CN104647340A - Multi-functional mobile robot - Google Patents
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- CN104647340A CN104647340A CN201510066152.6A CN201510066152A CN104647340A CN 104647340 A CN104647340 A CN 104647340A CN 201510066152 A CN201510066152 A CN 201510066152A CN 104647340 A CN104647340 A CN 104647340A
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Abstract
The invention discloses a multi-functional mobile robot. The multi-functional mobile robot comprises a robot platform and a control platform, wherein the control platform comprises local control equipment and remote control equipment; the robot platform comprises a moving component for driving the robot to move, a connecting rod and a head component; the moving component is provided with a master controller for controlling the motion of the robot, a signal transmission device for performing signal switching with the local control equipment and a bearing device for bearing the master controller and the signal transmission device; the head component comprises a head turning control device and a fixing device for fixing the local control equipment; the local control equipment transfers information with the robot platform through the signal transmission device; the remote control equipment transfers information with the local control equipment through third party application software. According to the multi-functional robot, monitoring and amusement are integrated, and the robot is intelligent and has attractive appearance.
Description
Technical field
The present invention relates to robot field, specifically a kind of Multifunctional mobile robot.
Background technology
Along with the advantage of mobile Internet emerges, Smart Home industry obtains fast development, increasing place starts to introduce intellectualizing system, therefore mobile robot starts to enter into various place, current mobile robot generally comprises the parts such as signals collecting sensing, wireless telecommunications, data processing and mechanical movement control, also usual being fixed to when dispatching from the factory can only for the one in monitoring or amusement for its function, this kind of robot complete machine comprised multi-part, cost is caused to be difficult to reduce, and this kind of machine because of parts too much, cause appearance unsightly.
These problem prior aries all cannot solve above, and how to develop a kind of to integrating monitoring and amusement, intelligence mobile robot attractive in appearance is technical barrier urgently to be resolved hurrily at present.
Summary of the invention
Instant invention overcomes prior art Problems existing, provide and monitor and amusement a kind of collection, the multi-function robot that intelligence is attractive in appearance.
The present invention is for solving the problems of the technologies described above by the following technical solutions: robot platform and parametric controller, and described parametric controller comprises local control appliance and remote control equipment, described robot platform comprises the moving parts of band mobile robot movement, connecting rod, head assembly, described moving parts is linked together by described connecting rod and described head assembly, described moving parts is provided with the master controller of control motion, the signal transmitting apparatus of signal exchange is carried out with described local control appliance, and in order to carry the bogey of described master controller and described signal transmitting apparatus, described head assembly comprises control head transfer and the fixture in order to fixing local control appliance, described local control appliance is by described signal transmitting apparatus and described robot platform transmission of information, described remote control equipment is by third-party application software and described local control appliance transmission of information.
As present invention further optimization scheme, described signal transmitting apparatus is bluetooth module.
As present invention further optimization scheme, described moving parts also comprises the anticollision induction installation be arranged on described bogey, is arranged on anti-2 gravity drop hammers falling device, be arranged on described bogey front end of described bogey front bottom end, 2 driving wheels and 1 driven pulley, described 2 driving wheels are respectively connected with a drive motors.
As present invention further optimization scheme; described anticollision induction installation, anti-to fall device be infrared facility; described infrared facility is made up of over cap and infrared ray sensor; described over cap is made up of upper cover plate, back shroud; described back shroud base is provided with extension board, described extension board is provided with the erecting device be fixed on by infrared facility on base.
As present invention further optimization scheme, described control head transfer is made up of steer motor, rotatable parts, and described steer motor is connected with described rotatable parts by rotating shaft; Be provided with highest order travel switch below the afterbody of described rotatable parts, the head of described rotatable parts be provided with an extension, below described extension, be provided with lowest order travel switch.
As present invention further optimization scheme, described rotating shaft is provided with driving gear away from steer motor end, and described rotatable parts comprise follower gear and connector.
As present invention further optimization scheme, described fixture is made up of clamp, the first movable clamping part, the second movable clamping part, support portion; Described first movable clamping part, the second movable clamping part are symmetricly set on described clamp both sides and form the grasping part in order to place local control appliance with described clamp, described first movable clamping part, the second movable retained part are not made up of retaining part, chute, teeth groove, the top of described clamp is provided with position limiting structure, described position limiting structure is made up of 2 position limited gears and first active fastening block moving up and down, and described each position limited gear bearing connects a travelling gear.
As present invention further optimization scheme, the top of described clamp is provided with flexible button and limit button, described limit button is connected with the first coil tension spring, the described first coil tension spring other end is connected with the second active fastening block, described flexible button is connected with the 3rd coil tension spring, the slide rail being also provided with the second coil tension spring in described clamp and matching with described chute, described clamp is provided with projection, and described second coil tension spring one end is stuck on described projection.
As present invention further optimization scheme, described first movable clamping part is provided with the second coil tension spring screens, the described second coil tension spring other end is stuck in described second coil tension spring screens, described first active fastening block and described second active fastening block are provided with screens end, and the screens end of described second active fastening block is stuck on described position limited gear.
A control method for a kind of Multifunctional mobile robot as claimed in claim 1, is characterized in that, comprise the following steps:
I) local control appliance and Multifunctional mobile robot are bound: on local control appliance, log in website download and install third-party application software, log in this application software, enter into robot controlling interface, open the bluetooth of local control appliance, Multifunctional mobile robot is searched by the Bluetooth function of third-party application software, click robot connection to connect with multi-function robot, connection state can be monitored at any time;
Ii) by the instruction on control inerface, send instruction, instruction is by Bluetooth transmission to master controller, and instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right;
Local control is realized by above-mentioned two steps;
Iii) remote control robot: on the basis of above-mentioned two steps, remote control equipment installs application software, application software adds local control appliance for good friend by network, set up video with local control appliance to be connected, remote control equipment and the call of local control appliance video capable, directly can send instruction by the local control appliance of Long-distance Control simultaneously, instruction by Bluetooth transmission to master controller, instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, the present invention integrates Long-distance Control and local controlling functions, amusement function, of many uses, may be used in family or public place of entertainment, be applied to family, can the moment home environment be monitored, recognize that emergency was made a response in the very first time in the first moment, in addition, local control appliance and remote control equipment connect, thus realize video call function, have convenient advantage practical again.
2, the design of robot of the present invention integrated curved is smooth, possess multi-functional simultaneously to the visual experience of people U.S..
3, the applicable multiple local control appliance of fixture of the present invention, highly versatile, simple to operate.
Accompanying drawing explanation
Fig. 1 is a kind of Multifunctional mobile robot architecture of the present invention schematic diagram;
Fig. 2 is a kind of Multifunctional mobile robot remote of the present invention control high-level schematic functional block diagram;
Fig. 3 is the local control high-level schematic functional block diagram of a kind of Multifunctional mobile robot of the present invention;
Fig. 4 is a kind of Multifunctional mobile robot motion of the present invention modular construction schematic diagram;
Fig. 5 is a kind of Multifunctional mobile robot controlling of the present invention head transfer structural representation;
Fig. 6 is a kind of Multifunctional mobile robot of the present invention fixture lower cover structure schematic diagram;
Fig. 7 is a kind of Multifunctional mobile robot of the present invention another structural representation of fixture lower cover;
Fig. 8 is a kind of Multifunctional mobile robot of the present invention fixture structure schematic diagram;
Fig. 9 is the movable clamping part structural representation of a kind of Multifunctional mobile robot first of the present invention;
Figure 10 is a kind of Multifunctional mobile robot infrared ray of the present invention unit protection lid design 1 structural representation;
Figure 11 is a kind of Multifunctional mobile robot infrared ray of the present invention unit protection lid design 2 structural representation;
Figure 12 is a kind of Multifunctional mobile robot infrared ray of the present invention unit protection lid design 3 structural representation;
Figure 13 is a kind of Multifunctional mobile robot infrared ray of the present invention unit protection lid design 4 structural representation;
Main element symbol: robot platform 1; Parametric controller 2; Local control appliance 202; Remote control equipment 201; Moving parts 101; Connecting rod 102; Master controller 103; Signal transmitting apparatus 104; Bogey 105; Control head transfer 106; Fixture 107; Anticollision induction installation 108; Prevent falling device 109; Driving wheel 110; Driven pulley 111; Drive motors 112; Over cap 113; Upper cover plate 114; Back shroud 115; Extension board 116; Installing hole 117; Steer motor 118; Highest order travel switch 119; Extension 120; Lowest order travel switch 121; Driving gear 122; Follower gear 123; Connector 124; Clamp 125; First movable clamping part 126; Second movable clamping part 127; Support portion 128; Retaining part 129; Chute 130; Teeth groove 131; Position limited gear 132; First active fastening block 133; Travelling gear 134; First coil tension spring 135; Second active fastening block 136; Slide rail 137; Projection 138; Second coil tension spring screens 139; Screens end 140; Rotating shaft 141; Power switch 142; Electricity display lamp 143; Gravity drop hammer 144; Second coil tension spring 145; Charging inlet 146; Flexible button 147; Limit button 148; 3rd coil tension spring 149, upper cover 150; Lower cover 151; Line outlet 152; First side plate 153; Second side plate 154; Screw hole 155.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
Embodiment 1:
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of Multifunctional mobile robot, comprising: robot platform 1 and parametric controller 2, and parametric controller 2 comprises local control appliance 202 and remote control equipment 201, wherein, local control appliance 202 can be panel computer, be of a size of 7-10 cun, remote control equipment 201 can be third party's mobile device or computer, robot platform 1 comprises the moving parts 101 of band mobile robot movement, connecting rod 102, head assembly, moving parts 101 is linked together by connecting rod 102 and head assembly, moving parts 101 is provided with the master controller 103 of control motion, the signal transmitting apparatus 104 of signal exchange is carried out with local control appliance 202, and in order to carry the bogey 105 of master controller 103 and signal transmitting apparatus 104, bogey 105 is a chassis of being made up of black glue, local control appliance 202 is by signal transmitting apparatus 104 and robot platform 1 transmission of information, remote control equipment 201 is by third-party application software and local control appliance 202 transmission of information, third party software is a software for robot controlling of applicant's independent research, applicant official website can download to this application software.
Signal transmitting apparatus 104 is bluetooth modules, bluetooth module is arranged on bogey 105, local control appliance 202 passes through this bluetooth module by command to master controller 103, this instruction transformation is the motion control to robot by master controller 103, thus realize monitoring function, connecting rod 102 is provided with on power on light 143, head assembly and is provided with power switch 142.
As Fig. 1, 4, 10, 11, 12, shown in 13, moving parts 101 comprises the anticollision induction installation 108 be arranged on bogey 105, be arranged on the anti-of bogey 105 front bottom end and fall device 109, be arranged on 2 gravity drop hammers 144 of described bogey 105 front end, 2 driving wheels 110 and 1 driven pulley 111, 2 driving wheels 110 are respectively connected with a drive motors 112, design anticollision induction installation 108, prevent falling device 109, robot can accurately detect barrier in the process of walking, prevent robot to fall damage, design driven pulley, before and after robot can realize freely, the actions such as left and right, bogey rear end is also provided with charging inlet 146, by this interface, robot is charged.
Anticollision induction installation 108 comprises the left front collision sensing device being arranged on both sides, bogey 105 front end, right front collision sensing device and be arranged on the rear collision sensing device of bogey 105 rear end, left front collision sensing device, right front collision sensing device, rear collision sensing device, prevent that falling device 109 is infrared facilities, infrared facility is made up of over cap 113 and infrared ray sensor, in the present invention, 4 kinds of designs are stamped in protection, wherein in design 1 over cap 113 by upper cover plate 114, back shroud 115 forms, back shroud 115 base is provided with extension board 116, extension board 116 is provided with the installing hole 117 be fixed on by infrared facility on base, in design 2, the upper cover plate 114 of over cap 113 is provided with line outlet 152, in design 3, over cap 113 is connected to form by the first side plate 153 and the second side plate 154, first side plate is mutually vertical with the second side plate, in design 4, back shroud 115 is provided with the screw hole 155 be fixed on by over cap 113 on bogey 105, anticollision induction installation 108 arranges over cap 113, avoid extraneous light and interference is caused to infrared ray, while improve the degree of accuracy of detection, there is dust reduction capability, devise erecting device, more conveniently flexibly infrared facility can be fixed on chassis.
As shown in Figure 5, head assembly comprises control head transfer 106, and control head transfer 106 and be made up of steer motor 118, rotatable parts, steer motor 118 is connected with rotatable parts by rotating shaft 141, and steer motor 118 is worm gear motor, highest order travel switch 119 is provided with below the afterbody of rotatable parts, the head of rotatable parts is provided with an extension 120, lowest order travel switch 121 is provided with below extension 120, by this design, when robot head forwards highest order to, highest order travel switch 119 is touched below the afterbody of rotatable parts, power-off, steer motor 118 stops operating, head maintains static, stop rotating toward eminence, when robot head turns to lowest order, extension 120 touches lowest order travel switch 121, power-off, steer motor 118 quits work, robot head stops rotating, ensure that robot freely can rotate in the highest minimum point, rotational angle reaches 120 degree, there is the advantage of automated intelligent.
Rotating shaft 141 is provided with driving gear 122 away from steer motor 118 end, rotatable parts comprise follower gear 123 and connector 124, the external fixture 107 of connector 124, rotatable parts to be movably connected with rotating shaft 141 by cooperatively interacting of driving gear 122 and follower gear 123, by this design, rotating shaft 141 drives driving gear 122 to rotate, and driving gear 122 drives the rotation of follower gear 123, the rotation of follower gear 123 with follower link 124 thus drive robot head motion.
As shown in Fig. 6,8,7,9, head assembly also comprises the fixture 107 in order to fixing local control appliance 202, and fixture 107 is made up of the movable clamping part 127 of clamp the 125, first movable clamping part 126, second, support portion; The movable clamping part 127 of first movable clamping part 126, second is symmetricly set on clamp 125 both sides and forms to place the grasping part of local control appliance 202 with clamp 125, the movable clamping part 127 of first movable clamping part 126, second is made up of retaining part 129, chute 130, teeth groove 131 respectively, the top of clamp 125 is provided with position limiting structure, position limiting structure is made up of 2 position limited gears 132 and first active fastening block 133 moving up and down, and each position limited gear 132 bearing connects a travelling gear 134.
Clamp 125 is made up of upper cover 150 and lower cover 151, the top of clamp 125 is provided with flexible button 147 and limit button 148, limit button 148 is connected with the first coil tension spring 135, first coil tension spring 135 other end is connected with the second active fastening block 136, flexible button 147 is connected with the 3rd coil tension spring 149, the slide rail 137 being also provided with the second coil tension spring 145 in clamp 125 and matching with chute 130, clamp 125 is provided with projection 138, second coil tension spring 145 one end is stuck on projection 138, first movable clamping part 126 is provided with the second coil tension spring screens 139, second coil tension spring 145 other end is stuck in the second coil tension spring screens 139, first active fastening block 133 and the second active fastening block 136 are provided with screens end 140, the screens end 140 of the second active fastening block 136 is stuck on position limited gear 132, fixture 107 fixes local control appliance 202 in order to activity, fixture 107 has automatic telescopic function, manual stretch function and limit function, the fixing panel computer being of a size of 7-10 cun.By above design, automatic telescopic function is achieved in that and clamp 125 is provided with flexible button 147, flexible button 147 is connected with the 3rd coil tension spring 149, when the first movable clamping part 126, when second movable clamping part 127 is compressed to minimum dimension, second coil tension spring 145 is also compressed, first active fastening block 133 and the second active fastening block 136 are provided with screens end 140, first active fastening block 133, the screens end 140 of the second active fastening block 136 is stuck on position limited gear 132, thus limit the rotation of travelling gear 134, press flexible button 147, 3rd coil tension spring 149 moves thus drives on the second active fastening block 136 and move, second active fastening block 136 is removed from position limited gear 132, second coil tension spring 145 flicks the movement of the movable clamping part 127 of drive first, position limited gear 132 is connected with travelling gear 134 by rotating shaft 141, by the rotation of being with nutating gear 134 thus drive the rotation of 2 position limited gears 132 of cooperatively interacting of teeth groove on the first movable clamping part 126 131 and travelling gear 134, finally realize automatic telescopic function.
Manual stretch function is achieved in that screens end 140 moment of the second active fastening block 136 is stuck in the upper of position limited gear 132, second active fastening block 136 one end is connected with the first coil tension spring 135, when impose external force manually stretch two movable clamping parts time, the telescopic action of the first coil tension spring 135 enables two movable clamping part smooth rotation, thus realize manual stretch function, when being manually stretched to certain size, stop the stretching to two movable clamping parts, upper at position limited gear 132 of screens end 140 rechuck of the second active fastening block 136, limit the rotation of travelling gear 134.
A using method for multi-function robot, comprises the following steps:
I) local control appliance 202 is bound with Multifunctional mobile robot: on local control appliance 202, log in website download and install third-party application software, log in this application software, enter into robot controlling interface, open the bluetooth of local control appliance 202, search Multifunctional mobile robot by the Bluetooth function of third-party application software, click robot connection and connect with multi-function robot;
Ii) by the instruction on control inerface, send instruction, instruction is by Bluetooth transmission to master controller, and instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right;
Local control is realized by above-mentioned two steps;
Iii) remote control robot: on the basis of above-mentioned two steps, remote control equipment 201 installs application software, it is good friend that application software adds local control appliance 202 by network, connect with local control appliance 202, remote control equipment 201 and the call of local control appliance 202 video capable, directly can send instruction by the local control appliance 202 of Long-distance Control simultaneously, instruction by Bluetooth transmission to master controller, instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right.
By above design, time at home, by multi-function robot and good friend's Video chat, mobile by control walking, easy and convenient intelligence again; Monitoring function: when going to work when going out, family child old man is neglected, whenever and wherever possible by remote control robot monitoring family environment, easily, when emergency occurs, can make a response the very first time.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also makes a variety of changes under the prerequisite not departing from present inventive concept.The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to technical spirit of the present invention, within the spirit and principles in the present invention, to any simple amendment that above embodiment is done, equivalent replacement and improvement etc., within the protection domain all still belonging to technical solution of the present invention.
Claims (10)
1. a Multifunctional mobile robot, is characterized in that, comprising: robot platform and parametric controller, and described parametric controller comprises local control appliance and remote control equipment, described robot platform comprises the moving parts of band mobile robot movement, connecting rod, head assembly, described moving parts is linked together by described connecting rod and described head assembly, described moving parts is provided with the master controller of control motion, the signal transmitting apparatus of signal exchange is carried out with described local control appliance, and in order to carry the bogey of described master controller and described signal transmitting apparatus, described head assembly comprises control head transfer and the fixture in order to fixing local control appliance, described local control appliance is by described signal transmitting apparatus and described robot platform transmission of information, described remote control equipment is by third-party application software and described local control appliance transmission of information.
2. a kind of Multifunctional mobile robot according to claim 1, is characterized in that: described signal transmitting apparatus is bluetooth module.
3. a kind of Multifunctional mobile robot according to claim 1, it is characterized in that: described moving parts also comprises the anticollision induction installation be arranged on described bogey, is arranged on anti-2 gravity drop hammers falling device, be arranged on described bogey front end of the front bottom end of described bogey, 2 driving wheels and 1 driven pulley, described 2 driving wheels are respectively connected with a drive motors.
4. a kind of Multifunctional mobile robot according to claim 3, is characterized in that: described anticollision induction installation, anti-to fall device be infrared facility, and described infrared facility is made up of over cap and infrared ray sensor.
5. a kind of Multifunctional mobile robot according to claim 1, is characterized in that: described control head transfer is made up of steer motor, rotatable parts, and described steer motor is connected with described rotatable parts by rotating shaft; Be provided with highest order travel switch below the afterbody of described rotatable parts, the head of described rotatable parts be provided with an extension, below described extension, be provided with lowest order travel switch.
6. a kind of Multifunctional mobile robot according to claim 5, it is characterized in that: described rotating shaft is provided with driving gear away from steer motor end, described rotatable parts comprise follower gear and connector.
7. a kind of Multifunctional mobile robot according to claim 1, is characterized in that: described fixture is made up of clamp, the first movable clamping part, the second movable clamping part, support portion; Described first movable clamping part, the second movable clamping part are symmetricly set on described clamp both sides and form the grasping part in order to place described local control appliance with described clamp, described first movable clamping part, the second movable retained part are not made up of retaining part, chute, teeth groove, the top of described clamp is provided with position limiting structure, described position limiting structure is made up of 2 position limited gears and first active fastening block moving up and down, and described each position limited gear bearing connects a travelling gear.
8. a kind of Multifunctional mobile robot according to claim 7, it is characterized in that: the top of described clamp is provided with flexible button and limit button, described limit button is connected with the first coil tension spring, the described first coil tension spring other end is connected with the second active fastening block, described flexible button is connected with the 3rd coil tension spring, the slide rail being also provided with the second coil tension spring in described clamp and matching with described chute, described clamp is provided with projection, and described second coil tension spring one end is stuck on described projection.
9. a kind of Multifunctional mobile robot according to claim 8, it is characterized in that: described first movable clamping part is provided with the second coil tension spring screens, the described second coil tension spring other end is stuck in described second coil tension spring screens, described first active fastening block and described second active fastening block are provided with screens end, and the screens end of described second active fastening block is stuck on described position limited gear.
10. a control method for a kind of Multifunctional mobile robot as claimed in claim 1, is characterized in that, comprise the following steps:
I) local control appliance and Multifunctional mobile robot are bound: on local control appliance, log in website download and install third-party application software, log in this application software, enter into robot controlling interface, open the bluetooth of local control appliance, Multifunctional mobile robot is searched by the Bluetooth function of third-party application software, click robot connection to connect with multi-function robot, connection state can be monitored at any time;
Ii) by the instruction on control inerface, send instruction, instruction is by Bluetooth transmission to master controller, and instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right;
Local control is realized by above-mentioned two steps;
Iii) remote control robot: on the basis of above-mentioned two steps, remote control equipment installs application software, application software adds local control appliance for good friend by network, set up video with local control appliance to be connected, remote control equipment and the call of local control appliance video capable, directly can send instruction by the local control appliance of Long-distance Control simultaneously, instruction by Bluetooth transmission to master controller, instruction transformation is the motion control to robot by master controller, and control advances, retreats, comes back, bows, turns left, turns right.
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