CN211119203U

CN211119203U - Lighting robot

Info

Publication number: CN211119203U
Application number: CN201922224204.4U
Authority: CN
Inventors: 陈威; 李金波; 明振
Original assignee: Changsha Wanwei Robot Co ltd
Current assignee: Changsha Wanwei Robot Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-07-28
Anticipated expiration: 2029-12-12

Abstract

The utility model discloses a lighting robot, including removing chassis, support frame, elevating system, rotatory every single move mechanism and the lamps and lanterns that zoom, the support frame is installed on removing the chassis, and elevating system installs on the support frame, and rotatory every single move mechanism installs at the elevating system top and by the elevating system drive elevating movement on the support frame, and the lamps and lanterns that zoom are installed on rotatory every single move mechanism and by the rotatory every single move mechanism drive about the flat turn reaches around the every single move. The utility model can adjust the focal length according to the size and distance of the illumination occasion by using the zoom lamp, so as to achieve the best illumination effect; the zoom lamp is arranged on the rotary pitching mechanism, so that the degree of freedom is high, and the irradiation target can be aligned more conveniently; the rotary pitching mechanism is arranged on the lifting mechanism, so that the illumination height can be adjusted according to the terrain and the occasion, and the illumination range is wider; the lifting mechanism is installed on the movable chassis through the support frame, so that the illumination of independent movement can be realized, the artificial illumination can be replaced, and the installation quantity of the fixed lamps is reduced.

Description

Lighting robot

Technical Field

The utility model relates to an autonomic mobile robot field especially relates to an illumination robot.

Background

With the development of lighting technology, the types of lighting lamps are more and more, but most lighting lamps adopt fixed or portable lighting, and few self-moving lighting tools are used. In some special work fields, when sudden power failure occurs or lighting equipment cannot work normally due to some nonresistance factor, emergency lighting equipment is often needed to illuminate the site so as to ensure the normal operation of the site operation. For most occasions, the illumination range of the illuminating lamp is limited, and the high-power illuminating lamp is large in size, poor in maneuverability, incapable of moving the position at will and inconvenient to carry; and because the field light condition is relatively poor, some field operation environments are also relatively severe, so that the existing lighting equipment cannot meet the requirements.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a move convenient, application range is wider illumination robot to prior art's weak point.

The utility model provides a lighting robot, including removing chassis, support frame, elevating system, rotatory every single move mechanism and the lamps and lanterns that zoom, the support frame is installed on removing the chassis, and elevating system installs on the support frame, and rotatory every single move mechanism installs at the elevating system top and by the elevating system drive elevating movement on the support frame, and the lamps and lanterns that zoom are installed on rotatory every single move mechanism and by the rotatory every single move mechanism drive about the flat turn reaches around the every single move.

For making the utility model discloses an obstacle crossing ability is stronger, and the degree of freedom is higher, remove the chassis and include the under casing, inlay the gear motor who adorns in the under casing bottom, link to each other with the gear motor output through independent linkage and the in-wheel motor drive wheel that deflects about the gear motor drive, the support frame can be dismantled and connect in the under casing top.

The center of the top of the bottom box is provided with a radar support.

The independent suspension device comprises an upper support, a lower support and a shock absorber, the upper support is connected with the output end of the speed reducing motor, the lower support is hinged to the bottom of the upper support, the shock absorber is hinged between the upper support and the lower support, and a central shaft of a driving wheel of the hub motor is fixedly connected with the lower support.

Elevating system includes by outer to interior coaxial cover in proper order put a section of thick bamboo, connecting cylinder and end section of thick bamboo, rotatory every single move mechanism rigid coupling is on a section of thick bamboo, a section of thick bamboo clamps with the connecting cylinder and is connected, end section of thick bamboo rigid coupling is on the support frame, install elevator motor and the lift lead screw that a plurality of coaxial screw that from top to bottom arranged cup jointed in end section of thick bamboo, the lift lead screw and the top section of thick bamboo rigid coupling that are located the top, the lift lead screw that is located the bottom links to each other with the elevator motor output, the lift lead screw is by the elevating motor drive rotatory every single move mechanism on a section of thick bamboo is the elevating movement at the end.

The rotary pitching mechanism comprises a base, a rotary stepping motor and a U-shaped support, the rotary stepping motor and the U-shaped support are installed on the base, a pitching stepping motor is installed on the U-shaped support, and lamp fixing shafts are symmetrically arranged on two side walls of the U-shaped support.

The zooming lamp comprises a shell arranged on the rotary pitching mechanism, a zooming lens arranged at the front end of the shell, a lamp set and a zooming screw rod arranged in the shell, and a zooming motor arranged at the rear end of the shell, wherein the front end of the zooming screw rod is in threaded connection with the lamp set, the rear end of the zooming screw rod is connected with the output end of the zooming motor, and the lamp set is driven by the zooming motor to move back and forth in the shell along the axial direction of the shell so as to change the distance between the lamp set and the zooming lens to realize zooming.

An ultrasonic sensor is mounted in the housing between the lamp set and the zoom lens.

And the rear end in the shell is provided with a limiting buffer block for preventing the lamp bank from transiting, retreating and colliding.

The lifting mechanism is an electric push rod.

The utility model can adjust the focal length according to the size and distance of the illumination occasion by using the zoom lamp, so as to achieve the best illumination effect; the zoom lamp is arranged on the rotary pitching mechanism, so that the degree of freedom is high, and the irradiation target can be aligned more conveniently; the rotary pitching mechanism is arranged on the lifting mechanism, so that the illumination height can be adjusted according to the terrain and the occasion, and the illumination range is wider; the lifting mechanism is installed on the movable chassis through the support frame, and illumination of independent movement can be achieved, so that manual illumination is replaced, and the installation quantity of fixed lamps is reduced. The utility model discloses can be applied to outdoor square illumination, night rescue, night security protection patrol, stage occasion of polishing, application range is wider, and the prospect is wide.

Drawings

Fig. 1 is a schematic view of the present invention in partial section (partial fastening element is omitted).

Fig. 2 is a schematic view of the axle side local explosion structure of the present invention (the local fastening element is omitted).

Fig. 3 is a schematic diagram of an axial structure of the middle rotating pitch mechanism of the present invention (the upper protective shell and the lower protective shell are omitted).

The labels shown in the figures and the corresponding component names are:

1. moving the chassis; 11. a bottom box; 111. an upper cover; 112. a lower cover; 113. a side cover; 114. mounting holes; 12. a reduction motor; 13. an independent suspension device; 131. an upper bracket; 1311. an upper connecting plate; 1312. a middle connecting plate; 1313. a lower connecting plate; 132. a lower bracket; 133. a shock absorber; 14. a wheel hub motor driving wheel; 15. a radar support;

2. a support frame;

3. a lifting mechanism; 31. a top cylinder; 311. a limiting card; 32. a connecting cylinder; 321. a guide groove; 33. a bottom cylinder; 34. a lift motor; 35. a lifting screw rod;

4. a rotary pitch mechanism; 41. a base; 42. a rotary stepping motor; 43. a U-shaped bracket; 44. a pitch stepper motor; 45. a lamp fixing shaft; 46. a lower protective shell; 47. an upper protective shell;

5. a zoom light fixture; 51. a housing; 511. a chute; 52. a zoom lens; 53. a lamp group; 531. a guide strip; 54. a zoom screw rod; 55. a zoom motor; 56. an ultrasonic sensor; 57. and limiting the buffer block.

Detailed Description

As can be seen from fig. 1 to 3, the lighting robot of the present invention comprises a mobile chassis 1, a support frame 2, a lifting mechanism 3, a rotary pitching mechanism 4 and a zoom lamp 5,

the movable chassis 1 comprises a bottom box 11, a speed reducing motor 12, an independent suspension device 13 and a hub motor driving wheel 14, wherein the bottom box 11 is a hollow rectangular body formed by splicing an upper cover 111, a lower cover 112 and four side covers 113 which are connected between the upper cover and the lower cover in a threaded manner, and mounting holes 114 which are sunken towards the inside of the bottom box are arranged at four corners of the lower cover 112;

the four speed reducing motors 12 are detachably arranged in the mounting holes 114 through screws, the output shafts of the speed reducing motors 12 are vertically arranged and penetrate out of the bottom of the lower cover 112,

the four independent suspension devices 13 respectively comprise an upper bracket 131, a lower bracket 132 and a shock absorber 133, the upper bracket 131 is surrounded by an upper connecting plate 1311, a lower connecting plate 1313 and two middle connecting plates 1312 connected between the upper connecting plate and the lower connecting plate to form a rectangular frame, the upper connecting plate 1311 is fixedly connected with the output end of the speed reducing motor 12 in a one-to-one mode and is horizontally arranged, the two middle connecting plates 1312 are obliquely arranged, and the lower connecting plate 1313 is vertically arranged; the lower bracket 132 is a U-shaped bending bracket, and two ends of the lower bracket 132 are hinged to the bottoms of the two middle connecting plates 1312 of the upper bracket 131 through rotating shafts; the two dampers 133 are hinged between the tops of the two middle connecting plates 1312 and the two side parts of the lower bracket 132 through pin shafts respectively;

the in-wheel motor driving wheels 14 are arranged between two side parts of the lower brackets 132 one by one, and the central shaft of the in-wheel motor driving wheel 14 is fixedly connected with the two side parts of the lower brackets 132 through a threaded fastener;

the output end of the speed reducing motor 12 rotates, and the lower bracket 132, the shock absorber 133 and the hub motor driving wheel 14 are driven by the upper bracket 131 to deflect left and right;

the support frame 2 is detachably arranged at the top of the upper cover 111 of the bottom case 11 through screws;

the lifting mechanism 3 comprises a top cylinder 31, a connecting cylinder 32, a bottom cylinder 33, a lifting motor 34 and a plurality of lifting screw rods 35, the lower end of an upper end opening of the bottom cylinder 33 is closed, the bottom of the bottom cylinder 33 is connected with the top of the support frame 2 through screws, the connecting cylinder 32 can be movably sleeved outside the bottom cylinder 33 in a vertical sliding manner, a plurality of guide grooves 321 which are vertically arranged are formed in the side wall of the connecting cylinder 32, the top cylinder 31 can be movably sleeved outside the connecting cylinder 32 in a vertical sliding manner, a plurality of limiting clamps 311 which are one to one arranged with the guide grooves 321 are arranged at the bottom of the top cylinder 31, the connecting cylinder 32 and the bottom cylinder 33 are coaxially arranged, gaps between every two lifting motor 34 are the same, the lifting motor 34 is arranged in the bottom cylinder 33, a gap at the output end of the lifting motor 34 penetrates through the lower end surface of the bottom cylinder 33, each lifting screw rod 35 is arranged in the bottom cylinder 33 and is sequentially and, the lifting screw 35 at the bottom extends out of the bottom barrel 33 and is connected with the output end of the lifting motor 34 through a gear belt transmission mechanism, the lifting screw 35 is driven by the lifting motor 34 to rotate in the bottom barrel 33, the lifting screw 35 rotates to drive the top barrel 31 to do lifting motion on the bottom barrel 33, the top barrel 31 drives the connecting barrel 32 to do lifting motion through the limiting clamp 311,

the rotary pitching mechanism 4 comprises a base 41, a rotary stepping motor 42, a U-shaped bracket 43, a pitching stepping motor 44 and two lamp fixing shafts 45, the base 41 is installed on the top cylinder 31 of the lifting mechanism 3 through screws, the rotary stepping motor 42 is installed on one side of the base 41, the U-shaped bracket 43 is vertically inserted in the center of the base 41 through rolling bearings, the bottom of the U-shaped bracket 43 is connected with the output end of the rotary stepping motor 42 through a gear belt transmission mechanism, the U-shaped bracket 43 is driven by the rotary stepping motor 42 to horizontally rotate left and right around the central vertical shaft of the base 41, the pitching stepping motor 44 is installed on the U-shaped bracket 43, the lamp fixing shafts 45 are coaxially and symmetrically arranged on two side walls of the U-shaped bracket 43, a lower protective shell 46 for preventing the rotary stepping motor 42 from being exposed is arranged outside the base 41, an upper protective shell 47 for preventing the pitching stepping motor 44 and the lamp, a lamp fixing shaft 45 is connected with the output end of the pitching stepping motor 44 through a gear belt transmission mechanism, the lamp fixing shaft 45 is driven by the pitching stepping motor 44 to pitch around the axis of the lamp fixing shaft 45 on the U-shaped bracket 43,

the zooming lamp 5 comprises a shell 51, a zooming lens 52, a lamp group 53, a zooming screw rod 54 and a zooming motor 55, wherein the shell 51 is fixedly connected between the two lamp fixing shafts 45 through screws, the axle center of the shell 51 is mutually vertical to the axle center of the lamp fixing shafts 45, the shell 51 synchronously tilts back and forth around the axle center of the lamp fixing shafts 45 along with the lamp fixing shafts 45, and a sliding groove 511 arranged along the axial direction of the shell 51 is arranged on the inner wall of the shell 51; the zoom lens 52 is clamped at the front end of the shell 51; the front end of the lamp group 53 is a light-emitting surface, the outer side wall of the lamp group 53 is provided with a guide bar 531 which is clamped with the sliding groove 511 one by one, the lamp group 53 is installed in the shell 51, the guide bar 531 is connected with the sliding groove 511 in a matching way, the lamp group 53 slides back and forth along the axis of the shell 51 through the guide bar 531, the zoom screw 54 is installed in the shell 51, the zoom motor 55 is detachably installed on the rear end surface of the shell 51 through screws, the front end of the zoom screw 54 is connected with the rear end of the lamp group 53 through threads, the rear end of the zoom screw 54 extends out of the shell 51 and is connected with the output end of the zoom motor 55, and the lamp group 53 is driven by the zoom motor 55 to move back and forth in the shell 51 along.

As can be seen from FIG. 1 and FIG. 2, the utility model discloses a remove chassis 1 still including establishing the radar support 15 at the upper cover 111 top center of under casing 11, this radar support 15 is used for installing laser radar, and laser radar designs for 16 lines laser radar, can survey all barrier distances of each 15 degrees within ranges from top to bottom.

As can be seen from fig. 2, the zoom lamp 5 of the present invention further includes a KS103 type ultrasonic sensor 56 installed in the housing 51 between the lamp assembly 53 and the zoom lens 52, and the ultrasonic sensor 56 determines the object distance by emitting and receiving ultrasonic signals, so as to facilitate the user to adjust the focal length of the zoom lamp 5.

As can be seen from FIG. 2, the utility model discloses a lamps and lanterns 5 zooms is still including installing spacing buffer block 57 at the inside rear end of shell, and spacing buffer block 57 is arranged face to face with banks 53 rear end face for the banks transition retreats the condition of bump when preventing to zoom the error.

The utility model discloses in, elevating system 3 can also be for the electric putter of direct outsourcing, rotatory every single move mechanism 4 can directly choose for use the rotatory every single move mechanism that the authorization notice number is disclosed for CN206055116U, and lamps and lanterns 5 that zoom can directly outsourcing have the function of zooming, like the P L D1015-24 type that PR L ANYDAR/Planda company produced zoom led shot-light.

Claims

1. An illumination robot, characterized in that: the multifunctional lamp comprises a movable chassis (1), a support frame (2), a lifting mechanism (3), a rotary pitching mechanism (4) and a zooming lamp (5), wherein the support frame is installed on the movable chassis, the lifting mechanism is installed on the support frame, the rotary pitching mechanism is installed at the top of the lifting mechanism and driven by the lifting mechanism to perform lifting motion on the support frame, and the zooming lamp is installed on the rotary pitching mechanism and driven by the rotary pitching mechanism to horizontally rotate left and right and pitch back and forth.

2. The illumination robot according to claim 1, characterized in that: the movable chassis comprises a bottom box (11), a speed reducing motor (12) embedded at the bottom of the bottom box, and a hub motor driving wheel (14) which is connected with the output end of the speed reducing motor through an independent suspension device (13) and is driven by the speed reducing motor to deflect left and right, and the supporting frame is detachably connected to the top of the bottom box.

3. The illumination robot according to claim 2, characterized in that: a radar support (15) is arranged at the center of the top of the bottom box.

4. The illumination robot according to claim 2, characterized in that: the independent suspension device comprises an upper support (131), a lower support (132) and a shock absorber (133), the upper support is connected with the output end of the speed reducing motor, the lower support is hinged to the bottom of the upper support, the shock absorber is hinged between the upper support and the lower support, and a central shaft of a driving wheel of the hub motor is fixedly connected with the lower support.

5. The illumination robot according to claim 1, characterized in that: elevating system includes top section of thick bamboo (31), connecting cylinder (32) and end section of thick bamboo (33) that coaxial cover was put in proper order from outer to inner, rotatory every single move mechanism rigid coupling is on a top section of thick bamboo, a top section of thick bamboo clamps with the connecting cylinder and is connected, end section of thick bamboo rigid coupling is on the support frame, install elevator motor (34) and lift lead screw (35) that a plurality of coaxial screw that arrange from top to bottom cup jointed in end section of thick bamboo, the lift lead screw and the top section of thick bamboo rigid coupling that are located the top, the lift lead screw that is located the bottom links to each other with the elevator motor output, the lift lead screw is by the elevating motor drive rotatory every single move mechanism on a bottom section of thick bamboo on.

6. The illumination robot according to claim 1, characterized in that: the rotary pitching mechanism comprises a base (41), a rotary stepping motor (42) and a U-shaped support (43) which are installed on the base, a pitching stepping motor (44) which is installed on the U-shaped support, and lamp fixing shafts (45) which are symmetrically arranged on two side walls of the U-shaped support, the base is installed at the top of the lifting mechanism, a zooming lamp is fixedly connected between the two lamp fixing shafts, the bottom of the U-shaped support is connected with the output end of the rotary stepping motor, the U-shaped support is driven by the rotary stepping motor to horizontally rotate left and right on the base around a vertical shaft, the lamp fixing shafts are connected with the output end of the pitching stepping motor, and the lamp fixing shafts and the zooming lamp are driven by the pitching stepping motor to.

7. The illumination robot according to claim 1, characterized in that: the zooming lamp comprises a shell (51) arranged on the rotary pitching mechanism, a zooming lens (52) arranged at the front end of the shell, a lamp bank (53) and a zooming screw rod (54) arranged in the shell, and a zooming motor (55) arranged at the rear end of the shell, wherein the front end of the zooming screw rod is in threaded connection with the lamp bank, the rear end of the zooming screw rod is connected with the output end of the zooming motor, and the lamp bank is driven by the zooming motor to move back and forth in the shell along the axial direction of the shell so as to change the distance between the lamp bank and the zooming lens.

8. The illumination robot according to claim 7, characterized in that: an ultrasonic sensor (56) is mounted in the housing between the lamp assembly and the zoom lens.

9. The illumination robot according to claim 7, characterized in that: and a limiting buffer block (57) for preventing the lamp group from being in transition, retreating and colliding is arranged at the rear end in the shell.

10. The illumination robot according to claim 1, characterized in that: the lifting mechanism is an electric push rod.