An AI intelligent education robot

Abstract

The utility model relates to robot technical field and disclose an AI intelligent education robot, include: robot body, the bottom of robot body is equipped with walking mechanism, its inside is equipped with controller, attitude sensing module, at least one group stable executive mechanism, stable executive mechanism includes rigid drive unit and flexible self -adaptation terminal, rigid drive unit is connected with the controller electrically, and responds to its instruction and carries out telescopic movement, flexible self -adaptation terminal sets up in the end of rigid drive unit for contact ground formation support, has adopted " rigid drive unit + flexible self -adaptation terminal " two -level action mode, and rigid drive unit can provide fast, powerful preliminary support, quickly suppresses the tendency of toppling, and the industrial air bag of end can form the flexible contact of large area with ground after inflation, not only increases the friction, but also can adapt to slightly uneven ground, has realized " fast rigid support " with " soft self -adaptation locking " perfect combination.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an AI-powered intelligent educational robot. Background Technology

[0002] With the rapid development of artificial intelligence technology, AI educational robots have been widely used in scenarios such as teaching assistance and child companionship. They can act as teacher assistants, learning partners, and even independent tutors, providing personalized teaching through interaction with students. According to the prior art, an AI-powered intelligent educational robot based on smart education (announcement number: CN114683304A) is disclosed, which includes the main body of the educational robot, a mobile support mechanism, and a pair of emergency support mechanisms. The mobile support mechanism is located on the lower side of the main body of the educational robot and is used to move the main body of the educational robot. The mobile support mechanism includes a support platform, and a connector is connected between the support platform and the main body of the educational robot. Multiple wheels are installed at the bottom of the support platform, and an anti-tipping protection mechanism is installed inside the support platform. A pair of emergency support mechanisms are symmetrically installed on the support platform for emergency auxiliary support of the main body of the educational robot.

[0003] While some robots improve stability by passively increasing counterweights or widening the chassis, these methods often sacrifice the robot's mobility and appearance. Some solutions that use simple outriggers or airbags for support have problems such as slow response speed, single support angle, and limited contact area with the ground. Their stability is still insufficient on smooth surfaces or when subjected to lateral impacts, making it difficult to provide reliable safety.

[0004] Therefore, there is an urgent need for a stable solution that can quickly and proactively respond to imbalances without sacrificing the robot's flexibility, and provide reliable support to ensure that AI educational robots can operate safely and stably in various interactive environments.

[0005] Therefore, we propose an AI-powered intelligent educational robot. Utility Model Content

[0006] This invention aims to solve the technical problems of slow response and poor support adaptability of the aforementioned anti-tilting structure, and to provide an AI intelligent educational robot.

[0007] To achieve the above objectives, this utility model adopts the following technical solution: an AI intelligent educational robot, comprising: The robot body 10 has a walking mechanism at its bottom and a controller inside it. An attitude sensing module is fixedly installed inside the robot body 10 to monitor its tilt state and is electrically connected to the controller; At least one set of stable actuators, the stable actuators including a rigid drive unit and a flexible adaptive terminal; The rigid drive unit is electrically connected to the controller and performs telescopic movements in response to its commands; The flexible adaptive terminal is disposed at the end of the rigid drive unit to contact the ground and form support.

[0008] In a preferred embodiment of this invention, the attitude sensing module is an inertial measurement unit.

[0009] In a preferred embodiment of the present invention, the rigid drive unit includes a main electric actuator 20, an auxiliary electric actuator 21, and a bracket 22. The cylinder of the main electric actuator 20 is hinged to the robot body 10 via a first mounting bracket 22. The auxiliary electric actuator 21 is hinged to one side of the bracket 22, and the output shaft of the auxiliary electric actuator 21 is hinged to the cylinder of the main electric actuator 20.

[0010] In a preferred embodiment of this utility model, the flexible adaptive terminal includes an industrial airbag 30, which is fixedly installed at the end of the piston rod of the main electric push rod 20.

[0011] As a preferred embodiment of the present invention, the flexible adaptive terminal further includes a micro air pump 31 and a partition 32. The micro air pump 31 is fixedly installed at the piston rod end of the main electric push rod 20. The micro air pump 31 is integrally formed with the industrial airbag 30. The industrial airbag 30 forms multiple independently inflatable chambers through the partition 32. The micro air pump 31 can inflate each chamber.

[0012] As a preferred embodiment of this utility model, the flexible adaptive terminal further includes several solenoid valves 33 corresponding one-to-one with the chambers of the industrial airbag 30. The solenoid valves 33 are fixedly installed with the industrial airbag 30 and connected to the air outlet of the micro air pump 31 through pipes.

[0013] In a preferred embodiment of this utility model, the number of the stabilizing actuators is four, which are arranged in a circular array around the chassis of the robot body 10 with the center of gravity of the robot body 10 as the center of symmetry.

[0014] This invention provides an AI-powered intelligent educational robot. It has the following beneficial effects: 1. This AI-powered intelligent educational robot monitors the robot's posture in real time through a posture perception module (such as an inertial measurement unit). It can proactively trigger a stabilizing actuator in the initial stages of a tipping-out. This proactive safety mechanism effectively prevents the robot from tipping over due to accidental collisions or uneven ground during interaction with children, significantly reducing the risk of equipment damage and injury to children. It ensures the continuity and safety of the teaching process. Combining rigidity and flexibility, it exhibits strong adaptability: the stabilizing actuator employs a two-stage action mode of "rigid drive unit + flexible adaptive end." The rigid drive unit (main electric actuator and auxiliary electric actuator) provides rapid and powerful initial support, quickly curbing the tipping tendency. The industrial airbag at the end, after inflation, forms a large area of ​​flexible contact with the ground, increasing friction and adapting to slightly uneven surfaces (such as carpet seams or debris). This achieves a perfect combination of "rapid rigid support" and "compliant adaptive locking," resulting in significantly better support stability than a purely rigid structure.

[0015] 2. This AI-powered intelligent educational robot, through the hinged design of the auxiliary electric actuator and the main electric actuator, can finely adjust the extension angle of the support rod, so that the robot can obtain the optimal support vector in different tilt states. At the same time, the industrial airbag is divided into multiple independent chambers, which can be independently inflated with the help of solenoid valves, so that the airbag can better conform to the ground pressure distribution, form a stable support surface, and further improve the anti-tipping ability.

[0016] 3. This AI-powered intelligent educational robot features four sets of stable actuators arranged in a circular array with the robot's center of gravity as the symmetrical center, forming a comprehensive "safety barrier." Regardless of the direction from which the risk of tipping comes, the actuators in the corresponding direction can be quickly activated to provide timely and effective support, achieving stable protection without any blind spots. Attached Figure Description

[0017] Figure 1 This is the present utility model; Figure 2 This is the present utility model; Figure 3 This is the present utility model; Figure 4 This is the present utility model; Figure 5 This is the present utility model.

[0018] Legend: 10. Robot body; 20. Main electric actuator; 21. Auxiliary electric actuator; 22. Support frame; 30. Industrial airbag; 31. Miniature air pump; 32. Partition; 33. Solenoid valve. Detailed Implementation

[0019] An AI-powered intelligent educational robot, such as Figure 1 and Figure 2 As shown, it includes: The robot body 10 has a walking mechanism (such as a Mecanum wheel or differential wheel) at its bottom, and a controller inside, which serves as the control core. This controller is preferably an embedded microprocessor (such as an STM32 series or Raspberry Pi) integrating a CPU, memory, and I / O interfaces, and it stores a preset tilt angle safety threshold (e.g., 5°) and control program. like Figure 2 , Figure 3 and Figure 4 As shown, the attitude sensing module is fixedly installed inside the robot body 10 to monitor its tilt state and is electrically connected to the controller. The attitude sensing module is an inertial measurement unit. The attitude sensing module is fixedly installed near the center of gravity inside the robot body 10 to accurately monitor its tilt state. This module is an inertial measurement unit, which integrates a three-axis gyroscope and a three-axis accelerometer. It can output the robot's attitude angle and angular velocity in real time. The inertial measurement unit is electrically connected to the corresponding interface of the controller through an I2C or SPI communication bus. At least one set of stable actuators, the stable actuators including a rigid drive unit and a flexible adaptive terminal; The rigid drive unit is electrically connected to the controller and performs telescopic movements in response to its commands. There are four sets of stable actuators, which are arranged in a circular array around the chassis of the robot body 10 with the center of gravity of the robot body 10 as the center of symmetry. The flexible adaptive terminal is located at the end of the rigid drive unit to contact the ground and form support. The rigid drive unit includes a main electric actuator 20, an auxiliary electric actuator 21, and a bracket 22. The cylinder of the main electric actuator 20 is hinged to the robot body 10 through the first mounting bracket 22. The auxiliary electric actuator 21 is hinged to one side of the bracket 22, and the output shaft of the auxiliary electric actuator 21 is hinged to the cylinder of the main electric actuator 20. The flexible adaptive terminal includes an industrial airbag 30, which is fixedly installed at the end of the piston rod of the main electric actuator 20. Both the main electric actuator 20 and the auxiliary electric actuator 21 are driven by DC motors and have built-in potentiometers or encoders for feedback position. They are connected to the GPIO (General Purpose Input / Output) pins of the controller through a motor drive board (such as an H-bridge circuit) to receive PWM (Pulse Width Modulation) signals to control their extension speed and stroke.

[0020] like Figure 5As shown, the flexible adaptive terminal also includes a micro air pump 31 and a partition 32. The micro air pump 31 is fixedly installed at the piston rod end of the main electric push rod 20. The micro air pump 31 is integrally formed with the industrial airbag 30. The industrial airbag 30 forms multiple independently inflatable chambers through the partition 32. The micro air pump 31 can inflate each chamber. The flexible adaptive terminal also includes several solenoid valves 33 that correspond one-to-one with the chambers of the industrial airbag 30. The solenoid valves 33 are fixedly installed with the industrial airbag 30 and connected to the air outlet of the micro air pump 31 through pipes. The control coil of each solenoid valve 33 is connected to different GPIO pins of the controller through a transistor switching circuit. The controller outputs high / low level signals to control its on / off state, thereby realizing independent inflation and deflation control of each chamber.

[0021] The working principle of this utility model: An inertial measurement unit (IMU) built into the robot body 10 continuously collects the robot's three-axis attitude angles and angular velocities at a frequency of no less than 100Hz and sends them to the controller in real time via serial port. The controller internally runs attitude calculation algorithms (such as complementary filtering or Kalman filtering) to obtain accurate pitch and roll angles. The controller compares the calculated angles with a preset safety threshold (such as 5°). Once the tilt angle in any direction exceeds the threshold, it is determined to be a risk of tipping over, and an emergency stabilization procedure is immediately initiated.

[0022] First-level action: Rapid rigid support: Based on the tilt direction and trend, the controller quickly sends instructions to one or more sets of stabilizing actuators on the dangerous side, and the rigid drive unit starts to work: the main electric push rod 20 extends rapidly, and at the same time the auxiliary electric push rod 21 works in coordination. Through the angle of the main electric push rod 20, the main electric push rod 20 extends downward rapidly at the optimal support angle, so that the industrial airbag 30 at its end contacts the ground first, forming a preliminary and strong rigid support, instantly preventing the robot from continuing to tip over.

[0023] Secondary action: Flexible adaptive locking: At the same time or shortly after the rigid support is established, the controller starts the micro air pump 31 and controls the corresponding solenoid valve 33 to inflate one or more independent chambers in the industrial airbag 30. The airbag expands rapidly, and its flexible characteristics allow its bottom to fit tightly against the ground, increasing the contact area and friction. The design of multiple independent chambers allows the airbag to be filled unevenly according to the ground conditions, achieving a better adaptive effect. Finally, through the increase of the pressure inside the airbag, a stable support terminal that is "softly locked" to the ground is formed.

[0024] Reset: When the controller detects through the posture sensing module that the robot has been uprighted and the external risk has been eliminated, it will control the solenoid valve 33 to release air, causing the industrial airbag 30 to contract, and instruct the main electric actuator 20 and the auxiliary electric actuator 21 to retract, so that the entire stabilizing actuator returns to the standby state without affecting the robot's normal movement and activities.

[0025] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An AI-powered intelligent educational robot, characterized in that: include: The robot body (10) has a walking mechanism at its bottom and a controller inside it; An attitude sensing module is fixedly installed inside the robot body (10) to monitor its tilt state and is electrically connected to the controller; At least one set of stable actuators, the stable actuators including a rigid drive unit and a flexible adaptive terminal; The rigid drive unit is electrically connected to the controller and performs telescopic movements in response to its commands; The flexible adaptive terminal is disposed at the end of the rigid drive unit to contact the ground and form support.

2. The AI-powered intelligent educational robot according to claim 1, characterized in that: The attitude sensing module is an inertial measurement unit.

3. The AI-powered intelligent educational robot according to claim 1, characterized in that: The rigid drive unit includes a main electric actuator (20), an auxiliary electric actuator (21), and a bracket (22). The cylinder of the main electric actuator (20) is hinged to the robot body (10) through the first mounting bracket (22). The auxiliary electric actuator (21) is hinged to one side of the bracket (22), and the output shaft of the auxiliary electric actuator (21) is hinged to the cylinder of the main electric actuator (20).

4. The AI-powered intelligent educational robot according to claim 3, characterized in that: The flexible adaptive terminal includes an industrial airbag (30), which is fixedly installed at the end of the piston rod of the main electric actuator (20).

5. The AI-powered intelligent educational robot according to claim 1, characterized in that: The flexible adaptive terminal also includes a micro air pump (31) and a partition (32). The micro air pump (31) is fixedly installed at the piston rod end of the main electric push rod (20). The micro air pump (31) is integrally formed with the industrial airbag (30). The industrial airbag (30) forms multiple independently inflatable chambers through the partition (32). The micro air pump (31) can inflate each chamber.

6. The AI-powered intelligent educational robot according to claim 1, characterized in that: The flexible adaptive terminal also includes several solenoid valves (33) that correspond one-to-one with the chambers of the industrial airbag (30). The solenoid valves (33) are fixedly installed with the industrial airbag (30) and connected to the outlet of the micro air pump (31) through a pipe.

7. The AI-powered intelligent educational robot according to claim 1, characterized in that: The number of stable actuators is four, which are arranged in a ring array around the chassis of the robot body (10) with the center of gravity of the robot body (10) as the center of symmetry.

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