-locking and / or power-off retention functions.

[0120] The working principle and beneficial effects of the above technical solution are as follows:

[0121] A standard flange interface is provided between the pitch joint 3-1 and the display support 4-1 to facilitate interchangeability of display terminals of different sizes and weights, achieving compatibility with different display terminals. The reduction gear of the pitch joint 3-1 is replaced with a worm gear-worm wheel or harmonic reducer, combined with a low-power DC motor, to improve self-locking capability and external disturbance resistance stiffness. The above structural interfaces and flanges are all compatible with the structure in Embodiment 3.

[0122] Example 6:

[0123] Based on the above embodiment 1, the display and sensing integrated module 4, the pitch motion unit 3, the lifting motion unit 2 and the base assembly 1 are provided with a wire harness guide channel and a stress relief structure.

[0124] At least one power interface is provided on the base 1-1, and the power interface is electrically connected to the computing control module 1-5. Preferably, only a single power interface is provided.

[0125] The working principle and beneficial effects of the above technical solution are as follows:

[0126] The bracket has an internal guide channel and stress relief structure to limit the minimum bending radius and avoid end interference; the internal wiring connects the integrated display and sensing module 4 and the base assembly 1 for unified power distribution and signal connection, and only a single power line is retained externally, shortening the exposed wiring harness, improving the appearance of the bracket and enhancing the durability of the wiring harness.

[0127] Example 7:

[0128] Based on the above embodiment 1, the lifting motion unit 2 is a motor-driven screw lifting mechanism, a multi-stage sleeve lifting mechanism, or a swing arm multi-link lifting mechanism.

[0129] The lifting motion unit 2 is equipped with a weight compensation mechanism, which is set as one or more combinations of counterweight, gas spring, torsion spring or constant force spring.

[0130] The working principle and beneficial effects of the above technical solution are as follows:

[0131] The lifting motion unit can replace the structure in Embodiment 3 with a multi-stage sleeve-type lifting structure. The internal transmission can be set as a lead screw or toothed belt drive, driven by a motor. For example, when the internal transmission is a lead screw, the nut moves upward along the lead screw as the motor rotates forward. The nut is connected to the innermost sleeve, thus pushing the innermost sleeve to extend upward. The inner sleeves then drive the middle sleeves to extend sequentially through internal sliders or bearings. These replacement structures are compatible with the base assembly 1, pitch motion unit 3, and wiring harness management in Embodiment 3.

[0132] When the lifting motion unit is set to use a ball screw and double linear guides, a lightweight counterweight / gas spring weight compensation scheme can be set to reduce the motor load and improve energy efficiency.

[0133] Example 8:

[0134] Based on the above embodiment 1, the multi-axis robot display system with head tracking function further includes the following additional joints:

[0135] It also includes at least one of the following additional joints:

[0136] A yaw rotation joint is located between the base assembly 1 and the lifting motion unit 2, used to realize the left and right rotation of the integrated display and sensing module 4.

[0137] The intermediate rotary joint, located between the lifting motion unit 2 and the pitch motion unit 3, is used to align the integrated display and sensing module 4.

[0138] The rotating joint is located between the pitch motion unit 3 and the integrated display and sensing module 4, and is used to realize the horizontal / vertical screen switching of the integrated display and sensing module 4.

[0139] The working principle and beneficial effects of the above technical solution are as follows:

[0140] A yaw rotation degree of freedom is set between the base assembly 1 and the lifting motion unit 2, so that the display terminal can cover multiple working areas to the left and right; a mechanical stop and angle detection are set at the yaw end to form soft and hard limits, and the control strategy is compatible with that of Embodiment 1.

[0141] A rotational degree of freedom is set between the lifting motion unit 2 and the pitch motion unit 3 for slight yaw / rotation alignment, improving visual center alignment in multi-user / multi-sitting scenarios.

[0142] A rotational degree of freedom is set between the pitch motion unit 3 and the integrated display and sensing module 4 for switching between landscape and portrait modes; the rotating end can be equipped with a positioning stop and locking structure to improve the anti-disturbance stability after switching.

[0143] By employing any one or more combinations of base yaw, horizontal / vertical screen rotation, and center rotation, an expandable degree of freedom can be formed to accommodate eye tracking and multi-station requirements, thereby improving the accuracy and comfort of user eye tracking.

[0144] Example 9:

[0145] Based on the above embodiment 8, the multi-axis robot display system with head tracking function further includes the following additional joints:

[0146] Small-stroke translation joints are installed between the base assembly 1 and the lifting motion unit 2, and / or between the lifting motion unit 2 and the pitch motion unit 3, and / or between the pitch motion unit 3 and the integrated display and sensing module 4.

[0147] The working principle and beneficial effects of the above technical solution are as follows:

[0148] Small-stroke translational or yaw fine-tuning degrees of freedom are incorporated into the motorized bracket or joints to improve fine-tuning of the viewing position. However, this does not alter the basic configuration, which includes at least two degrees of freedom: lift and pitch. These degrees of freedom can be combined with one or more of the degrees of freedom in Embodiment 8 to expand the adjustability range of the bracket and display system.

[0149] Example 10:

[0150] Based on the above embodiment 1, the lifting motion unit 2 may be equipped with a drive source independent of the base assembly 1, and this drive source is electrically connected to the computing control module 1-5.

[0151] The working principle and beneficial effects of the above technical solution are as follows:

[0152] The drive source of the lifting motion unit 2 is set independently and is not integrated into the base 1-1. This drive source is electrically or communicatively connected to the computing control module 1-5 to free up space inside the base 1-1.

[0153] Example 11:

[0154] Based on the above embodiment 1, the visual sensing module 4-3 can be set as an independent unit, which is communicatively connected to the computing control module 1-5. The visual sensing module 4-3 is installed on the base assembly 1, the lifting motion unit 2, the pitch motion unit 3, or the equipment placement surface.

[0155] The working principle and beneficial effects of the above technical solution are as follows:

[0156] The visual sensing module 4-3 can be separated from the display and used as an independent unit (such as a camera placed on a desktop) for head tracking, transmitting data to the computing control module 1-5 wirelessly or via wired means.

[0157] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0158] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0159] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-axis robot display system with head tracking function, characterized in that, Including a motorized bracket and a display and sensing integrated module (4), the motorized bracket includes: The base assembly (1) is internally equipped with a power supply module (1-4), a computing control module (1-5), and a lifting drive assembly with electrical connections. The lifting motion unit (2) is mounted on the base assembly (1) and connected to the output end of the lifting drive assembly; The pitch motion unit (3) is mounted on the lifting motion unit (2) and its drive end is electrically connected to the calculation and control module; The integrated display and sensing module (4) includes a display (4-2) and a visual sensing module (4-3). The display (4-2) is installed at the output end of the pitch motion unit (3), and the visual sensing module (4-3) is electrically connected to the computing control module (1-5). The visual sensing module (4-3) is used to collect user head posture information.

2. The multi-axis robot display system with head tracking function according to claim 1, characterized in that, The wiring harness assembly for electrical connection is installed within the integrated display and sensing module (4), the pitch motion unit (3), and the lifting motion unit (2) and is concentrated in the base assembly (1).

3. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, The base assembly (1) includes: The base (1-1), power module (1-4), computing control module (1-5) and lifting drive assembly are installed inside the base (1-1). The lifting drive assembly includes a lifting drive motor (1-2) and a motor drive board (1-3). The lifting drive motor (1-2) is installed on the base (1-1) and its output end is connected to the lifting motion unit (2). The motor drive board (1-3) is electrically connected to the lifting drive motor (1-2) and the computing control module (1-5). The machine support base (1-6) is installed on the top of the base (1-1), and the lifting motion unit (2) is connected to the machine support base (1-6).

4. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, The lifting motion unit (2) is a motor-driven screw lifting mechanism, a multi-stage sleeve lifting mechanism, or a swing arm multi-link lifting mechanism.

5. A multi-axis robot display system with head tracking function according to claim 3, characterized in that, The lifting motion unit (2) includes: The lead screw (2-7) is connected to the output end of the lifting drive motor (1-2) via a coupling (2-1); The guide (2-6) is set parallel to the lead screw (2-7); The mover (2-5) is provided with a sliding member (2-2) that cooperates with the guide (2-6) and a lead screw nut (2-4) that meshes with the lead screw (2-7); A rigid connecting plate (2-10) is connected to one side of the mover (2-5) and is used to install the pitch motion unit (3).

6. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The lower end of the lead screw (2-7) is provided with a lower end angular contact bearing (2-3) connected to the machine support base (1-6), and the upper end of the lead screw (2-7) is provided with an upper end angular contact bearing (2-8) connected to the upper cover plate (2-9). The guide (2-6) is connected between the base (1-1) and the upper cover plate (2-9).

7. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The pitch motion unit (3) includes: The joint support (3-2) is connected to the lifting motion unit (2); The pitch joint (3-1) is mounted on the joint support (3-2) and its output end is connected to the integrated display and sensing module (4) to drive the integrated display and sensing module (4) to rotate around the horizontal axis.

8. A multi-axis robot display system with head tracking function according to claim 7, characterized in that, The integrated display and sensing module (4) also includes: a display support (4-1), which is located at the output end of the pitch joint (3-1), a display (4-2) mounted on the display support (4-1), and a visual sensing module (4-3) integrated on the structure of the display (4-2).

9. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The guide (2-6) is set as a guide shaft or a linear guide, and the sliding part (2-2) is set as a self-lubricating bushing or a slider.

10. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The lead screw (2-7) is set to a ball screw or a trapezoidal lead screw.

11. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, A trough-shaped floating structure is set between the nut (2-4) and the mover (2-5).

12. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The coupling (2-1) is set as a flexible coupling or a drum gear coupling.

13. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The nut (2-4) is set as a split anti-back gap nut.

14. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The lifting end of the lifting motion unit (2) is equipped with upper and lower mechanical stops.

15. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, Fall protection structures are provided in the lifting motion unit (2) and / or the pitching motion unit (3).

16. A multi-axis robot display system with head tracking function according to claim 5, characterized in that, The lifting motion unit (2) is equipped with a weight compensation mechanism, which is set as one or more combinations of counterweight, gas spring, torsion spring or constant force spring.

17. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, The lifting motion unit (2) is equipped with a drive source that is independent of the base assembly (1) and is electrically connected to the computing control module (1-5).

18. A multi-axis robot display system with head tracking function according to claim 8, characterized in that, A flange interface is provided between the pitch joint (3-1) and the display support (4-1).

19. A multi-axis robot display system with head tracking function according to claim 7, characterized in that, The pitch joint (3-1) is set as an integrated module with a built-in motor and reducer. The reducer is set as any one of a planetary reducer, worm gear reducer or harmonic reducer, and has self-locking and / or power failure retention function.

20. A multi-axis robot display system with head tracking function according to claim 7, characterized in that, A mechanical stop structure and an angle detection sensor are installed inside the pitch joint (3-1).

21. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, The visual sensing module (4-3) is set as an independent unit and is connected to the computing control module (1-5). The visual sensing module (4-3) is installed on the base assembly (1), the lifting motion unit (2), the pitch motion unit (3), or the equipment placement surface.

22. A multi-axis robot display system with head tracking function according to claim 2, characterized in that, The integrated display and sensing module (4), pitch motion unit (3), lifting motion unit (2) and base assembly (1) are equipped with wiring harness guide channels and stress relief structures.

23. A multi-axis robot display system with head tracking function according to claim 3, characterized in that, At least one power interface is provided on the base (1-1), and the power interface is electrically connected to the computing control module (1-5).

24. A multi-axis robot display system with head tracking function according to claim 1, characterized in that, It also includes at least one of the following additional joints: A yaw rotation joint is set between the base assembly (1) and the lifting motion unit (2) to realize the left and right rotation of the integrated display and sensing module (4); The intermediate rotary joint is located between the lifting motion unit (2) and the pitch motion unit (3) to achieve alignment of the display and sensing integrated module (4); A rotating joint is set between the pitch motion unit (3) and the integrated display and sensing module (4) to realize the horizontal / vertical screen switching of the integrated display and sensing module (4); Small-stroke translation joints are located between the base assembly (1) and the lifting motion unit (2), and / or between the lifting motion unit (2) and the pitch motion unit (3), and / or between the pitch motion unit (3) and the integrated display and sensing module (4).

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