CN206178475U

CN206178475U - Projection machine people

Info

Publication number: CN206178475U
Application number: CN201621162484.0U
Authority: CN
Inventors: 邵杰豪
Original assignee: Shenzhen Qianhai Yyd Robot Co Ltd
Current assignee: Shenzhen Yong Yida robot Co., Ltd.
Priority date: 2016-10-25
Filing date: 2016-10-25
Publication date: 2017-05-17
Anticipated expiration: 2026-10-25

Abstract

The utility model relates to a projection machine people, it includes the base, set up the truck of base top, rotatable flexible setting at the neck of truck upper end, set up head on the neck, set up at the motor drive wheel of base below, the touch volume accommodation switch that sets up BOX loudspeaker on the base, set up on the base casing and is connected with BOX loudspeaker electricity, set up charging on the truck and awaken up and breathe lamp, treater and the battery module of setting in the truck respectively, the utility model relates to a rationally, compact structure and convenient to use.

Description

Projection robot

Technical field

The utility model is related to project robot.

Background technology

At present projecting apparatus on the market is single, and robot is then to lay particular emphasis on company, nurse, early education etc..

Robot technology is deep to be paid attention to by countries in the world as strategic high-tech technology, and service robot is used as front Along the most active field of high-tech research, even more receive much concern, currently on the market home-care service class robot function compares Single, mainly some clean humanoid robots, can not meet the needs of multiplicity of subscriber.

Utility model content

For the above, technical problem to be solved in the utility model be generally speaking to provide it is a kind of it is reasonable in design, With low cost, durable, safe and reliable, simple to operate, time saving and energy saving, saving fund, compact conformation and throwing easy to use Shadow robot；The technical problem that solves in detail and obtain beneficial effect in aftermentioned content and with reference to specific embodiment in it is interior Hold and specifically describe.

To solve the above problems, technical solution adopted in the utility model is：

One kind projection robot, including base, be arranged on above base trunk, rotatable flexible be arranged on trunk upper end cross section Neck and the head being arranged on neck and the power wheel being arranged on below base.

As the further improvement of above-mentioned technical proposal：

Rack-and-pinion elevating mechanism is provided with trunk and tooth bar upper end is provided with what its output shaft was connected with neck Oscillating motor is provided with Linear motor-driven push rod mechanism in trunk and push rod upper end is provided with its output shaft and is connected with neck Oscillating motor.

Further, also including the BOX loudspeaker being arranged on base, be arranged on base housing and electrically connect with BOX loudspeaker The charging for touching level setting switches, being arranged on trunk wake up breath light, the processor that is separately positioned in trunk with electricity Pond module, vertically through the fairlead being arranged in trunk, five Mikes being arranged on head input auditory localization array module, The 3D cameras being separately positioned on head, focalize switch and the difference that are arranged on head and control 3D camera focal lengths The projection light machine being arranged on head is switched with ray machine resolution adjustment；

Battery module is electrically connected with processor, and 3D cameras are used to gather image and electrically connect with processor, and five Mikes are defeated Enter sound source oriented array module for gathering sound and be connected with the IIS interfaces of processor, projection light machine be used to projecting and with place Reason device electrical connection, ray machine resolution adjustment switch is electrically connected with projection light machine；The wake-up breath light that charges is electrically connected with battery module, Processor is electrically connected with BOX loudspeaker；

Neck includes flexible neck, be arranged on flexible neck by bearing rotating shaft and rotating shaft are bonded to be turned Dynamic neck, rotates neck upper end and is fixedly connected with head lower end, and in trunk upper end cross section controlled motor and reductor, control electricity are respectively arranged with Machine output shaft is connected by reductor with rotating shaft, and fairlead lower end is arranged in base intracavity, is erected in fairlead Linear motor-driven push rod is directly provided with, the telescopic shaft upper end of Linear motor-driven push rod is provided with connecting seat, connecting seat is in fairlead Perpendicular slip is arranged, and directly flexible neck is arranged on connecting seat；Lower position switch corresponding with connecting seat is respectively arranged with fairlead With upper limit position switch.

As the further improvement of above-mentioned technical proposal：

Also include wireless transport module, communications module, touch-screen, power management module, equipment HDMI video module, Ray machine signal processor, ray machine power management module, optical projection lenses, charger, direct current supply module, MCU module, walking Drive module, rotation drive module, infrared fall preventing sensor and mobile terminal；

Processor is wirelessly connected by wireless transport module or communications module with mobile terminal, the output end of touch-screen Input interface electrical connection corresponding with processor, power management module is electrically connected with processor, and processor is by charger and electricity Pond module electrical connection, battery module is supplied respectively by direct current supply module to MCU module, ray machine signal processor and processor Electricity, MCU module is electrically connected with processor by UART interface, and the output end of MCU module is driven respectively with hoofing part module, rotation Dynamic model block and infrared fall preventing sensor are electrically connected, and battery module is electrically connected with ray machine power management module, and processor passes through HDIM interfaces are electrically connected with equipment HDMI video module, and equipment HDMI video module is by rgb interface and ray machine signal processor Electrical connection, processor is electrically connected with ray machine signal processor, and audio-video signal is exported and gives optical projection mirror by ray machine signal processor Head, ray machine signal processor controls optical projection lenses by ray machine power management module.

Wireless transport module is bluetooth, GPS or wifi, and power management module is MT6328, and processor is MT8735, communication Transport module is 2G/3G/4G.

USB is provided with trunk, equipment HDMI video module is electrically connected by USB with ray machine signal processor Connect.

It is using the beneficial effect produced by above-mentioned technical proposal：

During using the utility model, realize walking and turn to by power wheel 5, by infrared fall preventing sensor reality Existing Based Intelligent Control, prevents from falling, and by 3D cameras 10 image pickup can be gathered, and by BOX loudspeaker 6 sound is played, and passes through Linear motor-driven push rod 18 drives connecting seat 20 to lift in fairlead 21, the flexible of head 4 is realized, by motor-speed reducer-rotation The rotation of head 4 is realized in rotating shaft 15.

The utility model body interior include main control module, motor control module, vision module, voice acquisition module with And automatic charging module.The domestic robot improves domestic appliance by arranging the functional modules such as vision module, voice module The intelligent and hommization of people, interactivity, controlled in wireless.

The utility model is reasonable in design, with low cost, require motor load low, durable, safe and reliable, operation letter It is single, time saving and energy saving, save fund, compact conformation and easy to use.

Description of the drawings

Fig. 1 is structural representation of the present utility model.

Fig. 2 is structural representation of the utility model with part section.

Fig. 3 is cross-sectional view of the present utility model.

Fig. 4 is electrical control block diagram of the present utility model.

Fig. 5 is IMAQ schematic flow sheet of the present utility model.

Fig. 6 is sound collection schematic flow sheet of the present utility model.

Fig. 7 is phonotape and videotape projection schematic flow sheet of the present utility model.

Wherein：1st, base；2nd, trunk；3rd, neck；4th, head；5th, power wheel；6th, BOX loudspeaker；7th, volume is touched Adjust switch；8th, charge and wake up breath light；9th, neck is rotated；10th, 3D cameras；11st, five Mikes input auditory localization array module； 12nd, focalize switch；13rd, projection light machine；14th, stretch neck；15th, rotating shaft；16th, ray machine resolution adjustment switch；17th, lower limit Bit switch；18th, Linear motor-driven push rod；19th, upper limit position switch；20th, connecting seat；21st, fairlead.Wireless transport module, communication are passed Defeated module, touch-screen, power management module, equipment HDMI video module, ray machine signal processor, ray machine power management module, Optical projection lenses, charger, direct current supply module, MCU module, hoofing part module, rotation drive module, infrared fall preventing are passed Sensor, mobile terminal

Specific embodiment

As shown in figs. 1-7, the projection robot of the present embodiment, including base 1, the trunk 2 for being arranged on the top of base 1, can Rotate the flexible neck 3 for being arranged on the upper end of trunk 2 and the head 4 being arranged on neck 3 and the electricity for being arranged on the lower section of base 1 Machine driving moment 5.

It is provided with rack-and-pinion elevating mechanism and tooth bar upper end is provided with its output shaft in trunk 2 and is connected with neck 3 Oscillating motor or Linear motor-driven push rod mechanism is provided with the trunk 2 and push rod upper end is provided with its output shaft and neck 3 The oscillating motor of connection.

As shown in figs. 1-7, also including the BOX loudspeaker 6 being arranged on base 1, be arranged on the housing of base 1 and with BOX loudspeakers The touch level setting switches 7, the charging being arranged on trunk 2 of 6 electrical connections wake up breath light 8, are separately positioned in trunk 2 Processor and battery module, vertically through the fairlead 21 being arranged in trunk 2, five Mikes being arranged on head 4 input Auditory localization array module 11, the 3D cameras 10 being separately positioned on head 4, it is arranged on head 4 and controls 3D cameras Focalize switch 12 and the projection light machine 13 that is separately positioned on head 4 and the ray machine resolution adjustment switch 16 of 10 focal lengths；

Battery module is electrically connected with processor, and 3D cameras 10 are used to gather image and electrically connect with processor, five Mikes Input auditory localization array module 11 is used to gather sound and be connected with the IIS interfaces of processor, and projection light machine 13 is used to project And electrically connect with processor, ray machine resolution adjustment switch 16 is electrically connected with projection light machine 13；Charge and wake up breath light 8 and battery Module is electrically connected, and processor is electrically connected with BOX loudspeaker 6；

Neck 3 includes flexible neck 14, the rotating shaft 15 and the key of rotating shaft 15 being arranged on by bearing on flexible neck 14 The rotation neck 9 of connection, rotate the upper end of neck 9 be fixedly connected with the lower end of head 4, the upper end of trunk 2 be respectively arranged with controlled motor and Reductor, controlled motor output shaft is connected by reductor with rotating shaft 15, and the lower end of fairlead 21 is arranged in base 1 In chamber, Linear motor-driven push rod 18 is vertically arranged with fairlead 21, is provided with the telescopic shaft upper end of Linear motor-driven push rod 18 Connecting seat 20, connecting seat 20 is erected to slide in fairlead 21 and arranged, and directly flexible neck 14 is arranged on connecting seat 20；In fairlead 21 It is respectively arranged with lower position switch 17 corresponding with connecting seat 20 and upper limit position switch 19.

USB is provided with trunk 2, equipment HDMI video module is by USB and ray machine signal processor electricity Connection.

The projecting method of the present embodiment, by means of above-mentioned projection robot, it is comprised the following steps：

Step one, Locating driver：Including following methods：

Method one：Sound collection is positioned；Five Mikes input auditory localization array module 11 receives external sound signal, passes through Voice signal is converted to data signal by the ADC chips in five Mikes input auditory localization array module 11；Then Mike is passed through The fpga chip being input in five Mikes input auditory localization array module 11 integrates data signal and by the data signal integrated Processor is passed to, processor collection sound position information is simultaneously identified and positioning to sound position information by algorithm, is located , by signal transmission to MCU module, MCU module is by the walking of hoofing part module controlled motor driving moment 5 and steering for reason device；

Method two：IMAQ is positioned；Image is gathered by 3D cameras 10, image is become into several by imageing sensor Word signal, is filtered after process by data signal and passes to processor, and processor is by signal transmission to MCU module, MCU moulds Block is by the walking of hoofing part module controlled motor driving moment 5 and steering；

Method three：Wireless location；Mobile terminal is processed by communications module or wireless transport module control process device , by signal transmission to MCU module, MCU module is by the walking of hoofing part module controlled motor driving moment 5 and steering for device；

Step 2：Ray machine is projected, after step one, ray machine signal processor by built-in equipment HDMI video module or The equipment HDMI video module of external USB interface sends optical projection lenses to, and the HDMI of optical projection lenses turns optical imagery HDMI signals are switched to image projection by chip, and are projected by being arranged on the optical lens of projection light machine 13.

Also include step 3, the method for controlling rotation of head 4；Mobile terminal is by communications module or wireless transport module Control process device, by signal transmission to MCU module, MCU module controls controlled motor to processor by rotating drive module, realizes Head 4 is rotated around rotating shaft 15.

Also include step 4, the telescopic control method of head 4；MCU module is electrically connected with the motor of Linear motor-driven push rod 18 Connect, signal transmission is given MCU moulds by mobile terminal by communications module or wireless transport module control process device, processor Block, MCU module controls the motor of Linear motor-driven push rod 18, realizes the flexible of head 4.

Finally it should be noted that：Above example only to illustrate the technical solution of the utility model, rather than a limitation； Although being described in detail to the utility model with reference to the foregoing embodiments, it will be understood by those within the art that： It still can modify to the technical scheme described in previous embodiment, or which part technical characteristic is equal to Replace；Multiple technical schemes of the present utility model are combined as those skilled in the art be obvious.And these Modification is replaced, and does not make the spirit and model of essence disengaging the utility model embodiment technical scheme of appropriate technical solution Enclose.

Claims

It is 1. a kind of to project robot, it is characterised in that：Including base (1), the trunk (2) being arranged on above base (1), rotatable The flexible neck (3) for being arranged on trunk (2) upper end and the head (4) being arranged on neck (3) and it is arranged under base (1) The power wheel (5) of side.
2. projection robot according to claim 1, it is characterised in that:Rack-and-pinion lifting is provided with trunk (2) Mechanism and tooth bar upper end is provided with the oscillating motor that its output shaft is connected with neck (3) or in trunk (2) straight line is provided with Electric pushrod mechanism and push rod upper end is provided with the oscillating motor that its output shaft is connected with neck (3).
3. projection robot according to claim 1 and 2, it is characterised in that:Also include the BOX being arranged on base (1) Loudspeaker (6), the touch level setting switches (7) for being arranged on base (1) housing and electrically connecting with BOX loudspeaker (6), it is arranged on body Charging on dry (2) wakes up breath light (8), the processor being separately positioned in trunk (2) and battery module, vertically runs through setting Fairlead (21) in trunk (2), five Mikes being arranged on head (4) input auditory localization array module (11), respectively The 3D cameras (10) that are arranged on head (4), it is arranged on head (4) and controls focalizing out for 3D cameras (10) focal length The projection light machine (13) for closing (12) and being separately positioned on head (4) switchs (16) with ray machine resolution adjustment；

Battery module is electrically connected with processor, and 3D cameras (10) are for gathering image and electrically connecting with processor, and five Mikes are defeated Enter sound source oriented array module (11) for gathering sound and being connected with the IIS interfaces of processor, projection light machine (13) is for throwing Shadow is simultaneously electrically connected with processor, and ray machine resolution adjustment switch (16) is electrically connected with projection light machine (13)；Charge and wake up breath light (8) electrically connect with battery module, processor is electrically connected with BOX loudspeaker (6)；

Neck (3) is arranged on rotating shaft (15) and rotating shaft on flexible neck (14) including flexible neck (14), by bearing (15) bonded rotation neck (9), rotates neck (9) upper end and is fixedly connected with head (4) lower end, sets respectively in trunk (2) upper end Controlled motor and reductor are equipped with, controlled motor output shaft is connected by reductor with rotating shaft (15), fairlead (21) lower end is arranged in base (1) inner chamber, Linear motor-driven push rod (18) is vertically arranged with fairlead (21), in straight-line electric The telescopic shaft upper end of dynamic push rod (18) is provided with connecting seat (20), and connecting seat (20) is erected to slide in fairlead (21) and arranged, directly Flexible neck (14) is arranged on connecting seat (20)；Lower limit corresponding with connecting seat (20) is respectively arranged with fairlead (21) to open Close (17) and upper limit position switch (19).
4. projection robot according to claim 3, it is characterised in that:Also include wireless transport module, communications mould Block, touch-screen, power management module, equipment HDMI video module, ray machine signal processor, ray machine power management module, optics Projection lens, charger, direct current supply module, MCU module, hoofing part module, rotation drive module, infrared fall preventing sensor And mobile terminal；

Processor is wirelessly connected by wireless transport module or communications module with mobile terminal, output end and the place of touch-screen The corresponding input interface electrical connection of reason device, power management module is electrically connected with processor, and processor is by charger and battery mould Block is electrically connected, and battery module is powered respectively by direct current supply module to MCU module, ray machine signal processor and processor, MCU module is electrically connected with processor by UART interface, and the output end of MCU module drives respectively with hoofing part module, rotation Module and infrared fall preventing sensor are electrically connected, and battery module is electrically connected with ray machine power management module, and processor passes through HDIM Interface is electrically connected with equipment HDMI video module, and equipment HDMI video module is electrically connected by rgb interface with ray machine signal processor Connect, processor is electrically connected with ray machine signal processor, ray machine signal processor exports audio-video signal to optical projection lenses, light Machine signal processor controls optical projection lenses by ray machine power management module.
5. projection robot according to claim 4, it is characterised in that:Wireless transport module be bluetooth, GPS or wifi, Power management module is MT6328, and processor is MT8735, and communications module is 2G/3G/4G.