CN107948768B - Robot head structure and humanoid robot - Google Patents
Robot head structure and humanoid robot Download PDFInfo
- Publication number
- CN107948768B CN107948768B CN201711295467.3A CN201711295467A CN107948768B CN 107948768 B CN107948768 B CN 107948768B CN 201711295467 A CN201711295467 A CN 201711295467A CN 107948768 B CN107948768 B CN 107948768B
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- sound
- shell
- front shell
- sound insulation
- head structure
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- 238000009413 insulation Methods 0.000 claims abstract description 78
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000004308 accommodation Effects 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 238000007142 ring opening reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/02—Casings; Cabinets ; Supports therefor; Mountings therein
Abstract
The invention belongs to the technical field of robots, and particularly relates to a robot head structure and a humanoid robot, wherein the robot head structure comprises a front shell and a rear shell which jointly form a containing cavity with the front shell, and the front shell and the rear shell jointly form a first sound outlet communicated with the containing cavity and a second sound outlet communicated with the containing cavity; the robot head structure comprises a first sound insulation structural member, a first loudspeaker, a second sound insulation structural member and a second loudspeaker, wherein the front shell and the rear shell clamp the first sound insulation structural member and the second sound insulation structural member together. Based on the structure of the invention, the first sound insulation structural member and the second sound insulation structural member are only required to be placed at the proper positions of the front shell or the rear shell, so that the operation steps of fastening connection assembly are reduced, the assembly efficiency is improved, and the mass production is facilitated.
Description
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to a robot head structure and a humanoid robot.
Background
In order to improve the sound effect and enhance the stereo perception of the sound field, two loudspeakers are arranged in the head structure of the robot. However, at present, in order to set two speakers, the head structure of the robot is generally complex, so that the assembly efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot head structure which aims to solve the problem of low assembly efficiency.
The invention is realized in the following way: the robot head structure comprises a front shell and a rear shell which forms a containing cavity together with the front shell, wherein a first sound outlet hole communicated with the containing cavity and a second sound outlet hole communicated with the containing cavity are formed in the front shell and the rear shell together;
the robot head structure is including being used for cutting off first sound-proof structure spare that first sound hole and holding chamber communicate, be fixed in first sound-proof structure spare just goes out the first speaker that the sound set up outwards, be used for cutting off second sound-proof structure spare that the second sound hole with the holding chamber communicates and be fixed in second sound-proof structure spare just goes out the sound and sets up outwards, preceding shell with the back shell presss from both sides tightly jointly first sound-proof structure spare with second sound-proof structure spare.
Optionally, the first sound insulation structure piece is including arranging in the holding intracavity and bung hole outwards be used for accomodating the first sound insulation bucket of first speaker and be cyclic annular setting and in first sound insulation bucket bung hole department with first sound insulation bucket fixed connection just in first sound outlet hole department is by the preceding shell with the first go-between of back shell common clamp, first go-between with first sound insulation bucket common clamp the basin frame edge of first speaker.
Optionally, the front shell is provided with a first front shell clamping groove towards the wall surface in the accommodating cavity, the rear shell is provided with a first rear shell clamping groove in the wall surface in the accommodating cavity, and the outer ring surface of the first sound insulation structural member is provided with a first front shell bulge inserted into the first front shell clamping groove and a first rear shell bulge inserted into the first rear shell clamping groove.
Optionally, the first sound insulation structure comprises a first protection net provided at the first connection ring opening and used for protecting the first speaker.
Optionally, the second sound insulation structure piece includes placing in the holding intracavity and bung hole outwards is used for accomodating the second sound insulation bucket of second speaker and be cyclic annular setting and in second sound insulation bucket bung hole department with second sound insulation bucket fixed connection just in second sound outlet hole department is by the preceding shell with the second go-between that the back shell presss from both sides tightly jointly, second go-between with second sound insulation bucket presss from both sides tightly the basin frame edge of second speaker jointly.
Optionally, the front shell is provided with a second front shell clamping groove towards the wall surface of the accommodating cavity, the rear shell is provided with a second rear shell clamping groove in the wall surface of the accommodating cavity, and the second sound insulation structural member is provided with a second front shell protrusion inserted into the second front shell clamping groove and a second rear shell protrusion inserted into the second rear shell clamping groove in the second connecting ring.
Optionally, the second sound insulation structure comprises a second protection net arranged at the second connection ring opening and used for protecting the second loudspeaker.
Optionally, the front shell is provided with an eye hole which is communicated with the accommodating cavity, extends from left to right and corresponds to the eye position of the robot head, and a mouth hole which is communicated with the accommodating cavity and corresponds to the mouth position of the robot head;
the robot head structure comprises a light emitting part arranged in the accommodating cavity and used for generating a light source and a light guide part used for guiding the light source to the eye hole and the mouth hole.
Optionally, the first sound outlet is arranged on the left side, and the second sound outlet is arranged on the right side.
The invention also provides a robot, which comprises the robot head structure.
In the assembly process, first, the first speaker is fixed to the first sound insulation structural member, and the second speaker is fixed to the second sound insulation structural member; secondly, the first sound insulation member fixed with the first speaker is placed on the front shell, and the first sound insulation member fixed with the first speaker is placed on the front shell, in this process, the first sound insulation member and the second sound insulation member do not need to be fixedly connected with the front shell, however, in other embodiments, the first sound insulation member fixed with the first speaker is placed on the rear shell, and the first sound insulation member and the second sound insulation member do not need to be fixedly connected with the rear shell; and finally, fixedly connecting the front shell and the rear surface to each other so that the front shell and the rear shell clamp the first sound insulation structural member and the second sound insulation structural member together. According to the assembly process, as the first sound insulation structural member and the second sound insulation structural member do not need to be fixedly connected with the front shell, the first sound insulation structural member and the second sound insulation structural member do not need to be fixedly connected with the rear shell, and only the first sound insulation structural member and the second sound insulation structural member are required to be placed at the proper positions of the front shell or the rear shell, the operation steps of fastening and connecting assembly are reduced, the assembly efficiency is improved, and the mass production is facilitated.
In addition, because the structure setting of first sound insulation structure spare and second sound insulation structure spare, first sound insulation structure spare and second sound insulation structure spare can prevent well that first speaker and second speaker from taking place the crosstalk in the holding intracavity, like this, are favorable to improving the pronunciation effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an overall perspective view of a robot head structure provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view taken along the AA in FIG. 1;
FIG. 3 is an exploded view of FIG. 1;
FIG. 4 is a partially exploded view of the alternative view of FIG. 1, with the front shell hidden;
fig. 5 is a perspective view of a front shell provided in an embodiment of the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 110 | Front shell | 120 | Rear shell |
| 1101 | Eye hole | 1102 | Mouth hole |
| 210 | First loudspeaker | 220 | Second loudspeaker |
| 310 | First sound insulation structural member | ||
| 311 | First sound insulation barrel | 312 | First connecting ring |
| 313 | The first front shell is convex | ||
| 320 | Second sound insulation structural member | ||
| 321 | Second sound insulation barrel | 322 | Second connecting ring |
| 323 | Second front shell bulge | ||
| 410 | First protective net | 420 | Second protective net |
| 510 | First front shell clamping groove | ||
| 610 | Second front shell clamping groove | ||
| 700 | Luminous element | ||
| 800 | Light guide | ||
| 900 | Light-transmitting eye belt |
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a robot head structure.
Referring to fig. 1 to 4, the robot head structure includes a front shell 110 and a rear shell 120 forming a receiving cavity together with the front shell 110, wherein the front shell 110 and the rear shell 120 are formed with a first sound outlet hole communicating with the receiving cavity and a second sound outlet hole communicating with the receiving cavity together. The front shell 110 may be bowl-shaped, the bowl opening is arranged backwards, the rear shell 120 may also be bowl-shaped, the bowl opening is arranged forwards, the front shell 110 and the rear shell 120 may be made of plastic or metal aluminum, the front shell 110 and the rear shell 120 may be connected through a fastening structure, and may also be connected through a bolt structure.
The robot head structure comprises a first sound insulation structural member 310 for isolating a first sound outlet from being communicated with the accommodating cavity, a first loudspeaker 210 fixed on the first sound insulation structural member 310 and provided with a sound outlet face outwards, a second sound insulation structural member 320 for isolating a second sound outlet from being communicated with the accommodating cavity, and a second loudspeaker 220 fixed on the second sound insulation structural member 320 and provided with a sound outlet face towards the second, wherein the front shell 110 and the rear shell 120 jointly clamp the first sound insulation structural member 310 and the second sound insulation structural member 320.
In the assembly process, first, the first speaker 210 is fixed to the first soundproof structure 310, and the second speaker 220 is fixed to the second soundproof structure 320; second, the first sound insulation member 310 to which the first speaker 210 is fixed is placed to the front case 110, and the first sound insulation member 310 to which the first speaker 210 is fixed is placed to the front case 110, in which process the first sound insulation member 310 and the second sound insulation member 320 do not need to be fixedly connected to the front case 110, however, in other embodiments, the first sound insulation member 310 to which the first speaker 210 is fixed is placed to the rear case 120, and the first sound insulation member 310 and the second sound insulation member 320 do not need to be fixedly connected to the rear case 120; again, the front and rear shells 110 and 120 are fixedly coupled to each other such that the front and rear shells 110 and 120 collectively clamp the first and second acoustic structural members 310 and 320. According to the assembly process, since the first and second sound insulation structural members 310 and 320 do not need to be fixedly connected with the front shell 110, the first and second sound insulation structural members 310 and 320 do not need to be fixedly connected with the rear shell 120, and only the first and second sound insulation structural members 310 and 320 are required to be placed at the proper positions of the front shell 110 or the rear shell 120, the operation step of fastening and connecting assembly is reduced, the assembly efficiency is improved, and the mass production is facilitated.
In addition, due to the structural arrangement of the first sound insulation structural member 310 and the second sound insulation structural member 320, the first sound insulation structural member 310 and the second sound insulation structural member 320 can better prevent the first speaker 210 and the second speaker 220 from generating crosstalk in the accommodating cavity, thus being beneficial to improving the sound emitting effect.
Referring to fig. 1 to 4, the first sound outlet is disposed on the left side, and the second sound outlet is disposed on the right side. Based on the structure, the two sound sources are arranged in opposite directions, so that the stereo perception of the sound field is enhanced.
Referring to fig. 2 to 4, the first soundproof structure member 310 includes a first soundproof barrel 311 disposed in the accommodating cavity with a barrel opening facing outward for accommodating the first speaker 210, and a first connection ring 312 disposed in a ring shape and fixedly connected to the first soundproof barrel 311 at the barrel opening of the first soundproof barrel 311 and clamped together by the front case 110 and the rear case 120 at the first sound outlet, wherein the first connection ring 312 and the first soundproof barrel 311 clamp together a frame edge of the first speaker 210. In the process of fixedly connecting the first speaker 210 to the first soundproof structure member 310, firstly, based on the inherent structure of the speaker, the magnet and coil part of the first speaker 210 can be directly put into the first soundproof barrel 311 without accurate alignment, then, the frame edge of the first speaker 210 is abutted to the barrel edge of the first soundproof barrel 311, and finally, the first connection ring 312 is fastened to the first soundproof barrel 311, so that the frame edge of the first speaker 210 is clamped together through the first connection ring 312 and the first soundproof barrel 311, thus, the assembly efficiency is advantageously improved. The first connection ring 312 and the first sound insulation barrel 311 may be connected by a fastening structure or a screw structure.
Further, referring to fig. 2 to 4, the first sound insulation structure 310 includes a first protection net 410 disposed at the ring opening of the first connection ring 312 for protecting the first speaker 210. In this way, the diaphragm of the first speaker 210 can be prevented from being directly touched by an external object to cause breakage.
Further, referring to fig. 2 to 5, the front shell 110 has a first front shell slot 510 formed on a wall surface in the accommodating cavity, the rear shell 120 has a first rear shell slot formed on a wall surface in the accommodating cavity, and the first sound insulation structure member 310 has a first front shell protrusion 313 inserted into the first front shell slot 510 and a first rear shell protrusion inserted into the first rear shell slot on an outer ring surface of the first connection ring 312, so that the first front shell slot 510 and the first rear shell slot can jointly limit the first sound insulation barrel 311 from moving forward, backward, leftward and rightward during the movement of the robot head structure.
Referring to fig. 2 to 4, the second sound insulation structure 320 also includes a second sound insulation barrel 321 disposed in the accommodating cavity and having an outward barrel opening for accommodating the second speaker 220, and a second connection ring 322 disposed in a ring shape and fixedly connected to the second sound insulation barrel 321 at the barrel opening of the second sound insulation barrel 321 and clamped together by the front case 110 and the rear case 120 at the second sound outlet, wherein the second connection ring 322 and the second sound insulation barrel 321 clamp together the frame edge of the second speaker 220. In the process of fixedly connecting the second speaker 220 to the second soundproof structure member 320, firstly, based on the inherent structure of the speaker, the magnet and coil part of the second speaker 220 can be directly put into the second soundproof barrel 321 without accurate alignment, then, the frame edge of the second speaker 220 is abutted to the barrel edge of the second soundproof barrel 321, and finally, the second connecting ring 322 is fastened to the second soundproof barrel 321, so that the frame edge of the second speaker 220 is clamped together through the second connecting ring 322 and the second soundproof barrel 321, thus, the assembly efficiency is improved. The second connecting ring 322 and the second sound insulation barrel 321 can be connected through a fastening structure or a screw structure.
Further, referring to fig. 2 to 4, the second soundproof structure member 320 includes a second protection net 420 provided at the ring opening of the second connection ring 322 for protecting the second speaker 220. In this way, the diaphragm of the second speaker 220 can be prevented from being directly touched by an external object to cause breakage.
Further, referring to fig. 2 to 5, the front case 110 has a second front case clamping groove 610 formed on a wall surface in the accommodating cavity, the rear case 120 has a second rear case clamping groove formed on a wall surface in the accommodating cavity, and the second sound insulation barrel 321 has a second front case protrusion 323 inserted into the second front case clamping groove 610 and a second rear case protrusion inserted into the second rear case clamping groove formed on a barrel surface thereof, so that the second front case clamping groove 610 and the second rear case clamping groove can jointly limit the second sound insulation barrel 321 to move forward, backward, leftward and rightward during the movement of the robot head structure.
Referring to fig. 1 and 3, the front shell 110 is provided with an eye hole 1101 which is communicated with the accommodating cavity and extends from left to right and corresponds to the eye position of the robot head, and a mouth hole 1102 which is communicated with the accommodating cavity and corresponds to the mouth position of the robot head; the robotic head structure includes a light 700 disposed within the receiving cavity for generating a light source and a light guide 800 for guiding the light source to the eye 1101 and mouth 1102 apertures. Thus, the head structure of the robot has a technological sense.
Further, the robot head structure includes a light-transmitting eye belt 900 having one end connected to the first protection net 410 and the other end connected to the second protection net 420 and covering the eye holes 1101, so that the robot head structure has a better feeling of science and technology.
The invention also provides a humanoid robot which comprises a robot head structure, and the specific structure of the robot head structure refers to the embodiment, and because the humanoid robot adopts all the technical schemes of all the embodiments, the humanoid robot also has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted herein.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The robot head structure is characterized by comprising a front shell and a rear shell which jointly forms a containing cavity with the front shell, wherein the front shell and the rear shell jointly form a first sound outlet communicated with the containing cavity and a second sound outlet communicated with the containing cavity, and the front shell is bowl-shaped;
the robot head structure is including being used for cutting off first sound-proof structure spare that first sound hole and holding chamber communicate, be fixed in first sound-proof structure spare just goes out the first speaker that the sound set up outwards, be used for cutting off second sound-proof structure spare that the second sound hole with the holding chamber communicates and be fixed in second sound-proof structure spare just goes out the sound and sets up outwards, preceding shell with the back shell presss from both sides tightly jointly first sound-proof structure spare with second sound-proof structure spare.
2. The robotic head structure of claim 1, wherein the first sound insulating structure includes a first sound insulating barrel disposed in the receiving cavity with a barrel mouth facing outwardly for receiving the first speaker, and a first connecting ring disposed annularly and fixedly connected to the first sound insulating barrel at the barrel mouth and clamped together by the front shell and the rear shell at the first sound outlet, the first connecting ring and the first sound insulating barrel clamping together a frame edge of the first speaker.
3. The robot head structure of claim 2, wherein the front shell has a first front shell groove formed in a wall surface facing the accommodating cavity, the rear shell has a first rear shell groove formed in a wall surface of the accommodating cavity, and the first sound insulation structure has a first front shell protrusion inserted into the first front shell groove and a first rear shell protrusion inserted into the first rear shell groove formed in an outer circumferential surface of the first connection ring.
4. A robotic head structure as claimed in claim 2 in which the first sound insulating structure includes a first protective mesh provided at the first attachment ring mouth for protecting the first speaker.
5. The robotic head structure of claim 1, wherein the second sound insulating structure includes a second sound insulating barrel disposed within the receiving cavity with a barrel mouth facing outwardly for receiving the second speaker, and a second connecting ring disposed annularly and fixedly connected to the second sound insulating barrel at the barrel mouth and clamped together by the front and rear shells at the second sound outlet, the second connecting ring and the second sound insulating barrel clamping together a frame edge of the second speaker.
6. The robot head structure of claim 5, wherein said front shell defines a second front shell recess in a wall facing said receiving cavity, said rear shell defines a second rear shell recess in a wall of said receiving cavity, and said second sound insulating structure defines a second front shell projection in said second connecting ring for inserting into said second front shell recess, and a second rear shell projection in said second rear shell recess.
7. A robotic head structure as claimed in claim 5 in which the second sound insulating structure includes a second protective mesh provided to the second attachment ring mouth for protecting the second speaker.
8. The robot head structure according to any one of claims 1 to 7, wherein the front case is provided with an eye hole which communicates with the accommodation chamber and extends from left to right and corresponds to an eye position of the robot head, and a mouth hole which communicates with the accommodation chamber and corresponds to a mouth position of the robot head;
the robot head structure comprises a light emitting part arranged in the accommodating cavity and used for generating a light source and a light guide part used for guiding the light source to the eye hole and the mouth hole.
9. The robot head structure of any of claims 1 to 7, wherein the first sound outlet is provided on a left side and the second sound outlet is provided on a right side.
10. A humanoid robot comprising a robot head structure as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295467.3A CN107948768B (en) | 2017-12-08 | 2017-12-08 | Robot head structure and humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711295467.3A CN107948768B (en) | 2017-12-08 | 2017-12-08 | Robot head structure and humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107948768A CN107948768A (en) | 2018-04-20 |
| CN107948768B true CN107948768B (en) | 2024-03-29 |
Family
ID=61946250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711295467.3A Active CN107948768B (en) | 2017-12-08 | 2017-12-08 | Robot head structure and humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107948768B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101384095A (en) * | 2007-09-06 | 2009-03-11 | 索尼株式会社 | Speaker unit and audio output robot device |
| CN205704209U (en) * | 2016-04-21 | 2016-11-23 | 歌尔股份有限公司 | Intelligent robot |
| CN107003692A (en) * | 2014-11-28 | 2017-08-01 | 以琳光通信株式会社 | Communications terminal multiple bay |
| CN107042512A (en) * | 2017-01-10 | 2017-08-15 | 小煷伴（深圳）智能科技有限公司 | A kind of interactive robot of intelligent sound |
| CN206426119U (en) * | 2017-01-16 | 2017-08-22 | 无锡辰星机器人科技有限公司 | A kind of robot head and robot |
| CN207543278U (en) * | 2017-12-08 | 2018-06-26 | 深圳市优必选科技有限公司 | Robot head structure and anthropomorphic robot |
-
2017
- 2017-12-08 CN CN201711295467.3A patent/CN107948768B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101384095A (en) * | 2007-09-06 | 2009-03-11 | 索尼株式会社 | Speaker unit and audio output robot device |
| CN107003692A (en) * | 2014-11-28 | 2017-08-01 | 以琳光通信株式会社 | Communications terminal multiple bay |
| CN205704209U (en) * | 2016-04-21 | 2016-11-23 | 歌尔股份有限公司 | Intelligent robot |
| CN107042512A (en) * | 2017-01-10 | 2017-08-15 | 小煷伴（深圳）智能科技有限公司 | A kind of interactive robot of intelligent sound |
| CN206426119U (en) * | 2017-01-16 | 2017-08-22 | 无锡辰星机器人科技有限公司 | A kind of robot head and robot |
| CN207543278U (en) * | 2017-12-08 | 2018-06-26 | 深圳市优必选科技有限公司 | Robot head structure and anthropomorphic robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107948768A (en) | 2018-04-20 |
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