CN114434463A

CN114434463A - Welcome robot

Info

Publication number: CN114434463A
Application number: CN202210215394.7A
Authority: CN
Inventors: 吴焰超; 李超; 宋育刚
Original assignee: Suzhou Pangolin Robot Corp ltd
Current assignee: Suzhou Pangolin Robot Corp ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-05-06

Abstract

The invention discloses a welcome robot which comprises a head assembly, an upper body assembly and a lower body assembly, wherein the head assembly comprises a head front shell, a head rear shell and a head skeleton, the upper body assembly comprises an upper body support, an upper body front shell, an upper body rear shell, a right arm assembly and a left arm assembly, the lower body assembly comprises a lower skeleton, the two sides of the lower skeleton are respectively provided with the lower front shell and the lower rear shell, and the lower skeleton is sequentially provided with a router, a main control board, an android board, an algorithm board, an IMU (inertial measurement unit), a power supply module, a power supply board and a waist ring from top to bottom. The invention has the beneficial effects that: through laser radar scanning surrounding environment, use the construction of scene map, set up charge point, usher point and explain the point through the touch-sensitive screen in using the scene, the accessible camera discernment personnel of robot arrive, can turn round or nod, and the arm is rotatable, and LCD eyes can demonstrate the eye expression of happiness, anger, grief, happy difference, and the ultrasonic wave can avoid bumping with the barrier.

Description

Welcome robot

Technical Field

The invention relates to the technical field of robots, in particular to a lower component structure of a welcome robot.

Background

As the labor cost increases, the labor force of the etiquette welcome work post is lost, and the repetitive and simple work of the post can be completed by a robot instead of a human. At present, the etiquette welcome robot on the market is stiff in behavior, and only simply senses that a client arrives and then plays welcome words, so that the client feels a cold mechanical breath, and the impression of the enterprise image is greatly discounted. But the relative etiquette welcome personnel also lack the enthusiasm for repetitive work and can not excellently complete the welcome work in the climatic environments such as cold winter, severe summer heat and the like,

most of the current welcoming robots are basically of an integrated structure, so that the robot is inconvenient to maintain, relatively few in functions and small in moving range of the head, the upper body, the lower body, the arms and the like.

Disclosure of Invention

The present invention is directed to a welcome robot, which solves the above problems.

In order to achieve the purpose, the invention provides the following technical scheme: a welcome robot comprises a head assembly, an upper body assembly and a lower body assembly;

the head assembly comprises a head front shell, a head rear shell and a head framework, wherein an eye lens and an LCD are sequentially arranged between the head front shell and the head framework, a voice board fixing frame and a voice board are sequentially arranged between the head rear shell and the head framework, and a left ear structure and a right ear structure are symmetrically arranged on two sides of the head front shell;

the upper body assembly comprises an upper body support, an upper body front shell and an upper body rear shell which are connected with the upper body support are respectively arranged at the front end and the rear end of the upper body support, a right arm component and a left arm component which are connected with the upper body support are respectively arranged at the two sides of the upper body support, a head pillar, a bearing fixing seat, a first deep groove ball bearing, a neck rotating shaft and a neck adapter plate are sequentially arranged at the upper end of the upper body support, a head rotating connection structure is arranged at the upper end of the neck adapter plate, a chest, a starting button, a touch screen support and a touch screen are sequentially arranged at the other end, far away from the upper body support, of the upper body front shell, a scram switch and a switch rubber cover are sequentially arranged at the other end, far away from the upper body support, of the upper body rear shell, and a turn detection pointer is arranged between the head pillar and the bearing fixing seat;

the lower part subassembly includes the lower part skeleton, lower part skeleton both sides are equipped with lower part preceding shell and lower part backshell respectively, the lower part skeleton is equipped with router, main control board, android board, algorithm board, IMU, power module and power strip from top to bottom in proper order, lower part skeleton top still is equipped with the waist ring. Preferably, the head front shell and the head rear shell are respectively provided with a plurality of first microphone seats, a plurality of second microphone seats, a plurality of first microphones and a plurality of second microphones.

Preferably, the left ear structure and the right ear phone structure respectively comprise a right ear outer shell, a right ear middle shell, a first lamp strip, a right ear inner shell, a left ear outer shell, a left ear middle shell, a second lamp strip and a left ear inner shell.

Preferably, the head rotates connection structure include with left fixed plate and right fixed plate that neck keysets both ends are connected respectively, be equipped with flange bearing and head gear between left side fixed plate and the right fixed plate respectively under, left side fixed plate is kept away from flange bearing's the other end is equipped with some first detection pointer mounting, some first detection pointer, infrared correlation detection switch in proper order and some first detection fixed bolster, right fixed plate is kept away from the other end under the head gear is equipped with axle sleeve and some first motor in proper order.

Preferably, the lower upper end of the head gear is provided with a head gear matched with the head gear, one end of the head gear is sequentially provided with a pin shaft, a second deep groove ball bearing and a first gasket, and the other end of the head gear is sequentially provided with a third deep groove ball bearing and a second gasket.

Preferably, the upper ends of the left fixing plate and the right fixing plate are further provided with neck rings fixedly connected with the left fixing plate and the right fixing plate.

Preferably, the middle part of the lower end of the upper body support is provided with a turning motor fixing plate, the lower end of the turning motor fixing plate is provided with a turning motor connected with the turning motor fixing plate, the two sides of the upper end of the turning motor fixing plate are respectively provided with a turning sensor support right side and a turning sensor support left side, and at least two infrared correlation detection switches are arranged between the turning sensor support right side and the turning sensor support left side.

Preferably, a first front shell fixing part and a second front shell fixing part are respectively arranged between the lower front shell and the lower framework, and a rear shell fixing plate is arranged between the lower rear shell and the lower framework.

Preferably, lower part skeleton lower extreme is equipped with fixed connection's chassis with it, lower part skeleton one side be equipped with chassis fixed connection's lithium cell, the lithium cell is kept away from the opposite side of lower part skeleton is equipped with the laser radar fixed plate, and its upper end is equipped with laser radar support and laser radar, the chassis both sides symmetry respectively are equipped with the drive wheel subassembly of being connected with it, and two the drive wheel subassembly inboard symmetry respectively is equipped with four at least universal wheels.

Preferably, the lower part backshell is kept away from the opposite side of lower part skeleton is equipped with infrared strip, electrode fixed plate, electrode, drawer lock, the infrared circuit board that charges and the infrared circuit board support that charges from top to bottom in proper order, the shell is kept away from before the lower part the opposite side of lower part skeleton is equipped with printer apron, ultrasonic wave support and ultrasonic wave respectively.

Advantageous effects

The welcome robot provided by the invention is connected with the welcome robot WIFI through a mobile phone or a computer, after the connection is successful, a map construction APP is opened, the robot is controlled to walk through the computer or the mobile phone, the robot scans the surrounding environment through a laser radar to construct a use scene map, and after the map construction is completed, a charging point \ a welcome point \ a talk-back point can be set in the use scene through a touch screen. When someone arrives at the set welcome point \ explanation point, the robot can recognize that the person arrives through the camera and actively greet/explain related contents to the person who arrives. When the greeting robot greets or explains contents, the head can do head turning or nodding actions, the arms can rotate and swing, the welcome robot can also pick up sound through the six microphones at the top of the head and can communicate with a coming person, the six microphones of the robot can not only pick up the sound, but also can determine the position of a speaker according to the position of a sound source, so that better service is achieved, the LCD eye expression of the welcome robot can change the eye expression according to the speech of the person communicating with the LCD eye expression, different eye expressions of happiness, anger, grief and happiness can be presented, the ultrasonic wave of the welcome robot can judge obstacles on a walking path in the walking process, so that collision with the obstacles is avoided, and when the electric quantity of the welcome robot is too low, the welcome robot can automatically plan the path to return to a set charging point for charging.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded schematic view of the head of the present invention;

FIG. 3 is an exploded view of the upper body component of the present invention;

fig. 4 is an exploded view of the lower body assembly of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1-4, a welcome robot includes a head assembly 1, an upper body assembly 2 and a lower body assembly 3;

the head assembly 1 comprises a head front shell 4, a head rear shell 5 and a head framework 6, wherein an eye lens 7 and an LCD8 are sequentially arranged between the head front shell 4 and the head framework 6, a voice board fixing frame 9 and a voice board 10 are sequentially arranged between the head rear shell 5 and the head framework 6, and a left ear structure and a right ear structure are symmetrically arranged on two sides of the head front shell 4;

the upper body assembly 2 comprises an upper body support 11, an upper body front shell 12 and an upper body rear shell 13 which are connected with the upper body support 11 are respectively arranged at the front end and the rear end of the upper body support 11, a right arm assembly 14 and a left arm assembly 15 which are connected with the upper body support 11 are respectively arranged at the two sides of the upper body support 11, a head pillar 16, a bearing fixing seat 17, a first deep groove ball bearing 18, a neck rotating shaft 19 and a neck adapter plate 20 are sequentially arranged at the upper end of the upper body support 11, a head rotating connection structure is arranged at the upper end of the neck adapter plate 20, a front breast 21, a starting button 22, a touch screen support 23 and a touch screen 24 are sequentially arranged at the other end, far away from the upper body support 11, of the upper body rear shell 13, a scram switch 25 and a switch rubber cover 26 are sequentially arranged at the other end, far away from the upper body support 11, and a rotating detection pointer 27 is arranged between the head pillar 16 and the bearing fixing seat 17;

the lower body assembly 3 comprises a lower skeleton 28, a lower front shell 29 and a lower rear shell 30 are respectively arranged on two sides of the lower skeleton 28, the lower skeleton 28 is sequentially provided with a router 31, a main control board 32, an android board 33, an algorithm board 34, an IMU35, a power module 36 and a power board 37 from top to bottom, and the top of the lower skeleton 28 is also provided with a waist ring 38. Preferably, the head front shell 4 and the head rear shell 5 are respectively provided at the top thereof with a plurality of first microphone seats 39, a plurality of second microphone seats 40, a plurality of first microphones 41 and a plurality of second microphones 42.

Preferably, the left ear structure and the right ear phone structure respectively include a right ear outer shell 43, a right ear middle shell 44, a first light strip 45, a right ear inner shell 46, a left ear outer shell 47, a left ear middle shell 48, a second light strip 49, and a left ear inner shell 50.

Preferably, the head rotating connection structure includes a left fixing plate 51 and a right fixing plate 52 respectively connected to two ends of the neck adapter plate 20, a flange bearing 53 and a head gear lower 54 are respectively disposed between the left fixing plate 51 and the right fixing plate 52, a nodding detection pointer fixing member 55, a nodding detection pointer 56, an infrared correlation detection switch 57 and a nodding detection fixing bracket 58 are sequentially disposed at the other end of the left fixing plate 51 away from the flange bearing 53, and a shaft sleeve 59 and a nodding motor 60 are sequentially disposed at the other end of the right fixing plate 52 away from the head gear lower 54.

Preferably, the upper end of the head gear lower 54 is provided with a head gear upper 61 matched with the head gear lower, one end of the head gear upper 61 is sequentially provided with a pin shaft 62, a second deep groove ball bearing 63 and a first gasket 64, and the other end of the head gear upper 61 is sequentially provided with a third deep groove ball bearing 65 and a second gasket 66.

Preferably, the upper ends of the left fixing plate 51 and the right fixing plate 52 are further provided with a neck ring 67 fixedly connected therewith.

Preferably, the middle part of the lower end of the upper body support 11 is provided with a turning motor fixing plate 68, the lower end of the turning motor fixing plate 68 is provided with a turning motor 69 connected with the turning motor fixing plate, two sides of the upper end of the turning motor fixing plate 68 are respectively provided with a turning sensor support right 70 and a turning sensor support left 71, and at least two infrared correlation detection switches 72 are arranged between the turning sensor support right 70 and the turning sensor support left 71.

Preferably, a first front case fixing member 73 and a second front case fixing member 74 are respectively provided between the lower front case 29 and the lower frame 28, and a rear case fixing plate 75 is provided between the lower rear case 30 and the lower frame 28.

Preferably, the lower end of the lower framework 28 is provided with a chassis fixedly connected with the lower framework, one side of the lower framework 28 is provided with a lithium battery 76 fixedly connected with the chassis, the other side of the lithium battery 76 far away from the lower framework 28 is provided with a laser radar fixing plate 77, the upper end of the lithium battery is provided with a laser radar support 78 and a laser radar 79, two sides of the chassis are respectively symmetrically provided with driving wheel assemblies 80 connected with the chassis, and the inner sides of the two driving wheel assemblies 80 are respectively symmetrically provided with at least four universal wheels 81.

Preferably, the charging infrared bar 82, the electrode fixing plate 83, the electrode 84, the drawer lock 85, the charging infrared circuit board 86 and the charging infrared circuit board support 87 are sequentially arranged on the other side of the lower rear shell 30 away from the lower framework 28 from top to bottom, and the printer cover plate 88, the ultrasonic support 89 and the ultrasonic wave 90 are respectively arranged on the other side of the lower front shell 29 away from the lower framework 28.

And (4) turning on a switch button of the greeting robot, and connecting the greeting robot with a mobile phone or a computer to obtain the WIFI of the greeting robot. After the connection is successful, the map construction APP is opened, the robot is controlled to walk by a computer or a mobile phone, the robot scans the surrounding environment through the laser radar, and the use scene map is constructed. After the map is built, a charging point \ a welcome point \ a talk-back point can be set in a use scene through the touch screen. When someone arrives at the set welcome point \ explanation point, the robot can recognize that the person arrives through the camera and actively greet/explain related contents to the person who arrives. When the user is greeting or explaining the content, the head can do the action of rotating or nodding the head, and the arms can rotate and swing. The greeting robot can pick up sound through the six microphones at the top of the head, and can communicate with people. The six microphones of the robot can not only pick up sound, but also determine the position of a speaker according to the position of a sound source. Thereby achieving better service. The LCD eye expression of the Alice welcome robot can change the eye expression according to the speaking technique of the person communicating with the Alice welcome robot, and can present eye expressions with different happiness, anger, sadness and happiness. The ultrasonic wave of the welcome robot can judge the barrier on the walking path in the walking process, so that the collision with the barrier is avoided. When the electric quantity of the welcome robot is too low, the welcome robot can automatically plan a path and return to a set charging point for charging.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the content of the present invention within the scope of the protection of the present invention.

Claims

1. The utility model provides a guest-welcoming robot, includes head subassembly (1), upper part of the body subassembly (2) and its characterized in that of lower part of the body subassembly (3):

the head assembly (1) comprises a head front shell (4), a head rear shell (5) and a head framework (6), wherein an eye lens (7) and an LCD (8) are sequentially arranged between the head front shell (4) and the head framework (6), a voice board fixing frame (9) and a voice board (10) are sequentially arranged between the head rear shell (5) and the head framework (6), and a left earphone structure and a right earphone structure are symmetrically arranged on two sides of the head front shell (4);

the upper body assembly (2) comprises an upper body support (11), an upper body front shell (12) and an upper body rear shell (13) which are connected with the upper body front shell and the upper body rear shell are respectively arranged at the front end and the rear end of the upper body support (11), a right arm assembly (14) and a left arm assembly (15) which are connected with the upper body support are respectively arranged at the two sides of the upper body support (11), a head pillar (16), a bearing fixing seat (17), a first deep groove ball bearing (18), a neck rotating shaft (19) and a neck adapter plate (20) are sequentially arranged at the upper end of the upper body support (11), a head rotating connecting structure is arranged at the upper end of the neck adapter plate (20), a front chest (21), a starting button (22), a touch screen support (23) and a touch screen (24) are sequentially arranged at the other end, far away from the upper body support (11), of the upper body rear shell (13), a quick-stop switch (25) and a switch rubber cover (26) are sequentially arranged at the other end, far away from the upper body support (11), a rotating head detection pointer (27) is arranged between the head support (16) and the bearing fixing seat (17);

lower part of the body subassembly (3) includes lower part skeleton (28), lower part skeleton (28) both sides are equipped with lower part preceding shell (29) and lower part backshell (30) respectively, lower part skeleton (28) are equipped with router (31), main control board (32), android board (33), algorithm board (34), IMU (35), power module (36) and power strip (37) from top to bottom in proper order, lower part skeleton (28) top still is equipped with waist ring (38).

2. The greeting robot of claim 1, wherein: the top of the front head shell (4) and the top of the rear head shell (5) are respectively provided with a plurality of first microphone seats (39), second microphone seats (40), first microphones (41) and second microphones (42).

3. The greeting robot of claim 1, wherein: the left ear structure and the right ear structure respectively comprise a right ear outer shell (43), a right ear middle shell (44), a first lamp strip (45), a right ear inner shell (46), a left ear outer shell (47), a left ear middle shell (48), a second lamp strip (49) and a left ear inner shell (50).

4. The greeting robot of claim 1, wherein: head rotates connection structure include with left fixed plate (51) and right fixed plate (52) that neck keysets (20) both ends are connected respectively, be equipped with flange bearing (53) and head gear down (54) between left side fixed plate (51) and right fixed plate (52) respectively, left side fixed plate (51) is kept away from the other end of flange bearing (53) is equipped with in proper order and nods and detects pointer mounting (55), nods and detects pointer (56), infrared correlation detection switch (57) and nods and detect fixed bolster (58), right side fixed plate (52) are kept away from the other end of head gear down (54) is equipped with axle sleeve (59) and nods motor (60) in proper order.

5. The greeting robot of claim 1, wherein: the upper end of the head gear lower part (54) is provided with a head gear upper part (61) matched with the head gear lower part, one end of the head gear upper part (61) is sequentially provided with a pin shaft (62), a second deep groove ball bearing (63) and a first gasket (64), and the other end of the head gear upper part (61) is sequentially provided with a third deep groove ball bearing (65) and a second gasket (66).

6. The greeting robot of claim 1, wherein: the upper ends of the left fixing plate (51) and the right fixing plate (52) are also provided with neck rings (67) fixedly connected with the left fixing plate and the right fixing plate.

7. The greeting robot of claim 1, wherein: the utility model discloses a sensor, including upper part of the body support (11), upper part of the body support (11) lower extreme middle part is equipped with motor fixed plate (68) that turns round, motor fixed plate (68) lower extreme that turns round is equipped with motor (69) that turns round of being connected with it, motor fixed plate (68) upper end both sides that turn round are equipped with sensor support right side (70) and the sensor support left side (71) that turns round respectively, just it detects switch (72) to be equipped with two at least infrared correlation between sensor support right side (70) and the sensor support left side (71) that turns round.

8. The greeting robot of claim 1, wherein: the lower front shell (29) and the lower framework (28) are respectively provided with a first front shell fixing piece (73) and a second front shell fixing piece (74), and a rear shell fixing plate (75) is arranged between the lower rear shell (30) and the lower framework (28).

9. The greeting robot of claim 1, wherein: lower part skeleton (28) lower extreme is equipped with fixed connection's chassis with it, lower part skeleton (28) one side be equipped with chassis fixed connection's lithium cell (76), lithium cell (76) are kept away from the opposite side of lower part skeleton (28) is equipped with laser radar fixed plate (77), and its upper end is equipped with laser radar support (78) and laser radar (79), the chassis both sides symmetry respectively are equipped with drive wheel subassembly (80) of being connected with it, and two drive wheel subassembly (80) inboard symmetry respectively is equipped with four at least universal wheels (81).

10. The greeting robot of claim 1, wherein: keep away from lower part backshell (30) the opposite side of lower part skeleton (28) is equipped with infrared strip (82), electrode fixed plate (83), electrode (84), drawer lock (85), the infrared circuit board (86) that charges and the infrared circuit board support (87) that charges from top to bottom in proper order, shell (29) is kept away from before the lower part the opposite side of lower part skeleton (28) is equipped with printer apron (88), ultrasonic wave support (89) and ultrasonic wave (90) respectively.