CN110802609B

CN110802609B - Security protection intelligent robot

Info

Publication number: CN110802609B
Application number: CN201911062221.0A
Authority: CN
Inventors: 陈小青
Original assignee: Jiangsu Jincheng Aviation Technology Co ltd
Current assignee: Zhejiang Xianglong Aviation Technology Co ltd
Priority date: 2019-11-02
Filing date: 2019-11-02
Publication date: 2020-12-04
Anticipated expiration: 2039-11-02
Also published as: CN110802609A

Abstract

The application provides a security protection intelligent robot belongs to the robot field, and it includes running gear, casing, the main part of making a video recording, first locating part and first elastic component and triggers the piece. The inside accommodation space that has open-top that forms of casing, running gear connect in the casing, and running gear is constructed and is driven the casing walking. The camera shooting main body is movably arranged in the accommodating space along the vertical direction and is provided with a first working position and a second working position. The first limiting piece is provided with a first guide inclined surface and movably arranged on the shell along a first preset direction. The first elastic element is connected between the first limiting element and the shell. The trigger piece is movably arranged on the shell along a second preset direction. The vertical direction, the first preset direction and the second preset direction are perpendicular to each other, and the second preset direction is the same as the walking direction of the walking device. When the walking device moves ahead at a high speed and touches an obstacle, the camera shooting main body completely enters the shell, and the safety of the camera shooting main body is ensured.

Description

Security protection intelligent robot

Technical Field

The application relates to the field of robots, in particular to a security intelligent robot.

Background

At present, the security protection intelligent robot can be used for solving the problems of potential safety hazards, patrol monitoring and the like. The security protection intelligent robot can touch obstacles in the process of fast advancing, so that the robot tilts forward and overturns, and a camera shooting main body of the robot is damaged due to impact on the ground.

Disclosure of Invention

The embodiment of the application provides a security protection intelligent robot to improve the robot and lean forward the problem that the main part of making a video recording is impaired because of striking ground after overturning.

The present application is specifically such that: a security intelligent robot comprises a walking device, a shell, a camera main body, a first limiting piece, a first elastic piece and a trigger piece, wherein an accommodating space with an opening at the top is formed inside the shell;

the camera shooting main body is provided with a camera, the camera shooting main body is vertically movably arranged in the accommodating space, and the camera shooting main body is provided with a first working position and a second working position;

the first limiting piece is provided with a first guide inclined surface and is movably arranged on the shell along a first preset direction;

the first elastic part is connected between the first limiting part and the shell;

the trigger piece is movably arranged on the shell along a second preset direction;

the vertical direction, the first preset direction and the second preset direction are perpendicular to each other, and the second preset direction is the same as the walking direction of the walking device;

when the camera shooting main body is located at the first working position, the camera is located outside the shell, and the first limiting piece can prevent the camera shooting main body from moving downwards along the vertical direction;

when the camera shooting main body is located at the second working position, the camera shooting main body is completely located in the accommodating space;

when the camera main body is located at the first working position, the trigger piece moves along the second preset direction to push the first limiting piece to move along the first preset direction and compress the first elastic piece, so that the first limiting piece is separated from the camera main body, and the camera main body moves vertically downwards from the first working position and reaches the second working position;

when the camera main body moves vertically upwards from the second working position, the camera main body can contact with the first guide inclined surface and push the first limiting piece to move along the first preset direction so as to compress the first elastic piece, so that the camera main body returns to the first working position.

Among the above-mentioned technical scheme, security protection intelligent robot is when normal during operation, and the main part of making a video recording is located first operating position, and first locating part plays the restriction to the main part of making a video recording, prevents to make a video recording the main part and along vertical downstream, guarantees that the camera of the main part of making a video recording is located outside the casing all the time, and the purpose that the robot was patrolled can then be reached in camera work. The robot is at the patrol in-process, when running gear moves ahead with faster and touchs the barrier, trigger part will be along the second direction of predetermineeing forward under inertial effect, thereby promote first locating part and remove and compress first elastic component along first direction of predetermineeing, make first locating part break away from in the main part of making a video recording, the main part of making a video recording does not receive the limiting displacement of first locating part, the main part of making a video recording moves along vertical downwardly movement from first operating position under the effect of gravity, and reach second operating position, at this moment, the main part of making a video recording wholly lies in the casing completely, the casing will play the guard action to the main part of making a video recording, even whole robot topples over forward, the main part of making a video recording also can not collide with ground, the security of the main part of making a video recording has been. When the trigger pushes the first limiting part to move and separate from the first limiting part, the first limiting part is restored to the original position under the action of the first elastic part. When the camera of the main body which needs to make a video recording works again, the main body which makes a video recording can move vertically upwards from the second working position, the main body which makes a video recording contacts with the first guide inclined plane of the first limiting part in the moving process and pushes the first limiting part to move along the first preset direction so as to compress the first elastic part again, finally the main body which makes a video recording returns to the first working position, and after the first limiting part returns to the original position again under the action of the first elastic part, the first limiting part can prevent the main body which makes a video recording from moving vertically downwards.

Furthermore, the camera shooting main body is connected with the shell through a vertically arranged telescopic rod;

the telescopic link includes the body of rod and sleeve, the body of rod with casing fixed connection, the sleeve with main part fixed connection makes a video recording, the sleeve can vertically remove to locate with the cover the outside of the body of rod.

Among the above-mentioned technical scheme, it is connected through vertical arrangement's telescopic link to make a video recording between main part and the casing for the main part of making a video recording has fine stability in the vertical removal in-process in the casing.

Furthermore, the security intelligent robot also comprises a limiting structure;

the limiting structure comprises a first connecting rod, a second limiting piece and a second elastic piece;

one end of the first connecting rod is hinged with one end of the second connecting rod, one end of the first connecting rod, which is far away from the second connecting rod, is hinged with the sleeve, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged with the rod body;

the second limiting piece is movably arranged on the shell along a third preset direction, the second limiting piece is provided with a second guide inclined plane, and the third preset direction is perpendicular to the vertical direction;

the second elastic part is connected between the second limiting part and the shell;

when the camera shooting main body moves downwards along the vertical direction from the first working position, the second connecting rod can push the second limiting piece to move so as to compress the second elastic piece;

when the camera shooting main body is located at the second working position, the second limiting piece can prevent the second connecting rod from rotating upwards relative to the rod body.

Among the above-mentioned technical scheme, the main part of making a video recording is from first operating position along vertical downstream in-process, and the second locating part will be promoted to the second connecting rod and remove to compress the second elastic component, this kind of structure can play the cushioning effect, can reach and reduce the speed that makes a video recording the main part and vertically move down in the casing, guarantee the security of making a video recording the main part and vertically move down the in-process in the casing. When the main part of making a video recording is located second operating position, the second locating part will reset under the effect of second elastic component, and the second locating part will prevent the relative body of rod of second connecting rod upwards to rotate to pin the main part of making a video recording, the unable vertical rebound of main part of making a video recording, guarantee that the robot leans forward the turnover back, the main part of making a video recording can not roll off again to casing and ground bump under the action of gravity of self.

Furthermore, the first connecting rod is connected with the sleeve through a first rotating ring, the first rotating ring is circumferentially and rotatably sleeved outside the sleeve along the axial locking shaft, and one end of the first connecting rod, which is far away from the second connecting rod, is hinged with the first rotating ring;

the second connecting rod is connected with the rod body through a second rotating ring, the second rotating ring is axially locked and circumferentially and rotatably sleeved on the outer side of the rod body, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged with the rod body;

the security intelligent robot further comprises a first driving device and a second driving device;

the first driving device is configured to drive the second connecting rod to rotate relative to the second rotating ring;

the second driving device is configured to drive the first rotating ring to rotate in the circumferential direction;

when the camera shooting main body is located at a second working position, a second driving device drives the first rotating ring to rotate in the circumferential direction, so that the second connecting rod can be separated from the second limiting piece;

after the second connecting rod is separated from the second limiting part, the first driving device drives the second connecting rod to rotate relative to the second rotating ring, so that the camera shooting main body is located at a first working position.

Among the above-mentioned technical scheme, the robot inclines forward and overturns the back, when needing the robot to patrol once more, need right the robot and make the main part of making a video recording vertical upward movement to expose the camera of the main part of making a video recording. Under the condition that the camera main body is locked by the second limiting piece, the first rotating ring can be driven to rotate in the circumferential direction by the second driving device, so that the first connecting rod, the second connecting rod and the second rotating ring are driven to rotate in the circumferential direction together, the second connecting rod is separated from the second limiting piece, at the moment, the second connecting rod cannot be limited by the second limiting piece, and the camera main body is unlocked; then the first driving device drives the second connecting rod to rotate relative to the second rotating ring, so that the second connecting rod can rotate relative to the first connecting rod, the sleeve vertically moves upwards relative to the rod body, and finally the camera shooting main body returns to the first working position.

Furthermore, a first limiting part and a second limiting part which are used for being in contact with the first connecting rod are arranged on the sleeve;

when the camera shooting main body is located at a second working position, the second driving device drives the first rotating ring to rotate in the circumferential direction, and when the first connecting rod reaches a position contacting with the second limiting part from a position contacting with the first limiting part, the second connecting rod is separated from the second limiting part;

when the second driving device drives the first rotating ring to rotate in the circumferential direction and the first connecting rod reaches a position contacting with the first limiting part from a position contacting with the second limiting part, the camera shooting main body moves downwards along the vertical direction from the first working position so that the second connecting rod pushes the second limiting part to move, and the second elastic part is compressed.

In the above technical scheme, the first limiting portion and the second limiting portion on the sleeve can limit the first connecting rod, and the first connecting rod can only move between the first limiting part and the second limiting part when the second driving device drives the first rotating ring to rotate in the circumferential direction. Under the condition that the camera shooting main body is located at the second working position and the second limiting part has a limiting effect on the second connecting rod, the first rotating ring can be driven to rotate in the circumferential direction by the second driving device, so that the first connecting rod reaches the position contacted with the second limiting part from the position contacted with the first limiting part, the second connecting rod is separated from the second limiting part, the camera shooting main body is unlocked, and the camera shooting main body can return to the first working position by driving the second connecting rod to rotate by the first driving device. After the camera main body returns to the first working position, the second rotating ring can be driven by the second driving device to rotate circumferentially again, so that the first connecting rod reaches the position contacted with the first limiting part from the position contacted with the second limiting part, and in the process that the camera main body moves vertically downwards from the first working position, the second connecting rod pushes the second limiting part to move so as to compress the second elastic part, so that the camera main body reaches the second working position and is locked by the second limiting part.

Furthermore, the trigger piece is connected with the shell through a first elastic resetting piece and a second elastic resetting piece;

the first elastic resetting piece and the second elastic resetting piece are arranged on two sides of the trigger piece in the second preset direction;

one end of the first elastic resetting piece is connected with the triggering piece, and the other end of the first elastic resetting piece is connected with the shell;

one end of the second elastic resetting piece is connected with the triggering piece, and the other end of the second elastic resetting piece is connected with the shell.

In the above technical scheme, under the action of the first elastic resetting piece and the second elastic resetting piece, the triggering piece can be moved along the second preset direction and can restore to the original position after pushing the first limiting piece to move along the first preset direction.

Further, the trigger is a sphere.

Among the above-mentioned technical scheme, the trigger piece is the spheroid, and this kind of structure promotes first locating part more easily and removes, turns into the kinetic energy of first locating part with the kinetic energy of trigger piece promptly easily.

Further, the first limiting member comprises a first rod part and a second rod part which are connected with each other, the first rod part is perpendicular to the second rod part, the first rod part is vertically arranged, and the second rod part is movably arranged in the shell along the first preset direction;

one end of the first rod part, which is far away from the second rod part, is used for preventing the camera shooting main body from moving downwards along the vertical direction from the first working position, and the first guide inclined plane is arranged on the first rod part.

Among the above-mentioned technical scheme, the first pole portion vertical arrangement of first locating part, the second pole portion is along the movably setting in casing of first direction of predetermineeing, and the first locating part of this kind of structure has both guaranteed to have fine prevention effect to the main part of making a video recording, has guaranteed again that first locating part is along the stability of first direction removal in-process of predetermineeing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a security intelligent robot when a camera main body provided in an embodiment of the present application is located at a first working position;

fig. 2 is a schematic structural diagram of a security intelligent robot when a camera main body provided in the embodiment of the present application is located at a second working position;

FIG. 3 is a schematic view of the connection of the trigger of FIG. 1 to the base plate of the housing;

FIG. 4 is a schematic structural view of the telescoping pole shown in FIG. 1;

fig. 5 is a schematic connection diagram of the second limiting member shown in fig. 1 and a bottom plate of the housing;

fig. 6 is a schematic structural view of a security intelligent robot when a camera main body provided in other embodiments of the present application is located at a first working position;

fig. 7 is a schematic structural view of a security intelligent robot when a camera main body provided in another embodiment of the present application is located at a second working position;

FIG. 8 is a schematic view of the first swivel shown in FIG. 6 coupled to a bushing;

FIG. 9 is a schematic view of the connection between the second swivel and the rod shown in FIG. 6;

fig. 10 is a schematic view of the connection of the first and second position-limiting portions and the sleeve shown in fig. 6 and 7.

Icon: a security intelligent robot 200; a traveling device 10; a housing 20; the accommodating space 21; a base plate 22; a slide hole 221; a U-shaped slot 222; a guide hole 223; an accommodating groove 224; a case body 23; a chute 231; an image pickup main body 30; a base body 31; a camera 32; a first stopper 40; a first guide slope 41; the first rod portion 42; the second lever portion 43; a first elastic member 50; a trigger 60; a first elastic return member 61; a second resilient return member 62; an expansion link 70; a rod body 71; a second stop collar 711; a second annular protrusion 712; a sleeve 72; a first retainer ring 721; a first annular projection 722; a first stopper 723; a second limiting portion 724; a limiting structure 80; the first link 81; a second link 82; a second stopper 83; a second guide slope 831; a first connection 832; a second connection portion 833; a third connecting portion 834; a second elastic member 84; a first rotating ring 90; a first ring card slot 901; a second swivel 100; a second ring-shaped card slot 1001; a first driving device 110; a second driving device 120; a second motor 1201; a pinion gear 1202; a bull gear 1203; a vertical direction A; a first preset direction B; a second predetermined direction C.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

As shown in fig. 1 and fig. 2, an embodiment of the present application provides a security intelligent robot 200, which includes a walking device 10, a housing 20, a camera body 30, a first limiting member 40, a first elastic member 50, and a triggering member 60.

The housing 20 forms an accommodating space 21 with an open top inside, the running gear 10 is connected to the housing 20, and the running gear 10 is configured to drive the housing 20 to run.

The main body 30 of making a video recording has camera 32, and the main body 30 of making a video recording sets up in accommodation space 21 along vertical A movably, and the main body 30 of making a video recording has first operating position and second operating position, and the main body 30 of making a video recording moves along vertical A and can switch between first operating position and second operating position.

The first limiting member 40 has a first guiding inclined surface 41, and the first limiting member 40 is movably disposed in the housing 20 along a first predetermined direction B.

The first elastic element 50 is connected between the first limiting element 40 and the housing 20.

The trigger 60 is movably arranged to the housing 20 along a second predetermined direction C (not shown in fig. 1 and 2).

The vertical direction a, the first preset direction B and the second preset direction C are perpendicular to each other, and the second preset direction C is the same as the walking direction of the walking device 10.

When the camera main body 30 is located at the first working position, the camera 32 is located outside the housing 20, and the first limiting member 40 can prevent the camera main body 30 from moving downward along the vertical direction a; when the imaging body 30 is located at the second working position, the imaging body 30 is completely located in the accommodating space 21.

When the main camera body 30 is located at the first working position, the trigger 60 moves along the second preset direction C to push the first limiting member 40 to move along the first preset direction B and compress the first elastic member 50, so that the first limiting member 40 is separated from the main camera body 30, and the main camera body 30 moves downward along the vertical direction a from the first working position to reach the second working position; when the image capturing main body 30 moves upward from the second working position in the vertical direction a, the image capturing main body 30 can contact the first guiding inclined surface 41 and push the first limiting member 40 to move along the first preset direction B, so as to compress the first elastic member 50, and thus the image capturing main body 30 returns to the first working position.

When the security intelligent robot 200 normally works, the camera main body 30 is located at the first working position, the first limiting part 40 limits the camera main body 30, the camera main body 30 is prevented from moving downwards along the vertical direction A, the camera 32 of the camera main body 30 is guaranteed to be located outside the shell 20 all the time, and the purpose of patrolling the robot can be achieved when the camera 32 works. In the patrol process of the robot, when the walking device 10 moves forward at a higher speed and touches an obstacle, the trigger 60 moves forward along the second preset direction C under the action of inertia, thereby pushing the first limiting member 40 to move along the first preset direction B and compress the first elastic member 50, so that the first limiting member 40 is separated from the camera main body 30, the camera main body 30 is not limited by the first limiting member 40, the camera main body 30 moves downward from the first working position along the vertical direction a under the action of gravity and finally reaches the second working position, at this moment, the whole camera main body 30 is completely located in the shell 20, the shell 20 protects the camera main body 30, even if the whole robot tilts forward and overturns, the camera main body 30 cannot collide with the ground, and the safety of the camera main body 30 is ensured. When the trigger 60 pushes the first limiting member 40 to move and separate from the first limiting member 40, the first limiting member 40 will return to the original position under the action of the first elastic member 50. When the camera 32 of the main imaging body 30 needs to work again, the main imaging body 30 can move upward from the second working position in the vertical direction a, the main imaging body 30 contacts with the first guiding inclined surface 41 of the first limiting member 40 and pushes the first limiting member 40 to move along the first preset direction B in the moving process, so as to compress the first elastic member 50 again, and finally the main imaging body 30 returns to the first working position, and after the first limiting member 40 returns to the original position again under the action of the first elastic member 50, the first limiting member 40 can prevent the main imaging body 30 from moving downward along the vertical direction a.

The traveling direction of the traveling device referred to above is a direction in which the traveling device moves forward and backward.

The running gear 10 may be in various forms, such as a crawler-type running gear 10, a roller-type running gear 10. The specific structure of the crawler type traveling device 10 can be found in the related art, and will not be described in detail. The roller type traveling device 10 may include four rollers rotatably disposed at the bottom of the housing 20 and two driving motors respectively driving the two front rollers to drive the housing 20 to move forward or backward.

In this embodiment, the housing 20 includes a bottom plate 22 and a housing body 23 with openings at two ends, and the bottom plate 22 is fixed to the bottom of the housing body 23 and seals the opening at the bottom of the housing body 23. The running gear 10 is mounted on the base plate 22.

Wherein, the bottom plate 22 is a rectangular plate, and the shell body 23 is a cuboid structure.

In this embodiment, the vertical direction a is a height direction of the housing 20, the first predetermined direction B is a width direction of the housing 20, and the second predetermined direction C is a length direction of the housing 20.

The camera body 30 includes a seat 31 and a camera 32 disposed on the seat 31, and the camera body 30 is movably disposed in the accommodating space 21, which can also be understood as that the seat 31 is movably disposed in the accommodating space 21.

Further, the first limiting member 40 includes a first rod portion 42 and a second rod portion 43 connected to each other, the first rod portion 42 is perpendicular to the second rod portion 43, the first rod portion 42 is arranged vertically a, and the second rod portion 43 is movably disposed on the housing 20 along the first preset direction B. An end of the first lever portion 42 remote from the second lever portion 43 is used for preventing the imaging main body 30 from moving downward in the vertical direction a from the first working position, and the first guide slope 41 is provided on the first lever portion 42.

In the above structure, the first rod portion 42 of the first limiting member 40 is disposed vertically a, and the second rod portion 43 is movably disposed in the housing 20 along the first preset direction B, so that the first limiting member 40 of this structure not only ensures a good stopping effect on the camera main body 30, but also ensures the stability of the first limiting member 40 in the moving process along the first preset direction B.

The second rod 43 is movably disposed in the bottom plate 22 of the housing 20 along the first predetermined direction B, the bottom plate 22 has a sliding hole 221 for the first rod 42 to slide, and the first elastic element 50 is disposed in the sliding hole 221. The exemplary first resilient member 50 is a spring.

The inner side wall of the housing body 23 of the housing 20 is provided with a sliding groove 231 for the first rod portion 42 to move along the first preset direction B, one end of the sliding groove 231 penetrates through one end of the housing body 23 far away from the bottom plate 22, and the other end of the sliding groove 231 extends into the bottom plate 22 and is communicated with the sliding hole 221. When the camera body 30 is located at the first working position, the seat body 31 of the camera body 30 is to be placed at an end of the first rod portion 42 away from the second rod portion 43.

In this embodiment, as shown in fig. 3, the triggering element 60 is connected to the housing 20 through a first elastic restoring element 61 and a second elastic restoring element 62, and the first elastic restoring element 61 and the second elastic restoring element 62 are disposed on two sides of the triggering element 60 in the second preset direction C. One end of the first elastic resetting piece 61 is connected with the triggering piece 60, and the other end of the first elastic resetting piece 61 is connected with the shell 20; one end of the second elastic restoring member 62 is connected to the triggering member 60, and the other end of the second elastic restoring member 62 is connected to the housing 20.

Under the action of the first elastic resetting piece 61 and the second elastic resetting piece 62, the triggering piece 60 can be moved along the second preset direction C and push the first limiting piece 40 to move along the first preset direction B, and then the triggering piece 60 can be restored to the original position.

Optionally, the trigger 60 is a ball. This structure facilitates the movement of the first limiting member 40, i.e. the kinetic energy of the triggering member 60 is converted into the kinetic energy of the first limiting member 40.

In this embodiment, the housing 20 is provided with a U-shaped groove 222 arranged along the second predetermined direction C on the upper surface of the bottom plate 22, and the ball is movably disposed in the U-shaped groove 222. The first elastic resetting piece 61 and the second elastic resetting piece 62 are both located in the U-shaped groove 222, one end, far away from the trigger piece 60, of the first elastic resetting piece 61 is connected with the groove wall at one end of the extending direction of the U-shaped groove 222, and one end, far away from the trigger piece 60, of the second elastic resetting piece 62 is connected with the groove wall at the other end of the extending direction of the U-shaped groove 222. The slide hole 221 of the base plate 22 through which the second lever portion 43 slides communicates with the U-shaped groove 222.

Further, as shown in fig. 1 and 2, the image pickup main body 30 and the housing 20 are connected by a telescopic rod 70 arranged in the vertical direction a. The telescopic rod 70 includes a rod 71 and a sleeve 72, the rod 71 is fixedly connected to the casing 20, the sleeve 72 is fixedly connected to the camera main body 30, and the sleeve 72 is movably sleeved outside the rod 71 in the vertical direction a.

In the above structure, the camera main body 30 is connected to the housing 20 through the telescopic rod 70 disposed in the vertical direction a, so that the camera main body 30 has good stability in the vertical direction a moving process in the housing 20.

The sleeve 72 of the telescopic rod 70 is fixed to the bottom of the seat 31 of the housing 20, and the rod 71 is fixed to the upper surface of the bottom plate 22.

As shown in fig. 4, a first limiting ring 721 is disposed on the inner wall of the sleeve 72, a second limiting ring 711 is disposed on the outer wall of the rod 71, and in the process that the sleeve 72 moves upward in the vertical direction a relative to the rod 71, the first limiting ring 721 contacts the second limiting ring 711, so as to limit the separation of the sleeve 72 from the rod 71, and the camera main body 30 cannot be completely separated from the housing 20.

Further, the security protection intelligent robot 200 further comprises a limiting structure 80. The limiting structure 80 includes a first connecting rod 81, a second connecting rod 82, a second limiting member 83 and a second elastic member 84. One end of the first connecting rod 81 is hinged to one end of the second connecting rod 82, one end of the first connecting rod 81, which is far away from the second connecting rod 82, is hinged to the sleeve 72, and one end of the second connecting rod 82, which is far away from the first connecting rod 81, is hinged to the rod body 71. The second limiting member 83 is movably disposed in the housing 20 along a third predetermined direction, and the second limiting member 83 has a second guiding inclined plane 831, where the third predetermined direction is perpendicular to the vertical direction a. The second elastic element 84 is connected between the second limiting element 83 and the housing 20. When the main imaging body 30 moves downward in the vertical direction a from the first working position, the second link 82 can push the second limiting member 83 to move, so as to compress the second elastic member 84; when the camera body 30 is located at the second working position, the second stopper 83 can prevent the second link 82 from rotating upward relative to the rod 71.

In the process that the camera main body 30 moves downwards along the vertical direction a from the first working position, the second connecting rod 82 pushes the second limiting member 83 to move, so that the second elastic member 84 is compressed, the structure can play a role in buffering, the speed of the camera main body 30 moving downwards along the vertical direction a in the shell 20 can be reduced, and the safety of the camera main body 30 moving downwards along the vertical direction a in the shell 20 is ensured. When the main camera body 30 is located at the second working position, the second limiting member 83 is reset under the action of the second elastic member 84, the second limiting member 83 prevents the second connecting rod 82 from rotating upwards relative to the rod body 71 to lock the main camera body 30, the main camera body 30 cannot move upwards in the vertical direction a, and it is ensured that the main camera body 30 cannot slide out again to the shell 20 to collide with the ground under the action of gravity of the main camera body 30 after the robot tilts forwards and falls over.

It should be noted that the third preset direction is a horizontal direction, and exemplarily, the third preset direction is consistent with the second preset direction C.

The length of the first link 81 is greater than that of the second link 82, and when the imaging main body 30 is located at the first operating position, the second link 82 is located at a horizontal position and abuts against the bottom plate 22 of the housing 20.

As shown in fig. 5, the second stopper 83 includes a first connection portion 832, a second connection portion 833 and a third connection portion 834, and the first connection portion 832, the second connection portion 833 and the third connection portion 834 are connected in sequence to form a zigzag structure. The bottom plate 22 of the housing 20 is provided with a guide hole 223 and a receiving groove 224, the guide hole 223 is arranged along a third predetermined direction, one end of the receiving groove 224 penetrates through the upper surface of the bottom plate 22, and the other end of the receiving groove 224 is communicated with the guide hole 223. The first connection portion 832 is movably inserted into the guide hole 223; the second connecting portion 833 is partially located in the accommodating groove 224 and can move in the accommodating groove 224 along a third preset direction; the third connecting portion 834 is higher than the upper surface of the bottom plate 22, and the second guiding inclined surface 831 is disposed at an end of the third connecting portion 834 far from the second connecting portion 833. The second elastic member 84 is disposed in the guide hole 223. Illustratively, the second resilient member 84 is a spring.

When the camera body 30 is located at the second working position, the second link 82 will be located at the lower side of the third connecting portion 834, the third connecting portion 834 will limit the second link 82 from rotating upward relative to the rod 71, and at this time, the second limiting member 83 will lock the camera body 30.

Certainly, the camera main body 30 can be unlocked manually or in a motorized manner, in this embodiment, the camera main body 30 is unlocked manually, and when the camera main body 30 located at the second working position needs to be returned to the first working position, the second limiting member 83 can be manually shifted, so that the second limiting member 83 moves along the second preset direction C and compresses the second elastic member 84, and the second connecting rod 82 is separated from the third connecting portion 834 of the second limiting member 83 for constraint.

In some embodiments of the present application, the camera body 30 can also be unlocked in a motorized manner, as shown in fig. 6 and 7, the first link 81 is connected with the sleeve 72 through a first swivel 90, the first swivel 90 is circumferentially and rotatably sleeved on the outer side of the sleeve 72 along the axial direction of the locking shaft, and one end of the first link 81, which is away from the second link 82, is hinged to the first swivel 90. The second connecting rod 82 is connected with the rod body 71 through a second rotating ring 100, the second rotating ring 100 is axially locked and circumferentially and rotatably sleeved outside the rod body 71, and one end, far away from the first connecting rod 81, of the second connecting rod 82 is hinged with the rod body 71. The security intelligent robot 200 further includes a first driving device 110 and a second driving device 120. The first driving device 110 is configured to drive the second link 82 to rotate relative to the second rotary ring 100. The second driving device 120 is configured to drive the first rotating ring 90 to rotate circumferentially. When the main imaging body 30 is located at the second working position, the second driving device 120 drives the first rotating ring 90 to rotate circumferentially, so that the second link 82 can be disengaged from the second limiting member 83. After the second link 82 is disengaged from the second stopper 83, the first driving device 110 drives the second link 82 to rotate relative to the second rotating ring 100, so that the main imaging body 30 can return to the first operating position.

After the robot is tilted forward and overturned, when the robot needs to patrol again, the robot needs to be righted and the camera body 30 needs to move upwards in the vertical direction a, so that the camera 32 of the camera body 30 is exposed. Under the condition that the second limiting member 83 locks the main camera body 30, the second driving device 120 can drive the first rotating ring 90 to rotate circumferentially, so as to drive the first connecting rod 81, the second connecting rod 82 and the second rotating ring 100 to rotate circumferentially together, so that the second connecting rod 82 is separated from the second limiting member 83, and at this time, the second connecting rod 82 is not limited by the second limiting member 83, and the main camera body 30 is unlocked; then, the first driving device 110 drives the second connecting rod 82 to rotate relative to the second rotating ring 100, so that the second connecting rod 82 rotates relative to the first connecting rod 81, the sleeve 72 moves upward relative to the vertical direction a of the rod 71, and finally the camera main body 30 returns to the first working position.

As shown in fig. 8, a first annular protrusion 722 is disposed on an outer wall of the sleeve 72, a first annular engaging groove 901 is disposed on an inner wall of the first rotating ring 90, and the first annular protrusion 722 is engaged with the first annular engaging groove 901, so as to achieve circumferential rotation of the first rotating ring 90 in the axial direction.

As shown in fig. 9, a second annular protrusion 712 is disposed on an outer wall of the rod body 71, a second annular engaging groove 1001 is disposed on an inner wall of the second rotary ring 100, and the second annular protrusion 712 is engaged with the second annular engaging groove 1001, so that the second rotary ring 100 is axially locked and circumferentially rotatable.

As shown in fig. 6 and 7, in the present embodiment, the first driving device 110 is a first motor, the second link 82 is hinged to the second rotary ring 100 through a hinge shaft, the hinge shaft is rotatably disposed on the second rotary ring 100, the hinge shaft is fixedly connected to the second link 82, and an output shaft of the first motor is fixedly connected to the hinge shaft. The first motor works to drive the hinge shaft to rotate, thereby driving the second connecting rod 82 to rotate, and realizing the upward movement of the vertical direction a of the camera main body 30.

It should be noted that the first motor only realizes that the main camera body 30 moves upward in the vertical direction a, and in the process that the main camera body 30 moves downward in the vertical direction a, the first motor is not powered on, and the second connecting rod 82 drives the output shaft of the first motor to rotate.

In this embodiment, the second driving device 120 includes a second motor 1201, a pinion 1202 and a gearwheel 1203, the second motor 1201 is fixed on the sleeve 72, the second motor 1201 is arranged vertically a, the pinion 1202 is fixed on the output shaft of the second motor 1201, and the gearwheel 1203 is fixed on the first rotating ring 90. The second motor 1201 operates to rotate the small gear 1202, the small gear 1202 rotates the large gear 1203, and the large gear 1203 rotates the first rotating ring 90.

It should be noted that the first motor 1201 and the second motor 1201 can be operated by remote control.

Further, as shown in fig. 10, the sleeve 72 is provided with a first limiting portion 723 and a second limiting portion 724 for contacting the first link 81.

When the main imaging body 30 is located at the second working position, the second driving device 120 drives the first rotating ring 90 to rotate circumferentially, and when the first link 81 reaches a position contacting the second limiting portion 724 from a position contacting the first limiting portion 723, the second link 82 is separated from the second limiting member 83.

When the second driving device 120 drives the first rotating ring 90 to rotate circumferentially and the first link 81 reaches a position contacting the first limiting portion 723 from a position contacting the second limiting portion 724, the image capturing main body 30 moves downward in the vertical direction a from the first working position, so that the second link 82 pushes the second limiting member 83 to move, so as to compress the second elastic member 84.

The first limiting portion 723 and the second limiting portion on the sleeve 72 can limit the first connecting rod 81, and the first connecting rod 81 can only move between the first limiting member 40 and the second limiting member 83 when the second driving device 120 drives the first rotating ring 90 to rotate circumferentially. When the main imaging body 30 is located at the second working position and the second limiting member 83 limits the second link 82, the second driving device 120 can drive the first rotating ring 90 to rotate circumferentially, so that the first link 81 reaches a position contacting with the second limiting portion 724 from a position contacting with the first limiting portion 723, the second link 82 is separated from the second limiting member 83, the main imaging body 30 is unlocked, and the first driving device 110 drives the second link 82 to rotate, so that the main imaging body 30 returns to the first working position. After the main imaging body 30 returns to the first working position, the second driving device 120 may drive the second rotating ring 100 to rotate circumferentially again, so that the first connecting rod 81 reaches the position contacting with the first limiting portion 723 from the position contacting with the second limiting portion 724, in this case, during the process that the main imaging body 30 moves downward along the vertical direction a from the first working position, the second connecting rod 82 will push the second limiting member 83 to move, so as to compress the second elastic member 84, so that the main imaging body 30 reaches the second working position and is locked by the second limiting member 83.

In this embodiment, the first position-limiting portion 723 and the second position-limiting portion 724 are rod members extending along the radial direction of the sleeve 72.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a security protection intelligent robot which characterized in that includes:

a traveling device;

the walking device is connected to the shell and is configured to drive the shell to walk;

the first limiting piece is provided with a first guide inclined plane and is movably arranged on the shell along a first preset direction;

the first elastic piece is connected between the first limiting piece and the shell; and

the trigger piece is movably arranged on the shell along a second preset direction and is connected with the shell through a first elastic resetting piece and a second elastic resetting piece; the first elastic resetting piece and the second elastic resetting piece are arranged on two sides of the trigger piece in the second preset direction; one end of the first elastic resetting piece is connected with the triggering piece, and the other end of the first elastic resetting piece is connected with the shell; one end of the second elastic resetting piece is connected with the triggering piece, and the other end of the second elastic resetting piece is connected with the shell;

when the camera shooting main body is located at the first working position, under the action of the first elastic resetting piece and the second elastic resetting piece, the walking device moves forwards at a higher speed to touch an obstacle, the triggering piece moves forwards along the second preset direction under the action of inertia, so that the first limiting piece is pushed to move along the first preset direction and compress the first elastic piece, and the first limiting piece is separated from the camera shooting main body, so that the camera shooting main body moves vertically downwards from the first working position and reaches the second working position;

2. The security intelligent robot according to claim 1, wherein the camera body is connected to the housing through a vertically arranged telescopic rod;

3. The security intelligent robot according to claim 2, further comprising a limiting structure;

4. The security intelligent robot according to claim 3, wherein the first connecting rod is connected with the sleeve through a first rotating ring, the first rotating ring is circumferentially and rotatably sleeved outside the sleeve along an axial locking shaft, and one end of the first connecting rod, which is far away from the second connecting rod, is hinged to the first rotating ring;

5. The security intelligent robot according to claim 4, wherein the sleeve is provided with a first limiting part and a second limiting part which are used for contacting with the first connecting rod;

6. The security intelligent robot of claim 1, wherein the trigger is a sphere.

7. The security intelligent robot according to claim 1, wherein the first limiting member comprises a first rod portion and a second rod portion which are connected with each other, the first rod portion is perpendicular to the second rod portion, the first rod portion is vertically arranged, and the second rod portion is movably disposed on the housing along the first preset direction;