CN108098787A - A kind of voice interface robot architecture and its system - Google Patents
A kind of voice interface robot architecture and its system Download PDFInfo
- Publication number
- CN108098787A CN108098787A CN201711423847.0A CN201711423847A CN108098787A CN 108098787 A CN108098787 A CN 108098787A CN 201711423847 A CN201711423847 A CN 201711423847A CN 108098787 A CN108098787 A CN 108098787A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- fixed
- blink
- voice
- steering wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 33
- 210000003128 head Anatomy 0.000 claims abstract description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 210000001508 eye Anatomy 0.000 claims description 17
- 238000005034 decoration Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 210000002105 tongue Anatomy 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000004418 eye rotation Effects 0.000 description 4
- 210000000744 eyelid Anatomy 0.000 description 4
- 210000001331 nose Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000004424 eye movement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
Abstract
A kind of voice interface robot architecture and its system, the robot head including robot base and side mounted thereto；The robot base includes pedestal left shell half, pedestal right half-shell, pedestal upper casing, charging interface, pedestal left shell half, pedestal right half-shell and pedestal upper casing are fixed by card slot, rotary head steering engine fixed frame is fixed in the housing by card slot, first steering engine is mounted on by steering engine fixed screw on rotary head steering engine fixed frame, and the first steering wheel is fixed on the first steering engine by steering wheel fixed screw；The robot head rotates upwardly and downwardly mechanism, eyeball left-right rotation mechanism, blink mechanism including nod motion, chin motion, eyeball.For children provide it is a can voice interface, expression shape change robot, blink, the rotation up and down of eyeball can be completed according to specific voice, chin opening and closing, shakes the head and puts first-class action and speech play.
Description
Technical field
This application involves a kind of voice interface robot architecture and its systems.
Background technology
With the fast development of social economy, robot has application to many aspects of society, and the progress of robot is with answering
It is the automation of contemporary highest meaning, especially in current industry with being that twentieth century automatically controls most convictive achievement
In manufacture, robotics has achieved greatest success.Into 21st century, people more and more experience personally
Robot deeply produces, lives and the solid paces of society.
With the continuous development of modern science and technology and computer technology, people are in the information interchange with machine, it is necessary to a kind of
More convenient, natural interactive mode, the interactive voice between realization is man-machine, it is that people dream of that machine is allowed, which to understand people's words,
Thing, the development of speech recognition technology so that this ideal is achieved, the fast development of robot, is given birth to the production of people
Work is brought convenience, for domestic robot, it is desirable to be able to easily carry out voice operating.
The content of the invention
This application provides a kind of voice interface robot architecture and its system, for children provide it is a can voice interface,
The robot of expression shape change, can according to specific voice complete blink, the rotation up and down of eyeball, chin opening and closing, shake the head and
The first-class action of point and speech play.
The present invention provides a kind of voice interface robot architecture, the machine including robot base and side mounted thereto
Device head part, the robot head realize the rotation of the robot head, the machine by the steering engine installed in the base
Device head part contains mechanism of nodding, chin open/close mechanism, eyeball and rotates upwardly and downwardly mechanism, eyeball left-right rotation mechanism, blink machine
Structure, master board, servos control module, nonspecific voice module, supply unit, the robot base are provided with steering engine and fix
Stent, robot base are connected with head by steering wheel, and the application is rotated by the steering wheel being connected with steering engine shaft, realizes each portion
The movement divided, wherein, the robot interior is provided with：
Master board, the master board are provided with 3 serial ports, connection wifi module, bluetooth module and nonspecific voice
Module, the master board receive the signal of handset Wechat end transmission by the wireless WIFI module and it are handled；
It is matched by the bluetooth module and the mobile phone with Bluetooth communication, receives the signal that cell phone application end is sent with Bluetooth protocol；It is main
Control panel receives the signal that nonspecific voice module is sent and it is handled；
Servos control module, the servos control module are communicated with the master board by serial communication interface, are used for
It receives the master board and passes through the WIFI module or bluetooth module or the nonspecific voice being connected with another serial ports of control panel
The control signal that module is sent is carried out at the same time control to the single or multiple steering engines respectively；
Nonspecific voice module, the nonspecific voice module are connected with the master board, the nonspecific voice mould
Block includes external microphone, external loud speaker, and the nonspecific voice module can be by being arranged on the right side of robot head
External microphone wind receive specific voice, the recognizable nonspecific voice set in advance in particular module is taken, according to knowledge
Voice signal is sent to the master board, while the loud speaker phase with being arranged on the robot head side by other voice
Connect and the output of voice is realized by master board.
Supply unit, the supply unit respectively with the master board, servos control module and nonspecific voice mould
Block is connected, and the supply unit is charged by being connected with external power supply, and to master board, servos control module and
Nonspecific voice module provides electric energy；
Optionally, the external loudspeaker shapes of the nonspecific voice module are circle.
Optionally, the robot head left side central portion is provided with external power interface, the external power interface and institute
It states supply unit to be connected, is connected to charge to the supply unit with external power supply by the external power interface.
Optionally, the voice interface robot, pedestal are desktop fixed, it is impossible to be walked.
The voice interface robot head has removable top, and there are two circular eyelet dresses for robot head front side
Decorations, front side have nose decoration, upper lip and upper teeth decoration, raise one's voice on the left of movable lower lip and lower tooth, robot head
There is microphone decoration hole on device decoration hole, right side.
Multi-purpose stand in the mechanism of nodding of the voice interface robot has the square needed for fixed multiple steering engines
Shape notch and fixed arm have multigroup for fixing the internal thread through hole of steering engine, the box-shaped structure for also having fixed eyeball, the box
Structure front has and allows eyelid movement and the opening needed for eye movement.
Steering engine stent in the pedestal of the voice interface robot will realize the rudder of rotary head function by 1-shaped open screw
Machine is fixed, and steering engine is screwed with steering wheel, and steering wheel is flat by four with the steering engine stent mounted on robot head bottom
Head screw is connected.
The blink mechanism of the voice interface robot passes through steering engine, steering wheel, steering wheel fixed screw, four screws and blink
Rocking arm, the connection of eyelid fixed link, blink rocking arm are connected with eyelid fixed link by male and female threaded pin, can be around the male and female screw thread
Pin axis rotates, and eyelid fixes connecting rod with the multi-purpose stand in the mechanism of nodding by being located at two on same axis
Be connected to male and female threaded pin, can be rotated around male and female threaded pin axis, the steering engine for mechanism of blinking with it is described nod it is multi-functional
Stent is fixed by four 1-shaped open screws.
The chin open/close mechanism of the voice interface robot by steering engine, steering wheel, steering wheel fixed screw, chin rocking arm, under
Lip and lower tooth, tongue, tooth baffle form, the steering engine in chin open/close mechanism and the multi-functional branch in the mechanism of nodding
Frame is fixed, and chin rocking arm one side is fixed with steering wheel by four screws, opposite side with by being located at and the same axis of steering engine shaft
On male and female threaded pin be connected.
The eyeball left-right rotation mechanism of the voice interface robot is made of two pairs of eyeballs, is symmetrical structure,
By steering engine, rotating arm, steering wheel, steering wheel fixed screw, right and left eyes ball link, the U-shaped arm with round rectangle slot, belt length round bar eye
Ball forms, and two pairs of male and females being located on same plumb line are fixed in U-shaped arm one end with the multi-purpose stand in the mechanism of nodding
Threaded pin connects, and the U-shaped arm other end is connected with one end of right and left eyes ball link by male and female threaded pin, U-shaped arm center hole
It is fixed with the rotating arm other end being fixed on steering wheel by male and female threaded pin.
The Rotation of eyeball mechanism of the voice interface robot is made of two pairs of eyeballs, is symmetrical structure, by rudder
Machine, rotating arm, steering wheel, steering wheel fixed screw, connecting rod, the U-shaped arm with round rectangle slot, round bar, the eyeball composition of belt length round bar,
Two pairs of male and female threaded pins being located in same horizontal line are fixed in U-shaped arm one end with the multi-purpose stand in the mechanism of nodding
Connection, the U-shaped arm other end are connected with cylinder, and cylinder is connected with connecting rod, and connecting rod with a pair of of male and female threaded pin by being connected.
The Rotation of eyeball of the voice interface robot, by separately or concurrently controlling two rudders in eye rotation mechanism
Machine can drive left and right eyeball synchronous in the horizontal direction, vertical or any direction to rotate.
The beneficial effects of the invention are as follows：The application for children provide it is a can voice interface, expression shape change robot, energy
Blink, the rotation up and down of eyeball are completed according to specific voice, chin opening and closing, shakes the head and puts first-class action and voice is broadcast
It puts.Robot overall structure is compacter, beautiful in the application.
Description of the drawings
Fig. 1 is the main body schematic diagram of voice interface robot provided in an embodiment of the present invention；
Fig. 2 is that the decomposition diagram of voice interface robot provided in an embodiment of the present invention is intended to；
Fig. 3 is voice interface robot chin motion schematic diagram provided in an embodiment of the present invention；
Fig. 4 nods structural scheme of mechanism for voice interface robot provided in an embodiment of the present invention；
Fig. 5 is voice interface robot provided in an embodiment of the present invention blink structural scheme of mechanism；
Fig. 6 is voice interface robot eyes rotating mechanism schematic diagram provided in an embodiment of the present invention；
Fig. 7 is voice interface robot provided in an embodiment of the present invention functional block diagram.
Number explanation in figure：1- robot bases；2- robot heads；3- pedestal left shell half 4- pedestal right half-shells；5- bottoms
Seat upper casing decoration；6- charging interfaces；7- is switched and status lamp；8- rotary head steering engine fixed frames；9- steering engines；10- steering engine fixed screws；
11- steering wheels；12- steering wheel fixed screws；13- robot motions mechanism；14- baffles；15- battery compartments one；16- battery compartments two；17-
Sound equipment hole is decorated；18- loud speaker fixing grooves；19- loud speakers；20- robot head shells；21- servos control plates；22. machine
Head part's head cover；The nonspecific voice modules of 23-；24- master boards；25- microphones and input decoration hole；26- noses；27- is right
Eyelet；28- left eye circles；29- upper lips and upper tooth；30- lower lips and lower tooth；31- steering wheels and support fixed screw；32- teeth
Baffle；33- tongues；34- chin rotating arms；35- male and females threaded pin _ public affairs；36- male and females threaded pin _ mother；37- nods steering engine
Fixing bracket；38- multi-purpose stands；39- hexagonal prisms screws；40- blink rotating arms；41- blink rocking arms；Mono- word bars of 42-；43-
Round bar；44- right and left eyes ball links；45-U shapes arm one；46- eyeballs；47-U shapes arm two；48-WIF modules；49- bluetooth modules.
Specific embodiment
It is right in the following with reference to the drawings and specific embodiments in order to make the object, technical solutions and advantages of the present invention clearer
The present invention is described in detail.
Embodiment 1：
The present embodiment provides a kind of voice interface robot architecture, as shown in Figures 1 to 6：Including robot base 1 and set
Put robot head 2 above it.Robot base 1 is decorated 5 by pedestal left shell half 3, pedestal right half-shell 4, pedestal upper casing, is filled
Electrical interface 6, switch and status lamp 7 form, and pedestal left shell half 3, pedestal right half-shell 4 and pedestal upper casing decoration 5 are fixed by card slot,
Rotary head steering engine fixed frame 8 is fixed on by card slot in pedestal left shell half 3 and pedestal right half-shell 4, and the first steering engine 9 passes through 4 steering engines
Fixed screw 10 is fixed on rotary head steering engine fixed frame 8, and steering wheel 11 is fixed on steering engine 9 by steering wheel fixed screw 12；
Robot head 2 is straight on robot base 1 with being fixed on by the steering engine fixing bracket 37 of nodding be arranged inside
The first steering wheel 11 on vertical the first steering engine of infield 9 is fixed by 4 steering wheels with support fixed screw 31, realizes robot head
2 around plumb line direction left-right rotation, and robot head 2 has dismountable robot head head cover 22, and there are two circular for front side
Decorate left eye circle 28 and right eye circle 27, nose 26, upper lip and upper tooth 29, the chin rotating arm being connected in chin motion
There are sound equipment hole decoration 17, battery compartment one on the 34 and lower lip of exposed parts and lower tooth 30, tooth baffle 32, tongue 32, left side
15th, there is Mike point input decoration hole 25 on battery compartment 2 16, right side, and inside secures robot motion mechanism 13, and baffle 14 passes through 4
Hexagonal prisms screw is fixed in robot motion mechanism 13, and servos control plate 21, nonspecific voice mould are secured on baffle 14
Block 23, master board 24, WIFI module 48 and bluetooth module 49, servos control plate 21, nonspecific voice module 23, WIFI module
48 and bluetooth module 49 be connected respectively with a serial ports in more than 24 a serial ports of master board, master board 24 is received by serial ports
Signal is simultaneously handled it；
Motion of nodding fixes spiral shell by steering engine fixing bracket 37 of nodding, the second horizontal positioned steering engine 9 by 4 steering engines
Silk 10, which is fixed on, nods on steering engine fixing bracket 37, and the second steering engine 9 connects the second steering wheel 11, the second steering wheel 11 and multi-purpose stand
38 pass on left 4 steering wheels fixes with support fixed screw 31, and right side with 9 shaft of the second steering engine by being located on same axis
Male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 connect, steering engine 9 drive steering wheel rotate to realize robot head 2 around
Second steering engine, 9 shaft rotates；
Chin motion is by the chin rotating arm 34, the 3rd steering engine 9, the 3rd steering wheel that are connected on multi-purpose stand 38
11st, lower lip and lower tooth 30, tooth baffle 32 and the tongue 33 played role in decoration, lower lip and lower tooth 30,32 and of tooth baffle
Tongue 33 is fixed on chin rotating arm 34, and steering wheel 11 is fixed with steering engine 9 by steering wheel fixed screw 12, and horizontal positioned
Three steering engines 9 are fixed on by 4 steering engine fixed screws 10 on multi-purpose stand 38, and 34 right side of chin rotating arm passes through 4 steering wheels
Itself and the 3rd steering wheel 11 are fixed with support fixed screw 31, chin rotating arm 34 is passed on left to be located at 9 shaft of the 3rd steering engine
Male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 on same axis are connected on multi-purpose stand 38, the 3rd steering engine
9 drive chin rotating arm 34 to rotate the movement for realizing chin；
Blink mechanism is made of the 4th steering engine 9, the 4th steering wheel 11, first blink rotating arm 40, blink Rocker arm 41, and blink is shaken
Arm 41, which is similar on U-shaped thin-walled, attached two four points of global shells, and two side length of U-shaped thin-walled of blink Rocker arm 41 differs, U-shaped
4 left sides one end are provided with rectangle elongated slot, and the other end has circular hole, and opposite side U-shaped is also provided with circular hole.Two circular holes are located at same level axis
On line, steering wheel 11 is fixed with steering engine 9 by steering wheel fixed screw 12, and the 4th steering engine 9 uprightly placed fixes spiral shell by 4 steering engines
Silk 10 is fixed on multi-purpose stand 38, and the first blink rotating arm 40 is fixed with the 4th steering wheel 11, and the first blink rotating arm 40 is logical
The rectangular groove that male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 are connected to blink Rocker arm 41 with blink Rocker arm 41 is crossed,
Blink Rocker arm 41 is connected on multi-purpose stand 38, and junction is located at for blink Rocker arm 41 at the circular hole of same level axis, blinks
Two four points of global shells on eye Rocker arm 41 are exactly in the arc-shaped gap of multi-purpose stand 38；
Eyes rotate upwardly and downwardly mechanism by the 5th steering engine 9, the 5th steering wheel 11, second blink rotating arm 40, a word bar 42, round bar
43rd, two U-shaped one 45, two eyeballs 46 of arm form, and the voice interface robot is there are two eyeball and eyeball bindiny mechanism, and two
A eyeball is symmetrical along vertical guide, and the 5th horizontal positioned steering engine 9 is fixed on multi-functional branch by 4 steering engine fixed screws 10
On frame 38, the blink rotating arm 40 in eye rotation mechanism is fixed with the 5th steering wheel 11, and blink 40 other end of rotating arm passes through public affairs
Box thread pin _ male 35 and male and female threaded pin _ mother 36 at one end circular hole of a word bar 42 with being connected, 42 other end of word bar circle
Hole is connected with round bar 43, and the circular hole that horizontal positioned U-shaped arm one is located at U-shaped side passes through male and female threaded pin _ public affairs 35 and public affairs
Box thread pin _ mother 36 is connected on multi-purpose stand 38, and round bar 43 is located at another circular hole phase of U-shaped side with U-shaped arm 1
Even, the long round bar on eyeball 46 can the left and right activity in the rectangular channel in U-shaped arm 1；
Eyes left-right rotation mechanism is by the 6th steering engine 9, the 6th steering wheel the 11, the 3rd blink rotating arm 40, right and left eyes ball link
44th, two U-shaped 2 47, two eyeballs 46 of arm form, and the 6th steering engine 9 placed vertically is fixed by 4 steering engine fixed screws 10
On multi-purpose stand 38, the 3rd blink 40 one end of rotating arm in eye rotation mechanism is fixed with the 6th steering wheel, and the other end leads to
It crosses male and female threaded pin _ male 35 and male and female threaded pin _ mother 36 with the circular hole among right and left eyes ball link 44 to be connected, left and right
A stomidium of the both ends of eyeball connecting rod 44 respectively with the U-shaped arm 2 47 of left and right eyeball is connected, and U-shaped 2 47 other end of arm passes through male and female
Threaded pin _ male 35 and male and female threaded pin _ mother 36 are connected on multi-purpose stand 38, and the long round bar on eyeball 46 can be in U-shaped
Vertical activity in rectangular channel on arm 1；
It, can by individually controlling the five, the six steering engines 9 or controlling the five, the six steering engines 9 simultaneously in eye rotation mechanism
U-shaped arm one or U-shaped arm two is driven individually or simultaneously to move, the long round bar of the eyeball in the rectangular channel of U-shaped arm in the horizontal direction,
Vertical or any direction drive Rotation of eyeball.
Embodiment 2
The present embodiment provides a kind of voice interface robot system, as shown in Figure 7：It includes：
Master board, the master board are provided with 3 serial ports, WIFI module, bluetooth modules, and the master board passes through
Wireless WIFI module receives the signal that handset Wechat end is sent and it is handled；By the bluetooth module with having bluetooth
The mobile phone pairing of communication, receives the signal that cell phone application end is sent with Bluetooth protocol；Master board receives nonspecific voice module hair
The signal that send simultaneously is handled it；
Servos control plate 21, servos control plate 21 is communicated by serial communication interface with master board 24, for receiving master
The control signal that control panel is sent by nonspecific voice module 23, WIFI module 48 or bluetooth module 49, and separately or concurrently
First to the 6th steering engine is controlled；
Nonspecific voice module 23, nonspecific voice module 23 are connected with master board 24 by serial ports, the nonspecific language
23 external loudspeaker 19 of sound module and External microphone 25 can be received by microphone and be located at week outside the voice interface robot
Received signal is sent to master board 24 by the special sound signal enclosed by serial ports, which also has
There are mp3 playing functions, can play the MP3 being stored in nonspecific voice module SD card, the recognizable specific language pre-set
Sound sends data to master board 24 according to the result of identification, controls the rotation of different steering engines；
Supply unit, supply unit are made of battery compartment 1 and battery compartment 2 16, inside battery compartment one and battery compartment two
Rechargeable lithium battery is installed, is connected respectively with master board 24, servos control plate 21, nonspecific voice module 23, supply unit
It is charged by being connected with external power supply, and is provided to master board 24, servos control plate 21, nonspecific voice module 23
Electric energy；
As the preferred embodiment of above-described embodiment, 1 left side central portion of robot base is provided with external power interface 6,
External power interface is connected with supply unit, is connected to carry out supply unit with external power supply by the external power interface
It charges.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
- A kind of 1. voice interface robot architecture, which is characterized in that the machine including robot base and side mounted thereto Head part；The robot base include pedestal left shell half, pedestal right half-shell, pedestal upper casing, charging interface, the pedestal left shell half, Pedestal right half-shell and pedestal upper casing are fixed by card slot, and rotary head steering engine fixed frame is fixed in the housing by card slot, the first steering engine It is mounted on by steering engine fixed screw on rotary head steering engine fixed frame, the first steering wheel is fixed on the first steering engine by steering wheel fixed screw On；The robot head rotates upwardly and downwardly mechanism, eyeball left-right rotation including nod motion, chin motion, eyeball Mechanism, blink mechanism；Robot head is mounted on the first of robot base by the steering engine fixing bracket of nodding be arranged inside On steering wheel.
- 2. a kind of voice interface robot architecture according to claim 1, which is characterized in that motion of nodding includes nodding Steering engine fixing bracket and multi-purpose stand, the second horizontal positioned steering engine, which is fixed on, nods on steering engine fixing bracket, the second steering engine Both sides are placed in by the second steering wheel, shaft in multi-purpose stand respectively.
- 3. a kind of voice interface robot architecture according to claim 2, which is characterized in that chin motion includes connection Chin rotating arm, the 3rd steering engine, the 3rd steering wheel, the lower lip played role in decoration and lower tooth, tooth gear on multi-purpose stand Plate and tongue, the lower lip and lower tooth, tooth baffle and tongue are fixed on chin rotating arm, the 3rd steering wheel and the 3rd steering engine It is fixed by steering wheel fixed screw, the 3rd horizontal positioned steering engine is fixed on multi-purpose stand, and the 3rd steering wheel is fixed on The one side of chin rotating arm.
- 4. a kind of voice interface robot architecture according to claim 2, which is characterized in that blink mechanism includes the 4th rudder Machine, the 4th steering wheel, the first blink rotating arm, blink rocking arm are set there are two four point of one global shell on the blink rocking arm, and blink is shaken Two side length of U-shaped thin-walled of arm differs, and wherein one side is provided with rectangle elongated slot and circular hole, and opposite side is also provided with circular hole；Two circular holes On same level axis, the 4th steering wheel is fixed with the 4th steering engine by steering wheel fixed screw, the 4th steering engine uprightly placed It is fixed on multi-purpose stand, the first blink rotating arm is connected with the 4th steering wheel, and the first blink rotating arm is connected to blink At the rectangle elongated slot of rocking arm, blink rocking arm is connected on multi-purpose stand, and two four points of global shells are located at multi-purpose stand In arc-shaped gap.
- 5. a kind of voice interface robot architecture according to claim 2, which is characterized in that eyes, which rotate upwardly and downwardly mechanism, to be included 5th steering engine, the 5th steering wheel, the second blink rotating arm, a word bar, round bar, two U-shaped arms, two eyeballs, two eyeballs are along lead Vertical plane is symmetrical, and the 5th horizontal positioned steering engine is fixed on multi-purpose stand, one end and the 5th of the second blink rotating arm Steering wheel is fixed, and the blink rotating arm other end is connected with one end circular hole of a word bar, and a word bar other end circular hole is connected with round bar, water Two U-shaped arms of placing flat are located on multi-purpose stand, and round bar both ends are respectively placed in the circular hole of U-shaped arm, epibulbar length Round bar can the left and right activity in the rectangular channel in U-shaped arm.
- 6. a kind of voice interface robot architecture according to claim 2, which is characterized in that eyes left-right rotation mechanism includes 6th steering engine, the 6th steering wheel, the 3rd blink rotating arm, right and left eyes ball link, two U-shaped arms, the 6th steering engine placed vertically are consolidated It is scheduled on multi-purpose stand, one end of the 3rd blink rotating arm is fixed with the 6th steering wheel, among the other end and right and left eyes ball link Circular hole be connected, the both ends of right and left eyes ball link are connected respectively with U-shaped arm, which is placed on multi-purpose stand, on eyeball Long round bar can the vertical activity in the rectangular channel in U-shaped arm.
- 7. a kind of voice interface robot system, which is characterized in that it includes：Master board, the master board are provided with 3 serial ports, WIFI module, bluetooth modules, and the master board passes through wireless WIFI module receives the signal that handset Wechat end is sent and it is handled；By the bluetooth module with having Bluetooth communication Mobile phone pairing, receive the signal that is sent with Bluetooth protocol of cell phone application end；Master board receives what nonspecific voice module was sent Signal is simultaneously handled it；Servos control module, the servos control module is communicated by serial communication interface with the master board, described in reception Master board is sent by the WIFI module or bluetooth module or the nonspecific voice module being connected with another serial ports of control panel Control signal, control then is carried out at the same time to the single or multiple steering engines respectively；Nonspecific voice module, the nonspecific voice module are connected with the master board.
- 8. a kind of voice interface robot system according to claim 7, which is characterized in that above system further includes power supply dress It puts, the supply unit is connected respectively with the master board, servos control module and nonspecific voice module, the power supply Device is charged by being connected with external power supply, and to master board, servos control module and nonspecific voice module Electric energy is provided.
- A kind of 9. voice interface robot system according to claim 7, which is characterized in that the nonspecific voice module bag Include external microphone, external loud speaker；The nonspecific voice module can be outer on the right side of robot head by being arranged on Microphone receives specific voice, the nonspecific voice set in advance in nonspecific module can be identified, according to identification Voice signal is sent to the master board by voice, while the loud speaker with being arranged on the robot head side is connected simultaneously The output of voice is realized by master board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423847.0A CN108098787A (en) | 2017-12-25 | 2017-12-25 | A kind of voice interface robot architecture and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711423847.0A CN108098787A (en) | 2017-12-25 | 2017-12-25 | A kind of voice interface robot architecture and its system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098787A true CN108098787A (en) | 2018-06-01 |
Family
ID=62213114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711423847.0A Pending CN108098787A (en) | 2017-12-25 | 2017-12-25 | A kind of voice interface robot architecture and its system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098787A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109218884A (en) * | 2018-08-29 | 2019-01-15 | 北京云迹科技有限公司 | Outer audio equipment for robot and the robot using the audio frequency apparatus |
| CN109794966A (en) * | 2019-03-29 | 2019-05-24 | 廊坊市智恒机器人科技有限公司 | A kind of particular kind of machine head part design |
| CN109877806A (en) * | 2019-03-05 | 2019-06-14 | 哈尔滨理工大学 | Science and technology center's guide robot face device and control with mood resolving ability |
| CN109927072A (en) * | 2019-03-05 | 2019-06-25 | 哈尔滨理工大学 | Speech robot department of human head and neck device and control for the inquiry of factories and miness hospital department |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003079960A (en) * | 2001-09-11 | 2003-03-18 | Microjenics Inc | Eyelid-moving mechanism |
| KR100881841B1 (en) * | 2007-11-03 | 2009-02-03 | 이수종 | An eyeball apparatus for the face of a humanoid robot |
| US20120209433A1 (en) * | 2009-10-21 | 2012-08-16 | Thecorpora, S.L. | Social robot |
| CN104793542A (en) * | 2015-04-17 | 2015-07-22 | 深圳市优必选科技有限公司 | Robot system based on cellphone control |
| CN105345820A (en) * | 2015-12-01 | 2016-02-24 | 南通唐人文化传播有限公司 | Children growth intelligent robot and control method thereof |
| CN106041963A (en) * | 2016-08-12 | 2016-10-26 | 欢乐飞（上海）机器人有限责任公司 | Intelligent robot head system and operation method thereof |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN106142095A (en) * | 2015-04-17 | 2016-11-23 | 哈尔滨工业大学深圳研究生院 | A kind of head construction of humanoid service robot |
| CN106426196A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Service robot head |
| CN206066467U (en) * | 2016-08-31 | 2017-04-05 | 广东富利盛仿生机器人股份有限公司 | A kind of robot head and neck motion |
| CN107053210A (en) * | 2017-06-06 | 2017-08-18 | 江苏金刚文化科技集团股份有限公司 | A kind of robot head device and robot |
| WO2017166991A1 (en) * | 2016-03-31 | 2017-10-05 | 深圳光启合众科技有限公司 | Robot having blinking function |
| CN207788968U (en) * | 2017-12-25 | 2018-08-31 | 大连大学 | A kind of robot architecture |
-
2017
- 2017-12-25 CN CN201711423847.0A patent/CN108098787A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003079960A (en) * | 2001-09-11 | 2003-03-18 | Microjenics Inc | Eyelid-moving mechanism |
| KR100881841B1 (en) * | 2007-11-03 | 2009-02-03 | 이수종 | An eyeball apparatus for the face of a humanoid robot |
| US20120209433A1 (en) * | 2009-10-21 | 2012-08-16 | Thecorpora, S.L. | Social robot |
| CN106142095A (en) * | 2015-04-17 | 2016-11-23 | 哈尔滨工业大学深圳研究生院 | A kind of head construction of humanoid service robot |
| CN104793542A (en) * | 2015-04-17 | 2015-07-22 | 深圳市优必选科技有限公司 | Robot system based on cellphone control |
| CN105345820A (en) * | 2015-12-01 | 2016-02-24 | 南通唐人文化传播有限公司 | Children growth intelligent robot and control method thereof |
| WO2017166991A1 (en) * | 2016-03-31 | 2017-10-05 | 深圳光启合众科技有限公司 | Robot having blinking function |
| CN106078762A (en) * | 2016-07-23 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Ten head and neck mechanisms of six-degree-of-freedom humanoid robot |
| CN106041963A (en) * | 2016-08-12 | 2016-10-26 | 欢乐飞（上海）机器人有限责任公司 | Intelligent robot head system and operation method thereof |
| CN106426196A (en) * | 2016-08-31 | 2017-02-22 | 佛山博文机器人自动化科技有限公司 | Service robot head |
| CN206066467U (en) * | 2016-08-31 | 2017-04-05 | 广东富利盛仿生机器人股份有限公司 | A kind of robot head and neck motion |
| CN107053210A (en) * | 2017-06-06 | 2017-08-18 | 江苏金刚文化科技集团股份有限公司 | A kind of robot head device and robot |
| CN207788968U (en) * | 2017-12-25 | 2018-08-31 | 大连大学 | A kind of robot architecture |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109218884A (en) * | 2018-08-29 | 2019-01-15 | 北京云迹科技有限公司 | Outer audio equipment for robot and the robot using the audio frequency apparatus |
| CN109877806A (en) * | 2019-03-05 | 2019-06-14 | 哈尔滨理工大学 | Science and technology center's guide robot face device and control with mood resolving ability |
| CN109927072A (en) * | 2019-03-05 | 2019-06-25 | 哈尔滨理工大学 | Speech robot department of human head and neck device and control for the inquiry of factories and miness hospital department |
| CN109794966A (en) * | 2019-03-29 | 2019-05-24 | 廊坊市智恒机器人科技有限公司 | A kind of particular kind of machine head part design |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108098787A (en) | A kind of voice interface robot architecture and its system | |
| CN208507179U (en) | A kind of TWS earphone, Wrist belt-type AI voice interaction device and system | |
| CN109407757A (en) | Display system | |
| CN204256272U (en) | Earphone-type virtual reality display | |
| WO2014162161A1 (en) | Shoulder and arm arrangement for a humanoid robot | |
| CN103390356A (en) | Module combined type network education robot | |
| CN204395429U (en) | Motive objects networking interactive Intelligent doll | |
| CN205404990U (en) | Power supply battery and intelligent control device set up in intelligent glasses of jing liang both sides | |
| CN207788968U (en) | A kind of robot architecture | |
| CN203986290U (en) | communication hat | |
| CN103801074A (en) | Smart toy driving system for mobile terminal | |
| CN202541668U (en) | Robot assembling component unit and combined robot thereof | |
| CN111702746A (en) | Multi-direction pivoted robot | |
| CN211979900U (en) | Embedded speech recognition learning device | |
| CN205913767U (en) | Intelligent doll | |
| CN211404054U (en) | Intelligent voice assistant robot | |
| CN206536474U (en) | Intelligent robot | |
| CN206167912U (en) | Intelligent toys with interworking function | |
| CN109998571B (en) | Experience equipment and experience method for children sharing conditions | |
| CN207137357U (en) | Intelligence becomes machine people | |
| CN207614341U (en) | A kind of tumbler robot | |
| CN206011113U (en) | A kind of robot head structure | |
| CN206536489U (en) | A kind of portable small-sized robot | |
| CN206115062U (en) | Bluetooth headset who combines glasses | |
| CN216456880U (en) | Intelligent robot support |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |