CN206795843U - Intelligent robot - Google Patents

Abstract

Present disclose provides a kind of intelligent robot, including：Chassis；Support arm, support arm are arranged on chassis in which can swing up and down around the first pivot axis；Head, head are arranged on support arm in which can swing up and down and/or swing；Microphone, chassis and/or head are arranged on, for interactive voice；Loudspeaker, for playing sound；And calculating platform, for controlling support arm and/or head oscillation, to export mechanical action to interactive voice object in interactive voice.The technical scheme of the disclosure have effectively achieved in small volume and interactive lively intelligent robot.

Description

Intelligent robot

Technical field

This disclosure relates to interactive voice field, in particular to a kind of intelligent robot.

Background technology

In recent years, robot has been widely used in our life.For example said in museum The robot of solution, at the restaurant in be responsible for the robot of food delivery, indoor cleaning machine people (also referred to as sweeper), and can accompany Robot of people's chat etc..But the robot function in correlation technique is single, can not meet diversified user's request.This Outside, the robot with interactive voice is general higher, and robot occupies substantial amounts of space, is not easy to store.

Utility model content

The disclosure aims to provide a kind of intelligent robot, has voice interactive function, and intelligent robot includes：Chassis；Branch Brace, support arm are arranged on the top on chassis around the first pivot axis in which can swing up and down, wherein, support arm has recovery position And at least one outer pendulum position；Head, it can swing up and down and/or swing；And microphone, be arranged on chassis and/or Head, for collected sound signal；Calculating platform, for controlling support arm and/or head oscillation, with interactive voice to language Sound interactive object exports mechanical action.

Nonrestrictive, the intelligent robot can be defeated to interactive voice object by the swing on support arm and/or head Go out mechanical action, improve the vividness of interactive voice.In addition, when support arm reclaims, intelligent robot occupancy can be at least reduced Space.Especially, in the artificial surface processing equipment of intelligence machine, support arm recovery is advantageous to be surface-treated during surface treatment Equipment is walked on the ground, so as to clean short space.

In certain embodiments, intelligent robot also includes：First drive mechanism, it is arranged in chassis or is arranged on branch In brace, the first drive mechanism driving support arm, so that support arm has recovery position and outer pendulum position.

In certain embodiments, the first drive mechanism includes the first motor and the first transmission mechanism, the output of the first motor Axle extends perpendicularly to the first pivot axis, and the first motor drives support arm by the first transmission mechanism.

In certain embodiments, the first drive mechanism is arranged in chassis, and the first transmission mechanism includes intermeshing snail Wheel and worm screw and the first power transmission shaft rotated coaxially with worm gear, worm screw are driven by the output shaft of the first motor, the first power transmission shaft Rotation drive support arm swing.

In certain embodiments, the first drive mechanism is arranged in chassis, and the first transmission mechanism includes intermeshing the One bevel gear and second bevel gear and the first power transmission shaft rotated coaxially with second bevel gear, first bevel gear is by the first motor Output shaft driving, the rotation of the first power transmission shaft drives support arm to swing.

In certain embodiments, the first drive mechanism is arranged in support arm, and the first transmission mechanism includes intermeshing First bevel gear and second bevel gear and the dead axle coaxially connected with second bevel gear, first bevel gear are defeated by the first motor Shaft drives, and dead axle is fixedly installed with respect to chassis.

In certain embodiments, support arm includes the first support arm and the second support arm, the first end of the first support arm around First pivot axis is swingably arranged on chassis and driven by the first drive mechanism, and the first end of the second support arm is around second Pivot axis is swingably arranged on the second end of the first support arm, and head is arranged on the second end of the second support arm.

In certain embodiments, robot also includes：Second drive mechanism, it is arranged in the first support arm or is arranged on In second support arm, the second drive mechanism drives the second support arm, so that the second support arm swing.

In certain embodiments, the second drive mechanism includes the second motor and the second transmission mechanism, the output of the second motor Axle extends perpendicularly to the second pivot axis, and the second motor drives the second support arm by the second transmission mechanism.

In certain embodiments, the second drive mechanism is arranged in the first support arm, and the second transmission mechanism includes mutually nibbling The third hand tap gear of conjunction and the 4th bevel gear and the second driving shaft rotated coaxially with the 4th bevel gear, third hand tap gear is by The output shaft driving of two motors, the rotation of second driving shaft drive the second support arm swing.

In certain embodiments, the second drive mechanism includes the 3rd motor, and the 3rd motor is arranged in the second support arm, the The axis of the output shaft of three motors is overlapped with the second pivot axis, and the output shaft of the 3rd motor is connected with the first support arm.

In certain embodiments, the first support arm is two be oppositely arranged, and the second support arm is one and is arranged on two Between individual first support arm.

In certain embodiments, the first support arm and the second support arm include skeleton and are arranged on outer outside skeleton Shell, the skeleton of the second support arm is hollow grid shape structure.

In certain embodiments, display unit and loudspeaker are provided with head, display unit and loudspeaker are configured as Display use state exchanges with people.

In certain embodiments, the holding tank for accommodating support arm and head is provided with chassis, support arm is in recovery position Support arm and head are recycled to the upper surface that chassis is not protruded from holding tank when putting.

In certain embodiments, head is arranged on support arm in which can swing up and down around the 3rd pivot axis, and head can Swung around the 4th pivot axis.

In certain embodiments, head includes pedestal and head body, and pedestal is swingably set around the 3rd pivot axis On support arm, head body is rotatably arranged on pedestal along the 4th pivot axis.

In certain embodiments, pedestal, which includes connecting seat and the first steering wheel being arranged on connecting seat, head body, to turn It is arranged on dynamicly on connecting seat.

In certain embodiments, head body includes shell, the display unit being arranged on shell and is arranged in shell The second steering wheel, shell is connected by the second steering wheel with connecting seat.

In certain embodiments, intelligent robot also includes：Surface treating appliance, tray bottom is arranged on, for clearing up The dust of ground.

In certain embodiments, head also includes touch sensitive device, for gathering the touch signal of touching medium；Touch sensitive device The signal of the position change on control support arm and/or head is sent when collecting touch signal.Calculating platform can control support arm And/or head oscillation, to export mechanical action to touch object.

In certain embodiments, intelligent robot also includes sound source locating device, for gathering the position of interactive voice object Confidence ceases, and sound source locating device sends the signal of the position change on control support arm and/or head when collecting positional information.Meter Calculate platform and can control support arm and/or head oscillation, to export mechanical action to sound object.

In certain embodiments, surface treating appliance includes：Dust bin, it is arranged in chassis, for storing dust；And Brush unit, for the dust of ground to be swept into dust bin.

In certain embodiments, intelligent robot includes：Radio communication device, for launching and/or receiving wireless signal.

In certain embodiments, intelligent robot includes：Distance measuring sensor, it is provided for the use in space residing for collecting device In the environmental data for establishing map.

In certain embodiments, intelligent robot includes：Detection of obstacles unit, for detecting support arm and head place Vertical direction on barrier, and export detection signal.

In certain embodiments, intelligent robot includes：The display dress for being used to show visual elements being arranged on head Put.

In certain embodiments, intelligent robot includes：The optical image sensor being arranged on head, optical imagery pass Picture signal of the sensor based on collection is sent for making support arm and/or head export the signal of mechanical action.

In certain embodiments, intelligent robot includes：Life body detecting sensor, it is raw for detecting vital body signal Life body detecting sensor sends the signal of the position change on control support arm and/or head when collecting vital body signal.Calculate Platform can control support arm and/or head oscillation, to export mechanical action to life entity.

Brief description of the drawings

The Figure of description for forming the part of the application is used for providing further understanding of the disclosure, and the disclosure is shown Meaning property embodiment and its illustrate be used for explain the disclosure, do not form the improper restriction to the disclosure.In the accompanying drawings：

Fig. 1 shows the dimensional structure diagram of the embodiment one according to the robot of the disclosure；

Fig. 2 shows the schematic side view of Fig. 1 robot；

Fig. 3 shows the mated condition signal of the support arm of Fig. 1 robot, the first drive mechanism and the second drive mechanism Figure；

Fig. 4 shows the structural representation on the head of Fig. 1 robot；

Fig. 5 shows the structural representation of the pedestal on Fig. 4 head；

Fig. 6 shows the structural representation of the installation sleeve between Fig. 4 head and support arm；

Fig. 7 shows support arm, the first drive mechanism and the second driving of the embodiment two according to the robot of the disclosure The mated condition schematic diagram of mechanism；

Fig. 8 shows the part-structure schematic diagram of the example IV of the robot according to the disclosure；

Fig. 9 shows the part-structure schematic diagram of the embodiment five according to the robot of the disclosure；

Figure 10 shows Fig. 9 the second motor and the schematic cross-sectional view of the first support arm mated condition；

Figure 11 shows the structural representation on the head of the embodiment of the intelligent robot according to the disclosure；

Figure 12 shows the structural representation of the robot according to the disclosure.

Wherein, above-mentioned accompanying drawing marks including the following drawings：

10th, chassis；11st, holding tank；20th, support arm；21st, the first support arm；22nd, the second support arm；221st, skeleton；30、 Head；31st, pedestal；311st, connecting seat；312nd, the first steering wheel；32nd, head body；40th, the first drive mechanism；41st, the first motor； 42nd, first bevel gear；43rd, second bevel gear；44th, the first power transmission shaft；45th, dead axle；50th, the second drive mechanism；51st, the second electricity Machine；52nd, third hand tap gear；53rd, the 4th bevel gear；54th, second driving shaft；55th, the 3rd motor；61st, the first potentiometer；62nd, it is standby Use potentiometer；63rd, the second potentiometer；70th, installation sleeve；80th, optical image sensor；S1, the first pivot axis；S2, second Pivot axis；S3, the 3rd pivot axis；S4, the 4th pivot axis.

Embodiment

It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase Mutually combination.Describe the disclosure in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

As depicted in figs. 1 and 2, the intelligent robot of embodiment one includes：Chassis 10, support arm 20, head 30 and One drive mechanism 40.Support arm 20 is arranged on chassis 10 in which can swing up and down around the first pivot axis S1, and the support arm 20 has There are recovery position and outer pendulum position.Head 30 is arranged on support arm 20, and display unit can be set on the head 30 or is raised one's voice The parts such as device, display unit can show visual elements, such as use state of intelligent robot etc. or be easy to and people is carried out The element of exchange.First drive mechanism 40 is arranged in chassis 10, the first drive mechanism 40 driving support arm 20, so that support arm 20 have recovery position and outer pendulum position.

The technical scheme of Application Example one, support arm 20 under the driving of the first drive mechanism 40 have recovery position and Outer pendulum position.The head 30 being arranged on support arm 20 can also move with support arm 20.When intelligent robot is partially in work When making state, for example support arm 20 is driven to be in outer pendulum position by the first drive mechanism when man-machine interaction or monitor state, When intelligent robot is in partially operational state, for example, sweep the floor state when or during off position by the first drive mechanism Driving support arm 20 is in recovery position.Support arm 20 causes the space-consuming of intelligent robot substantially to subtract when being in recovery position It is small, so it is easy to store and deposit.First drive mechanism 40 is arranged in chassis 10, so efficiently utilizes intelligent robot The space of itself so that intelligent robot overall structure is compacter, attractive in appearance.

For more reasonably utilization space so that intelligent robot structure is compacter, as shown in figure 3, in embodiment In one intelligent robot, the first drive mechanism 40 includes the first motor 41 and the first transmission mechanism, the output of the first motor 41 Axle extends perpendicularly to the first pivot axis S1, and the first motor 41 drives support arm 20 by the first transmission mechanism.In city The motor that can be bought on field is typically grown up tubular or oblong-shaped, and its axial dimension is larger.In order to take into account manufacturing cost And the requirement of intelligent robot miniaturization, the integral layout needs of the first drive mechanism 40 are more reasonable.In embodiment one, the The the first pivot axis S1 for extending perpendicularly to support arm 20 of the output shaft of one motor 41, passes through the first transmission mechanism transmission The power of first motor 41 is to support arm 20.No matter above-mentioned first drive mechanism 40 is arranged in chassis 10 or is arranged on support In arm 20 can characteristics of compact layout, save space.

As shown in figure 3, in embodiment one, the first transmission mechanism is bored including intermeshing first bevel gear 42 and second Gear 43 and the first power transmission shaft 44 rotated coaxially with second bevel gear 43, first bevel gear 42 is by the output of the first motor 41 Axle drives, and the rotation of the first power transmission shaft 44 drives support arm 20 to swing.The output shaft of first motor 41 passes through intermeshing One bevel gear 42 and second bevel gear 43 impart power to the first power transmission shaft 44 and drive support arm by the first power transmission shaft 44 20 swing.Preferably, can be linked together between the first power transmission shaft 44 and support arm 20 by fastener, such as screw.When So, the first power transmission shaft 44 direct can not also be connected with support arm 20, but is connected by a middleware with support arm 20, only Need to meet that the first power transmission shaft 44 can drive support arm 20 to swing, specific annexation is not limited to above-mentioned be enumerated to Mode.

The concrete structure of support arm 20 can have diversified forms, and support arm can be only a section or can include mutually interconnecting The more piece connect.One skilled in the art will appreciate that the specific joint number of support arm can select according to being actually needed.As shown in figure 3, In embodiment one, support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 is around One pivot axis S1 is swingably arranged on chassis 10 and driven by the first drive mechanism 40, the first end of the second support arm 22 Swingably it is arranged on the second end of the first support arm 21 around the second pivot axis S2, head 30 is arranged on the second support arm 22 The second end on.The support arm 20 of embodiment one has the advantages that stable, scope of activities is big.Preferably, the second support arm Formed with cavity in 22, the cavity is used to arrange circuit board, and cable-through hole is provided with the second support arm 22.

As shown in figure 3, in embodiment one, intelligent robot also includes the second drive mechanism 50.Second drive mechanism 50 are arranged in the first support arm 21, and the second drive mechanism 50 drives the second support arm 22, so that the second support arm 22 is swung. In the present embodiment, drive the second support arm 22 to make its swing by the second drive mechanism 50, can so make the first support arm 21 Controlled respectively with the second support arm 22, so that the control of support arm 20 is more flexible.Certainly, other realities not shown in figure Apply in mode, the second support arm 22 can be similarly driven by the first drive mechanism 40, now be needed in the second support Increase appropriate transmission mechanism between the power transmission shaft 44 of arm 22 and first.

For more reasonably utilization space so that intelligent robot structure is compacter, as shown in figure 3, in embodiment In one, the second drive mechanism 50 includes the second motor 51 and the second transmission mechanism, the bearing of trend of the output shaft of the second motor 51 Perpendicular to the second pivot axis S4, the second motor 51 drives the second support arm 22 by the second transmission mechanism.Similarly driven in first The design principle of motivation structure, the second drive mechanism 50 of embodiment one have the advantages of integral layout is more reasonable, so can Meet the requirement of intelligent robot miniaturization.

As shown in figure 3, in embodiment one, the second transmission mechanism is bored including intermeshing third hand tap gear 52 and the 4th Gear 53 and the second driving shaft 54 rotated coaxially with the 4th bevel gear 53, third hand tap gear 52 is by the output of the second motor 51 Axle drives, and the rotation of second driving shaft 54 drives the second support arm 22 to swing.The output shaft of second motor 51 passes through intermeshing Third hand tap gear 52 and the 4th bevel gear 53 impart power to second driving shaft 54 and drive the by second driving shaft 54 Two support arms 22 are swung.Preferably, can be linked together between the support arm 22 of second driving shaft 54 and second by fastener, Such as screw.Certainly, second driving shaft 54 direct can not also be connected with the second support arm 22, but by a middleware with Second support arm 22 connects, it is only necessary to meets that second driving shaft 54 can drive the second support arm 22 to swing, specifically connects The relation of connecing is not limited to the above-mentioned mode being enumerated to.

In order to take into account structural stability and kinetic stability, as shown in figure 3, in embodiment one, the first support arm 21 is Two be oppositely arranged, the second support arm 22 are one and are arranged between two the first support arms 21.In the present embodiment, One drive mechanism 40 drives one of them first support arm 21, and another first support arm 21 is coordinated by rotating shaft and chassis 10. Certainly, as one skilled in the art will appreciate that the quantity of the first support arm 21 and the second support arm 22 is not limited to this, first The support arm 22 of brace 21 and second can also be one, or the first support arm 21 be one and the second support arm 22 is relative Two set.The quantity and arrangement of first support arm 21 and the second support arm 22 can flexibly be set according to being actually needed Put.

In embodiment one, the first motor 41 and the second motor 51 are self-locking motor.As shown in figure 3, for the ease of right First motor 41 is controlled, and can set the first potentiometer 61, judges turning for the first support arm 21 by the first potentiometer 61 Dynamic angle.And then first motor 41 is controlled according to the signal of the first potentiometer 61.In embodiment one, the first potentiometer 61 are arranged in the rotating shaft for the first support arm 21 not coordinated with the first drive mechanism 40.To be on the safe side, can be first Standby potentiometer 62 is set on power transmission shaft 44.As a same reason, for the ease of being controlled to the second motor 51, can equally set Second potentiometer 63, the rotational angle of the second support arm 22 is judged by the second potentiometer 63.Second potentiometer 63 is arranged on On second driving shaft 54.Certainly, one skilled in the art will appreciate that as feasible embodiment, the first motor 41 and the second electricity Machine 51 can also use other driving structures such as steering wheel.When the first motor 41 and the second motor 51 are steering wheel, the first driving machine The position of the drive mechanism 50 of structure 40 and second needs adaptively to be adjusted.

As shown in figure 1, in embodiment one, the holding tank 11 for accommodating support arm 20 and head 30 is provided with chassis 10, Support arm 20 and head 30 are recycled to the upper table that chassis 10 is not protruded from holding tank 11 when support arm 20 is in recovery position Face.Said structure make it that structure is attractive in appearance.Preferably, when support arm 20 is in recovery position, support arm 20 and head 30 and chassis In 10 upper surface is generally aligned in the same plane, so that the appearance looks elegant of intelligent robot, improve Consumer's Experience.

As depicted in figs. 1 and 2, in embodiment one, head 30 is arranged in which can swing up and down around the 3rd pivot axis S3 On support arm 20, head 30 can swing around the 4th pivot axis S4.Said structure enables head 30 to swing up and down It can also swing simultaneously.So, when intelligent robot realizes human-computer interaction function, it is possible to achieve nod or shake the head Action, and then it is effectively improved Consumer's Experience.

In order to simplify structure, while in view of reducing space hold of the intelligent robot when not working, as shown in figure 1, In embodiment one, the first pivot axis S1, the second pivot axis S2 and the 3rd pivot axis S3 are parallel to each other.Said structure Also integrally-built stability can be improved.

As shown in figure 4, in embodiment one, head 30 includes pedestal 31 and head body 32, and pedestal 31 pivots around the 3rd Axis S3 is swingably arranged on support arm 20, and head body 32 is rotatably arranged in pedestal 31 along the 4th pivot axis S4 On.Said structure can realize swinging up and down and swinging for head 30, and simple in construction, easily realize.

As shown in figure 5, in embodiment one, pedestal 31 includes connecting seat 311 and the first rudder being arranged on connecting seat 311 Machine 312, head body 32 are rotatably arranged on connecting seat 311.Connecting seat 311 can support the first steering wheel 312, and even The position of the corresponding output shaft of first steering wheel 312 of joint chair 311 is provided with connecting shaft.So, the energy of 311 and first steering wheel of connecting seat 312 It is enough to be together swingably arranged on support arm 20 around the 3rd pivot axis S3, and then swinging up and down for head 30 can be realized. Connecting seat 311 is set make it that the structure of head 30 is more stable.Certainly, rudder can only be included as feasible embodiment, pedestal Machine, now, head body are rotatably arranged on steering wheel.So it is also required to slightly change steering wheel.

In embodiment one, head body 32 includes shell, the display unit being arranged on shell and is arranged in shell The second steering wheel, shell is connected by the second steering wheel with connecting seat 311.The setting of second steering wheel can realize the left and right on head 30 Swing, and easily realization simple in construction.

It should be noted that the first above-mentioned steering wheel 312 and the mounting means of the second steering wheel can be found in prior art.Specifically For, by taking the mounting means of the first steering wheel 312 as an example.As shown in fig. 6, the junction of the second support arm 22 and the first steering wheel 312 Installation sleeve 70 is provided with, the installation sleeve 70 is fixedly installed with the second support arm 22.Set on the inwall of the installation sleeve 70 There is rotation stop section, the cylinder bottom of installation sleeve 70 has through hole.The end of the output shaft of first steering wheel 312 is provided with screw, and this first The output shaft end of steering wheel 312 is worn in above-mentioned installation sleeve 70 and with the limited section coordinated with rotation stop section.Rotation stop Coordinate between section and limited section and cause relative turn will not occur between the output shaft of the first steering wheel 312 and installation sleeve 70 It is dynamic.In the through hole of installation sleeve 70 and wearing screw in the screw of the output shaft of the first steering wheel 312 fixes the first steering wheel 312 In installation sleeve 70.So, when the first steering wheel 312 starts, its main part can together be swung with connecting seat 311.Second rudder The mounting means of machine is similar to the mounting means of the first steering wheel, and installation sleeve is fixed on connecting seat 311, and by the second steering wheel Output shaft be arranged on above-mentioned installation sleeve in.

As one skilled in the art will appreciate that the position of the first steering wheel 312 and the second steering wheel is not limited to foregoing description Content, the first steering wheel 312 can also be arranged in the second support arm 22, and the second steering wheel can also be arranged in pedestal 31.In addition, Realize that the mode for swinging up and down and swinging on head 30 is not limited to use steering wheel, driven by motor and can be Reality, it is only necessary to which the position of motor adaptively adjust.

Walking mechanism is provided with the chassis 10 of the intelligent robot of the present embodiment, walking mechanism, which is arranged to, to be promoted Intelligent robot moves according to pre-provisioning request.Certainly, in other figs. in unshowned embodiment, intelligent robot Walking mechanism can be not provided with, now intelligent robot can not walk, and be fixed on some predetermined opening position and used.

The intelligent robot of the present embodiment can be applied in commercial kitchen area and domestic environments.

According to the embodiment two of the intelligent robot of the application and differing only in for above-described embodiment：First drive mechanism Set location and type of drive.Specifically, as shown in fig. 7, in embodiment two, the first drive mechanism 40 is disposed therein one In individual support arm 20.First transmission mechanism includes intermeshing first bevel gear 42 and second bevel gear 43 and bored with second The coaxially connected dead axle 45 of gear 43.First bevel gear 42 is driven by the output shaft of the first motor 41, and dead axle 45 is with respect to chassis 10 Fixed setting.When the output shaft rotation of the first motor 41 first bevel gear 42 can be driven to rotate, due to the He of second bevel gear 43 Dead axle 45 is fixedly installed with respect to chassis 10, and now first bevel gear 42 can drive support arm 20 to rotate.Second drive mechanism 50 is set Put in another support arm 20.The remainder of the intelligent robot of embodiment two is essentially identical with embodiment one, herein Repeat no more.

It is according to the difference of the (not shown) of embodiment three of the intelligent robot of the application and above-described embodiment：The The set location and type of drive of two drive mechanisms.Specifically, the second drive mechanism is arranged in the second support arm, second drive The concrete structure of motivation structure is similar to the design principle of the first drive mechanism of embodiment two, passes through motor, two intermeshings Bevel gear and dead axle realize transmission.The operation principle of embodiment three and the operation principle of above-described embodiment are essentially identical, herein Repeat no more.

As shown in figure 8, it is according to the difference of the example IV of the intelligent robot of the application and above-described embodiment：First The structure of drive mechanism.Specifically, as shown in figure 8, in example IV, the first drive mechanism 40 is arranged in chassis 10.The One transmission mechanism includes intermeshing worm gear and worm screw and the first power transmission shaft 44 rotated coaxially with worm gear, and worm screw is by first The output shaft driving of motor 41, the rotation of the first power transmission shaft 44 drive support arm 20 to swing.Above-mentioned worm gear and worm structure structure Into worm reduction box, self-locking can be achieved, speed reducing ratio is preferably arranged to 1:23, location parameter is obtained by potentiometer, and calculate Magnitude of angular velocity.The second drive mechanism and embodiment one of example IV are essentially identical, employ 1:The bevel gear of 1 gearratio, again Claim curve-tooth bevel gear.Location parameter is obtained by the potentiometer for being installed on shaft end, and calculates to obtain magnitude of angular velocity.

In example IV, the first support arm 21 and/or the second support arm 22 may include skeleton and be arranged on outside skeleton Shell.Lightweight, reduce and start weight, carry drive mechanism.In some examples, skeleton can use aluminum alloy material, outside Shell can use ABS materials.Finite element analysis has been carried out to skeleton with CAE instruments, appearance and size has been optimized mitigation weight Amount.As shown in figure 8, the skeleton 221 of the second support arm 22 uses hollow grid shape structure, mainly aim at and mitigate matrix weight Amount, while proof strength.

As shown in Figure 9 and Figure 10, according to the example IV of the intelligent robot of the application and the main region of above-described embodiment It is not：The structure of second drive mechanism.Specifically, as shown in Figure 9 and Figure 10, in embodiment five, the second drive mechanism 50 Including the 3rd motor 55, the 3rd motor 55 is arranged in the second support arm 22, the axis and second of the output shaft of the 3rd motor 55 Pivot axis S2 is overlapped, and the output shaft of the 3rd motor 55 is connected with the first support arm.

In embodiment five, third hand tap gear and the 4th bevel gear are eliminated, using motor direct-drive form.Wherein, 3rd motor 55 is preferably planetary reducing motor.The output shaft of planetary reducing motor is fixed on one first by steel axle sleeve On the skeleton of brace 21, the other end of planetary reducing motor is connected by hollow connecting shaft with another first support arm 21.

In addition, in embodiment five, another difference is that, in the tail end (one away from output shaft of planetary reducing motor End) torsionspring for tensioning is provided with, pass through the moment of torsion that the moment of torsion that spring provides provides rotation direction identical with gravitational moment. The opening procedure of two support arm 22, as gravitational moment weakens, moment of torsion linearly changes caused by spring.So as to make planetary reduction gear electric The gear clearance of the gear reduction box of machine is pressed in side always.In motor start-up procedure, due to being used to caused by acceleration Property power be also insufficient to allow the unilateral engagement compressed to open.So as to eliminate the second support arm 22 rocking in operation.

In the second support arm 22, there is magnetic encoder the side of hollow connecting shaft, and it act as measurable second support The anglec of rotation of arm 22, resolution ratio are preferably 1/4096.Position and velocity information can be obtained by this encoder, for second The operation control of brace 22.

First support arm 21 is directly driven using Worm reduction motor.Between the first motor and the first support arm 21 It is also provided with torsion spring and is rocked with eliminating caused by backlash.In motor output shaft side, be also equipped with magnetic encoder be used for detect the The change in location of one support arm 21.On the bearing of opposite side, there is the travel switch of 0 degree, 90 degree extreme position of detection, avoid the The rotation of one support arm 21 is provided with machinery gear more than the angular range limited.

In some examples, intelligent robot has voice interactive function, wherein, intelligent robot includes：Chassis 10, table Face processing utensil, support arm 20, head 30 and microphone.Surface treating appliance is arranged on the bottom of chassis 10, for clearing up ground On dust；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down；Head 30 is arranged on On support arm 20, wherein, head 30 includes being used for the display device for showing visual elements；Microphone be arranged on chassis 10 and/or In head 30, for interactive voice；Wherein, support arm 20 has the recovery position for being easy to walk on ground in surface treatment, Support arm 20 also has in interactive voice around at least one outer pendulum position that the first pivot axis S1 is swung.

Above-mentioned intelligent robot has voice interactive function.Also, by being set with can swinging up and down around the first pivot axis The support arm on chassis is put, reclaims support arm in cleaning so that the intelligent robot can be low by sofa, bed etc. Short space, it ensure that the comprehensive of cleaning scope；Support arm is put outside in interactive voice so that the intelligent robot has certain Height, consequently facilitating interactive voice, is at least easy to check the visual elements shown by the display device of head.Set in microphone When head, moreover it is possible to the relative position of intelligent robot and sound source is adjusted, consequently facilitating sound collection.In addition, support arm reclaims It is also convenient for intelligent robot storage.Preferably, microphone is microphone array so that the acquisition of sound is more accurate.

Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2 On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.Above-mentioned support arm 20 has It is stable, the advantages that scope of activities is big.Preferably, it is used for cloth circuits formed with cavity, the cavity in the second support arm 22 Plate, cable-through hole is provided with the second support arm 22.

First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot Shaft axis S4 swings；Wherein, head 30 swing up and down and/or swing in interactive voice adjustment and voice Relative position between interactive object.

As an example, surface treating appliance includes：Dust bin, it is arranged in chassis 10, for storing dust；And Brush unit, for the dust of ground to be swept into dust bin.

The holding tank 11 for accommodating support arm 20 and head 30, branch when support arm 20 is in recovery position are provided with chassis 10 Brace 20 and head 30 are recycled to the upper surface that chassis 10 is not protruded from holding tank 11.Said structure make it that structure is attractive in appearance, The height of surface treating appliance can be reduced simultaneously, be easy to walk in short space.In interactive voice, pass through drive signal Control support arm 20 and/or head 30 are swung to form interactive action.

Head 30 may also include touch sensitive device, for gathering the touch signal of touching medium；Touch sensitive device collects touch The signal of the position change on control support arm 20 and/or head 30 is sent during signal.One in the hand or body of user Touch sensitive device when being contacted with touch sensitive device is divided to collect touch signal, so can be by the way of contact to surface processor Tool is controlled.

Intelligent robot also includes sound source locating device, for gathering the positional information of interactive voice object, auditory localization Device sends the signal of the position change on control support arm 20 and/or head 30 when collecting positional information.Said structure is favourable In the position for preferably adjusting support arm 20 and/or head 30.

In some examples, microphone is the microphone array being made up of multiple microphone units.

As shown in figure 11, in some examples, intelligent robot has image collecting function, and intelligent robot includes：Bottom Disk 10, surface treating appliance, support arm 20 and head 30.Surface treating appliance is arranged on the bottom of chassis 10, for clearing up ground On dust；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down；Head 30 is arranged on On support arm 20；Wherein, head 30 includes optical image sensor 80, and for gathering image, the front side of imaging sensor 80 can To set a translucent cover or translucent mask；Wherein, support arm 20 has be easy to walk on ground in surface treatment to return Position is received, support arm 20 also has to be swung to adjust the visual angle of IMAQ extremely in IMAQ around the first pivot axis S1 Pendulum position outside few one.

The intelligent robot has image collecting function.Also, by being set with can swinging up and down around the first pivot axis Support arm on chassis, reclaim support arm in cleaning so that the intelligent robot can be short by sofa, bed etc. Space, it ensure that the comprehensive of cleaning scope；Support arm is put outside in IMAQ, optical image sensor progress can be adjusted The visual angle of IMAQ, so as to avoid the short visual angle of intelligent robot, the image suitable for viewing can be collected.In addition, Support arm reclaims the storage for being also convenient for intelligent robot.

Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2 On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.For controlling support arm 20 And/or head 30, to adjust the drive signal at the visual angle of IMAQ, the position based on the object in the image collected produces.

First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot Shaft axis S4 swings；Wherein, head 30 swing up and down and/or swing in IMAQ adjust image adopt The visual angle of collection.

In some examples, surface treating appliance includes：Dust bin, it is arranged in chassis 10, for storing dust；And Brush unit, for the dust of ground to be swept into dust bin.

In some examples, intelligent robot includes cleaning function, safety protection function and interactive function, wherein, intelligence machine People includes：Chassis 10, surface treating appliance, support arm 20, head 30 and microphone.Surface treating appliance is arranged on chassis 10 Bottom, for clearing up the dust of ground；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down Portion, wherein, support arm 20 has recovery position and at least one outer pendulum position；Head 30, it is arranged on support arm 20；Its In, head 30 includes：For gathering the optical image sensor of image；Microphone, chassis 10 and/or head 30 are arranged on, used In interactive voice；Wherein, when intelligent robot is in cleaning function, support arm 20 is in recovery position in order to be worn on ground OK, when intelligent robot is in safety protection function, support arm 20 is rocked to outside predetermined one around the first pivot axis S1 and puts position To adjust the visual angle of IMAQ, when intelligent robot is in interactive function, support arm 20 is swung simultaneously around the first pivot axis S1 With multiple outer pendulum positions to adjust the relative position between interactive voice object.

The intelligent robot has cleaning function, safety protection function and interactive function, and the control branch for passing through drive signal Brace is swung around the first pivot axis, so that support arm is in state corresponding with the function of intelligent robot so that intelligent machine The form of device people can adapt to multiple functions, and multiple functions are realized on intelligent robot.In addition, support arm recovery is also convenient for Intelligent robot is stored.

Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2 On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.In interactive function, pass through The control support arm 20 of drive signal and/or head 30 are swung to form interactive action.

First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot Shaft axis S4 swings；Wherein, swung up and down around the 3rd pivot axis S3 by the control head 30 of drive signal and/or Four pivot axis S4 swing, so that head 30 is in state corresponding with the function of intelligent robot.

Intelligent robot includes：Dust bin, it is arranged in chassis 10, for storing dust；And brush unit, for by ground On dust be swept into dust bin.

In some examples, intelligent robot includes：Chassis 10, support arm 20, head 30 and detection of obstacles unit. Walking mechanism is provided with chassis 10；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down Portion, wherein, support arm 20 has recovery position and at least one outer pendulum position；Head 30 is arranged on support arm 20；Obstacle Analyte detection unit, the barrier on vertical direction for detecting support arm 20 and the place of head 30, and export detection signal.

In some examples, intelligent robot also includes：Calculating platform, coupled with detection of obstacles unit, for responding The signal of detection of obstacles unit, control support arm 20 is swung around the first pivot axis S1, to adjust support arm 20 and head 30 Height consequently facilitating being passed through under the barrier detected.

The intelligent robot has the support arm that can be put outside, and can adjust support arm according to barrier so that intelligence Robot can complete more functions by the barrier of different height.As a non-limiting example, barrier Detection unit is arranged on infrared sensor or ultrasonic sensor on chassis, and the sensor need to arrange being located at for support arm The front side of the direction of motion.

Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2 On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.First support arm 21 is phase To two of setting, the second support arm 22 is one and is arranged between two the first support arms 21.

Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot Shaft axis S4 swings；Wherein, swung by the control head 30 of drive signal, so that the height on support arm 20 and head 30 It is easy to pass through under the barrier detected.

In some examples, intelligent robot includes：Chassis 10, support arm 20 and head 30, support arm 20 is around first Pivot axis S1 is arranged on the top of chassis 10 in which can swing up and down, wherein, support arm 20 has recovery position and at least one Outer pendulum position；Head 30, head 30 can swing up and down and/or swing；And microphone, it is arranged on chassis 10 and/or head Portion 30, for collected sound signal；Calculating platform, for controlling support arm 20 and/or head 30 to swing, with interactive voice Mechanical action is exported to interactive voice object.

The intelligent robot is while keeping overall short, additionally it is possible to is produced by the swing on support arm and/or head Interactive action, improve the vividness of interactive voice.It is nonrestrictive, calculating platform can according to Script controlling support arm 20 and/ Or head 30 is swung to form mechanical action in interactive voice, script can be default one section of program or configuration file, But not limited to this, above-mentioned mechanical action can be anthropomorphic actions.

Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2 On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.First support arm 21 is phase To two of setting, the second support arm 22 is one and is arranged between two the first support arms 21.

Head 30 also includes：For gathering the optical image sensor of picture signal, and/or for showing visual elements Display device.

In some examples, the optical image sensor being arranged on head can be sent based on the picture signal of collection to be used for Support arm 20 and/or head 30 is set to export the signal of mechanical action.In some examples, the signal can be based in picture signal Object produces, and different objects can send different signals to produce different mechanical actions.Object Ke Bao in picture signal Include the animals such as people or cat and dog, but not limited to this.

In certain embodiments, head 30 also includes touch sensitive device, for gathering the touch signal of touching medium；Touch-sensitive dress Put the signal for the position change that control support arm and/or head are sent when collecting touch signal.In some examples, it is different Touch signal may correspond to the signal changed to the position for touching the different mechanical action of object output, but not limited to this.Calculate Platform can control support arm 20 and/or head 30 to swing, to export mechanical action to touch object.

In certain embodiments, intelligence also includes sound source locating device, for gathering the positional information of interactive voice object, Sound source locating device sends the signal of the position change on control support arm 20 and/or head 30 when collecting positional information.At certain In a little examples, different positional informations may correspond to the signal changed to the position for touching the different mechanical action of object output, But not limited to this.Calculating platform can control support arm 20 and/or head 30 to swing, to export mechanical action to sound object.

In certain embodiments, intelligent robot includes：Life body detecting sensor, it is raw for detecting vital body signal Life body detecting sensor sends the signal of the position change on control support arm 20 and/or head 30 when collecting vital body signal. In some examples, different vital body signals may correspond to what is changed to the position for touching the different mechanical action of object output Signal, but not limited to this.Calculating platform can control support arm 20 and/or head 30 to swing, to export mechanical action to life entity.

In some examples, intelligent robot may include：Radio communication device, for launching and/or receiving wireless signal.

In some examples, intelligent robot may include：Distance measuring sensor, it is provided for the use in space residing for collecting device In the environmental data for establishing map.Distance measuring sensor may be provided on chassis 10, can also be arranged on head 20, but be not limited to This.Distance measuring sensor can be laser radar, but not limited to this.

In some examples, intelligent robot may include：Detection of obstacles unit, for detecting support arm 20 and head 30 Barrier on the vertical direction at place, and export detection signal.

In some examples, intelligent robot may include：The display for being used to show visual elements being arranged on head 30 Part.Display unit can show expression so that interaction is more lively, or the display practicality such as use state or weather is believed Breath, but not limited to this.

In some examples, intelligent robot may include：Guider, in IMAQ adjusting device in space In position, to adjust the position of IMAQ.

In some examples, intelligent robot may include：Life body detecting sensor, it is raw for detecting vital body signal Life body detecting sensor sends the signal of the position change on control support arm 20 and/or head 30 when collecting vital body signal, With adjust the visual angle of IMAQ, microphone sound signal collecting direction or with the relative position of life entity at least partly.

In some examples, intelligent robot may include：Guider, guider adjusting device in safety protection function exist Position in residing space, to adjust the position of IMAQ；And/or guider in cleaning function adjusting device in institute Locate the position in space, to clean multiple positions；And/or guider adjusts intelligent robot in interactive function residing Position in space, with the position of adjustment interaction.

As shown in figure 12, include as a non-limiting example, intelligent robot：Calculating platform 1201 and transaudient Device 1202, display unit 1203, loudspeaker 1204, radio communication device 1205, detection of obstacles unit 1206, life entity detection Sensor 1207, guider 1208, sound source locating device 1209, touch sensitive device 1210, distance measuring sensor 1211, one or more In individual driving mechanisms control device 1212 at least partly.

Calculating platform 1201 can be memory and processor or FPGA etc. have computing capability hardware and/or hardware with The combination of software.Microphone 1202 may include one or more microphone units, or the biography being made up of multiple microphone arrays Sound device array.Loudspeaker 1204 can convert the electrical signal to voice signal.Radio communication device 1204 can receive and/or send nothing Line signal.Detection of obstacles unit 1206 can be one or more infrared and/or ultrasonic sensors.Life body detecting sensor 1207 can be pyroelectric sensor, optical image sensor etc..Guider 1208 has navigation feature.Sound source locating device 1209 can be microphone array etc..Distance measuring sensor 1211 can be laser radar sensor.One or more driving mechanisms controls Device 1212 can send drive signal to drive mechanism.

Preferred embodiment of the present disclosure is the foregoing is only, is not limited to the disclosure, for the skill of this area For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, that is made any repaiies Change, equivalent substitution, improvement etc., should be included within the scope of protection of the utility model.

Claims (10)

1. a kind of intelligent robot, it is characterised in that there is voice interactive function, the intelligent robot includes：

Chassis (10)；

Support arm (20), the support arm (20) are arranged on the chassis (10) in which can swing up and down around the first pivot axis (S1) Top, wherein, the support arm (20) has recovery position and at least one outer pendulum position；

Head (30), the head (30) are arranged on the support arm (20) in which can swing up and down and/or swing；

Microphone, the chassis (10) and/or the head (30) are arranged on, for interactive voice；And

Calculating platform, for controlling the support arm (20) and/or the head (30) to swing, with interactive voice to voice Interactive object exports mechanical action.

2. intelligent robot according to claim 1, it is characterised in that the head (30) also includes：Scheme for gathering As the optical image sensor of signal, wherein, picture signal of the optical image sensor based on collection is sent for making institute State the signal of support arm (20) and/or the head (30) output mechanical action.

3. intelligent robot according to claim 1, it is characterised in that the intelligent robot also includes：Life physical examination Sensor is surveyed, for detecting vital body signal, the life body detecting sensor sends control institute when collecting vital body signal State the signal of the position change of support arm (20) and/or the head (30).

4. intelligent robot according to claim 3, it is characterised in that the calculating platform is coupled to the life physical examination Sensor is surveyed, for responding the signal of the life body detecting sensor, controls the support arm (20) and/or the head (30) swing, to export mechanical action to life entity.

5. intelligent robot according to claim 1, it is characterised in that the intelligent robot also includes：Walking mechanism, It is arranged on the chassis (10) bottom；And guider, for adjusting position of the intelligent robot in residing space, To adjust the position of interactive voice.

6. intelligent robot according to claim 1 or 5, it is characterised in that the intelligent robot also includes：At surface Utensil is managed, the chassis (10) bottom is arranged on, for clearing up the dust of ground；Wherein, the support arm (20) has in table Recovery position when face is handled.

7. intelligent robot according to claim 1, it is characterised in that the intelligent robot is also：Including touch sensitive device, For gathering the touch signal of touching medium, the touch sensitive device sends the control support arm (20) when collecting touch signal And/or the signal of the position change of the head (30).

8. intelligent robot according to claim 7, it is characterised in that the calculating platform and the touch sensitive device coupling Close, for responding the signal of the touch sensitive device, control the support arm (20) and/or the head (30) to swing, with to touching Touch object output mechanical action.

9. intelligent robot according to claim 1, it is characterised in that the intelligent robot also includes：Auditory localization Device, for gathering the positional information of interactive voice object, the sound source locating device sends control when collecting positional information The signal of the position of the support arm (20) and/or the head (30) change.

10. intelligent robot according to claim 9, it is characterised in that the calculating platform fills with the auditory localization Coupling is put, for the signal in response to the sound source locating device, controls the support arm (20) and/or the head (30) to put It is dynamic, to export mechanical action to sound object.