CN207432212U - A kind of mobile household robot - Google Patents
A kind of mobile household robot Download PDFInfo
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- CN207432212U CN207432212U CN201720892701.XU CN201720892701U CN207432212U CN 207432212 U CN207432212 U CN 207432212U CN 201720892701 U CN201720892701 U CN 201720892701U CN 207432212 U CN207432212 U CN 207432212U
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- harvester
- robot
- stent
- robot body
- mobile household
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 241000237858 Gastropoda Species 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003079 width control Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The utility model provides a kind of mobile household robot, including：Harvester, stent and robot body, the harvester is fixed on the bracket, for gathering the audio and video information at its place family scene；The stent is arranged on the robot body, for fixing the harvester and the robot body being cooperateed with to complete the angular adjustment to the harvester；The robot body is moved for carrying the harvester.Compared with prior art：The utility model provides a kind of domestic robot and realizes motion control by two-phase DC MOTOR CONTROL Athey wheel, it is realized by the worm reducer on driving stepper motor stent and the pitch angle of harvester is controlled, it is simple and reasonable, cost is relatively low, and it is mobile flexibly accurate, it can be with the smart home at multi-angle monitoring family scene.
Description
Technical field
The utility model is related to robot fields, and in particular to a kind of mobile household robot.
Background technology
With the continuous development and progress of science and technology, robot as one of greatest utility model of the mankind, with
Surprising speed is permeated to the every field of the human lives such as space flight, military affairs, service, amusement.As people will to quality of life
The continuous improvement asked monitors multiple smart homes as new technology epoch more Man's Demands, remote monitoring intelligence common at present
The technical solution of energy household is installation family monitoring camera, generally fixedly mounted, that is, installs fixed position at home,
And it is largely that video acquisition is first completed by front end camera, then video compress is completed by host side computer or all-in-one machine, is passed
It is defeated, finally by video information transmission to PC terminals or mobile phone terminal.Its whole system is complex, and cost is higher, in addition, most
Family's monitoring camera is all fixed, and viewing angle is limited.
In view of drawbacks described above, the utility model creator obtains this practicality newly finally by prolonged research and practice
Type.
Utility model content
To solve above-mentioned technological deficiency, the technical solution adopted in the utility model is, provides a kind of mobile household machine
People, including：Harvester, stent and robot body, the harvester are fixed on the bracket, for gathering its institute
Audio and video information at family scene；The stent is arranged on the robot body, for fixing the harvester and assisting
The angular adjustment to the harvester is completed with the robot body；The robot body fills for carrying the acquisition
It puts and is moved.
Preferably, the stent includes fixed frame and worm reducer, the fixed frame is arranged on institute by a rotating part
It states on robot body, the worm reducer is coaxially disposed with the rotating part, for the fixed frame to be controlled to carry out angle
It adjusts.
Preferably, the fixed frame includes locking member and supporting item, one end of the locking member is fixedly connected on supporting item
On, knob is provided on the other end, the accommodating width at locking member both ends can be adjusted by the knob；The branch
One end of support member is fixedly connected with the locking member, and the other end is fixed on by the rotating part on the robot body.
Preferably, the harvester is smart mobile phone.
Preferably, the robot body includes housing, controller, tachogenerator, two-phase direct current generator, Walk stepper motors
And battery, the controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery are arranged in the housing, described
Housing includes Shell Plate and Athey wheel.
Preferably, the two-phase direct current generator drives the Athey wheel to be moved.
Preferably, the stepper motor is set close to the worm reducer, for driving the worm reducer, utilize
Driving force is transferred on the stent by the worm reducer, it is made to carry out angular adjustment.
Preferably, the stent further includes micro limit switch, for preventing that it is excessive that the support angle from being adjusted.
Preferably, the robot body further includes supersonic range finder, the supersonic range finder is set respectively
In the front and back position of the robot body.
Preferably, the mobile household robot further includes wireless charging receiver, it is arranged on the harvester,
It is used to implement the wireless charging of the harvester.
Compared with the prior art, the beneficial effects of the utility model are：The utility model provides a kind of domestic robot
Motion control is realized by two-phase DC MOTOR CONTROL Athey wheel, is realized by the worm reducer on driving stepper motor stent
The pitch angle of harvester is controlled, simple and reasonable, cost is relatively low, and mobile flexibly accurate, can be with multi-angle monitoring
The smart home at family scene.
Description of the drawings
In order to illustrate more clearly of the technical solution in various embodiments of the utility model, institute in being described below to embodiment
Attached drawing to be used is needed to be briefly described.
Fig. 1 is a kind of structure diagram one of domestic robot based on mobile terminal of the utility model embodiment 1；
Fig. 2 is a kind of structure diagram two of domestic robot based on mobile terminal of the utility model embodiment one.
Specific embodiment
Below in conjunction with attached drawing, technical characteristic above-mentioned to the utility model and other and advantage are described in more detail.
Embodiment 1
As depicted in figs. 1 and 2, for the utility model a kind of domestic robot based on mobile terminal structure diagram,
The domestic robot includes stent 1, harvester 2 and robot body 3, and the harvester 2 is fixed on the stent 1
On, for gathering the audio and video information at its place family scene；The stent 1 is arranged on the robot body 3, for fixing
The harvester 2 simultaneously cooperates with the robot body 3 to complete the angular adjustment to the harvester 2；The robot sheet
Body 3 is moved for carrying the harvester 2.
The stent 1 includes fixed frame 11 and worm reducer 12.The fixed frame includes locking member 111 and supporting item
112, described 111 one end of locking member is fixedly connected on supporting item 112, and knob 113 is provided on the other end, passes through the rotation
The accommodating width at 111 both ends of locking member can be adjusted in button 113.The rotating part of the supporting item 112 subtracts with the worm screw
Fast device 12 is co-axially located on the robot body 3.Worm reducer 12 described in the driving stepper motor of robot body leads to
Control to 1 pitch angle of stent can be realized by crossing the rotation direction of the Pulse Width Control stepper motor of certain frequency, so as to
The harvester 2 that robot body 3 carries is made conveniently to adjust different angles, convenient for controlling adjustment in use
Angle when harvester is shot or during screen display.
The harvester 2 is preferably smart mobile phone, and the camera itself carried thereon can conveniently gather it
The audio and video information of place environment.The smart mobile phone of the harvester can be old mobile phone, meet needed for robot
On the premise of function, reach waste utilization, energy-saving and environment-friendly effect.
The robot body includes housing, controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery.
The controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery are arranged in the housing, the housing bag
Include Shell Plate 31 and Athey wheel 32.Controller is preferably stm32 microcontrollers, and controller, which sends pwm signal data, makes two-phase direct current
Motor generates correct motor movement, so as to which the speed that Athey wheel is really allowed to need rotates, realize robot advance, retreat with
And the function of left/right rotation.The speed of this domestic robot uses closed-loop control, is needed during being adjusted to the speed of robot
It will set compared with currently practical rotating speed, by the rotating speed of tachogenerator measurement motor, tachogenerator is preferably light
Code disc sensor.The detection mode of encoder sensor is：Light emitting diode and photo resistance are photosensitive mutually to penetrating installation
The influence that the resistance value of resistance receives light is very big.When the light of light emitting diode is directly directed at photo resistance, sensor exports high level, when
When code-disc blocks light beam, transducers output low-level so in the case where motor rotates, just generates the PWM wave of certain frequency.
Using the PWM wave input capture function of stm32 microcontrollers, step-by-step counting is carried out, speed is measured.Robot is with two-phase
Direct current generator drives two-wheeled caterpillar belt structure as mechanical platform, with reference to encoder sensor motor speed measuring and PID closed loop controls
Algorithm processed realizes robot straight ahead retrogressing, the functions such as right-hand rotation, acceleration-deceleration of turning left, and the control accuracy of the robot is high, fortune
Row is reliable, can steadily be travelled under different road conditions.
The stepper motor of robot is set close to worm reducer 12, for driving worm reducer 12, utilizes worm screw
Driving force is transferred on stent 1 by retarder 12, and the Pulse Width Control of certain frequency, the rotation of stepper motor are sent by controller
The control to being fixed on the harvester pitch angle on stent 1 can be realized by worm reducer 12 connected to it, is controlled
It is convenient accurate to make.
The preferred rechargeable battery of battery of robot, so as to may be reused, energy conservation and environmental protection.
The domestic robot of the utility model realizes motion control by two-phase DC MOTOR CONTROL Athey wheel, passes through stepping
Worm reducer on motor driven support, which is realized, controls the pitch angle of harvester, and simple and reasonable, cost is relatively low, and
And it is mobile flexibly accurate, it can be with the smart home at multi-angle monitoring family scene.
Embodiment 2
The present embodiment and embodiment 1 the difference is that：The stent of the present embodiment further includes micro limit switch.Fine motion
The quantity of limit switch can be two, when stent pitching is excessively triggered to limit switch, can generate interrupt signal, be sent to
Controller carries out interrupt processing, and interrupt processing makes pitch angle that can not continue to increase to /V direction, so as to prevent stent in pitching
During angle change, there is the situation that pitch angle excessively adjusts damage robot body mechanical structure.
Embodiment 3
The present embodiment and embodiment 2 the difference is that：The robot body of the present embodiment further includes ultrasonic ranging
Device, quantity at least two are separately positioned on the front and back position of robot body, for before and after moment robot measurement two
Distance of a direction apart from barrier, when the distance be less than setting apart from when, generate interrupt signal, be sent to controller progress
Interrupt processing, interrupt processing is to make robot that can not continue the direction movement towards barrier, so as to prevent robot from moving
In the process, damaged caused by striking barrier to its mechanical structure.
Embodiment 4
The present embodiment and embodiment 3 the difference is that：The present embodiment further includes wireless charging receiver, is arranged on
On the harvester, for carrying out wireless charging to harvester, so that charging process is more convenient, it is easy to operate,
And the mixed and disorderly situation of visible light is avoided, reduce the wear rate of equipment.
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, can still modify to the technical solution recorded in foregoing embodiments or to which part technical characteristic into
Row equivalent substitution, within the spirit and principle of the utility model, any modifications, equivalent replacements and improvements are made should all
It is included within the scope of protection of this utility model.
Claims (10)
1. a kind of mobile household robot, which is characterized in that it includes：Harvester, stent and robot body, the acquisition
Device is fixed on the bracket, for gathering the audio and video information at its place family scene；The stent is arranged on the machine
On human body, for fixing the harvester and the robot body being cooperateed with to complete the angle tune to the harvester
Section；The robot body is moved for carrying the harvester.
2. a kind of mobile household robot according to claim 1, which is characterized in that the stent includes fixed frame and snail
Bar retarder, the fixed frame are arranged on by a rotating part on the robot body, the worm reducer and the rotation
Transfer part is coaxially disposed, for the fixed frame to be controlled to carry out angular adjustment.
3. a kind of mobile household robot according to claim 2, which is characterized in that the fixed frame include locking member and
Supporting item, one end of the locking member are fixedly connected on supporting item, and knob is provided on the other end, can by the knob
It is adjusted with the accommodating width to locking member both ends；One end of the supporting item is fixedly connected with the locking member, another
End is fixed on by the rotating part on the robot body.
4. a kind of mobile household robot according to claim 1, which is characterized in that the harvester is intelligent hand
Machine.
5. a kind of mobile household robot according to claim 1, which is characterized in that the robot body includes shell
Body, controller, tachogenerator, two-phase direct current generator, Walk stepper motors and battery, the controller, tachogenerator, two-phase are straight
Galvanic electricity Ji, Walk stepper motor and battery are arranged in the housing, and the housing includes Shell Plate and Athey wheel.
6. a kind of mobile household robot according to claim 5, which is characterized in that the two-phase direct current generator drives institute
Athey wheel is stated to be moved.
7. a kind of mobile household robot according to claim 5, which is characterized in that the stepper motor is close to the snail
Bar retarder is set, and for driving the worm reducer, driving force is transferred to the stent using the worm reducer
On, it is made to carry out angular adjustment.
8. a kind of mobile household robot according to claim 2, which is characterized in that the stent further includes fine motion /V
Switch, for preventing that it is excessive that the support angle from being adjusted.
9. a kind of mobile household robot according to claim 5, which is characterized in that the robot body further includes super
Sound ranging device, the supersonic range finder are separately positioned on the front and back position of the robot body.
10. a kind of mobile household robot according to claim 1, which is characterized in that the mobile household robot is also
It including wireless charging receiver, is arranged on the harvester, is used to implement the wireless charging of the harvester.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720892701.XU CN207432212U (en) | 2017-07-21 | 2017-07-21 | A kind of mobile household robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720892701.XU CN207432212U (en) | 2017-07-21 | 2017-07-21 | A kind of mobile household robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207432212U true CN207432212U (en) | 2018-06-01 |
Family
ID=62396185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720892701.XU Active CN207432212U (en) | 2017-07-21 | 2017-07-21 | A kind of mobile household robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207432212U (en) |
-
2017
- 2017-07-21 CN CN201720892701.XU patent/CN207432212U/en active Active
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20240607 Address after: 518000 Xinghe WORLDB3004, No.1 Yabao Road, Nankeng Community, Bantian Street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Xuanyuan Technology Co.,Ltd. Country or region after: China Address before: 150000, No. 401, 4th Floor, Science Park Building, Harbin University of Technology, No. 434, Post Street, Nangang District, Harbin City, Heilongjiang Province Patentee before: HARBIN XUANZHI TECHNOLOGY CO.,LTD. Country or region before: China |