CN103722555B - Self-movement robot - Google Patents

Abstract

A kind of self-movement robot, comprise interconnective function treatment portion (200) and moving part (100), moving part (100) walking is controlled and the operation of practical function handling part (200) by control part, the top in described function treatment portion (200) is provided with CCD camera assembly (300), pendulous device (400) is provided with between described function treatment portion (200) and CCD camera assembly (300), described CCD camera assembly (300), under the drive of pendulous device (400), swings relative to function treatment portion (200).The present invention, by being arranged on the pendulous device between function treatment portion and camera, achieves the swing of camera relative to function treatment portion, and structure is simple, and having stable behavior, expands the visual field of self-movement robot.

Description

self-moving robot

technical field

The invention relates to a self-moving robot, which belongs to the technical field of small household appliance manufacturing.

Background technique

Self-moving robot is a commonly used small household appliance, which has been widely used due to its advantages of small size and flexible movement. In order to effectively monitor the walking range of its self-moving, the existing self-moving robot is usually provided with an image capture device, such as a camera, on the top of the function processing part. However, since the usual setting mode of the existing camera is fixed, the size of the camera range is directly related to the motion mode of the self-mobile robot. The self-mobile robot can determine different camera ranges through different motion modes such as going straight and turning. However, since the camera is fixed on the top of the function processing part, the height of the camera above the upper surface of the function processing part is constant, and the camera can only shoot on this height plane, which seriously limits the camera range of the camera. .

Contents of the invention

The technical problem to be solved by the present invention is to provide a self-moving robot for the deficiencies of the prior art, through the swing device arranged between the function processing part and the camera, the swing of the camera relative to the function processing part is realized, the structure is simple, The movement is stable, and the field of view of the self-mobile robot is expanded.

The technical problem to be solved in the present invention is achieved through the following technical solutions:

A self-mobile robot, including a function processing part and a moving part connected to each other, the control part controls the moving part to walk and realizes the operation of the function processing part, the top of the function processing part is provided with a camera assembly, and the function processing part A swing device is provided between the processing unit and the camera assembly, and the camera assembly is driven by the swing device to swing relative to the function processing unit.

The swinging device mainly includes a pushing assembly and a rotating bracket assembly, the pushing assembly is disposed below the rotating bracket assembly and connected to one end of the rotating bracket assembly, the camera assembly is connected to the rotating bracket assembly, Driven by the pushing assembly, the camera assembly rotates following the rotating bracket assembly.

Specifically, the rotating bracket assembly mainly includes a rotating bracket and a rotating bracket shaft, and the rotating bracket shaft is passed through the core of the rotating bracket; the pushing assembly mainly includes an eccentric cam and a pinion; The rotating bracket is fixed on the cam fixing frame through the rotating bracket shaft; the eccentric cam is fixed on one side of the cam fixing frame, the cam shaft intersects with the projection on the same plane as the setting direction of the rotating bracket shaft, and the rim of the eccentric cam is placed on the rotating The bottom of one end of the bracket; the motor and the pinion connected to it are arranged on the cam holder, and the gear teeth of the pinion and the gear teeth arranged inside the eccentric cam mesh with each other; the two sides of the cam holder are also respectively provided with a reset spring, the two ends of the return spring are respectively connected with the cam fixed frame and the rotating bracket.

According to requirements, the push assembly can adopt different structural forms. It can be that the push assembly is a lifting support mechanism, and the expansion and contraction of the lifting support in the lifting support mechanism drives the rotating support assembly to rotate around the rotating support axis;

Alternatively, the pushing assembly is a rack and pinion telescopic mechanism, and the telescopic rack in the rack and telescopic mechanism drives the rotating bracket assembly to rotate around the axis of the rotating bracket.

In order to stably fix the head strike plate bracket assembly, a groove is provided in the rotating bracket, and a head strike plate support assembly is arranged inside the groove, and the head strike plate support assembly is connected to The camera assembly is connected.

In order to prevent collision, a boss is provided at the center of the groove, and a damping spring is sheathed on the boss, and the upper and lower ends of the damping spring respectively abut against the rotating bracket and the connector.

In addition, the anti-drop switch circuit board assembly is also provided on the rotating bracket, which is connected to the control part. The shock absorbing spring supports the head bumping board bracket assembly to expand and contract. When the top of the camera assembly hits an obstacle, the head The striker bracket assembly is pressed down, triggers the drop switch, and outputs a signal to the control unit.

In order to enable the camera to have a lifting function while swinging, the swinging device is connected to the function processing part through the lifting mechanism, the swinging device is connected to the top of the lifting mechanism and performs lifting action accordingly, and the bottom of the lifting mechanism It is fixed on the functional processing part; the lifting mechanism includes brackets or sleeves that are connected to each other and can be stretched or compressed for lifting.

In order to reserve a suitable working space for the eccentric cam, the shaft of the rotating bracket is fixedly supported on the cam holder through a support, and the two ends of the shaft of the rotating bracket are connected and positioned with the support by buckles; the height of the support is less than The maximum radius of the eccentric cam.

In order to effectively position the head striker bracket assembly on the rotating bracket, the rotating bracket is provided with a positioning groove, and the head striker bracket assembly is correspondingly provided with a positioning pin, and the positioning pin is inserted into the positioning groove, Its ends are positioned by snap connections.

In summary, the present invention provides a self-moving robot, which realizes the swing of the camera relative to the function processing part through the swing device arranged between the function processing part and the camera, has a simple structure and stable movement, and expands the scope of the self-mobile robot. vision.

The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is the overall structure schematic diagram of self-mobile robot of the present invention;

Fig. 2 is an exploded view of assembly of various components of the swing device of the present invention.

detailed description

FIG. 1 is a schematic diagram of the overall structure of the self-mobile robot of the present invention. As shown in FIG. 1 , the present invention provides a self-mobile robot, which includes a function processing unit 200 and a moving unit 100 connected to each other. The control unit (not shown in the figure) controls the walking of the moving unit 100 and realizes the functions of the function processing unit 200. Operation. A camera assembly 300 is provided on the top of the function processing unit 200 , and a swing device 400 is provided between the function processing unit 200 and the camera assembly 300 . Driven by the swing device 400 , the camera assembly 300 swings relative to the function processing unit 200 .

In order to realize the swing of the camera assembly 300 relative to the function processing unit 200 driven by the swing device 400 , the swing device 400 should mainly include a push assembly and a rotating bracket assembly. The pushing assembly is arranged below the rotating bracket assembly and connected to one end of the rotating bracket assembly, the camera assembly 300 is connected to the rotating bracket assembly, and the camera assembly 300 is driven by the pushing assembly , following the rotation of the rotating bracket assembly. In order to achieve the above functions, in fact, the push assembly can adopt different structural forms, for example: a lifting bracket mechanism can be used, and the expansion and contraction of the lifting bracket in the lifting bracket mechanism drives the rotating bracket assembly to rotate around the rotating bracket axis; or, The push assembly can also adopt a rack and pinion telescopic mechanism, and the telescopic rack in the rack and telescopic mechanism drives the rotating bracket assembly to rotate around the axis of the rotating bracket. The swing of the camera assembly 300 is essentially the rotational movement of the rotating bracket assembly around the axis. Therefore, in addition to using the telescopic function of the above-mentioned elevating bracket to promote the rotation around the axis, the rack and pinion telescopic module, and the air pump telescopic mechanism, etc., there are also Can adopt the scheme that eccentric cam promotes rotation.

Fig. 2 is an exploded view of assembly of various components of the swing device of the present invention. Specifically, in the embodiment shown in FIG. 2 , the rotating bracket assembly mainly includes a rotating bracket 9 and a rotating bracket shaft 8 , and the rotating bracket shaft 8 passes through the core of the rotating bracket 9 . The push assembly mainly includes an eccentric cam 5 and a pinion 4 . A cam fixing frame 1 is arranged below the rotating bracket 9 , and the rotating bracket 9 is fixed on the cam fixing frame 1 through the rotating bracket shaft 8 . The eccentric cam 5 is fixed on one side of the cam holder 1, and the projection on the same plane of the setting direction of the cam shaft 51 and the rotating support shaft 8 intersects, and the preferred setting mode is that the two are perpendicular to each other. The wheel rim of eccentric cam 5 is placed below one end of rotating bracket 9 . The cam holder 1 is provided with a motor 2 and a pinion 4 connected thereto, and the gear teeth of the pinion 4 and the gear teeth arranged inside the eccentric cam 5 mesh with each other. Both sides of the cam holder 1 are respectively provided with return springs 11 , and the two ends of the return spring 11 are respectively connected with the cam holder 1 and the rotating bracket 9 . In the embodiment shown in FIG. 2 , the return spring is a tension spring. Of course, the return spring 11 provided here may also be a compression spring as required. In order to balance the restoring forces on both sides of the rotating bracket 9 , pairs of return springs 11 can be arranged on the rotating bracket 9 .

In order to reserve a suitable working space for the eccentric cam 5, the rotating bracket shaft 8 is fixedly supported on the cam fixing frame 1 through a support 110, and the two ends of the rotating bracket shaft 8 are connected with the support 110 through a buckle 7 position. In order to enable the eccentric cam 5 to lift and release the rotating bracket 9 during the rotation process, realize the rotation of the rotating bracket 9 around the rotating bracket axis 8, thereby driving the swing of the camera assembly 300, the height of the support 110 should be smaller than the maximum radius of the eccentric cam 5 .

In addition, as shown in FIG. 1 and in conjunction with FIG. 2 , the swing direction of the camera head assembly 300 is substantially related to the installation position of the head impact plate bracket assembly 12 on the rotating bracket 9 , more precisely, the camera head in the camera head assembly 300 The installation direction is related to the setting position of the rotation bracket shaft 8 of the rotation bracket 9 . When the two directions are consistent or parallel, the camera swings left and right; when the two directions are perpendicular, the camera swings up and down. Of course, a specific swing angle and range can also be achieved by adjusting the installation position according to actual needs.

In order to stably fix the head striker bracket assembly 12, a groove 91 is provided inside the rotating bracket 9, and the shape of the groove 91 is set corresponding to the shape of the head striker bracket assembly 12. The head striker bracket assembly 12 The bottom is embedded in the groove 91. In order to effectively position the head striker bracket assembly 12 on the rotating bracket 9, a positioning groove 92 is provided on the rotating bracket 9, and a positioning pin 121 is correspondingly provided on the head striker bracket assembly 12, and the positioning The pin 121 is inserted into the positioning slot 92 , and its end is connected and positioned by the buckle 7 . The upper part of the head impact board bracket assembly 12 is connected with the camera assembly 300 through a plug-in piece 16 . In order to prevent collision, a boss 93 is provided at the center of the groove 91 of the rotating bracket 9, and a damping spring 15 is sleeved on the boss 93. offset the top. Therefore, the main function of the head impact plate assembly 12 is to facilitate the installation of the camera assembly 12. Through the setting of the connector 16 and the shock-absorbing spring 15, shock absorption or anti-collision damage during use, thereby improving the use of the camera assembly 300. safety.

In addition, the swivel bracket 9 is also provided with an anti-drop switch circuit board assembly 13, which is connected to the control unit. Because the shock absorbing spring 15 is provided, the head bumper bracket assembly 12 can be supported to slightly expand and contract. During the working process of the self-mobile robot, when the camera assembly 300 swings, the top of the camera assembly 300 hits an obstacle and collides with it, the head impact plate bracket assembly 12 is pressed to produce a slight drop, and at this time the drop switch 131 is triggered, and the output The signal is sent to the control part to control the mobile part 100 of the self-mobile robot to perform protective actions such as retreating, so as to prevent the camera assembly 300 from being damaged due to collision.

In order to make the camera assembly 300 have a lifting function while swinging, the swinging device 400 is connected to the function processing part 200 through the lifting mechanism 500, and the swinging device 400 is connected to the top of the lifting mechanism 500 and then Lifting action, the bottom of the lifting mechanism 500 is fixed on the function processing unit 200 . The lifting mechanism 500 includes brackets or sleeves that are connected to each other and can be stretched or compressed for lifting.

As shown in Figure 2 and in conjunction with Figure 1, the specific working process of the swing device on the self-mobile robot of the present invention is as follows:

When the camera assembly 300 needs to swing, start the motor 2, the motor 2 drives the pinion 4 to rotate, and the gear on the pinion 4 meshes with the gear provided on one side of the eccentric cam 5, thereby driving the eccentric gear 5 to rotate. When the side with a smaller radius of the eccentric gear 5 rotates to the below of the rotating bracket 9, the swing device remains motionless. When the side with larger radius of the eccentric gear 5 rotates to the bottom of the rotating bracket 9 , the top of the eccentric gear 5 lifts up one side of the rotating bracket 9 to make it rotate around the rotating bracket shaft 8 . Since the head striker bracket assembly 12 is fixed together through the mutual insertion of the positioning groove 91 and the positioning pin 121, the rotating bracket 9 rotates, and at the same time drives the head striker bracket assembly 12 to rotate together. Furthermore, the camera 300 connected to the head impact board bracket assembly 12 through the plug connector 16 is made to swing relative to the function processing part 200 . When the side with the smaller radius of the eccentric gear 5 rotates to the bottom of the rotating bracket 9 again, the side turned up before the rotating bracket 9 resets under the elastic force of the return spring and returns to the initial position. Of course, during the swinging process, the motor 2 can also be controlled by the control unit so that it can stay at any position of the swinging.

In summary, the present invention realizes the swing of the camera relative to the function processing unit through the swing device arranged between the function processing unit and the camera, has a simple structure, stable movement, and expands the field of view of the self-mobile robot.

Claims (9)

1. A self-mobile robot, comprising a functional processing unit (200) and a mobile unit (100) connected to each other, the control unit controls the mobile unit (100) to walk and realizes the operation of the functional processing unit (200), and the described function The top of the processing unit (200) is provided with a camera assembly (300), characterized in that a swing device (400) is provided between the functional processing unit (200) and the camera assembly (300), and the camera assembly ( 300) Swing relative to the function processing unit (200) driven by the swing device (400); The swing device (400) mainly includes a pushing assembly and a rotating bracket assembly, the pushing assembly is arranged below the rotating bracket assembly and connected to one end of the rotating bracket assembly, the camera assembly (300) is connected to the The rotating bracket assembly is connected, and the camera assembly (300) is driven by the pushing assembly to rotate following the rotating bracket assembly. 2. The self-moving robot as claimed in claim 1, wherein the rotating bracket assembly mainly comprises a rotating bracket (9) and a rotating bracket shaft (8), and the rotating bracket shaft (8) is set on the rotating bracket (9). ) core; The pushing assembly mainly includes an eccentric cam (5) and a pinion (4); A cam mount (1) is provided below the swivel bracket (9), and the swivel mount (9) is fixed on the cam mount (1) by the swivel mount shaft (8); The eccentric cam (5) is fixed on one side of the cam holder (1), the projection of the setting direction of the camshaft (51) and the rotating support shaft (8) intersects on the same plane, and the rim of the eccentric cam (5) is placed Below one end of the rotating bracket (9); A motor (2) and a pinion (4) connected to it are provided on the cam holder (1), and the gear teeth of the pinion (4) and the gear teeth arranged inside the eccentric cam (5) mesh with each other; The two sides of the cam fixing frame (1) are respectively provided with return springs (11), and the two ends of the returning springs (11) are respectively connected with the cam fixing frame (1) and the rotating bracket (9). 3. The self-propelled robot according to claim 1, wherein the pushing assembly is a lifting bracket mechanism, and the expansion and contraction of the lifting bracket in the lifting bracket mechanism drives the rotating bracket assembly to rotate around the rotating bracket axis; Alternatively, the pushing assembly is a rack and pinion telescopic mechanism, and the telescopic rack in the rack and telescopic mechanism drives the rotating bracket assembly to rotate around the axis of the rotating bracket. 4. self-moving robot as claimed in claim 2, is characterized in that, is provided with groove (91) in described rotating bracket (9), is provided with head bumper support assembly (91) inside groove (91) 12), the upper part of the head impact board bracket assembly (12) is connected with the camera assembly (300) through a connector (16). 5. The self-moving robot as claimed in claim 4, characterized in that, the center of the groove (91) is provided with a boss (93), and the boss (93) is sleeved with a damping spring (15), so The upper and lower ends of the vibration damping spring (15) are respectively abutted against the rotating bracket (9) and the plug connector (16). 6. The self-moving robot as claimed in claim 2, characterized in that, the anti-drop switch circuit board assembly (13) is also provided on the described rotating bracket (9), which is connected with the control part, and the damping spring ( 15) Support the telescoping of the head bumper bracket assembly (12), when the top of the camera assembly (300) collides with an obstacle, the head bumper bracket assembly (12) is pressed down, and the drop switch (131) is triggered to output a signal to all control department. 7. The self-mobile robot according to claim 1, characterized in that, the swing device (400) is connected to the function processing part through a lifting mechanism (500), and the swing device (400) is connected to the lifting mechanism The tops of (500) are connected and lift up and down accordingly, and the bottom of the lifting mechanism (500) is fixed on the function processing part (200); The lifting mechanism (500) includes brackets or sleeves that are connected to each other and can be stretched or compressed for lifting. 8. The self-moving robot as claimed in claim 2, characterized in that, said rotating bracket shaft (8) is fixedly supported on said cam holder (1) by a bearing (110), and said rotating bracket shaft (8) ) are connected and positioned with the support (110) through the buckle (7); The height of the seat (110) is smaller than the maximum radius of the eccentric cam (5). 9. The self-propelled robot according to claim 4, characterized in that, a positioning groove (92) is provided on the rotating bracket (9), and a positioning pin is correspondingly provided on the head bumper bracket assembly (12) (121), the positioning pin (121) is inserted into the positioning groove (92), and its end is connected and positioned by a buckle (7).