CN210173573U

CN210173573U - Intelligent robot, pitching mechanism and mic matrix horizontal righting mechanism thereof

Info

Publication number: CN210173573U
Application number: CN201920940052.5U
Authority: CN
Inventors: Yu Liu; 刘玉
Original assignee: Shenzhen Freway Intelligent Technology Co ltd
Current assignee: FLYINGWINGS INTELLIGENT ROBOT TECHNOLOGY (SHANGHAI) Co.,Ltd.
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2020-03-24
Anticipated expiration: 2029-06-20

Abstract

The utility model discloses an intelligent robot, every single move mechanism and micmatrix level rightting mechanism thereof, including activity body and micmatrix board, the micmatrix board articulates on the activity body, be provided with on the activity body and order about micmatrix board and keep horizontally actuating mechanism, wherein the activity body is the head of robot, and when the robot was in dormant state, the head of robot was in the horizontality, and the head of robot was along arc orbit every single move upset when awakening up, and the micmatrix board was overturned simultaneously with the help of actuating mechanism in the interim with the help of order about to make the micmatrix board still can keep the level after the every single move upset at the activity body, and then let the micmatrix board can be in good user state, let the robot be no matter in dormant state or awaken the state homoenergetic accurate recognition sound source direction and position.

Description

Intelligent robot, pitching mechanism and mic matrix horizontal righting mechanism thereof

Technical Field

The utility model relates to a voice interaction field, more specifically say, it relates to an intelligent robot, every single move mechanism and micmatrix level righting mechanism thereof.

Background

With the development of the artificial intelligence industry, voice interaction is more and more common, electronic products used by people tend to be more and more intelligent, wherein the voice interaction is mainly realized through a mic matrix, the mic matrix is an array formed by arranging a group of omnidirectional microphones positioned at different spatial positions according to a certain shape rule, the mic matrix is a device for carrying out spatial sampling on space propagation sound signals, the acquired signals contain spatial position information of the microphones, and the microphones at different positions receive the signals due to distance difference, so that the good positioning of the signal sending positions can be realized.

The electronic product with voice interaction is one of the important indexes for the sound source direction recognition capability, and the existing electronic product has various actions such as rotation or pitching, for example, an electronic product such as a robot, a mic matrix can move synchronously with the electronic product, and the mic matrix cannot be in a horizontal state well after being turned over in a pitching manner, so that the mic matrix cannot recognize the sound source direction and position well, and even cannot be used normally.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a micmatrix level righting mechanism has the advantage that makes micmatrix board well be in the horizontality, keeps good user state.

In order to realize the purpose, the utility model provides a following technical scheme:

the mic matrix horizontal centering mechanism comprises a movable body and a mic matrix plate, wherein the mic matrix plate is hinged to the movable body, and a driving mechanism for driving the mic matrix plate to keep horizontal is arranged on the movable body.

Through articulating the mic matrix board on the activity body for the upset can be realized for the activity body to the mic matrix board, and then when the activity body carries out the every single move action, orders about the mic matrix board with the help of actuating mechanism and overturns simultaneously, thereby makes the mic matrix board still can keep the level after the activity body every single move upset, and then lets the mic matrix board can be in good user state, still can accurate discernment sound source direction and position.

The utility model discloses further set up: the driving mechanism comprises a first motor, and an output shaft of the first motor is connected to the mic matrix plate.

The overturning of the mic matrix plate is directly and independently driven by means of the first motor, and the structure is simple and easy to realize.

An object of the utility model is to provide a every single move mechanism has still accurate advantage to sound source direction and position identification after the every single move.

the utility model provides a pitching mechanism, includes foretell mic matrix level righting mechanism, still includes the base, activity body is along arc orbit sliding connection on the base, actuating mechanism is including the driving piece that the drive activity body removed, be provided with on the activity body and move the linkage micmatrix board upset to horizontally linkage after it removes.

The activity body slides along the arc orbit on the base and realizes the pitching action, the slip of activity body drives with the help of the driving piece and realizes, and come direct linkage micmatrix board to overturn with the help of the linkage piece at the gliding in-process of activity body and keep the level, thereby make the activity body still well keep the horizontality after the pitching action is accomplished, ensure to possess the micmatrix board and can be in good user state, can accurate discernment sound source direction and position, the drive micmatrix board need not with the help of extra driving source during, the structure is simpler and effectively saves the cost.

The utility model discloses further set up: the driving piece comprises a second motor, a gear and an arc-shaped rack, the arc-shaped rack is fixed on the movable body, the second motor is arranged on the base, and the gear is fixed on an output shaft of the second motor and meshed with the arc-shaped rack.

Open through the second motor like this and order about gear revolve, order about the every single move action that the arc rack slides along its arc orbit to realize the activity body with the help of the gear, the angle of activity body every single move is bigger like this driven mode, and every single move amplitude can more increase and simple structure.

The utility model discloses further set up: the linkage piece includes reset torsion spring and ejector pin, the ejector pin sets up on the base and is used for the top to move micmatrix board upset to the level, reset torsion spring sets up in the articulated department of micmatrix board and activity body, when reset torsion spring is in natural state, the micmatrix board keeps the level.

With the help of the setting of reset torsion spring and ejector pin, when the activity body is in initial dormant state, the ejector pin does not butt with the micmatrix board, and the micmatrix board is in the horizontality under the effect of reset torsion spring stably, opens the during operation at the activity body, and activity body slip in-process ejector pin butt is at the micmatrix board and promotes micmatrix board to the horizontality, guarantees to move back micmatrix board still with be in the horizontality when initial state.

The utility model discloses further set up: the ejector rods are symmetrically arranged on two sides of the arc-shaped rack, and the end parts of the ejector rods are arc surfaces.

Ejector pins that the symmetry set up promote micmatrix board upset more balanced for micmatrix board can be more stable overturn, the tip be the cambered surface can be better in addition with micmatrix board surface contact, avoid causing the damage to micmatrix board surface, possess certain guard action.

The utility model discloses further set up: the mic matrix board comprises a substrate and a mic matrix core board, the mic matrix core board is fixed on the substrate, the reset torsion springs are symmetrically arranged, and two ends of the reset torsion springs are respectively clamped and fixed on the substrate and the movable body.

The reset torsion spring that the symmetry set up possesses better and stable upset reset effect, and is better to the upset effect of micmatrix board, and the tip that reset torsion spring and micmatrix board are connected is connected on the base plate moreover to can not cause the loss to micmatrix core, effectively reach the protection purpose.

The utility model discloses further set up: the linkage piece comprises a connecting rod, one end of the connecting rod is hinged to the mic matrix plate, the other end of the connecting rod is hinged to a sliding block, an arc groove for the sliding block is formed in the arc-shaped rack, when the movable body is in a horizontal state, one end of the lower portion of the arc groove is located in the middle of the arc-shaped rack, and the mic matrix plate is far away from the other end of the arc groove.

Thus, the linkage of the mic matrix plate and the arc-shaped rack is realized by the connecting rod, the arc-shaped rack can move along an arc-shaped track in the moving process of the movable body, the sliding block slides to the lower part of the arc groove and the middle part of the arc-shaped rack under the action of the gravity of the sliding block when the movable body is in a horizontal state, and the mic matrix plate is pushed upwards by the connecting rod to be turned to the horizontal state; after activity body and arc rack are ordered about the arc orbit and are moved upward, the both ends height in arc groove changes, and the slider falls to the arc groove other end under self action of gravity, and connecting rod pulling matrix board turns over to the level down this moment to ensure that the activity body carries out micmatrix board behind the every single move and be in the horizontality all the time, during addition with the help of the real-time linkage of connecting rod maintenance micmatrix board and arc rack, can make the maintenance horizontality that micmatrix board can be more stable.

Another object of the utility model is to provide an intelligent robot has the advantage that all can realize good discernment to the sound source at dormancy and during operation.

an intelligent robot, includes foretell every single move mechanism and fuselage, characterized by: the movable body is the head of the robot, and the base is connected to the machine body.

Use every single move mechanism on intelligent robot product, when being in the dormant state, the head of robot is in the horizontality, and when the robot was awakened up, the head of robot moved to the tilt state along the arc orbit up for no matter the robot is in dormancy or operating condition down micmatrix board all keeps the level, thereby makes the robot can be in all the time and carries out the state of good discernment to the sound source, and the intelligent effect of robot is better.

The utility model discloses further set up: the movable body is hollow and comprises a bottom cover and a cover plate, a ring cover for connecting the bottom cover and the cover plate is arranged between the bottom cover and the cover plate, and the ring cover is provided with sound transmission holes.

The inside cavity of activity body is convenient for the installation of parts such as actuating mechanism and linkage, and actuating mechanism and linkage all hide at the activity body to make the whole appearance of robot more pleasing to the eye, and through the setting of ring cover, outside sound can pass through the ring cover on the sound hole good enter into the activity body, can prevent effectively again simultaneously that big debris from entering into the activity body, possess certain dust proofness.

To sum up, the utility model discloses following beneficial effect has:

1. the mic matrix board is arranged on the movable body, and the mic matrix board is arranged on the movable body;

2. the power of the driving source for driving the movable body to move is transmitted to the mic matrix plate by means of the arrangement of the linkage piece, so that the linkage between the movable body and the mic matrix plate is realized, the movable body and the mic matrix plate can be realized without additionally arranging the driving source, the structure is simpler, and the cost is saved;

3. linkage between activity body and the micmatrix board is realized through two kinds of linkage structures of difference, and the micmatrix board after the upset can be stable be in current horizontality, and stability is better.

Drawings

FIG. 1 is a schematic structural view of example 1;

FIG. 2 is an overall structural view of embodiment 2;

FIG. 3 is an internal structural view of a movable body in embodiment 2;

fig. 4 is a connecting structure diagram of the mic matrix plate and the movable body in embodiment 2;

FIG. 5 is a structural view of embodiment 3;

FIG. 6 is a side view of embodiment 3;

FIG. 7 is a diagram showing the structure of embodiment 4 in an awake state;

FIG. 8 is a block diagram showing a sleep state in embodiment 4.

Reference numerals: 1. a first motor; 2. a speed reducer; 3. hinging a shaft; 4. a movable body; 41. a cover plate; 42. a bottom cover; 43. a ring cover; 5. a mic matrix board; 51. a substrate; 52. a mic matrix core board; 6. a transmission gear; 7. a base; 8. a second motor; 9. a gear; 10. an arc-shaped rack; 11. a return torsion spring; 12. a top rod; 13. a card slot; 14. a connecting rod; 15. an arc groove; 16. a body; 17. the sound transmission hole.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example 1: a mic matrix horizontal centralizing mechanism is shown in figure 1 and comprises a movable body 4 and a mic matrix plate 5, wherein a hinge shaft 3 fixed with the mic matrix plate 5 is arranged on one side of the mic matrix plate 5 and is hinged on the movable body 4 through the hinge shaft 3, and the mic matrix plate 5 can turn over around the hinge shaft 3 relative to the movable body 4; the driving mechanism for driving the mic matrix plate 5 to turn over is arranged on the movable body 4 and comprises a first motor 1 fixed on the movable body 4, a speed reducer 2 is arranged on an output shaft of the first motor 1, and transmission gears 6 meshed with each other are respectively arranged on an output shaft of the speed reducer 2 and the hinged shaft 3.

Thereby can order about micmatrix board 5 and overturn through opening first motor 1, when meetting movable body 4 and appear turning over the motion from top to bottom and lead to micmatrix board 5 not being in the level, can come independent control micmatrix board 5 with the help of first motor 1 to overturn to the horizontality for micmatrix board 5 remains the horizontality throughout, can not change because of the motion of movable body 4, and then let micmatrix board 5 can be in good user state, can accurate discernment sound source direction and position.

Example 2: a pitching mechanism is shown in figures 2 and 3 and comprises a base 7 and an embodiment 1, wherein a movable body 4 is approximately hemispherical and hollow, the base 7 partially penetrates into the movable body 4, the movable body 4 is upwards connected onto the base 7 in a sliding mode along an arc shape, a driving mechanism is arranged in the movable body 4 and comprises a driving piece for driving the movable body 4 to move, and a linkage component for enabling a linkage mic matrix plate 5 to be overturned to be horizontal is arranged on the movable body 4.

As shown in fig. 3 and 4, the driving member includes a second motor 8, a gear 9 and an arc rack 10, the gear 9 is rotatably connected to a portion of the base 7 located in the movable body 4, the arc rack 10 is fixed on an inner wall of the movable body 4 and engaged with the gear 9, the second motor 8 is fixed on the base 7, and an output shaft of the second motor is fixed to the gear 9, so that when the gear 9 is rotated by turning on the second motor 8, the arc rack 10 is driven to slide relative to the base 7 along an arc direction thereof, so as to drive the movable body 4 to complete a large pitching motion relative to the base 7, and in addition, a bar-shaped through groove (not shown in the figure) sliding relative to the base 7 is formed in the movable body 4, so that the movable body 4 can slide relative to the base 7 well, and the situation that the.

The linkage piece comprises a reset torsion spring 11 and an ejector rod 12, one end of the reset torsion spring 11 is connected to the movable body 4 in a clamped mode, the other end of the reset torsion spring 11 is connected to the mic matrix plate 5 in a clamped mode, the ejector rod 12 is arranged on one side of the base 7 and used for pushing the mic matrix plate 5 to turn over, the ejector rod 12 is symmetrically arranged on two sides, opposite to the arc-shaped rack 10, of the base 7, the end portion of the ejector rod is an arc surface, therefore, the ejector rod 12 can symmetrically and stably push the mic matrix plate 5 to turn over stably, the contact surface of the ejector rod 12, which is an arc surface; thereby when activity body 4 is in the horizontality, ejector pin 12 does not with micmatrix board 5 butt, micmatrix board 5 keeps the horizontality under the effect of reset torsion spring 11 this moment, when driving activity body 4 and upwards moving along the arc, ejector pin 12 tip butt drives its constantly upset at micmatrix board 5, reset torsion spring 11 is in the compression state this moment, when activity body 4 moves up to extreme position, ejector pin 12 drives micmatrix board 5 upset to the horizontality, guarantee like this that micmatrix board 5 all is in the horizontality under two kinds of states, can accurately discern sound source direction and position, and need not extra driving source, can realize in step with the help of the driving source that itself drove activity body 4, and production cost is lower, and more possess the advantage.

As shown in fig. 4, the mic matrix board 5 includes a bottom substrate 51 and a mic matrix core board 52 on the bottom substrate, the mic matrix core board 52 is fixed on the top surface, and a slot 13 for clamping the end of the reset torsion spring 11 is formed in the substrate 51, so that the ejector rod 12 pushes the mic matrix board 5, and the end of the ejector rod abuts against the bottom surface of the substrate 51, and the end of the reset torsion spring 11 connected to the mic matrix board 5 is connected to the substrate 51, thereby preventing the mic matrix core board 52 from being lost and effectively achieving the protection purpose.

Example 3: a pitching mechanism, as shown in fig. 5 and 6, which is different from that of embodiment 2 in the structure of a linkage member, in this embodiment, the linkage member includes a connecting rod 14, one end of the connecting rod 14 is hinged to the bottom of a mic matrix plate 5, the other end is hinged to a slider (not shown in the figure), an arc groove 15 for the slider to slide is formed on the top wall of the edge of an arc-shaped rack 10, two ends of the arc groove 15 are closed, the arc groove 15 extends from the middle of the arc-shaped rack 10 to one end of the arc-shaped rack 10 away from the mic matrix plate 5, when a movable body 4 is in a horizontal state, the slider slides down to the lower end of the arc groove 15, the slider is located at one end of the arc groove 15 opposite to the middle of the arc-shaped rack 10, and at this time, the mic matrix plate 5 is; when the movable body 4 is driven by the second motor 8 to move upwards along an arc line, one end, far away from the mic matrix plate 5, of the arc groove 15 is changed from the original high end to the low end, the sliding block slides to one end, far away from the mic matrix plate 5, of the arc groove 15 under the action of self gravity, and then the connecting rod 14 pulls the mic matrix plate 5 to turn downwards to be horizontal; therefore, the mic matrix plate 5 is always in a horizontal state after the movable body 4 performs pitching motion, and the real-time linkage of the mic matrix plate 5 and the arc-shaped rack 10 is kept by the connecting rod 14 in the process, so that the mic matrix plate 5 can be kept in the horizontal state more stably.

Example 4: the utility model provides an intelligent robot, as shown in fig. 7 and 8, including embodiment 2 or embodiment 3, still include fuselage 16, activity body 4 is the robot head, base 7 is connected on fuselage 16, wherein activity body 4 is inside hollow and including end cover 42 and apron 41, be provided with the ring cover 43 of connecting both between apron 41 and end cover 42, the sound hole 17 has been seted up on this ring cover 43, actuating mechanism and linkage all hide in activity body 4 like this, thereby make the outside wholeness of robot better and more pleasing to the eye, and through the setting of ring cover 43, outside sound can be through in the good activity body 4 that enters into of sound hole 17 on the ring cover 43, can prevent effectively again that big debris from entering into activity body 4 simultaneously, possess certain dust proofness.

When the movable body 4 is in a horizontal state, the robot is in a dormant state, and the mic matrix plate 5 is in a horizontal state; move up to the extreme position at activity body 4 pitch arc and be in the state of awakening up, mic matrix board 5 is in the horizontality this moment equally to ensure that the robot is no matter in dormancy or the state of awakening up the homoenergetic accuracy recognition sound source direction and position.

The embodiment of this specific implementation is the preferred embodiment of the present invention, not so limiting the protection scope of the present invention, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a horizontal righting mechanism of mic matrix, includes activity body (4) and mic matrix board (5), characterized by: the mic matrix plate (5) is hinged to the movable body (4), and a driving mechanism for driving the mic matrix plate (5) to be horizontal is arranged on the movable body (4).

2. The mic matrix horizontal centering mechanism of claim 1, wherein: the driving mechanism comprises a first motor (1), and an output shaft of the first motor (1) is connected to the mic matrix plate (5).

3. A pitch mechanism comprising the mic matrix levelling and centralizing mechanism of claim 1, characterized in that: still include base (7), activity body (4) are along arc orbit sliding connection on base (7), actuating mechanism is including the driving piece that drive activity body (4) removed, be provided with on activity body (4) and move back linkage micmatrix board (5) upset to horizontally linkage piece.

4. The pitch mechanism of claim 3 wherein: the driving piece comprises a second motor (8), a gear (9) and an arc-shaped rack (10), the arc-shaped rack (10) is fixed on the movable body (4), the second motor (8) is arranged on the base (7), and the gear (9) is fixed on an output shaft of the second motor (8) and meshed with the arc-shaped rack (10).

5. The pitch mechanism of claim 4 wherein: the linkage piece includes reset torsion spring (11) and ejector pin (12), ejector pin (12) set up on base (7) and are used for the top to move micmatrix board (5) upset to the level, reset torsion spring (11) set up in micmatrix board (5) and the articulated department of activity body (4), when reset torsion spring (11) are in natural state, micmatrix board (5) keep the level.

6. The pitch mechanism of claim 5 wherein: the ejector rods (12) are symmetrically arranged on two sides of the arc-shaped rack (10), and the end parts of the ejector rods are arc surfaces.

7. The pitch mechanism of claim 5 wherein: the mic matrix board (5) comprises a base board (51) and a mic matrix core board (52), the mic matrix core board (52) is fixed on the base board (51), the reset torsion springs (11) are symmetrically arranged, and two ends of the reset torsion springs are clamped and fixed on the base board (51) and the movable body (4) respectively.

8. The pitch mechanism of claim 4 wherein: the linkage piece includes connecting rod (14), connecting rod (14) one end articulates on micmatrix board (5), and the other end articulates there is the slider, set up arc groove (15) that supply the slider on arc rack (10), when activity body (4) is in the horizontality, the middle part that arc groove (15) low department one end is located arc rack (10), micmatrix board (5) setting is kept away from to arc groove (15) other end.

9. An intelligent robot comprising the pitch mechanism of any one of claims 3 to 8 and a body, wherein: the movable body (4) is the head of the robot, and the base (7) is connected to the machine body (16).

10. The intelligent robot of claim 9, wherein: the movable body (4) is hollow and comprises a bottom cover (42) and a cover plate (41), a ring cover (43) for connecting the bottom cover (42) and the cover plate (41) is arranged between the bottom cover (42) and the cover plate (41), and the ring cover (43) is provided with a sound transmission hole (17).