CN103722555B - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN103722555B CN103722555B CN201210387224.3A CN201210387224A CN103722555B CN 103722555 B CN103722555 B CN 103722555B CN 201210387224 A CN201210387224 A CN 201210387224A CN 103722555 B CN103722555 B CN 103722555B
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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
Technical field
The present invention relates to a kind of self-movement robot, belong to small household appliances manufacturing technology field.
Background technology
Self-movement robot is a kind of conventional small household appliances, is widely used with its compact, advantage flexibly of moving.In order to it, oneself monitors effectively at the domain of walk of movement, existing self-movement robot is provided with image capturing device at the top in function treatment portion usually, such as: camera.But because the common set-up mode of existing camera is fixed, make the size of image pickup scope directly related with the motion mode of self-movement robot.Self-movement robot can determine different image pickup scopes by the different motion mode such as to keep straight on and turn round.But because camera is fixed on top, function treatment portion, therefore, camera is constant above the height of function treatment portion upper surface, camera just can only be taken on this height face, seriously limits the image pickup scope of camera.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, a kind of self-movement robot is provided, by being arranged on the pendulous device between function treatment portion and camera, achieve the swing of camera relative to function treatment portion, structure is simple, having stable behavior, expands the visual field of self-movement robot.
Technical problem to be solved of the present invention is achieved by the following technical solution:
A kind of self-movement robot, comprise interconnective function treatment portion and moving part, moving part walking is controlled and the operation of practical function handling part by control part, the top in described function treatment portion is provided with CCD camera assembly, pendulous device is provided with between described function treatment portion and CCD camera assembly, described CCD camera assembly, under the drive of pendulous device, swings relative to function treatment portion.
Described pendulous device mainly comprises pushing component and runing rest assembly, described pushing component is arranged on the below of described runing rest assembly and is connected with one end of described runing rest assembly, described CCD camera assembly is connected with described runing rest assembly, described CCD camera assembly, under the drive of described pushing component, is followed runing rest assembly and is rotated.
Specifically, described runing rest assembly mainly comprises runing rest and runing rest axle, and runing rest axle is located in the core of runing rest; Described pushing component mainly comprises eccentric cam and pinion; The below of runing rest is provided with cam fixed mount, and runing rest is fixed on cam fixed mount by runing rest axle; Eccentric cam is fixed on the side of cam fixed mount, and camshaft is crossing with the projection on the setting direction same plane of runing rest axle, and the wheel rim of eccentric cam is placed in the below of runing rest one end; Cam fixed mount is established motor and coupled pinion, the gear teeth arranged inside the gear teeth of described pinion and eccentric cam engage each other; The both sides of described cam fixed mount are also respectively equipped with back-moving spring, and the two ends of described back-moving spring are connected with runing rest with cam fixed mount respectively.
As required, described pushing component can adopt different version, and can be lifting support mechanism for described pushing component, in described lifting support mechanism, the flexible drive runing rest assembly of lifting support rotates around runing rest axle;
Or described pushing component is rack-and-pinion telescoping mechanism, the flexible runing rest assembly that drives of the tooth bar in tooth bar telescoping mechanism rotates around runing rest axle.
In order to head being hit board mount assembly strong fix, being provided with groove in described runing rest, being provided with head hitting board mount assembly in inside grooves, described head is hit above board mount assembly and is connected with described CCD camera assembly by plug connector.
In order to prevent collision, described groove center is provided with projection, sheathed shock-absorbing spring on projection, and the upper/lower terminal of described shock-absorbing spring is supported mutually with described runing rest and described plug connector respectively.
In addition, described runing rest is also provided with dropproof switching circuit board component, be connected with described control part, described damping spring supporting head part hits board mount assembly and stretches, when CCD camera assembly top collision obstacle, head hits board mount assembly and is depressed and falls, and touches drop switch, outputs signal to described control part.
While swing, elevating function is had concurrently in order to make camera, described pendulous device is connected with described function treatment portion by elevating mechanism, described pendulous device is connected with the top of elevating mechanism and carries out lifting action thereupon, and the bottom of elevating mechanism is fixed in described function treatment portion; Described elevating mechanism comprises and is interconnected extending or compression and carries out the support that is elevated or sleeve.
In order to leave suitable working space to eccentric cam, described runing rest axle is fixedly supported on described cam fixed mount by bearing, and the two ends of runing rest axle to be connected with bearing by buckle locates; The height of bearing is less than the maximum radius of described eccentric cam.
In order to make head hit board mount assembly effective location on runing rest, described runing rest is provided with locating slot, and described head hits correspondence on board mount assembly and is provided with alignment pin, and described alignment pin inserts in locating slot, and its end connects location by buckle.
In sum, the invention provides a kind of self-movement robot, by being arranged on the pendulous device between function treatment portion and camera, achieving the swing of camera relative to function treatment portion, structure is simple, and having stable behavior, expands the visual field of self-movement robot.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of self-movement robot of the present invention;
Fig. 2 is the assembling explosive view of pendulous device all parts of the present invention.
Detailed description of the invention
Fig. 1 is the overall structure schematic diagram of self-movement robot of the present invention.As shown in Figure 1, the invention provides a kind of self-movement robot, comprise interconnective function treatment portion 200 and moving part 100, control moving part 100 by control part (not shown) and walk and the operation of practical function handling part 200.The top in described function treatment portion 200 is provided with CCD camera assembly 300, between described function treatment portion 200 and CCD camera assembly 300, be provided with pendulous device 400.Described CCD camera assembly 300, under the drive of pendulous device 400, swings relative to function treatment portion 200.
In order to realize CCD camera assembly 300 under the drive of pendulous device 400, relative to the swing in function treatment portion 200, described pendulous device 400 mainly should comprise pushing component and runing rest assembly.Described pushing component is arranged on the below of described runing rest assembly and is connected with one end of described runing rest assembly, described CCD camera assembly 300 is connected with described runing rest assembly, described CCD camera assembly 300, under the drive of described pushing component, is followed runing rest assembly and is rotated.In order to realize above-mentioned function, in fact, described pushing component can adopt different version, and such as: can adopt lifting support mechanism, in described lifting support mechanism, the flexible drive runing rest assembly of lifting support rotates around runing rest axle; Or described pushing component can also adopt rack-and-pinion telescoping mechanism, the flexible runing rest assembly that drives of the tooth bar in tooth bar telescoping mechanism rotates around runing rest axle.The swing of CCD camera assembly 300, be exactly the rotary motion of runing rest assembly around axle in essence, therefore, except the versions such as the promotion of the Telescopic of above-mentioned lifting support pivots except adopting, rack-and-pinion stretches module, air pump telescoping mechanism, eccentric cam can also be adopted to promote the scheme rotated.
Fig. 2 is the assembling explosive view of pendulous device all parts of the present invention.Specifically, in embodiment as shown in Figure 2, described runing rest assembly mainly comprises runing rest 9 and runing rest axle 8, and runing rest axle 8 is located in the core of runing rest 9.Described pushing component mainly comprises eccentric cam 5 and pinion 4.The below of runing rest 9 is provided with cam fixed mount 1, and runing rest 9 is fixed on cam fixed mount 1 by runing rest axle 8.Eccentric cam 5 is fixed on the side of cam fixed mount 1, and camshaft 51 is crossing with the projection on the setting direction same plane of runing rest axle 8, and preferred set-up mode is that both are mutually vertical.The wheel rim of eccentric cam 5 is placed in the below of runing rest 9 one end.Cam fixed mount 1 is established motor 2 and coupled pinion 4, the gear teeth arranged inside the gear teeth of described pinion 4 and eccentric cam 5 engage each other.The both sides of described cam fixed mount 1 are also respectively equipped with back-moving spring 11, and the two ends of described back-moving spring 11 are connected with runing rest 9 with cam fixed mount 1 respectively.In the embodiment shown in Figure 2, what back-moving spring adopted is extension spring, and certainly, as required, the back-moving spring 11 be arranged on herein also can be stage clip.In order to make the restoring force of runing rest 9 both sides balance, can being arranged in pairs in back-moving spring 11 on runing rest 9.
In order to leave suitable working space to eccentric cam 5, described runing rest axle 8 is fixedly supported on described cam fixed mount 1 by bearing 110, and the two ends of runing rest axle 8 are connected with bearing 110 by buckle 7 locates.In order to make eccentric cam 5 in the process rotated, the jack-up to runing rest 9 and release can be realized, realize the rotation of runing rest 9 around runing rest axle 8, thus drive the swing of CCD camera assembly 300, the height that bearing 110 is arranged should be less than the maximum radius of described eccentric cam 5.
In addition, as Fig. 1 and shown in composition graphs 2, the swaying direction of CCD camera assembly 300, the installation site of board mount assembly 12 on runing rest 9 is hit in fact relevant with head, or rather, in CCD camera assembly 300, the installation direction of camera is relevant with the setting position of the runing rest axle 8 of runing rest 9.When both directions consistent or parallel time, camera is left and right swing; When both directions are vertical, camera is upper and lower swing.Certainly, also according to the actual needs, specific pendulum angle and scope can be realized by adjustment installation site.
In order to head being hit board mount assembly 12 strong fix, be provided with groove 91 in described runing rest 9, shape and the head of groove 91 hit that the profile of board mount assembly 12 is corresponding to be arranged, and the bottom that head hits board mount assembly 12 is embedded in groove 91.Board mount assembly 12 effective location on runing rest 9 is hit in order to make head, described runing rest 9 is provided with locating slot 92, described head hits correspondence on board mount assembly 12 and is provided with alignment pin 121, and described alignment pin 121 inserts in locating slot 92, and its end connects location by buckle 7.Described head is hit above board mount assembly 12 and is connected with described CCD camera assembly 300 by plug connector 16.In order to prevent collision, be provided with projection 93 at groove 91 center of runing rest 9, sheathed shock-absorbing spring 15 on projection 93, the upper/lower terminal of shock-absorbing spring 15 is supported mutually with runing rest 9 and plug connector 16 respectively.Therefore, the Main Function that head hits board component 12 is exactly conveniently install CCD camera assembly 12, by the setting of plug connector 16 and damping spring 15, and in use damping or crashproof damage, thus the safety in utilization improving CCD camera assembly 300.
In addition, described runing rest 9 is also provided with dropproof switching circuit board component 13, be connected with described control part, owing to being provided with damping spring 15, board mount assembly 12 can be hit have the flexible of trace by supporting head part, in the course of work of self-movement robot, when CCD camera assembly 300 swings, its top is met and is hit barrier and after colliding with it, head hits board mount assembly 12 and is produced trace decline by pressure, now just can touch drop switch 131, output signal to described control part, the moving part 100 controlling self-movement robot performs the protection act of retrogressing and so on, in order to avoid CCD camera assembly 300 brings destruction because colliding.
While swing, elevating function is had concurrently in order to make CCD camera assembly 300, described pendulous device 400 is connected with described function treatment portion 200 by elevating mechanism 500, described pendulous device 400 is connected with the top of elevating mechanism 500 and carries out lifting action thereupon, and the bottom of elevating mechanism 500 is fixed in described function treatment portion 200.Described elevating mechanism 500 comprises and is interconnected extending or compression and carries out the support that is elevated or sleeve.
As Fig. 2 and shown in composition graphs 1, the concrete course of work of the pendulous device on self-movement robot of the present invention is such:
When needs CCD camera assembly 300 swings, starter motor 2, motor 2 drives pinion 4 to rotate, and the gear on pinion 4 is engaged each other by the gear arranged with eccentric cam 5 side, thus drives eccentric gear 5 to rotate.When the side that eccentric gear 5 radius is less rotates to the below of runing rest 9, pendulous device keeps motionless.When the side that eccentric gear 5 radius is larger rotates to the below of runing rest 9, the top of eccentric gear 5, by the side jack-up of runing rest 9, makes it rotate centered by runing rest axle 8.Due to head hit board mount assembly 12 be to be fixed to one another with the mutual inserting mode of alignment pin 121 by locating slot 91 together with, therefore, runing rest 9 rotates, drive head to hit board mount assembly 12 and rotate in the lump simultaneously, and then make to be connected to by plug connector 16 camera 300 that head hits on board mount assembly 12 and swing relative to function treatment portion 200.When the side that eccentric gear 5 radius is little rotates to the below of runing rest 9 again, before runing rest 9, resupinate side resets under the elastic force effect of back-moving spring, gets back to original position.Certainly, in the process swung, also can be controlled motor 2 by control part, the optional position of swing can be rested on.
In sum, 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.
Claims (9)
1. a 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), it is characterized in that, pendulous device (400) is provided with between described function treatment portion (200) and CCD camera assembly (300), described CCD camera assembly (300) is under the drive of pendulous device (400), swing relative to function treatment portion (200),
Described pendulous device (400) mainly comprises pushing component and runing rest assembly, described pushing component is arranged on the below of described runing rest assembly and is connected with one end of described runing rest assembly, described CCD camera assembly (300) is connected with described runing rest assembly, described CCD camera assembly (300), under the drive of described pushing component, is followed runing rest assembly and is rotated.
2. self-movement robot as claimed in claim 1, it is characterized in that, described runing rest assembly mainly comprises runing rest (9) and runing rest axle (8), and runing rest axle (8) is located in the core of runing rest (9);
Described pushing component mainly comprises eccentric cam (5) and pinion (4);
The below of runing rest (9) is provided with cam fixed mount (1), and runing rest (9) is fixed on cam fixed mount (1) by runing rest axle (8);
Eccentric cam (5) is fixed on the side of cam fixed mount (1), camshaft (51) is crossing with the setting direction projection at grade of runing rest axle (8), and the wheel rim of eccentric cam (5) is placed in the below of runing rest (9) one end;
Cam fixed mount (1) is established motor (2) and coupled pinion (4), the gear teeth that the gear teeth of described pinion (4) and eccentric cam (5) inner side are arranged engage each other;
The both sides of described cam fixed mount (1) are also respectively equipped with back-moving spring (11), and the two ends of described back-moving spring (11) are connected with runing rest (9) with cam fixed mount (1) respectively.
3. self-movement robot as claimed in claim 1, it is characterized in that, described pushing component is lifting support mechanism, and in described lifting support mechanism, the flexible drive runing rest assembly of lifting support rotates around runing rest axle;
Or described pushing component is rack-and-pinion telescoping mechanism, the flexible runing rest assembly that drives of the tooth bar in tooth bar telescoping mechanism rotates around runing rest axle.
4. self-movement robot as claimed in claim 2, it is characterized in that, groove (91) is provided with in described runing rest (9), be provided with head in groove (91) inside and hit board mount assembly (12), described head is hit board mount assembly (12) top and is connected with described CCD camera assembly (300) by plug connector (16).
5. self-movement robot as claimed in claim 4, it is characterized in that, described groove (91) center is provided with projection (93), the upper sheathed shock-absorbing spring (15) of projection (93), the upper/lower terminal of described shock-absorbing spring (15) is supported mutually with described runing rest (9) and described plug connector (16) respectively.
6. self-movement robot as claimed in claim 2, it is characterized in that, described runing rest (9) is also provided with dropproof switching circuit board component (13), be connected with described control part, damping spring (15) supporting head part hits board mount assembly (12) and stretches, when CCD camera assembly (300) top collision obstacle, head hits board mount assembly (12) and is depressed and falls, touch drop switch (131), output signal to described control part.
7. self-movement robot as claimed in claim 1, it is characterized in that, described pendulous device (400) is connected with described function treatment portion by elevating mechanism (500), described pendulous device (400) is connected with the top of elevating mechanism (500) and carries out lifting action thereupon, and the bottom of elevating mechanism (500) is fixed on described function treatment portion (200);
Described elevating mechanism (500) comprises and is interconnected extending or compression and carries out the support that is elevated or sleeve.
8. self-movement robot as claimed in claim 2, it is characterized in that, described runing rest axle (8) is fixedly supported on described cam fixed mount (1) by bearing (110), and the two ends of runing rest axle (8) are connected with bearing (110) by buckle (7) locates;
The height of bearing (110) is less than the maximum radius of described eccentric cam (5).
9. self-movement robot as claimed in claim 4, it is characterized in that, described runing rest (9) is provided with locating slot (92), described head hits the upper correspondence of board mount assembly (12) and is provided with alignment pin (121), described alignment pin (121) inserts in locating slot (92), and its end connects location by buckle (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210387224.3A CN103722555B (en) | 2012-10-12 | 2012-10-12 | Self-movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210387224.3A CN103722555B (en) | 2012-10-12 | 2012-10-12 | Self-movement robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103722555A CN103722555A (en) | 2014-04-16 |
| CN103722555B true CN103722555B (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210387224.3A Active CN103722555B (en) | 2012-10-12 | 2012-10-12 | Self-movement robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106029502B (en) * | 2015-04-24 | 2018-06-12 | 深圳市大疆灵眸科技有限公司 | Holder and the unmanned vehicle using the holder |
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|---|---|---|---|---|
| US4932831A (en) * | 1988-09-26 | 1990-06-12 | Remotec, Inc. | All terrain mobile robot |
| CN201097078Y (en) * | 2007-11-07 | 2008-08-06 | 官晓萍 | Supporter and monitoring camera |
| CN101612730A (en) * | 2009-07-24 | 2009-12-30 | 北京工业大学 | Wheel type intelligent autonomous mobile service robot |
| CN201878249U (en) * | 2010-10-20 | 2011-06-22 | 深圳欣冠佳电子有限公司 | Mobile detection camera |
| CN201937762U (en) * | 2010-12-30 | 2011-08-17 | 深圳市银星智能电器有限公司 | Mobile robot used for monitoring home environments |
| CN202910861U (en) * | 2012-10-12 | 2013-05-01 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7202904B2 (en) * | 2003-10-22 | 2007-04-10 | E-Benk Tech Co., Ltd. | Video monitoring device |
-
2012
- 2012-10-12 CN CN201210387224.3A patent/CN103722555B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4932831A (en) * | 1988-09-26 | 1990-06-12 | Remotec, Inc. | All terrain mobile robot |
| CN201097078Y (en) * | 2007-11-07 | 2008-08-06 | 官晓萍 | Supporter and monitoring camera |
| CN101612730A (en) * | 2009-07-24 | 2009-12-30 | 北京工业大学 | Wheel type intelligent autonomous mobile service robot |
| CN201878249U (en) * | 2010-10-20 | 2011-06-22 | 深圳欣冠佳电子有限公司 | Mobile detection camera |
| CN201937762U (en) * | 2010-12-30 | 2011-08-17 | 深圳市银星智能电器有限公司 | Mobile robot used for monitoring home environments |
| CN202910861U (en) * | 2012-10-12 | 2013-05-01 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot |
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| CN103722555A (en) | 2014-04-16 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: Ecovacs Robot Co., Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ELECTRICAL CO., LTD. |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: Ecovacs robot Limited by Share Ltd Address before: Wuzhong District, Jiangsu Province, China, 108 West Lake stone road, No. Patentee before: Ecovacs Robot Co., Ltd. |