CN105798919B - A kind of intelligent robot with circular motion and pitch angle regulatory function - Google Patents
A kind of intelligent robot with circular motion and pitch angle regulatory function Download PDFInfo
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- CN105798919B CN105798919B CN201610291590.7A CN201610291590A CN105798919B CN 105798919 B CN105798919 B CN 105798919B CN 201610291590 A CN201610291590 A CN 201610291590A CN 105798919 B CN105798919 B CN 105798919B
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- 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
Abstract
A kind of intelligent robot circular motion structure disclosed by the invention, including support plate, circular motion structure, pitch angle adjustment structure and human-computer interaction interface；The circular motion structure includes pedestal, circumference driving mechanism, circular motion control panel and rotary disk；The pitch angle adjustment structure includes pitching driving mechanism and pitching disk；The human-computer interaction interface includes shell, central control board, display screen and camera.The present invention provides 360 ° of horizontal rotation functions and pitch angle regulatory function, intelligent robot is facilitated quickly to adjust the direction and the elevation angle of its human-computer interaction interface, the response speed and positioning accuracy when human-computer interaction are improved, and improves the intelligence degree and user experience of robot.
Description
Technical field
The present invention relates to intelligent robot technology fields, in particular to a kind of that there is circular motion and pitch angle to adjust function
The intelligent robot of energy.
Background technique
With the continuous development of electronic computer science, the research of intelligent robot is more deep, the function of carrying
More and more, the height intelligent robot with functions such as vision, the sense of hearing, smell has already appeared, and this robot all has
A set of identifying system acquires information by the identifying system, by the processing system of processor and its carrying information collected
Obtain recognition result, it is common such as face identification system, human face image information is acquired by camera, after image procossing with
Whether preset image compares, that is, can recognize the people's face image in the identifying system of typing robot；This kind of intelligent robot
It is usually also configured with human-computer interaction interface, obtains the instruction of people after identification by the human-computer interaction interface, instruction execution terminates people
Machine interactive interface can also be real as a result, bringing the advanced intelligent experience of people.
Although increasingly three-dimensional, operation are more and more intelligent on Functional Design for intelligent robot, it sets in structure
There is also deficiencies on meter:
Intelligent robot with man-machine interactively function, human-computer interaction interface is (i.e. towards face, with camera shooting, display
The panel of function, also referred to as robot face) only towards a direction, and be fixed in an angle, and the height of people respectively has
Difference, due to existing robot operating mechanism cannot adaptive adjustment period longitudinal direction pitch angle, in user and intelligent robot
When interaction, it can only be directed at robot face/head by user's active accommodation oneself height, not only reduce user experience,
Operation difficulty is increased, for the intelligent robot for carrying face identification system, more increases the standard of its recognition of face
True property.
In addition, human-computer interaction interface mostly uses fixed design, only towards a horizontal direction, when people is in interaction circle
Side can not just carry out recognition of face and instruction acquisition work below, can be according to voice Automatic-searching although also having at present
The intelligent robot of face approximate location, but its by be arranged mechanical foot or wheel etc. can running gear adjust human-computer interaction circle
The direction in face, required time is long, and positioning is not accurate enough, and user experience is caused to decline.
Therefore, the present inventor's especial manufacture goes out a kind of intelligent robot with multi-angle regulation function.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent robot with circular motion and pitch angle regulatory function,
360 ° of horizontal rotation functions and pitch angle regulatory function are provided, intelligent robot is facilitated quickly to adjust its human-computer interaction interface
Direction and the elevation angle, improve the response speed and positioning accuracy when human-computer interaction, and improve the intelligence of robot
Degree and user experience.
To achieve the goals above, technical scheme is as follows:
A kind of intelligent robot with multi-angle regulation function, including support plate, circular motion structure, pitch angle tune
Section structure and human-computer interaction interface；
The circular motion structure includes pedestal, circumference driving mechanism, circular motion control panel and rotary disk, the pedestal
It is fixed in support plate, the circumference driving mechanism is mounted on the base, and rotary disk is arranged above circumference driving mechanism, circumference
Motion control board is arranged between circumference driving mechanism and rotary disk, and circular motion control panel is electrically connected with circumference driving mechanism
It connects, circular motion is carried out by circumference driving mechanism driving rotary disk；
The pitch angle adjustment structure includes pitching driving mechanism and pitching disk；The rotary disk of the circular motion structure
A pair of of support base of upper setting, pitching pan bottom two sides are hubbed on respectively on two support bases, and the setting of pitching driving mechanism is being turned round
The same side on disk and positioned at two support bases, pitching driving mechanism upper end connect pitching disk to drive its up and down motion；
The human-computer interaction interface includes shell, central control board, display screen and camera, the central control board installation
Speech recognition equipment is installed on case inside, central control board；The display screen and camera are installed in hull outside,
Camera, circular motion control panel, is faced upward driving mechanism and is electrically connected with central control board display screen；The shell, which is mounted on, bows
It faces upward the side of disk and shell can move up and down together with pitching disk.
The pedestal of the support plate and circular motion structure is in bowl-type, one support column of projection among pedestal, circumference driving
Mechanism, circular motion control panel and rotary disk are sequentially arranged on support column, and the rotary disk also closes base cover, and rotary disk
Circumferential slippage can be done along pedestal periphery.
The circumference driving mechanism include gear-box, the first motor and the first motor gear being arranged in gear-box,
Transition gear, magnetic code disk gear and hexagonal gear, the first motor are fixed on base bottom, and the shaft of motor, which protrudes into gear-box, makes
One motor gear is mounted in its shaft, and the first motor gear, transition gear, magnetic code disk gear and hexagonal gear successively engage；
The gear-box, rotary disk and hexagonal gear open up mounting hole, gear-box, hexagonal gear and rotary disk by its mounting hole according to
It is secondary to be sheathed on support column；The toothed disc of hexagonal gear lower end and the outer-hexagonal structure of upper end, the installation of the rotary disk
Outer-hexagonal structure is corresponded in hole and forms interior hexagonal structure, and hexagonal gear passes through the cooperation of the outer-hexagonal structure and the interior hexagonal structure
Rotary disk is driven to carry out circular motion.
The upper end of support column forms external thread structure, which stretches out from the mounting hole of rotary disk, a hexagonal
Nut screws in the external thread structure of upper end of support column, and rotary disk is stopped to be deviate from from support column；The hexagonal gear and rotary disk
Bearing is respectively provided in mounting hole；One washer is set between the hex nut and rotary disk.
The gear-box is made of the upper cover and lower cover mutually fastened；The pedestal periphery forms circumference sliding rail, and circumference is sliding
Several bearing assemblies for protruding from circumference sliding rail plane are equidistantly installed on rail；The circular motion control panel is PCB control panel.
Outside at the top of the support base forms the baffle with axis hole and inside forms recessed arc groove, and pitching is tried to get to the heart of a matter
A connection piece is installed two sides in portion respectively, and connector upper end is pressing plate and lower end is pivot connecting plate, and pressing plate is fixed on pitching pan bottom, pivot
Fishplate bar is against on the arc groove of support base, and pivot connecting plate and baffle are pivotally connected by a pivot.
The pitching driving mechanism include fixing seat, bracket, the second motor, the second motor gear, worm screw, gear on worm,
Driving plate, driving plate sliding rail and driving plate connector；The bracket includes the door type frame on bottom plate and bottom plate, and bottom plate is fixed on
In fixing seat, fixing seat is mounted on rotary disk, and on the bottom plate of the second motor mounting bracket, the second motor gear is mounted on motor
In shaft, pitching disk opens up the through-hole passed through for door type frame；
The worm screw is hubbed on the door type frame side of bracket, worm screw bottom connecting worm gear, gear on worm and vertically
The engagement of two motor gear, the driving plate sliding rail are vertically installed at the door type frame other side, and driving plate is sheathed on driving plate sliding rail
And can be slided up and down along driving plate sliding rail, driving plate forms helical rack by the side of worm screw, and helical rack is engaged with worm screw；It is described
Driving plate connector lower end is connect with driving plate and upper end is connect with pitching disk.
Driving plate connector lower end forms bearing shaft, and the axis hole for bearing shaft insertion is opened up among driving plate；It is described
A washer is inserted on bearing shaft；The axis hole being pivoted for worm screw is opened up on the door type frame, and bearing is installed on axis hole；The rotary disk
Upper that the plate drive motor being electrically connected with the second motor is arranged, pitching driving mechanism includes a rack plate, rack plate Gai Hemen
On one side, plate drive motor is electrically connected type bracket with central control board.
After adopting the above scheme, working principle of the invention is as follows:
Support plate supports circular motion structure, pitch angle adjustment structure and human-computer interaction interface, and user's sounding is man-machine
The speech recognition equipment of interactive interface collects language source, determines general orientation, and central control board is to circular motion structure
Circular motion control panel sends control signal, and circular motion control panel is started to work, and circumference driving mechanism is controlled in circular motion
Rotary disk rotation is driven under the control of plate, rotary disk drives pitch angle adjustment structure and human-computer interaction interface rotation, realizes
The direction of its display screen and camera is adjusted；
Display screen and camera are substantially aligned with user front after direction is adjusted, and camera acquires facial image, in
Centre control plate analysis (face identification system can be integrated in central control board), then it sends control letter to pitching driving mechanism
Number, pitching driving mechanism drives pitching disk to move up and down (lever motion) by fulcrum of support base, the people being mounted on pitching disk
Machine interactive interface is also with moving up and down, to realize that the pitch angle of its display screen and camera is adjusted.
The invention has the following advantages that
One, structure of the invention is ingenious in design, only need to be according to the information source of human-computer interaction interface, it will be able to automatically control circle
All motion structures and pitch angle regulating mechanism adjust the horizontal direction and adjuster pitch angle of human-computer interaction interface respectively, fastly
Speed response user location, provides better user experience；
Two, the present invention uses circumferential mentality of designing, whether support plate, the rotary disk of circular motion structure and pitching
The pitching disk of adjustment structure is to be designed based on disc type, is not only conducive to the combination of each structure of intelligent robot, but also deflection
Degree, which is adjusted, to unitize, and positions more acurrate.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Detailed description of the invention
Fig. 1 and Fig. 2 is schematic perspective view of the invention；
Fig. 3 is the structural schematic diagram of support plate of the present invention；
Fig. 4 is support plate of the invention, circular motion structure and pitch angle adjustment structure schematic diagram；
Fig. 5 is support plate and circular motion structural schematic diagram of the invention；
Fig. 6 is the side view of circular motion structure of the present invention；
Fig. 7 is the cross-sectional view of circular motion structure of the present invention；
Fig. 8 is the explosive view of circular motion structure of the present invention；
Fig. 9 is circular motion structure top view of the present invention；
Figure 10 is the main view that pitch angle adjustment structure of the present invention is mounted on rotary disk；
Figure 11 is the side view that pitch angle adjustment structure of the present invention is mounted on rotary disk；
Figure 12 is the rearview that pitch angle adjustment structure of the present invention is mounted on rotary disk；
Figure 13 is the sectional view that pitch angle adjustment structure of the present invention is mounted on rotary disk；
Figure 14 is the state diagram that pitching disk of the present invention is in maximum depression angle；
Figure 15 is the state diagram that pitching disk of the present invention is in maximum depression angle；
Figure 16 is the explosive view of pitch angle adjustment structure of the present invention.
Label declaration
Support plate 1；
Circular motion structure 2, pedestal 21, support column 211, external thread structure 2111, circumference sliding rail 212, circumference driving machine
Structure 22, gear-box 221, upper cover 2211, lower cover 2212, the first motor 222, the first motor gear 223, transition gear 224, magnetic code
Disk gear 225, hexagonal gear 226, toothed disc 2261, outer-hexagonal structure 2262, circular motion control panel 23, rotary disk 24 are interior
Hexagonal structure 241, support base 242, baffle 2421, arc groove 2422, connector 243, pressing plate 2431, pivot connecting plate 2432, hexagonal
Nut 25, bearing 26, washer 27, bearing assembly 28；
Pitch angle adjustment structure 3, pitching driving mechanism 31, fixing seat 311, bracket 312, bottom plate 3121, door type frame
3122, the second motor 313, the second motor gear 314, worm screw 315, gear on worm 316, driving plate 317, helical rack 3171, drive
Movable plate sliding rail 318, driving plate connector 319, bearing shaft 3191, pitching disk 32, through-hole 321, pivot 33, washer 34, bearing 35,
Plate drive motor 36, cover board support 37, travel switch 38；
Human-computer interaction interface 4, shell 41, central control board 42, display screen 43, camera 44.
Specific embodiment
As illustrated in figs. 1-16, a kind of intelligent robot with multi-angle regulation function that the present invention discloses, including support
Disk 1, circular motion structure 2, pitch angle adjustment structure 3 and human-computer interaction interface 4；
The circular motion structure 2 includes pedestal 21, circumference driving mechanism 22, circular motion control panel 23 and rotary disk
24, the pedestal 21 is fixed in support plate 1, and the circumference driving mechanism 22 is mounted on pedestal 21, and the setting of rotary disk 24 exists
22 top of circumference driving mechanism, circular motion control panel 23 is arranged between circumference driving mechanism 22 and rotary disk 24, and circumference
Motion control board 23 is electrically connected with circumference driving mechanism 22, drives rotary disk 24 to carry out circular motion by circumference driving mechanism 22；
The pitch angle adjustment structure 3 includes pitching driving mechanism 31 and pitching disk 32；The circular motion structure 2
A pair of of support base 242 is set on rotary disk 24, and 32 two sides of the bottom of pitching disk are hubbed on respectively on two support bases 242, and pitching is driven
The same side on rotary disk 23 and being located at two support bases 242 is arranged in motivation structure 31, and the connection of 31 upper end of pitching driving mechanism is bowed
Disk 32 is faced upward to drive pitching disk 32 to move up and down；
The human-computer interaction interface 4 includes shell 41, central control board 42, display screen 43 and camera 44, the center
Control panel 42 is mounted on 41 inside of shell, is equipped with speech recognition equipment on central control board 42；The display screen 43 and camera shooting
First 44 are installed in 41 outside of shell, and camera 44, circular motion control panel 23, faces upward driving mechanism 31 at display screen 43
Control panel 32 is entreated to be electrically connected；The shell 41 is mounted on the side of pitching disk 32 and shell 41 can be transported up and down together with pitching disk 32
It is dynamic.
The pedestal 21 of the support plate 1 and circular motion structure 2 is in bowl-type, intermediate one support column 211 of projection of pedestal 21,
Circumference driving mechanism 22, circular motion control panel 23 and rotary disk 24 are sequentially arranged on support column 211, and the rotary disk 24 is also
Pedestal 21 is covered and is closed, and rotary disk 24 can do circumferential slippage along pedestal periphery.
Emphasis referring to as shown in Fig. 6-9 and 16, the circumference driving mechanism 22 including gear-box 221, the first motor 222 with
And the first motor gear 223, transition gear 224, magnetic code disk gear 225 and hexagonal gear 226 in gear-box 221 are set,
Motor 222 is fixed on 21 bottom of pedestal, and the shaft of the first motor 222, which protrudes into gear-box 221, is mounted on the first motor gear 223
In its shaft, the first motor gear 223, transition gear 224, magnetic code disk gear 225 and hexagonal gear 226 are successively engaged；It is described
Gear-box 221, rotary disk 24 and hexagonal gear 226 open up mounting hole, and gear-box 221, hexagonal gear 226 and rotary disk 24 are logical
Its mounting hole is crossed successively to be sheathed on support column 211；Outside toothed disc 2261 and upper end of the hexagonal gear 226 including lower end
Hexagonal structure 2262 corresponds to outer-hexagonal structure 2262 in the mounting hole of the rotary disk 24 and forms interior hexagonal structure 241, hexagonal tooth
Wheel 226 drives rotary disk 24 to carry out circular motion by the cooperation of the outer-hexagonal structure 2262 and the interior hexagonal structure 241.
In the present embodiment, 211 upper end of support column forms external thread structure 2111, and the external thread structure 2111 is from revolution
The mounting hole of disk 24 stretches out, and a hex nut 25 screws in 2111 structure of external screw thread of 211 upper end of support column, stop rotary disk 24 from
Support column 211 is deviate from；Bearing 26 is respectively provided in the hexagonal gear 226 and the mounting hole of rotary disk 24；The hex nut 25
One washer 27 is set between rotary disk 24, to reduce abrasion.
In the present embodiment, the gear-box 221 is made of the upper cover 2211 and lower cover 2212 mutually fastened；The pedestal 21
Periphery forms circumference sliding rail, equidistantly installs several bearing assemblies 28 for protruding from circumference sliding rail plane, bearing on circumference sliding rail
Component 28 is that the available abrasion reduced between rotary disk 24 and pedestal 21 also increases the flatness that rotary disk 24 rotates；The circumference
Motion control board 23 is PCB control panel.
Preferably, the outside at 242 top of the support base form the baffle 2421 with axis hole and inside formed it is recessed
A connection piece 243,243 upper end of connector lower end for pressing plate 2431 are installed in arc groove 2422,32 two sides of the bottom of pitching disk respectively
For pivot connecting plate 2432, pressing plate 2431 is fixed on 32 bottom of pitching disk, and pivot connecting plate 2432 is against the arc groove 2422 of support base 242
On, and pivot connecting plate 2432 and baffle 2421 are pivotally connected by a pivot.
For emphasis referring to Fig.1 shown in 0-16, the pitching driving mechanism 31 includes fixing seat 311, bracket 312, the second motor
313, the second motor gear 314, worm screw 314, gear on worm 316, driving plate 317, driving plate sliding rail 318 and driving plate connection
Part 319；The bracket 312 includes the door type frame 3122 on bottom plate 3121 and bottom plate, and bottom plate 3121 is fixed in fixing seat 311,
Fixing seat 311 is mounted on the rotary disk 24 of circular motion structure 2, on the bottom plate 3121 of 313 mounting bracket 312 of the second motor,
Second motor gear 314 is mounted in the shaft of the second motor, and pitching disk opens up the through-hole passed through for door type frame；
314 worm screw is hubbed on 3122 side of door type frame of bracket 311,315 bottom connecting worm gear of worm screw vertically
316, gear on worm 316 is engaged with the second motor gear 314, and it is another that the driving plate sliding rail 318 is vertically installed at door type frame 3122
Side, driving plate 317 are sheathed on driving plate sliding rail 318 and can slide up and down along driving plate sliding rail 318, and driving plate 317 is leaned on
The side of worm screw 315 forms helical rack 3171, and helical rack 3171 is engaged with worm screw 315；319 lower end of driving plate connector with
Driving plate 317 connects and upper end is connect with pitching disk 32.
319 lower end of driving plate connector forms bearing shaft 3191, opens up among driving plate 317 and inserts for bearing shaft 3191
The axis hole entered；A washer 34 is inserted on the bearing shaft 3191；The axis being pivoted for worm screw 315 is opened up on the door type frame 3122
Bearing 35 is installed in hole on axis hole；The plate drive motor 36 being electrically connected with the second motor 313, pitching are set on the rotary disk 24
Driving mechanism 31 further includes a rack plate 37, and the lid of rack plate 37 closes door type frame 3122 on one side, plate drive motor 36 and center
Control panel 42 is electrically connected, and central control board sends control signals to plate drive motor 36, thus 313 turns of the second motor of control
It is dynamic, to realize the control to pitching driving mechanism.
Support plate 1 supports circular motion structure 2, pitch angle adjustment structure 3 and human-computer interaction interface 4, user's sounding,
The speech recognition equipment of human-computer interaction interface 4 collects language source, determines general orientation, and central control board 42 is to circular motion
The circular motion control panel 23 of structure 2 sends control signal, and circular motion control panel 23 is started to work, and circumference driving mechanism 22 exists
Rotary disk 24 is driven to rotate under the control of circular motion control panel 23, rotary disk 24 drives pitch angle adjustment structure 3 and people
Machine interactive interface 4 rotates, and realizes that the direction of its display screen 43 and camera 44 is adjusted；
Display screen 43 and camera 44 are substantially aligned with user front after direction is adjusted, and camera 44 acquires face figure
Picture analyzes (face identification system can be integrated in central control board) through central control board, and then it sends out to pitching driving mechanism 3
Control signal is sent, pitching driving mechanism 3 drives pitching disk 23 to move up and down (lever motion) with support base 232 for fulcrum, installation
Human-computer interaction interface 4 on pitching disk 32 is also with moving up and down, to realize the pitching of its display screen 43 and camera 44
Angular adjustment.
The above is only specific embodiments of the present invention, not to the restriction of protection scope of the present invention.All setting according to this case
The equivalent variations that meter thinking is done, each falls within the protection scope of this case.
Claims (7)
1. a kind of intelligent robot circular motion structure, it is characterised in that: including support plate, circular motion structure, pitch angle
Adjustment structure and human-computer interaction interface；
The circular motion structure includes pedestal, circumference driving mechanism, circular motion control panel and rotary disk, and the pedestal is fixed
In support plate, the circumference driving mechanism is mounted on the base, and rotary disk is arranged above circumference driving mechanism, circular motion
Control panel is arranged between circumference driving mechanism and rotary disk, and circular motion control panel is electrically connected with circumference driving mechanism, by
Circumference driving mechanism drives rotary disk to carry out circular motion；
The pitch angle adjustment structure includes pitching driving mechanism and pitching disk；It is set on the rotary disk of the circular motion structure
A pair of of support base is set, pitching pan bottom two sides are hubbed on respectively on two support bases, and pitching driving mechanism is arranged on rotary disk
And it is located at the same side of two support bases, pitching driving mechanism upper end connects pitching disk to drive its up and down motion；
The human-computer interaction interface includes shell, central control board, display screen and camera, and the central control board is mounted on shell
Internal side is equipped with speech recognition equipment on central control board；The display screen and camera are installed in hull outside, camera shooting
Head, circular motion control panel, is faced upward driving mechanism and is electrically connected with central control board display screen；The shell is mounted on pitching disk
Side and shell can move up and down together with pitching disk；
The pedestal of the support plate and circular motion structure is in bowl-type, one support column of projection among pedestal, circumference driving mechanism,
Circular motion control panel and rotary disk are sequentially arranged on support column, and the rotary disk also closes base cover, and rotary disk can edge
Pedestal periphery does circumferential slippage.
2. a kind of intelligent robot circular motion structure as described in claim 1, it is characterised in that: the circumference driving mechanism
Including gear-box, the first motor and the first motor gear being arranged in gear-box, transition gear, magnetic code disk gear and hexagonal
Gear, the first motor are fixed on base bottom, and the shaft of the first motor, which protrudes into gear-box, makes the first motor gear be mounted on its turn
On axis, the first motor gear, transition gear, magnetic code disk gear and hexagonal gear are successively engaged；The gear-box, rotary disk and six
Angle gear opens up mounting hole, and gear-box, hexagonal gear and rotary disk are successively sheathed on support column by its mounting hole；It is described
The toothed disc of hexagonal gear lower end and the outer-hexagonal structure of upper end correspond to outer-hexagonal structure in the mounting hole of the rotary disk and are formed
Interior hexagonal structure, hexagonal gear drive rotary disk to carry out circumference fortune by the cooperation of the outer-hexagonal structure and the interior hexagonal structure
It is dynamic.
3. a kind of intelligent robot circular motion structure as claimed in claim 2, it is characterised in that: the upper end of support column shape
At external thread structure, which stretches out from the mounting hole of rotary disk, and a hex nut screws in the outer spiral shell of upper end of support column
Line structure stops rotary disk to be deviate from from support column；Bearing is respectively provided in the mounting hole of the hexagonal gear and rotary disk；Described six
One washer is set between angle nut and rotary disk.
4. a kind of intelligent robot circular motion structure as claimed in claim 2, it is characterised in that: the gear-box is by mutual
The upper cover and lower cover of fastening form；The pedestal periphery forms circumference sliding rail, equidistantly installs several protrude from circumference sliding rail
The bearing assembly of circumference sliding rail plane；The circular motion control panel is PCB control panel.
5. a kind of intelligent robot circular motion structure as described in claim 1, it is characterised in that: at the top of the support base
Outside forms the baffle with axis hole and inside forms recessed arc groove, and a connection piece is installed in pitching pan bottom two sides respectively,
Connector upper end is pressing plate and lower end is pivot connecting plate, and pressing plate is fixed on pitching pan bottom, and pivot connecting plate is against the arc groove of support base
On, and pivot connecting plate and baffle are pivotally connected by a pivot.
6. a kind of intelligent robot circular motion structure as described in claim 1, it is characterised in that: the pitching driving mechanism
Including fixing seat, bracket, the second motor, the second motor gear, worm screw, gear on worm, driving plate, driving plate sliding rail and driving
Plate connector；The bracket includes the door type frame on bottom plate and bottom plate, and bottom plate is fixed in fixing seat, and fixing seat is mounted on revolution
On disk, on the bottom plate of the second motor mounting bracket, the second motor gear is mounted on motor shaft, and pitching disk is opened up for door type frame
The through-hole passed through；
The worm screw is hubbed on the door type frame side of bracket, worm screw bottom connecting worm gear, gear on worm and the second horse vertically
It is engaged up to gear, the driving plate sliding rail is vertically installed at the door type frame other side, and driving plate is sheathed on driving plate sliding rail and energy
Enough to slide up and down along driving plate sliding rail, driving plate forms helical rack by the side of worm screw, and helical rack is engaged with worm screw；The driving
Plate connector lower end is connect with driving plate and upper end is connect with pitching disk.
7. a kind of intelligent robot circular motion structure as claimed in claim 6, it is characterised in that: the driving plate connector
Lower end forms bearing shaft, and the axis hole for bearing shaft insertion is opened up among driving plate；A washer is inserted on the bearing shaft；The door
The axis hole being pivoted for worm screw is opened up in type frame, and bearing is installed on axis hole；Setting is electrically connected with the second motor on the rotary disk
Plate drive motor, pitching driving mechanism include a rack plate, and rack plate lid closes door shaped stent on one side, and plate drive motor is in
Entreat control panel electrical connection.
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| CN201610291590.7A CN105798919B (en) | 2016-05-05 | 2016-05-05 | A kind of intelligent robot with circular motion and pitch angle regulatory function |
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| CN106863300A (en) * | 2017-02-20 | 2017-06-20 | 北京光年无限科技有限公司 | A kind of data processing method and device for intelligent robot |
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| CN107322609B (en) * | 2017-08-01 | 2019-07-16 | 中航航空电子系统股份有限公司北京技术研发中心 | A kind of intelligent robot |
| CN109451291A (en) * | 2018-12-29 | 2019-03-08 | 像航（上海）科技有限公司 | No medium floating projects sound source direction voice interactive system, intelligent automobile |
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| CN1276675A (en) * | 2000-06-27 | 2000-12-13 | 浙江南望图像信息产业有限公司 | Intelligent spherical camera with automatic ominibearing search of target |
| CN101745921A (en) * | 2009-12-21 | 2010-06-23 | 大连理工大学 | Human eye and human neck simulating vision device |
| CN203661165U (en) * | 2013-12-10 | 2014-06-18 | 吉林大学 | Multi freedom degree binocular stereo vision device |
| CN203770970U (en) * | 2014-04-04 | 2014-08-13 | 李东洋 | Pan-tilt |
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