CN106005081A - Mobile robot for supporting smart device - Google Patents

Abstract

The invention provides a mobile robot supporting smart devices, which includes a body with an installation position for smart devices and a motion mechanism, characterized in that the motion mechanism includes: four arc-shaped support legs, divided into two groups, symmetrical Distributed on both sides of the fuselage, the arc-shaped convex surface of each arc-shaped support leg faces downward as a support surface, the main body of the arc-shaped support leg is made of flexible material, and the end of the arc-shaped support leg away from the support surface passes through the rotating shaft Connected with the fuselage, the rotating surfaces of the two arc-shaped supporting legs on the same side are parallel to each other; the rotating power source is installed on the fuselage to drive the four arc-shaped supporting legs to rotate around the rotating shaft, and the four arc-shaped supporting legs rotate together to drive the motor Body movement; the supporting feet of the mobile robot of the present invention adopt an arc-shaped structure, and the material is soft, so that the robot has good mobility on very rough roads or soft planes, and effectively reduces the wear and movement of smart devices the vibration received.

Description

A mobile robot supporting smart devices

technical field

The invention relates to a mobile bracket of an intelligent device, in particular to a mobile robot supporting the intelligent device.

Background technique

Smart devices, especially smart phones and tablet computers, have become more and more popular. Subsequently, the combination of smart devices (such as mobile phones) and robot technology is a new technology and a new development field. However, the existing mobile phone robots have not been well marketed, and have further moved towards people's daily consumption, so it is difficult to apply them in people's daily life.

For example, the patent document of application publication number CN 104633416 A discloses a mobile phone holder with multiple degrees of freedom, which belongs to the field of electronic equipment accessories. It overcomes the defect in the prior art that there is no mobile phone holder that can be used in various environments. The gist of the technical solution is that the clamped electronic device can have multiple degrees of freedom to adapt to different viewing angles of the user, and it has the function of lighting. The bracket includes two parts, a compressible desk lamp and a fixed bracket. The compressible table lamp is connected with the fixed bracket through a rod. The base of the compressible table lamp is equipped with universal wheels, thereby increasing the mobility of the bracket. Because of the compressible structure of the desk lamp, the storage space of the above-mentioned mobile phone holder is reduced, it is easy to carry, and its vertical height can be adjusted at the same time. A universal joint is installed at the back of the mobile phone support, which can be used to adjust the angle of the mobile phone support to adapt to different viewing angles.

Another example is the patent document of authorized notification number CN 205249301 U, which discloses a walkable mobile phone case. It includes a base, a support rod, an accommodating box and an indicator. The base and the storage box are connected by a support rod. The storage box is provided with a USB interface for charging the mobile phone placed in the storage box. The base is equipped with a control panel, a walking device, a non-contact anti-collision device, a positioning device, and an Drop device, power supply device. The control board is used to output the control signal required for the mobile phone box to walk. The walking device drives the mobile phone box to walk according to the control signal. The non-contact anti-collision device controls the mobile phone box during walking to avoid obstacles, and the anti-drop device prevents the mobile phone box from falling during walking. , the positioning device guides the mobile phone box to walk to the location of the indicator. The above utility model realizes the convenience of placing the mobile phone before going to bed, conveniently charging the mobile phone, ensuring the normal communication of the mobile phone and keeping the mobile phone away from the sleeping human body from the physical space, avoiding the damage of the mobile phone radiation to the human body, achieving convenience and The purpose of both health and wellness.

But existing mobile phone robot also has following shortcoming: 1, present mobile phone robot is independent mobile phone robot individual, mainly relates to entertainment and toy field, complex structure, cost is higher, causes market value not high. Moreover, most of the products are based on innovative concept design and functional development, and have not yet become popular mainstream consumer products; 2. The current mobile phone robot is relatively large, about 3 to 8 times the volume of the mobile phone itself, causing inconvenience in use, and It is heavy and difficult to carry and popularize; 3. The current mobile phone robot uses independent battery and other power supply equipment, which causes a waste of space and greatly increases the weight of the robot, and needs to replace the battery regularly, causing inconvenience and environmental pollution; 4. The current The mobile phone robot technology uses hard materials as its entire structural material, which has poor sensory comfort and does not have shock resistance. The long-term vibration of the mobile phone will easily reduce its life; 5. The current mobile phone robot mainly adopts the wheel structure, which Exercise on a flat and smooth hard horizontal surface. However, in life, users often come into contact with soft and complex surfaces with slopes and obstacles such as bed surfaces and carpet surfaces. The usual wheeled structure is difficult to move on and does not have ability to overcome obstacles.

Contents of the invention

The invention provides a mobile robot supporting an intelligent device, which is convenient to use, has a wide application range, and has a good cushioning effect, and effectively reduces wear and vibration of the intelligent device during movement.

A mobile robot supporting a smart device, comprising a body with a smart device installation location and a motion mechanism, the motion mechanism comprising:

The four arc-shaped support legs are divided into two groups, symmetrically distributed on both sides of the fuselage, and the arc-shaped convex surface of each arc-shaped support leg faces downward as a support surface. The main body of the arc-shaped support legs is made of flexible materials. The end of the arc-shaped support leg away from the support surface is connected to the fuselage through a rotating shaft, and the rotation surfaces of the two arc-shaped support legs on the same side are parallel to each other;

The rotating power source is installed on the fuselage to drive the four arc-shaped supporting legs to rotate around the rotating shaft, and the four arc-shaped supporting legs rotate together to drive the movement of the fuselage.

One end of the arc-shaped support leg turns to form a scimitar-shaped wheel actuator, which is mainly used to drive the robot to move freely in the plane. Due to its scimitar-shaped structure, it has a stronger ability to cross obstacles than ordinary round wheels. The ability to realize the free movement of smart devices (such as mobile phones) in complex environments (such as messy desktops, etc.), and enhance the practical value of the product.

Since the arc-shaped support legs are made of flexible materials, that is, soft materials (such as silica gel), flexible materials are materials that can be squeezed and deformed. When the robot encounters obstacles that are difficult to overcome during the movement, the flexible support legs will be deformed. To pass through obstacles through the slit, it has good adaptability, and keeps the rotating power source (such as the motor) in a rotating state to prevent the motor from burning out due to overload or stalling.

In order to facilitate the use of the robot, preferably, the arc-shaped support legs include:

The flexible support rod is provided with a rope-threading channel extending to both ends along the length direction inside;

A pull rope passes through the rope passage;

The fixed end cover is fixedly installed on one end of the flexible support rod, and is used to fix one end connected to the stay rope;

The take-up module is fixedly installed on the other end of the flexible support rod, and is used for retracting the other end of the stay rope to bend or straighten the flexible support rod.

The working process is as follows: Initially, the take-up module loosens the drawstring and is at the zero position, that is, the flexible support rod is not deformed and is in a straight state to save space. When work is required, the pull cord is tightened through the wire-receiving module until the flexible deformation piece is in a suitable arc, and then the flexible support rod is driven by the motor to rotate to realize its planar movement function.

Moreover, for different working environments, different radians of the flexible support rods can be set, so that they have different obstacle-surmounting capabilities and jolting degrees, so as to adapt to corresponding working conditions.

For ease of use, preferably, the take-up module includes:

a wire take-up box fixed at one end of the flexible support rod;

The winding shaft is rotatably installed in the take-up box, one end extends out of the take-up box, and one end of the stay rope is wound on the winding shaft;

The handle is fixed on the winding shaft and extends out of one end of the take-up box.

In order to lock the winding shaft conveniently, it is further preferred that the winding shaft can move axially, and the take-up box is provided with a positioning groove matching the shape of the handle. After the winding shaft finishes taking up the wire, it moves so that the handle snaps into the positioning slot to complete the locking.

When in use, pull out the handle, rotate the winding shaft several times until the flexible support rod is in a suitable arc, and then push the handle into the positioning slot to lock the current state.

In order to make the flexible support rods always bend in the same direction, preferably, each flexible support rod is provided with at least two parallel stringing channels, and the plane where the stringing channels in the same flexible support rod is located is the same as the flexible support rod. The curved arcuate surfaces are substantially parallel.

In order to reduce weight and reduce vibration, preferably, the fuselage includes:

The main installation box is made of silica gel. The inner cavity is divided into upper and lower layers through a partition. The lower layer is used to install the rotating power source and circuit components, and the upper layer is used to place smart devices.

In order to realize the function of controlling the action of the robot by operating on the interface of the smart device, preferably, it also includes an infrared transmitter for communication with the smart device, an infrared receiver and a controller for controlling the operation of the rotating power source. The device emits infrared signals, and the infrared receiver is directly powered by the controller, and the signal sent by the smart device is transmitted to the controller.

In order to reduce the weight and parts of the robot itself, preferably, the main body installation box is provided with a power socket matched with the power supply port of the smart device to supply power to the mobile robot through the smart device.

Beneficial effects of the present invention:

The supporting legs of the mobile robot of the present invention adopt an arc-shaped structure, and the material is soft, so that the robot has good mobility on very rough roads or soft planes, and effectively reduces the wear and tear of smart devices and the impact of movement. vibration.

Description of drawings

FIG. 1 is a schematic diagram of a three-dimensional structure of a robot of the present invention.

Fig. 2 is a top structural schematic diagram of the robot of the present invention.

Fig. 3 is a schematic diagram of the front view structure of the robot of the present invention.

Fig. 4 is a schematic diagram of the exploded structure of the robot of the present invention.

Fig. 5 is a schematic diagram of the exploded structure of the arc-shaped support leg of the present invention.

Fig. 6 is a schematic diagram of an enlarged structure of the wire take-up module of the present invention.

Fig. 7 is a schematic perspective view of the three-dimensional structure of the pouring mold for the flexible support rod of the present invention.

Fig. 8 is an internal circuit diagram of the robot of the present invention.

Fig. 9 is a wireframe diagram of the workflow of the robot of the present invention.

detailed description

As shown in Figures 1-6, the mobile robot of this embodiment includes a body and four arc-shaped support legs 16 fixed on the body. In this embodiment, the smart device is a mobile phone as an example.

Each arc-shaped support leg 16 includes an arc-shaped, scimitar-shaped flexible support rod 1, a rope-threading channel 2, a high-strength pull rope 3 for wire driving, a fixed end cap 4 for fixing thin wires, a wire-receiving module 5, a miniature Motor 6, coupling 7 for hard and soft materials.

The production and assembly process of arc-shaped support legs 16: making the pouring mold, as shown in Figure 7, the pouring mold is divided into mold left and right baffles 18, mold front and rear baffles 19, and mold bottom plate 20→insert in the holes left in the mold front and rear baffles The three-way hose is used as the rope-threading channel 2, pre-tensioned and knotted at both ends to fix it → insert hard and soft material coupling 7 → prepare a certain hardness of silica gel according to the ratio of silica gel: silica gel curing agent = 50:1 → put The prepared silica gel is fully stirred and poured into the mold→ put it in a constant temperature box to cure for 12 hours→ remove the pouring mold and keep the front and rear baffles of the mold 19→ cut the hose so that the length of both ends is flush with the front and rear baffles of the mold→ put the wire The high-strength pull cords 3 for driving are respectively inserted into the three-way hoses, one end is pressed and fixed by the fixed end cap 4, and the end of the thin wire at the other end is fixed in the take-up module 5 → rotate the tightening head 21 as a handle to tighten the flexible Tighten the support rod 1 to a suitable shape → insert the tightening head 21 into the positioning groove to fix the tightening head 21 → fix the arc-shaped support leg 16 to the micro motor 6 through the coupling 7, and then fix it to the body of the robot go up.

Workflow: Initially, the take-up module 5 is placed at the zero position, that is, the flexible support rod 1 is in a straight state without deformation, so as to save space. When work is required, the tightening head 21 is pulled out of the positioning groove, and after the flexible support rod 1 is rotated several times until the flexible support rod 1 is in a suitable arc, the tightening head 21 is pushed into the positioning groove to lock the current state. At this time, you can start to control its rotation with your mobile phone to realize its planar movement function. Moreover, for different working environments, different radians of the flexible support rod 1 can be set so as to have different obstacle-surmounting capabilities and jolting degrees, so as to adapt to corresponding working conditions.

Structure and function: The arc-shaped supporting legs 16 are mainly used to drive the robot to move freely in the plane. Due to its special scimitar-shaped structure, it has a stronger ability to cross obstacles than ordinary round wheels, so as to realize the mobile phone Free movement in complex environments (such as messy desktops, etc.) enhances the practical value of the product. Moreover, since the actuator is made of soft materials, if the robot encounters an obstacle that is difficult to overcome during the movement, the flexible support rod 1 will deform to pass the obstacle through the slit, which has strong adaptability, And keep the motor in a rotating state to prevent the motor from being burned due to overload or stalling.

The take-up module 5 includes a tightening head 21 as a handle, a take-up box 22, a front cover 23, and the take-up box 22 is composed of four covers (the bottom cover has a narrow passage for thin wires to pass) and the take-up box 22 The rear plate is composed of a rectangular positioning slot, and the tightening head 22 is composed of a winding cylinder, a rotating head and a rectangular buckle at the end of the tightening head 22 . When it is necessary to adjust the radian of the flexible support rod, open the front cover 23, pull the tightening head 22 out from the positioning groove of the rear plate of the take-up box 22, separate the buckle from the positioning groove, and rotate the flexible support rod after several circles. 1 To reach the target arc, press the tightening head 22 into the positioning groove to lock the current flexible support rod 1 arc, and then cover the front cover.

The fuselage includes a main body installation box 8 and a hard partition 17 made of soft materials, and the mobile phone 9 is installed on the upper layer of the main body installation box 8 .

The main body installation box 8 is made of silica gel (silica gel: silica gel curing agent = 50:2) poured into the mold, and the micro motors, circuits, etc. are fixed on the lower layer. Among them, the four micro motors 6 are symmetrically fixed on the lower layer through the motor sleeve. The circuit is fixed in the center of the bottom surface, and the power supply lead 12 of the mobile phone leads out of the main body installation box 8 through the circular hole at the rear of the bottom plate, and the infrared receiver 11 connected with the controller leads out of the main body installation box 8 through the rectangular hole in the front part of the bottom plate , fixed at the front position of the infrared emitter 10. Hard cover plate is covered, be fixed in the positioning groove of main body, place mobile phone on hard dividing plate 17, because the inner dimension of main body installation box 8 is identical with the outer dimension of mobile phone, mobile phone is just fixed in the shell.

The infrared remote control receiving module includes an infrared transmitter 10 connected to the earphone channel of the mobile phone and an infrared receiver 11 connected to the controller. The infrared transmitter transmits infrared signals through the earphone channel of the mobile phone, and the infrared receiver is directly powered by the arduino nano controller. Pass the signal from the mobile phone to the arduino controller. In this way, the function of controlling the action of the robot can be realized by operating on the mobile phone interface.

As shown in Figure 8, the circuit structure in this embodiment is as follows:

Mobile phone power supply module: including the mobile phone power supply lead-out line 12 and the booster device 13, divide the GND and VCC in the mobile phone power supply lead-out line into two circuits, one is connected to the IN- and IN+ of the bottom circuit, and the mobile phone is drawn out through the booster module 13 The 5V voltage is transformed to 9V, and supplies power to arduino, and the other one directly supplies power to two micro DC motor drive modules L9110 without transformation.

Other internal circuit modules: including the arduino nano controller 14 and the motor drive chip (L9110) 15, as mentioned above, connect the 4 pwm I/O channels of the arduino nano controller to the IN1 of two L9110 drive modules , IN3 and IN2, IN4, wherein the two motors on the same horizontal line share two control signals. In addition, connect one pwm I/O channel of arduino nano to the signal port of the infrared receiver, and connect GND and 3.3V to the ground terminal and power supply terminal of the infrared receiver respectively.

Working principle and process:

As shown in Figure 9, the general functional flow of the mobile phone robot is as follows:

<1> Adjust the tightening head 22 of the robot according to the required working environment, rotate the tightening head 22 at the end of the flexible support rod 1, and adjust the radian of the flexible support rod 1 to adapt to different working environments.

Take the flexible support rod 1 with a length of 10cm, the diameter of the tightening column 5mm, and the flexible support rod 1 without deformation when the tightening head 22 is tightened for 0 turns as an example:

When exercising on a hard, smooth and unobstructed plane (such as a clean desktop, ground): tighten the tightening head for 2210 to 12 turns;

When exercising on a soft, smooth and unobstructed surface (such as a clean bed surface, sofa surface): tighten the tightening head for 228 to 12 turns;

When moving on a small obstacle plane (such as a table with books and other sundries): tighten the tightening head for 226 to 8 turns;

When moving on a multi-obstacle plane (such as the height of the obstacle is more than twice the thickness of the mobile phone): tighten the tightening head for 223 to 8 turns;

<2>Put the mobile phone into the robot case, because the inner size of the case is the same as the outer size of the mobile phone, the mobile phone is fixed in the case.

<3> Connect the power supply lead wire of the mobile phone robot to the power hole of the mobile phone to supply power to the robot. Open the remote control wizard APP in the mobile phone and open the remote control interface.

<4>Input the remote control command in the graphical operation interface of the mobile phone.

<5> Remote control commands include seven types: "forward", "backward", "turn left", "turn right", "increase moving speed", "decrease moving speed", "stop or brake", which are indicated by seven buttons in the graphical operation interface .

<6> According to the input command, the infrared transmitter connected to the mobile phone sends out a corresponding infrared signal.

<7> The infrared receiver connected to the controller receives the signal and transmits the signal to the controller to control the action of the four-way micro-motor. The controller control signal corresponding to the action is as follows:

When the command is one of the five directional commands "forward", "reverse", "turn left", "turn right", "stop or brake", the single-chip microcomputer controls the four-way motor to move by changing the high and low levels of ports D0~D3 , and the corresponding control signals are shown in the table below:

When the command is a speed-regulating command "increase moving speed" and "decrease moving speed", the motor speed is changed by changing the duty cycle of the four signals, and the duty cycle x of the pwm pulse width modulation signal is used in the arduino microcontroller with 0 to 255 The digital representation of , define the initial value x0=200; when receiving the command "increase moving speed", x=x+1, judge if x>255, then x=255; when receiving the command "decrease moving speed", x=x-1, judge if x<0, then x=0. In other cases x remains.

Robot extension function:

(1) Automatic retrieval function

This product has the function of automatic retrieval. When the mobile phone is lost, the user uses another mobile phone with wireless positioning function to recall the mobile phone, send a signal to the lost mobile phone, and the built-in wireless positioning system in the lost mobile phone is activated to determine the target point and current location. The direction and distance of the location, motion planning, control the movement of the lost mobile phone to the target mobile phone. It is suitable for short-distance mobile phone retrieval function.

(2) Remote control function

Use another mobile phone with infrared emission function to remotely control the target mobile phone robot, which can be controlled to move to the corresponding position within a certain distance, or make corresponding actions, mainly used for remote picking, entertainment and teaching, etc.

(3) Other entertainment functions

Through the binding with the mobile phone function, the hardware of the mobile phone interface is realized, and the new chat "expression" based on the mobile phone robot is developed-that is, the "expression" function is not limited to a pattern or animation on the mobile phone interface, but also includes the movement of the mobile phone robot, such as "Walk back and forth", "shake your head", "stand" and so on.

The mobile robot of the present embodiment solves the following problems in the prior art:

1. Adopt soft material structure to reduce vibration and weight.

Reasonable ratio of silica gel is used as the main structure of the robot. Due to the cushioning capacity of the soft material, it has a good protective effect, reduces the wear and tear of the mobile phone and the vibration received during the movement, and prolongs the service life. And because the density of the silicone material is low, this product can greatly reduce its weight, making it easy to carry and use.

Using a new type of motion mechanism based on soft materials, it has better complex ground motion capabilities, and has the unique mechanical protection capabilities and adaptability of soft materials.

2. The scimitar-shaped deformation wheel mechanism (arc-shaped support rod) made of silica gel has good ability to cross obstacles (such as obstacle-crossing and soft bed walking ability, etc.), and the use of soft materials makes it have Overload protection capability and strong adaptability.

3. Use mobile phone as power supply, reduce volume and weight, and reduce the trouble of replacing batteries.

This product leads out the power supply of the mobile phone to supply power and drive the controller and micro-motor inside the robot through two transformer circuits, eliminating the need to use a separate lithium battery, saving internal space and weight, and is conducive to the miniaturization of mobile phone robots , easy to carry and use. There is no need to replace the battery of the mobile phone robot, reducing the trouble of assembling and disassembling the circuit.

4. The infrared module of the mobile phone communicates with the internal controller of the robot, and the mobile phone remote control APP is used to directly control the movement of the robot, which reduces the complexity of the operation and can realize separate remote control.

This product is connected to the infrared transmitter through the earphone channel of the mobile phone, and the infrared receiver connected to the robot controller receives the infrared rays, so as to realize the direct remote control of the mobile phone interface without using the remote control, etc., reducing the complexity of the operation. And it can realize the separate short-range remote control of mobile phone and robot.

5. Through the use of micro motors and circuits, the miniaturization of mobile phone robots is realized.

This product is designed with a micro-circuit and driven by a micro-motor, which saves internal space and weight, and is easy to carry and use for mobile robots.

6. The deformation of the flexible actuator is driven by multi-line driving, and the shape of the actuator is changed to adapt to different working environments.

The flexible scimitar-shaped deformation wheel of the mobile phone robot is driven by wire to deform to adapt to different working environments. At the same time, the space occupied by the actuator is saved by changing the shape, and the miniaturization of the mobile phone robot is realized.

Claims (7)

1. support a mobile robot for smart machine, including with smart machine installation site Fuselage and motion, it is characterised in that described motion includes:

Four curved support lower limbs, are divided into two groups, are symmetrically distributed in fuselage both sides, each curved support lower limb Arc convex face down as supporting surface, the main body of described curved support lower limb uses flexible material, institute State curved support lower limb one end away from supporting surface to be connected with fuselage by rotating shaft, two arcs of the same side The plane of rotation of supporting leg is parallel to each other；

Rotational power source, is arranged on fuselage four curved support lower limbs of driving and rotates around the axis, four arcs Shape supporting leg common rotation drives fuselage motion.

2. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that Curved support lower limb includes:

Flexible support bar, inside is provided with the wire rope handling passage extending to two ends along its length；

Stay cord, through described wire rope handling passage；

Fixing end cap, is fixedly mounted on one end of described flexible support bar, for fixing connection stay cord One end；

Take-up module, is fixedly mounted on the other end of described flexible support bar, another for folding and unfolding stay cord One end is so that flexible support rod bending or stretch.

3. the mobile robot supporting smart machine as claimed in claim 2, it is characterised in that Described take-up module includes:

Winding box, is fixed on one end of described flexible support bar；

Roll, is rotatably installed in winding box, and winding box is stretched out in one end, one end volume of described stay cord It is wound on roll；

Handle, is fixed on the one end stretching out winding box on described roll.

4. the mobile robot supporting smart machine as claimed in claim 2, it is characterised in that At least two wire rope handling passages be arrangeding in parallel it are provided with, in same flexible support bar in each flexible support bar The plane at wire rope handling passage place substantially parallel with the arcwall face of described flexible support rod bending.

5. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that Described fuselage includes:

Main body mounting box, is made up of silica gel, and inner chamber is divided into upper and lower two-layer by dividing plate, and lower floor is used for pacifying Dress rotational power source and component, upper strata is used for placing smart machine.

6. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that Also include the infrared transmitter with smart device communication, infrared remote receiver and control rotational power source work The controller made, described infrared transmitter launches infrared signal to smart machine, and infrared remote receiver is by controlling Device processed is directly powered, and in the incoming controller of signal that smart machine is sent.

7. the mobile robot supporting smart machine as claimed in claim 1, it is characterised in that The supply socket matched with smart machine power supply port it is provided with by intelligence in described main body mounting box Equipment is that described mobile robot powers.