CN113370228A - Intelligence propaganda pronunciation robot structure - Google Patents
Intelligence propaganda pronunciation robot structure Download PDFInfo
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- CN113370228A CN113370228A CN202110628058.0A CN202110628058A CN113370228A CN 113370228 A CN113370228 A CN 113370228A CN 202110628058 A CN202110628058 A CN 202110628058A CN 113370228 A CN113370228 A CN 113370228A
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- 241000282414 Homo sapiens Species 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000009194 climbing Effects 0.000 claims description 13
- 239000000446 fuel Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 description 18
- 239000000523 sample Substances 0.000 description 11
- 238000002347 injection Methods 0.000 description 8
- 239000007924 injection Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention discloses an intelligent propaganda voice robot structure, which comprises a robot main body, wherein a chassis module used for moving is fixedly arranged at the lower end of the robot main body, a head component imitating a human body is fixedly arranged at the upper end of the robot main body, a loudspeaker used for voice propaganda, a sound pick-up used for receiving voice signals of a user, a camera used for receiving image signals of the user and a wireless device used for receiving and transmitting wireless signals are arranged on the head component, and a power supply device used for supplying power is arranged in the robot main body.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent propaganda voice robot structure.
Background
The existing propaganda form mainly comprises spray painting advertisement cloth, a luminous lamp box and an outdoor large-scale LED advertisement screen, and the main purpose of the propaganda form is to release image advertisements so that users can see the advertisements; however, the solid-state arrangement of spray painting advertising cloth, a lamp box and the like is not attractive enough, the field is limited greatly, the existing advertising robot can only be used for putting advertisements, does not have other functions, and cannot effectively reduce the labor cost, so that an intelligent propaganda voice robot structure is provided.
Disclosure of Invention
The invention aims to provide an intelligent propaganda voice robot structure to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligence propaganda pronunciation robot structure, includes the robot main part, the lower extreme fixed mounting of robot main part has the chassis module that is used for the removal, the upper end fixed mounting of robot main part has imitative human head assembly, install the speaker that is used for the pronunciation propaganda on the head assembly, be used for receiving user speech signal's adapter, be used for receiving user image signal's camera and receiving and dispatching wireless signal's wireless device, the internally mounted of robot main part has the power supply unit who is used for the power supply, the internally mounted of robot main part has the controller that has the display screen.
Preferably, be equipped with the granting device that is used for granting the leaflet on the front side lateral wall of robot main part, the granting device is including the containing box that is used for accomodating the leaflet, the drive mechanism that takes the inslot is driven to taking to the leaflet of user's taking of leaflet and taking the inslot with the inside leaflet of containing box.
Preferably, the chassis module includes the drain pan, be equipped with two front joists around the below front side of drain pan side by side, the both ends of two front joists are all rotated and are connected with the front wheel, just the front wheel is through reversing mechanism regulation direction that advances, be equipped with two back joists around the below rear side of drain pan side by side, the both ends of two back joists all are equipped with the rear wheel, just the rear wheel provides the power that advances through the third motor.
Preferably, reversing mechanism includes second electric putter, T type pole, waist type groove and dials the axle, second electric putter fixed connection is on the lateral wall of front-axle beam, the both ends of T type pole articulate respectively on being located two front wheel supports on same front-axle beam, waist type groove is seted up on the lateral wall of T type pole, dial axle fixed connection on second electric putter's output shaft, just dial an axle sliding connection on the lateral wall of waist type groove.
Preferably, the distance measuring sensors are fixedly connected to the supports of the front wheels and the rear wheels.
Preferably, the inside fixed mounting of drain pan has a plurality of hydro-cylinders that are used for driving front-axle beam, back-axle beam to reciprocate alone, the middle part fixed mounting of drain pan has the oil tank, fixed mounting has the branch fuel tap on the lateral wall of oil tank, the inside of dividing the fuel tap is opened side by side has notes oil duct and oil return way, fixed mounting has first oil pump on the lateral wall of oil tank, fixed mounting has the second oil pump on the lateral wall of oil tank, and a plurality of hydro-cylinders pass through oil pipe connection on the branch fuel tap, just the inside sliding connection of branch fuel tap has the piston to be used for realizing annotating oil duct and oil return way intercommunication and oil pipe in turn, the piston slides through the drive of first electric putter.
The specific process of climbing the ladder by the robot main body comprises the following steps:
the first step is as follows: a distance measuring sensor on the front-side front wheel bracket detects the step distance, the front wheel and the rear wheel on the rear side are driven to slide through the oil cylinder, and the front wheel and the rear wheel on the rear side slide downwards at the moment to move the robot main body forwards, so that the bottom of the front wheel on the front side is flush with the height of the steps;
the second step is that: starting a third motor to enable the third motor to drive the rear wheels to move forwards and enable the front side front wheels to move to the steps;
the third step: the front wheel on the rear side is driven by the oil cylinder to slide upwards and reset, so that the lower end of the front wheel on the rear side is flush with the height of the ladder, and the robot main body is driven by the third motor to move forwards, so that the front wheel on the rear side moves onto the ladder;
the fourth step: the front rear wheel is driven by the oil cylinder to slide upwards for resetting, so that the lower end of the front rear wheel is flush with the height of the ladder, and the robot main body is driven by the third motor to move forwards, so that the front rear wheel moves onto the ladder;
the fifth step: the rear wheel is driven by the oil cylinder to slide upwards for resetting, so that the lower end of the rear wheel is flush with the height of the ladder, the robot main body is driven by the third motor to move forwards, the rear wheel is driven to move onto the ladder, and therefore the robot main body can stably climb the ladder.
Compared with the prior art, the invention has the beneficial effects that:
1. the voice propaganda system performs voice propaganda through the loudspeaker, replaces the traditional image propaganda to attract the attention of other people through the voice propaganda, receives the sound and the image of a user through the sound pick-up and the camera, enables the robot to perform voice interaction with people, can fully exert the advantages of the voice propaganda, analyzes the user sound and the image received through the sound pick-up and the camera, distributes the biographical notes to the crowd interested in the propaganda through the distribution device;
2. the robot main body can move freely through the chassis module, can go forward and backward and turn left and right as a normal trolley, and can go up and down stairs, so that the limitation of a field is avoided, the robot is suitable for large and multiple fields, and the labor cost is effectively reduced;
3. when the human-computer voice interaction is carried out, the motion mechanism can be used for carrying out simple head humanoid motion, so that the voice robot can carry out richer expression and more diversified interaction with human beings.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of the robot body, head assembly and ball swivel mount of the present invention;
FIG. 3 is a cross-sectional exploded view of the robot body, head assembly, swivel groove and ball swivel mount of the present invention;
fig. 4 is a cross-sectional view at the robot body and chassis module of the present invention;
FIG. 5 is a cross-sectional view of the bottom case, front wheel, rear wheel, cylinder and oil tank of the present invention;
FIG. 6 is a cross-sectional view of the oil cylinder, the oil tank, the oil distributing valve, the oil pipe and the first electric push rod of the present invention;
FIG. 7 is an enlarged view taken at A of FIG. 6 in accordance with the present invention;
FIG. 8 is a schematic structural view of the front wheel, the cylinder, the second electric push rod and the T-shaped rod of the present invention;
FIG. 9 is an exploded view of the front wheel, cylinder, front beam, second power push rod and T-bar of the present invention;
FIG. 10 is a schematic structural diagram I of the rear wheel, the oil cylinder, the rear beam and the third motor of the present invention;
FIG. 11 is a schematic structural view II of the rear wheel, the oil cylinder, the rear beam and the third motor of the present invention;
FIG. 12 is a schematic diagram of the robot main body climbing stairs of the present invention;
FIG. 13 is a schematic diagram II of the robot main body climbing stairs according to the present invention;
FIG. 14 is a schematic illustration of the main body of the robot of the present invention climbing stairs III;
FIG. 15 is a schematic diagram IV of a robot main body climbing a ladder according to the present invention;
FIG. 16 is a schematic diagram V of the main body of the robot climbing stairs according to the invention;
fig. 17 is a schematic diagram vi of the robot main body climbing the steps.
In the figure: 1. the robot comprises a robot body, 2, a chassis module, 201, a bottom shell, 202, a front beam, 203, front wheels, 204, a rear beam, 205, rear wheels, 206, an oil cylinder, 207, an oil tank, 208, an oil distributing valve, 209, a first oil pump, 2010, a second oil pump, 2011, an oil filling channel, 2012, an oil return channel, 2013, an oil pipe, 2014, a first electric push rod, 2015, a piston, 3, a head assembly, 301, a loudspeaker, 302, a sound pick-up, 303, a camera, 304, a wireless device, 4, a motion mechanism, 401, a rotary groove, 402, a first motor, 403, a ball head rotary seat, 404, a second motor, 405, a swing rod, 5, a power supply device, 6, a controller, 7, a reversing mechanism, 701, a second electric push rod, 702, a T-shaped rod, 703, a waist-shaped groove, 704, a dial shaft, 8, a third motor, 9, a distance measuring sensor, 10, a dispensing device, 1001, a containing box, 1002, and a taking groove.
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.
Referring to fig. 1-17, the present invention provides a technical solution: an intelligent propaganda voice robot structure comprises a robot main body 1, wherein a chassis module 2 used for moving is fixedly installed at the lower end of the robot main body 1, a head component 3 imitating a human body is fixedly installed at the upper end of the robot main body 1, a loudspeaker 301 used for voice propaganda, a sound pick-up 302 used for receiving voice signals of a user, a camera 303 used for receiving image signals of the user and a wireless device 304 used for receiving and sending wireless signals are installed on the head component 3, a power supply device 5 used for supplying power is installed inside the robot main body 1, the power supply device 5 can be rechargeable, in addition, a solar panel can be installed on the outer wall of the robot main body 1, the solar panel can charge the power supply device 5 by utilizing solar energy, so that the power supply capacity of the power supply device 5 is increased, a controller 6 with a display screen is installed inside the robot main body 1, the controller 6 is electrically connected with the speaker 301, the sound pickup 302, the camera 303 and the wireless device 304, the controller 6 controls the speaker 301 to perform voice publicity, the sound pickup 302 and the camera 303 receive sound and image information of a user, AT this time, the sound pickup 302 and the camera 303 transmit the information to the controller 6, the controller 6 receives the information and then performs data interaction with an external cloud server through the wireless device 304, the returned data is sent to the controller 6, the controller 6 analyzes the returned data and interacts with the user through the speaker 301, so that publicity effects can be improved, the controller 6 has a publicly-used technical scheme AT present, and the structure and the principle of the controller are not the technical features of the invention, so that details are not given, for example, the model of the controller 6 can adopt AT89S 52.
As shown in fig. 1, in order to further improve the effect of publicity, specifically, a dispensing device 10 for dispensing a leaflet is provided on the front side wall of the robot body 1, the dispensing device 10 includes a storage box 1001 for storing a leaflet, a taking slot 1002 for a user to take a leaflet, and a driving mechanism for driving the leaflet inside the storage box 1001 into the taking slot 1002, the storage box 1001 is of a drawer type, and the storage box 1001 is provided with a lock for locking the storage box 1001 in a closed state, the driving mechanism is a conventional paper driving mechanism, for example, a conventional printer can be adopted, the dispensing device 10 is electrically connected with a controller 6, when the leaflet needs to be dispensed, the controller 6 controls the driving mechanism to operate, so that the leaflet inside the storage box 1001 is driven into the taking slot 1002, the user can take the leaflet from the inside of the taking slot 1002, the propaganda content is further known by reading the leaflet content, and the propaganda effect is improved.
In order to enable the robot main body 1 to move, specifically, the chassis module 2 includes a bottom case 201, two front beams 202 are arranged in parallel at the front and back of the lower front side of the bottom shell 201, two ends of the two front beams 202 are rotatably connected with front wheels 203, the front wheels 203 adjust the advancing direction through the reversing mechanism 7, two rear beams 204 are arranged side by side in front and at the back of the lower part of the bottom shell 201, the two ends of the two rear beams 204 are both provided with rear wheels 205, and the rear wheel 205 provides forward power through the third motor 8, as shown in fig. 10-11, the third motor 8 is fixedly connected to the side wall of the rear beam 204, the output shaft of the third motor 8 is connected with the rotating shaft of the rear wheel 205 through a belt, when the third motor 8 is started, the output shaft of the third motor 8 rotates with the rear wheel 205 via the belt, thereby driving the robot main body 1 to move forward or backward.
As shown in fig. 8 to 9, in order to enable the robot main body 1 to turn left and right and improve the moving capability of the robot main body 1, specifically, the reversing mechanism 7 includes a second electric push rod 701, a T-shaped rod 702, a waist-shaped groove 703 and a dial shaft 704, the second electric push rod 701 is fixedly connected to a side wall of the front beam 202, both ends of the T-shaped rod 702 are respectively hinged to two front wheel 203 brackets located on the same front beam 202, the waist-shaped groove 703 is opened on a side wall of the T-shaped rod 702, the dial shaft 704 is fixedly connected to an output shaft of the second electric push rod 701, and the dial shaft 704 is slidably connected to a side wall of the waist-shaped groove 703.
Specifically, the distance measuring sensors 9 are fixedly connected to the brackets of the front wheels 203 and the rear wheels 205, each distance measuring sensor 9 has a horizontal forward probe and a vertical downward probe, the horizontal forward probe detects the distance between the front obstacle and the front wheels 203 or the rear wheels 205, and the vertical downward probe detects the distance between the front wheels 203 or the rear wheels 205 and the ground.
In order to further improve the moving capability of the robot main body 1 and enable the robot main body 1 to climb up a stair or climb over an obstacle, specifically, a plurality of oil cylinders 206 for independently driving the front beam 202 and the rear beam 204 to move up and down are fixedly installed inside the bottom shell 201, as shown in fig. 8-11, the front beam 202 and the rear beam 204 are fixed on output shafts of the oil cylinders 206, when the output shafts of the oil cylinders 206 slide outward, the front beam 202 or the rear beam 204 can be driven to slide downward, otherwise, when the output shafts of the oil cylinders 206 contract inward, the front beam 202 or the rear beam 204 can be driven to slide upward, an oil tank 207 is fixedly installed in the middle of the bottom shell 201, an oil distributing valve 208 is fixedly installed on a side wall of the oil tank 207, an oil injection channel 2011 and an oil return channel 2012 are arranged inside the oil distributing valve 208 in parallel, a first oil pump 209 for injecting oil inside the oil channel 2011 inside the oil tank 207 is fixedly installed on a side wall of the oil tank 207, a second oil pump 2010 for injecting the oil in the oil return channel 2012 into the oil tank 207 is fixedly mounted on the side wall of the oil tank 207, the plurality of oil cylinders 206 are connected to the oil distribution valve 208 through oil pipes 2013, and a piston 2015 is connected inside the oil distributing valve 208 in a sliding manner and used for realizing that the oil filling channel 2011 and the oil return channel 2012 are alternately communicated with the oil pipe 2013, the piston 2015 is driven to slide by a first electric push rod 2014, as shown in fig. 6-7, the first electric push rod 2014 is fixedly connected to the sidewall of the oil distributing valve 208, and a plurality of channels are arranged between the oil injection channel 2011 and the oil return channel 2012 side by side, the first electric push rod 2014 drives the piston 2015 to be connected in the channels in a sliding manner for separating the oil injection channel 2011 from the oil return channel 2012, the middle parts of the channels of the oil pipes 2013 are communicated, when the piston 2015 slides inside the channel, the oil tube 2013 can be in three communication states, the first communication state is as follows: the oil pipe 2013 is communicated with the oil injection channel 2011 (as shown in fig. 7, the piston 2015 is positioned on the left side of the position where the oil pipe 2013 is communicated with the channel), and the second communication state is as follows: the oil pipe 2013 is communicated with the oil return channel 2012 (the piston 2015 is positioned at the right side of the communication part of the oil pipe 2013 and the channel), and the third communication state is as follows: the piston 2015 seals the joint of the oil pipe 2013 and the channel, so that the oil pipe 2013 is disconnected from the oil injection channel 2011 and the oil return channel 2012;
when the piston 2015 is driven to communicate the oil cylinder 206 with the oil injection passage 2011, after the first oil pump 209 pumps oil in the oil tank 207 and injects the oil into the oil injection passage 2011, the oil in the oil injection passage 2011 is injected into the oil cylinder 206, and the oil in the oil cylinder 206 pushes an output shaft in the oil cylinder 206 to slide outwards; on the contrary, when the piston 2015 is driven to communicate the oil cylinder 206 with the oil return channel 2012, at this time, the second oil pump 2010 pumps the oil in the oil return channel 2011 back into the oil tank 207, so that the oil in the oil cylinder 206 flows back into the oil tank 207 along the oil pipe 2013 and the oil return channel 2012, at this time, the output shaft of the oil cylinder 206 contracts, and when the piston 2015 seals the joint between the oil pipe 2013 and the channel, the output shaft of the oil cylinder 206 is in a static state, so that the output shafts of the oil cylinders 206 can slide simultaneously or independently, and regular movement of the front wheel 203 and the rear wheel 205 is increased.
The specific process of climbing the steps by the robot main body 1 comprises the following steps:
the first step is as follows: as shown in fig. 12, the distance measuring sensor 9 on the bracket of the front wheel 203 detects the step distance, when the distance between the front wheel 203 and the step detected by the distance measuring sensor 9 is a certain length (for example, when the front wheel 203 is 5cm away from the step), the front wheel 203 and the rear wheel 205 on the rear side are driven by the oil cylinder 206 to slide, and at this time, the front wheel 203 and the rear wheel 205 on the rear side slide, so that the robot body 1 moves forward, and the bottom of the front wheel 203 is flush with the height of the step;
the second step is that: as shown in fig. 13, the third motor 8 is started, so that the third motor 8 drives the rear wheel 205 to slide forward, so that the front-side front wheel 203 moves to the step, and when the distance measuring sensor 9 on the bracket of the rear-side front wheel 203 detects that the distance between the rear-side front wheel 203 and the step is a certain length (for example, when the rear-side front wheel 203 is 5cm away from the step), the third motor 8 stops running;
the third step: as shown in fig. 14, the oil cylinder 206 drives the front wheel 203 on the rear side to slide upwards and reset, so that the lower end of the front wheel 203 on the rear side is flush with the height of the step, at this time, the robot main body 1 is driven by the third motor 8 to move forwards, so that the front wheel 203 on the rear side moves onto the step, and when the distance measuring sensor 9 on the bracket of the front wheel 205 detects that the distance between the rear wheel 205 on the front side and the step is a certain length (for example, when the rear wheel 205 on the front side is 5cm away from the step), the third motor 8 stops operating;
the fourth step: as shown in fig. 15, the oil cylinder 206 drives the front rear wheel 205 to slide upward and return to the original position, so that the lower end of the front rear wheel 205 is flush with the height of the step, and at this time, the robot body 1 is driven by the third motor 8 to move forward, so that the front rear wheel 205 moves onto the step (as shown in fig. 16), and when the distance measuring sensor 9 on the bracket of the rear wheel 205 detects that the distance between the rear wheel 205 and the step is a certain length (for example, when the rear wheel 205 is 5cm away from the step), the third motor 8 stops operating;
the fifth step: as shown in fig. 17, the rear wheel 205 is driven by the oil cylinder 206 to slide upwards and return to the original position, so that the lower end of the rear wheel 205 is flush with the height of the steps, and at this time, the robot body 1 is driven by the third motor 8 to move forwards, so that the rear wheel 205 moves to the steps, and thus the robot body 1 can perform smooth step climbing operation.
During the stair climbing operation of the robot main body 1 in the first to fifth steps, the working process of the distance measuring sensor 9 is as follows (taking the motion of the front wheel 203 as an example): after the front wheel 203 reaches the ladder, the distance measuring sensor 9 on the bracket of the front wheel 203 works in the process that the front wheel 203 moves upwards relative to the ladder, the horizontal forward probe of the distance measuring sensor 9 always detects the vertical wall of the ladder, the vertical downward probe of the distance measuring sensor 9 detects the distance from the ground of the front wheel 203, when the horizontal forward probe of the distance measuring sensor 9 cannot detect the vertical wall of the ladder (when the horizontal forward probe of the distance measuring sensor 9 is higher than the ladder), the vertical downward probe of the distance measuring sensor 9 obtains a distance value for measuring the distance from the front wheel 203 to the ground, then the front wheel 203 is lifted up on the basis of the distance value, the initial value measured by the vertical downward probe of the distance measuring sensor 9 is obtained (when the front wheel 203 contacts the ground, the vertical downward probe of the distance measuring sensor 9 detects the value of the ground, this value may be regarded as a fixed value), the lower end of the front side front wheel 203 can be made flush with the step height at this time;
as can be seen from the stair climbing operations in the first to fifth steps, the robot main body 1 can regularly drive the front wheels 203 and the rear wheels 205 by the oil cylinders 206 to perform a stair descending operation.
As shown in fig. 2, in order to enable the head assembly 3 to perform head shaking and nodding motions and enable the voice robot to perform richer expressions and to have more diverse interactions with human beings, the head assembly 3 performs humanoid motions through the multi-degree-of-freedom motion mechanism 4, the motion mechanism 4 includes a rotary slot 401, a first motor 402, a ball swivel 403, a second motor 404 and a swing rod 405, the rotary slot 401 is opened on a lower side wall of the head assembly 3, the ball swivel 403 is rotatably connected to an upper end of the robot body 1 through the first motor 402, as shown in fig. 2, the first motor 402 is fixedly connected to a side wall of the robot body 1, and an output shaft of the first motor 402 is engaged with a side wall of the ball swivel 403, when the first motor 402 is started, the output shaft of the first motor 402 drives the ball swivel 403 to rotate, and an upper end of the ball swivel 403 is sleeved inside the rotary slot 401, as shown in fig. 2-3, the rotary trough 401 is a hemispherical groove, the upper end of the ball swivel base 403 is hemispherical, the rotary trough 401 is matched with the upper end of the ball swivel base 403, the swing rod 405 is connected inside the ball swivel base 403 through the second motor 404 in a swinging manner, as shown in fig. 2, the second motor 404 is fixedly connected to the side wall of the ball swivel base 403, the output shaft of the second motor 404 is connected with the lower end of the swing rod 405 in a meshing manner, when the second motor 404 is started, the output shaft of the second motor 404 drives the lower end of the swing rod 405 to swing back and forth, and the upper end of the swing rod 405 penetrates through the side wall of the ball swivel base 403 and is fixedly connected to the side wall of the rotary trough 401.
Starting the first motor 402, wherein an output shaft of the first motor 402 drives the ball head rotating seat 403 to rotate, and the upper end of the swing rod 405 is fixed on the side wall of the rotating groove 401, so that the ball head rotating seat 403 drives the head assembly 3 to swing left and right, and the head assembly 3 can swing head to imitate human movement; when the second motor 404 is started, the output shaft of the second motor 404 drives the swing rod 405 to swing, and at the moment, the upper end of the swing rod 405 stirs the head assembly 3 to slide back and forth on the upper end of the ball head swivel base 403, so that the head assembly 3 performs nodding human-like motion;
the first motor 402 and the second motor 404 are driven cooperatively to enable the head assembly 3 to perform a nodding human-like motion after being deflected to the left or the right by a certain angle, such as: the head assembly 3 deflects 45 degrees leftwards and then carries out nodding humanoid motion, the first motor 402 stops moving after driving the ball head rotating base 403 to drive the head assembly 3 to deflect 45 degrees leftwards, at the moment, the head assembly 3 deflects 45 degrees leftwards and then stops, then the swinging rod 405 is driven to rotate by starting the second motor 404, at the moment, the upper end of the swinging rod 405 stirs the head assembly 3 to slide at the upper end of the ball head rotating base 403, and therefore the head assembly 3 carries out nodding humanoid motion after deflecting 45 degrees leftwards;
the first motor 402 and the second motor 404 are driven cooperatively to enable the head assembly 3 to shake head after deflecting upward or downward at a certain angle, so that the humanoid motion can be different for different heights of users, such as children: head subassembly 3 carries out the imitative people's motion of shaking the head after deflecting 20 degrees downwards, start drive swinging arms 405 through second motor 404 rotates, the upper end of swinging arms 405 at this moment stirs head subassembly 3 and slides forward to 20 degrees after the upper end of bulb swivel mount 403, second motor 404 stop motion, head subassembly 3 stops after deflecting 20 degrees downwards this moment, the output shaft of first motor 402 takes bulb swivel mount 403 to rotate this moment, bulb swivel mount 403 takes head subassembly 3 to carry out the horizontal hunting, realize head subassembly 3 and carry out the imitative people's motion of shaking the head after deflecting 20 degrees downwards this moment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an intelligence propaganda pronunciation robot structure, includes robot main part (1), its characterized in that: the lower extreme fixed mounting of robot main part (1) has chassis module (2) that is used for the removal, the upper end fixed mounting of robot main part (1) has imitative human head assembly (3), install speaker (301) that are used for the pronunciation propaganda on head assembly (3), be used for receiving user speech signal's adapter (302), be used for receiving user image signal's camera (303) and wireless device (304) of receiving and dispatching radio signal, the internally mounted of robot main part (1) has power supply unit (5) that are used for the power supply, the internally mounted of robot main part (1) has controller (6) that have the display screen.
2. The intelligent propaganda voice robot structure of claim 1, characterized in that: the robot comprises a robot body (1) and is characterized in that a dispensing device (10) used for dispensing the leaflets is arranged on the side wall of the front side of the robot body (1), the dispensing device (10) comprises a containing box (1001) used for containing the leaflets, a taking groove (1002) used for a user to take the leaflets and a driving mechanism used for driving the leaflets in the containing box (1001) to the taking groove (1002).
3. The intelligent propaganda voice robot structure of claim 1, characterized in that: chassis module (2) include drain pan (201), be equipped with two front beams (202) around the below front side of drain pan (201) side by side, the both ends of two front beams (202) are all rotated and are connected with front wheel (203), just direction that the front wheel (203) advance is adjusted through reversing mechanism (7), be equipped with two back beams (204) around the below rear side of drain pan (201) side by side, the both ends of two back beams (204) all are equipped with rear wheel (205), just rear wheel (205) provide the power that advances through third motor (8).
4. The intelligent propaganda voice robot structure of claim 3, characterized in that: reversing mechanism (7) include second electric putter (701), T type pole (702), waist type groove (703) and dial axle (704), second electric putter (701) fixed connection is on the lateral wall of front beam (202), the both ends of T type pole (702) articulate respectively on being located two front wheel (203) supports on same front beam (202), waist type groove (703) are seted up on the lateral wall of T type pole (702), dial axle (704) fixed connection on the output shaft of second electric putter (701), just dial axle (704) sliding connection on the lateral wall of waist type groove (703).
5. The intelligent propaganda voice robot structure of claim 4, characterized in that: and distance measuring sensors (9) are fixedly connected to the supports of the front wheels (203) and the rear wheels (205).
6. The intelligent propaganda voice robot structure of claim 5, characterized in that: a plurality of oil cylinders (206) which are used for independently driving the front beam (202) and the rear beam (204) to move up and down are fixedly arranged in the bottom shell (201), an oil tank (207) is fixedly installed in the middle of the bottom shell (201), an oil distributing valve (208) is fixedly installed on the side wall of the oil tank (207), an oil filling channel (2011) and an oil return channel (2012) are arranged in parallel in the oil distributing valve (208), a first oil pump (209) is fixedly arranged on the side wall of the oil tank (207), a second oil pump (2010) is fixedly arranged on the side wall of the oil tank (207), a plurality of oil cylinders (206) are connected to the oil distribution valve (208) through oil pipes (2013), and the inside sliding connection of branch fuel tap (208) has piston (2015) to be used for realizing annotating oil duct (2011) and returning oil way (2012) and communicate in turn with oil pipe (2013), piston (2015) are through first electric putter (2014) drive slip.
7. The intelligent propaganda voice robot structure of claim 6 is utilized for climbing stairs, which is characterized in that: the method comprises the following steps:
the first step is as follows: a distance measuring sensor (9) on a bracket of the front wheel (203) detects the step distance, the front wheel (203) and the rear wheel (205) on the rear side are driven to slide through an oil cylinder (206), at the moment, the front wheel (203) and the rear wheel (205) on the rear side slide downwards, the robot main body (1) is moved forwards, and the bottom of the front wheel (203) on the front side is flush with the height of the step;
the second step is that: starting the third motor (8) to enable the third motor (8) to drive the rear wheel (205) to move forwards, and enable the front side front wheel (203) to move onto the steps;
the third step: the front wheel (203) at the rear side is driven by the oil cylinder (206) to slide upwards for resetting, so that the lower end of the front wheel (203) at the rear side is flush with the height of the ladder, and the robot main body (1) is driven by the third motor (8) to move forwards, so that the front wheel (203) at the rear side moves onto the ladder;
the fourth step: the front rear wheel (205) is driven by the oil cylinder (206) to slide upwards for resetting, so that the lower end of the front rear wheel (205) is flush with the height of the ladder, and the robot main body (1) is driven by the third motor (8) to move forwards, so that the front rear wheel (205) moves to the ladder;
the fifth step: the rear wheel (205) is driven to slide upwards to reset through the oil cylinder (206), the lower end of the rear wheel (205) is flush with the height of the ladder, the robot main body (1) is driven to move forwards through the third motor (8), the rear wheel (205) is driven to move to the ladder, and therefore the robot main body (1) can perform stable ladder climbing operation.
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| CN117901143A (en) * | 2024-03-18 | 2024-04-19 | 合肥探奥自动化有限公司 | Artificial intelligent human robot imitation |
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Application publication date: 20210910 |