技术领域technical field
本发明涉及机器人领域，具体地说是一种多功能移动机器人。The invention relates to the field of robots, in particular to a multifunctional mobile robot.
背景技术Background technique
随着移动互联网的强势崛起，智能家居产业得到了迅猛发展，越来越多的场所开始引进智能化系统，因此移动机器人开始进入到各种场所中，目前移动机器人一般包括信号采集传感、无线通讯、数据处理以及机械运动控制等部件，其功能也通常在出厂时被固定为只能为监控或者娱乐中的一种，这类机器人整机包含过多部件，导致成本难以降低，而且这类机器因部件过多，导致外表不美观。With the strong rise of the mobile Internet, the smart home industry has developed rapidly, and more and more places have begun to introduce intelligent systems, so mobile robots have begun to enter various places. At present, mobile robots generally include signal acquisition sensors, wireless The functions of communication, data processing and mechanical motion control components are usually fixed as one of monitoring or entertainment at the factory. This type of robot contains too many components, which makes it difficult to reduce the cost. The appearance of the machine is not beautiful due to too many parts.
以上这些问题现有技术都无法解决，如何开发一种对集监控与娱乐为一体，智能美观的移动机器人是目前亟待解决的技术难题。Above these problems existing technology all can't solve, how to develop a kind of to collect monitoring and entertainment as a whole, the mobile robot of intelligence attractive in appearance is the technical problem demanding prompt solution at present.
发明内容Contents of the invention
本发明克服了现有技术存在的问题，提供了一种集监控与娱乐为一体，智能美观的多功能机器人。The invention overcomes the problems existing in the prior art, and provides an intelligent and beautiful multifunctional robot integrating monitoring and entertainment.
本发明为解决上述技术问题采用以下技术方案：机器人平台和控制平台，所述控制平台包括本地控制设备以及远程控制设备；所述机器人平台包括带动机器人移动的运动组件、连接杆、头部组件，所述运动组件通过所述连接杆与所述头部组件连接在一起，所述运动组件上设置有控制机器人运动的主控制器、与所述本地控制设备进行信号交换的信号传输装置、以及用以承载所述主控制器和所述信号传输装置的承载装置，所述头部组件包括控制头部转向装置以及用以固定本地控制设备的固定装置，所述本地控制设备通过所述信号传输装置与所述机器人平台传递信息，所述远程控制设备通过第三方应用软件与所述本地控制设备传递信息。In order to solve the above technical problems, the present invention adopts the following technical solutions: a robot platform and a control platform, the control platform includes local control equipment and remote control equipment; The movement assembly is connected with the head assembly through the connecting rod, and the movement assembly is provided with a main controller for controlling the movement of the robot, a signal transmission device for exchanging signals with the local control equipment, and a To carry the carrying device of the main controller and the signal transmission device, the head assembly includes a steering device for controlling the head and a fixing device for fixing the local control device, and the local control device passes through the signal transmission device The information is transmitted with the robot platform, and the remote control device transmits information with the local control device through third-party application software.
作为本发明的进一步优选方案，所述信号传输装置是蓝牙模块。As a further preferred solution of the present invention, the signal transmission device is a Bluetooth module.
作为本发明的进一步优选方案，所述运动组件还包括设置在所述承载装置上的防碰撞感应装置、设置在所述承载装置前端底部的防跌装置、设置在所述承载装置前端的2个重力锤，2个主动轮以及1个从动轮，所述2个主动轮各连接有一个驱动电机。As a further preferred solution of the present invention, the motion assembly also includes an anti-collision sensing device arranged on the carrying device, an anti-drop device arranged at the bottom of the front end of the carrying device, two anti-collision devices arranged at the front end of the carrying device Gravity hammer, 2 driving wheels and 1 driven wheel, each of the 2 driving wheels is connected with a driving motor.
作为本发明的进一步优选方案，所述防碰撞感应装置、防跌装置是红外线装置，所述红外线装置由保护盖和红外线传感器组成，所述保护盖由上盖板、后盖板组成，所述后盖板底边设置有延伸板，所述延伸板上设置有将红外线装置固定在底座上的安装装置。As a further preferred solution of the present invention, the anti-collision sensing device and the anti-drop device are infrared devices, the infrared device is composed of a protective cover and an infrared sensor, the protective cover is composed of an upper cover and a rear cover, the An extension plate is arranged on the bottom edge of the rear cover, and an installation device for fixing the infrared device on the base is arranged on the extension plate.
作为本发明的进一步优选方案，所述控制头部转向装置由转向电机、转动部件组成，所述转向电机通过转轴与所述转动部件连接；所述转动部件的尾部下方设置有最高位行程开关，所述转动部件的头部上设置有一延伸件，所述延伸件下方设置有最低位行程开关。As a further preferred solution of the present invention, the steering device for controlling the head is composed of a steering motor and a rotating part, and the steering motor is connected to the rotating part through a rotating shaft; An extension piece is arranged on the head of the rotating part, and a travel switch of the lowest position is arranged under the extension piece.
作为本发明的进一步优选方案，所述转轴远离转向电机端设置有主动齿轮，所述转动部件包括随动齿轮与连接件。As a further preferred solution of the present invention, the end of the rotating shaft away from the steering motor is provided with a driving gear, and the rotating part includes a follower gear and a connecting piece.
作为本发明的进一步优选方案，所述固定装置由夹体、第一活动夹持部、第二活动夹持部、支撑部组成；所述第一活动夹持部、第二活动夹持部对称设置在所述夹体两边并与所述夹体形成用以放置本地控制设备的夹持空间，所述第一活动夹持部、第二活动夹持部分别由夹持部位、滑槽、齿槽组成，所述夹体的顶部设置有限位结构，所述限位结构由2个限位齿轮和一可上下移动的第一活动卡块组成，所述每个限位齿轮轴承连接一个传动齿轮。As a further preferred solution of the present invention, the fixing device is composed of a clip body, a first movable clamping part, a second movable clamping part and a support part; the first movable clamping part and the second movable clamping part are symmetrical It is arranged on both sides of the clamp body and forms a clamping space with the clamp body for placing local control equipment. The first movable clamping part and the second movable clamping part are respectively composed of a clamping part, a chute, and a tooth The top of the clip body is provided with a limit structure, the limit structure is composed of two limit gears and a first movable block that can move up and down, and each limit gear bearing is connected to a transmission gear .
作为本发明的进一步优选方案，所述夹体的顶部设置有伸缩按钮与限位按钮，所述限位按钮连接有第一伸缩弹簧，所述第一伸缩弹簧另一端连接有第二活动卡块，所述伸缩按钮连接有第三伸缩弹簧，所述夹体内还设置有第二伸缩弹簧以及与所述滑槽相配合的滑轨，所述夹体上设置有凸块，所述第二伸缩弹簧一端卡在所述凸块上。As a further preferred solution of the present invention, a retractable button and a limit button are arranged on the top of the clip body, the limit button is connected with a first telescopic spring, and the other end of the first telescopic spring is connected with a second movable block , the telescopic button is connected with a third telescopic spring, the clip body is also provided with a second telescopic spring and a slide rail matched with the chute, the clip body is provided with a bump, and the second telescopic One end of the spring is clamped on the protrusion.
作为本发明的进一步优选方案，所述第一活动夹持部设置有第二伸缩弹簧卡位，所述第二伸缩弹簧另一端卡在所述第二伸缩弹簧卡位上，所述第一活动卡块和所述第二活动卡块设置有卡位端，所述第二活动卡块的卡位端卡在所述限位齿轮上。As a further preferred solution of the present invention, the first movable clamping part is provided with a second telescopic spring clamp, and the other end of the second telescopic spring is clamped on the second telescopic spring clamp, and the first movable The clamping block and the second movable clamping block are provided with clamping ends, and the clamping end of the second movable clamping block is clamped on the limiting gear.
一种如权利要求1所述的一种多功能移动机器人的控制方法，其特征在于，包括以下步骤：A kind of control method of a kind of multifunctional mobile robot as claimed in claim 1, is characterized in that, comprises the following steps:
i）将本地控制设备与多功能移动机器人绑定：在本地控制设备上登陆网站下载安装第三方应用软件，登陆该应用软件，进入到机器人控制界面，打开本地控制设备的蓝牙，通过第三方应用软件的蓝牙功能搜索到多功能移动机器人，点击机器人连接与多功能机器人建立连接,可随时监测连接状况；i) Bind the local control device with the multi-functional mobile robot: log in to the website on the local control device to download and install the third-party application software, log in to the application software, enter the robot control interface, turn on the Bluetooth of the local control device, and use the third-party application The Bluetooth function of the software searches for the multifunctional mobile robot, click on the robot connection to establish a connection with the multifunctional robot, and the connection status can be monitored at any time;
ii）通过控制界面上的指示，发出指令，指令通过蓝牙传输到主控制器，主控制器将指令转换为对机器人的运动控制，控制机器人前进、后退、抬头、低头、左转、右转；ii) Send instructions through the instructions on the control interface, the instructions are transmitted to the main controller through Bluetooth, and the main controller converts the instructions into motion control for the robot, and controls the robot to move forward, backward, raise its head, lower its head, turn left, and turn right;
通过上述两步实现本地控制机器人；Realize local control of the robot through the above two steps;
iii）远程控制机器人：在上述两步的基础上，在远程控制设备上安装应用软件，在应用软件上通过网络添加本地控制设备为好友，与本地控制设备建立视频连接，远程控制设备和本地控制设备可视频通话，同时可直接远程控制本地控制设备发出指令，指令通过蓝牙传输到主控制器，主控制器将指令转换为对机器人的运动控制，控制机器人前进、后退、抬头、低头、左转、右转。iii) Remote control robot: On the basis of the above two steps, install the application software on the remote control device, add the local control device as a friend through the network on the application software, establish a video connection with the local control device, and remotely control the device and local control The device can make video calls, and at the same time, it can directly remotely control the local control device to issue instructions, which are transmitted to the main controller through Bluetooth. The main controller converts the instructions into motion control for the robot, and controls the robot to move forward, backward, look up, look down, and turn left ,Turn right.
本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:
1、本发明集远程控制和本地控制功能、娱乐功能于一体，用途广泛，可应用到家庭或娱乐场所中，应用到家庭，可时刻对家庭环境进行监控，在第一时刻了解到紧急情况在第一时间做出反应，另外，本地控制设备与远程控制设备建立连接，从而实现视频通话功能，具有便捷又实用的优点。1. The present invention integrates remote control and local control functions and entertainment functions. It has a wide range of uses and can be applied to families or entertainment venues. When applied to families, it can monitor the home environment at all times, and know the emergency situation at the first moment. Respond at the first time. In addition, the local control device establishes a connection with the remote control device to realize the video call function, which has the advantages of convenience and practicality.
2、本发明机器人整体曲线设计流畅，在具备了多功能的同时给人美的视觉感受。2. The overall curve design of the robot of the present invention is smooth, and it has multiple functions while giving people a beautiful visual experience.
3、本发明固定装置可适用多种本地控制设备，通用性强，操作简单。3. The fixing device of the present invention is applicable to a variety of local control devices, and has strong versatility and simple operation.
附图说明Description of drawings
图1为本发明一种多功能移动机器人结构示意图；Fig. 1 is a kind of multifunctional mobile robot structural representation of the present invention;
图2为本发明一种多功能移动机器人远程控制机器人功能模块示意图；Fig. 2 is a functional module schematic diagram of a multifunctional mobile robot remote control robot of the present invention;
图3为本发明一种多功能移动机器人本地控制机器人功能模块示意图；Fig. 3 is a schematic diagram of a functional module of a local control robot of a multifunctional mobile robot of the present invention;
图4为本发明一种多功能移动机器人运动组件结构示意图；Fig. 4 is a schematic structural diagram of a multifunctional mobile robot motion assembly of the present invention;
图5为本发明一种多功能移动机器人控制头部转向装置结构示意图；5 is a structural schematic diagram of a multifunctional mobile robot control head steering device according to the present invention;
图6为本发明一种多功能移动机器人固定装置下盖结构示意图；Fig. 6 is a structural schematic diagram of a lower cover of a multifunctional mobile robot fixing device of the present invention;
图7为本发明一种多功能移动机器人固定装置下盖另一结构示意图；Fig. 7 is a schematic diagram of another structure of the lower cover of the multifunctional mobile robot fixing device of the present invention;
图8为本发明一种多功能移动机器人固定装置结构示意图；Fig. 8 is a structural schematic diagram of a multifunctional mobile robot fixing device of the present invention;
图9为本发明一种多功能移动机器人第一活动夹持部结构示意图；9 is a schematic structural diagram of the first movable clamping part of a multifunctional mobile robot according to the present invention;
图10为本发明一种多功能移动机器人红外线装置保护盖设计方案1结构示意图；Fig. 10 is a structural schematic diagram of design scheme 1 of a protective cover for a multifunctional mobile robot infrared device of the present invention;
图11为本发明一种多功能移动机器人红外线装置保护盖设计方案2结构示意图；Fig. 11 is a structural schematic diagram of design scheme 2 of a protective cover for a multifunctional mobile robot infrared device of the present invention;
图12为本发明一种多功能移动机器人红外线装置保护盖设计方案3结构示意图；Fig. 12 is a structural schematic diagram of design scheme 3 of a protective cover for a multifunctional mobile robot infrared device of the present invention;
图13为本发明一种多功能移动机器人红外线装置保护盖设计方案4结构示意图；Fig. 13 is a structural schematic diagram of design scheme 4 of a protective cover for a multifunctional mobile robot infrared device of the present invention;
主要元件符号：机器人平台1；控制平台2；本地控制设备202；远程控制设备201；运动组件101；连接杆102；主控制器103；信号传输装置104；承载装置105；控制头部转向装置106；固定装置107；防碰撞感应装置108；防跌装置109；主动轮110；从动轮111；驱动电机112；保护盖113；上盖板114；后盖板115；延伸板116；安装孔117；转向电机118；最高位行程开关119；延伸件120；最低位行程开关121；主动齿轮122；随动齿轮123；连接件124；夹体125；第一活动夹持部126；第二活动夹持部127；支撑部128；夹持部位129；滑槽130；齿槽131；限位齿轮132；第一活动卡块133；传动齿轮134；第一伸缩弹簧135；第二活动卡块136；滑轨137；凸块138；第二伸缩弹簧卡位139；卡位端140；转轴141；电源开关142；电量显示灯143；重力锤144；第二伸缩弹簧145；充电接口146；伸缩按钮147；限位按钮148；第三伸缩弹簧149，上盖150；下盖151；出线口152；第一侧板153；第二侧板154；螺丝孔155。Symbols of main components: robot platform 1; control platform 2; local control device 202; remote control device 201; motion component 101; connecting rod 102; main controller 103; signal transmission device 104; carrying device 105; control head steering device 106 ; Fixing device 107; Anti-collision sensing device 108; Anti-drop device 109; Driving wheel 110; Driven wheel 111; Driving motor 112; Steering motor 118; highest travel switch 119; extension 120; lowest travel switch 121; driving gear 122; follower gear 123; connector 124; Part 127; supporting part 128; clamping part 129; chute 130; tooth groove 131; limit gear 132; first movable block 133; Rail 137; bump 138; second telescopic spring clamping position 139; clamping end 140; rotating shaft 141; power switch 142; power display lamp 143; gravity hammer 144; second telescopic spring 145; Limit button 148; third telescopic spring 149, upper cover 150; lower cover 151; outlet 152; first side plate 153; second side plate 154; screw hole 155.
具体实施方式detailed description
下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
实施例1：Example 1:
如图1、图2、图3、图4所示，一种多功能移动机器人，包括：机器人平台1和控制平台2，控制平台2包括本地控制设备202以及远程控制设备201；其中，本地控制设备202可以为平板电脑，尺寸为7-10寸，远程控制设备201可以为第三方移动设备或电脑，机器人平台1包括带动机器人移动的运动组件101、连接杆102、头部组件，运动组件101通过连接杆102与头部组件连接在一起，运动组件101上设置有控制机器人运动的主控制器103、与本地控制设备202进行信号交换的信号传输装置104、以及用以承载主控制器103和信号传输装置104的承载装置105，承载装置105为一由黑胶制成的底盘，本地控制设备202通过信号传输装置104与机器人平台1传递信息，远程控制设备201通过第三方应用软件与本地控制设备202传递信息，第三方软件为申请人自主研发的一款针对机器人控制的软件，在申请人官网上可下载到该应用软件。As shown in Fig. 1, Fig. 2, Fig. 3, and Fig. 4, a multifunctional mobile robot includes: a robot platform 1 and a control platform 2, and the control platform 2 includes a local control device 202 and a remote control device 201; wherein, the local control The device 202 can be a tablet computer with a size of 7-10 inches. The remote control device 201 can be a third-party mobile device or a computer. The robot platform 1 includes a motion assembly 101, a connecting rod 102, a head assembly, and a motion assembly 101 that drive the robot to move. Connected with the head assembly through the connecting rod 102, the motion assembly 101 is provided with a main controller 103 for controlling the movement of the robot, a signal transmission device 104 for exchanging signals with the local control device 202, and for carrying the main controller 103 and The carrying device 105 of the signal transmission device 104, the carrying device 105 is a chassis made of black glue, the local control device 202 transmits information with the robot platform 1 through the signal transmission device 104, and the remote control device 201 communicates with the local control device through a third-party application software The device 202 transmits information, and the third-party software is a software for robot control independently developed by the applicant, which can be downloaded from the applicant's official website.
信号传输装置104是蓝牙模块，蓝牙模块安装在承载装置105上，本地控制设备202通过该蓝牙模块将指令传输到主控制器103，主控制器103将该指令转换为对机器人的运动控制，从而实现监控功能，连接杆102上设置有电源显示灯143、头部组件上设置有电源开关142。The signal transmission device 104 is a bluetooth module, and the bluetooth module is installed on the carrying device 105, and the local control device 202 transmits instructions to the main controller 103 through the bluetooth module, and the main controller 103 converts the instructions into motion control of the robot, thereby To realize the monitoring function, the connecting rod 102 is provided with a power indicator light 143, and the head assembly is provided with a power switch 142.
如图1、4、10、11、12、13所示，运动组件101包括设置在承载装置105上的防碰撞感应装置108、设置在承载装置105前端底部的防跌装置109、设置在所述承载装置105前端的2个重力锤144，2个主动轮110以及1个从动轮111，2个主动轮110各连接有一个驱动电机112，设计防碰撞感应装置108、防跌装置109，机器人在行走过程中能准确的检测到障碍物，防止机器人跌倒损坏，设计从动轮，机器人能自由的实现前后、左右等动作，承载装置后端还设置了充电接口146，可通过该接口对机器人进行充电。As shown in Figures 1, 4, 10, 11, 12, and 13, the moving assembly 101 includes an anti-collision sensing device 108 arranged on the carrying device 105, an anti-drop device 109 arranged at the bottom of the front end of the carrying device 105, and an anti-fall device 109 arranged on the carrying device 105. 2 gravity hammers 144 at the front end of the carrying device 105, 2 driving wheels 110 and 1 driven wheel 111, each of the 2 driving wheels 110 is connected to a driving motor 112, and an anti-collision sensing device 108 and an anti-falling device 109 are designed. Obstacles can be accurately detected during walking to prevent the robot from falling and being damaged. The driven wheel is designed so that the robot can freely realize forward, backward, left and right movements. The charging interface 146 is also set at the rear end of the carrying device, through which the robot can be charged .
防碰撞感应装置108包括设置在承载装置105前端两边的左前碰撞感应装置、右前碰撞感应装置以及设置在承载装置105后端的后碰撞感应装置，左前碰撞感应装置、右前碰撞感应装置、后碰撞感应装置、防跌装置109是红外线装置，红外线装置由保护盖113和红外线传感器组成，本实用新型中保护盖有4种设计方案，其中设计方案1中保护盖113由上盖板114、后盖板115组成，后盖板115底边设置有延伸板116，延伸板116上设置有将红外线装置固定在底座上的安装孔117；设计方案2中，保护盖113的上盖板114上设置有出线口152，设计方案3中保护盖113由第一侧板153与第二侧板154连接组成，第一侧板与第二侧板相互垂直，设计方案4中后盖板115上设置有将保护盖113固定在承载装置105上的螺丝孔155，在防碰撞感应装置108上设置保护盖113，避免了外界光线对红外线造成干扰，提高了探测的准确度的同时具有防尘功能，设计了安装装置，能够更方便灵活的将红外线装置固定在底盘上。The anti-collision sensing device 108 includes a left front collision sensing device arranged on both sides of the front end of the carrier device 105, a right front collision sensor device and a rear collision sensor device arranged at the carrier device 105 rear end, a left front collision sensor device, a right front collision sensor device, and a rear collision sensor device. 1. The anti-drop device 109 is an infrared device, and the infrared device is made up of a protective cover 113 and an infrared sensor. The protective cover has 4 designs in the utility model, and the protective cover 113 is composed of an upper cover plate 114 and a rear cover plate 115 in Design Scheme 1. The bottom of the rear cover 115 is provided with an extension plate 116, and the extension plate 116 is provided with a mounting hole 117 for fixing the infrared device on the base; in design scheme 2, the upper cover 114 of the protective cover 113 is provided with an outlet 152, the protective cover 113 in the design scheme 3 is composed of the first side plate 153 and the second side plate 154, the first side plate and the second side plate are perpendicular to each other, and the rear cover plate 115 in the design scheme 4 is provided with a protective cover 113 is fixed on the screw hole 155 on the carrying device 105, and the protective cover 113 is set on the anti-collision sensing device 108, which avoids the interference of external light on the infrared rays, improves the accuracy of detection and has a dust-proof function. The installation device is designed , can fix the infrared device on the chassis more conveniently and flexibly.
如图5所示，头部组件包括控制头部转向装置106，控制头部转向装置106由转向电机118、转动部件组成，转向电机118通过转轴141与转动部件连接，转向电机118为蜗轮电机；转动部件的尾部下方设置有最高位行程开关119，转动部件的头部上设置有一延伸件120，延伸件120下方设置有最低位行程开关121，通过该设计，当机器人头部转到最高位时，转动部件的尾部下方碰触最高位行程开关119，断电，转向电机118停止转动，头部固定不动，停止往高处转动，当机器人头部转动到最低位时，延伸件120碰触最低位行程开关121，断电，转向电机118停止工作，机器人头部停止向下转动，保证了机器人能在最高最低点内自由转动，转动角度达到120度，具有自动智能的优点。As shown in Figure 5, the head assembly includes a control head steering device 106, the control head steering device 106 is composed of a steering motor 118 and a rotating part, the steering motor 118 is connected with the rotating part through a rotating shaft 141, and the steering motor 118 is a worm gear motor; The highest travel switch 119 is arranged under the tail of the rotating part, an extension 120 is arranged on the head of the rotating part, and the lowest travel switch 121 is arranged under the extension 120. Through this design, when the robot head turns to the highest position , the bottom of the tail of the rotating part touches the highest travel switch 119, power off, the steering motor 118 stops rotating, the head is fixed, and stops turning to a high place. When the robot head rotates to the lowest position, the extension part 120 touches The lowest position travel switch 121 is powered off, the steering motor 118 stops working, and the robot head stops rotating downwards, which ensures that the robot can rotate freely in the highest and lowest point, and the rotation angle reaches 120 degrees, which has the advantage of automatic intelligence.
转轴141远离转向电机118端设置有主动齿轮122，转动部件包括随动齿轮123与连接件124，连接件124外接固定装置107，转动部件通过主动齿轮122和随动齿轮123的相互配合与转轴141活动连接在一起，通过该设计，转轴141带动主动齿轮122转动，主动齿轮122带动随动齿轮123的转动，随动齿轮123带动连接件124的转动从而带动机器人头部运动。The rotating shaft 141 is provided with a driving gear 122 away from the end of the steering motor 118. The rotating parts include a follower gear 123 and a connecting piece 124. The connecting piece 124 is externally connected to the fixing device 107. The rotating parts cooperate with the rotating shaft 141 through the driving gear 122 and the following gear 123. They are movably connected together. Through this design, the rotating shaft 141 drives the driving gear 122 to rotate, the driving gear 122 drives the rotation of the follower gear 123, and the follower gear 123 drives the rotation of the connector 124 to drive the robot head to move.
如图6、8、7、9所示，头部组件还包括用以固定本地控制设备202的固定装置107，固定装置107由夹体125、第一活动夹持部126、第二活动夹持部127、支撑部组成；第一活动夹持部126、第二活动夹持部127对称设置在夹体125两边并与夹体125形成用以放置本地控制设备202的夹持空间，第一活动夹持部126、第二活动夹持部127分别由夹持部位129、滑槽130、齿槽131组成，夹体125的顶部设置有限位结构，限位结构由2个限位齿轮132和一可上下移动的第一活动卡块133组成，每个限位齿轮132轴承连接一个传动齿轮134。As shown in Figures 6, 8, 7, and 9, the head assembly also includes a fixing device 107 for fixing the local control device 202. part 127 and a support part; the first movable clamping part 126 and the second movable clamping part 127 are symmetrically arranged on both sides of the clamping body 125 and form a clamping space with the clamping body 125 for placing the local control device 202, the first movable The clamping part 126 and the second movable clamping part 127 are respectively composed of a clamping part 129, a chute 130, and a tooth groove 131. The top of the clamping body 125 is provided with a limiting structure, which consists of two limiting gears 132 and a The first movable block 133 that can move up and down is formed, and each limit gear 132 is bearing-connected to a transmission gear 134 .
夹体125由上盖150和下盖151组成，夹体125的顶部设置有伸缩按钮147与限位按钮148，限位按钮148连接有第一伸缩弹簧135，第一伸缩弹簧135另一端连接有第二活动卡块136，伸缩按钮147连接有第三伸缩弹簧149，夹体125内还设置有第二伸缩弹簧145以及与滑槽130相配合的滑轨137，夹体125上设置有凸块138，第二伸缩弹簧145一端卡在凸块138上，第一活动夹持部126设置有第二伸缩弹簧卡位139，第二伸缩弹簧145另一端卡在第二伸缩弹簧卡位139上，第一活动卡块133和第二活动卡块136设置有卡位端140，第二活动卡块136的卡位端140卡在限位齿轮132上，固定装置107用以活动固定本地控制设备202，固定装置107具有自动伸缩功能、手动拉伸功能以及限位功能，固定的尺寸为7-10寸的平板电脑。通过以上设计，自动伸缩功能是这样实现的：夹体125上设置有伸缩按钮147，伸缩按钮147连接有第三伸缩弹簧149，当第一活动夹持部126、第二活动夹持部127压缩到最小尺寸时，第二伸缩弹簧145也被压缩，第一活动卡块133和第二活动卡块136设置有卡位端140，第一活动卡块133、第二活动卡块136的卡位端140卡在限位齿轮132上，从而限制了传动齿轮134的转动，按下伸缩按钮147，第三伸缩弹簧149上移从而带动第二活动卡块136上移，第二活动卡块136从限位齿轮132上移开，第二伸缩弹簧145弹开带动第一活动夹持部127的移动，限位齿轮132通过转轴141与传动齿轮134连接，通过第一活动夹持部126上的齿槽131与传动齿轮134的相互配合带动传动齿轮134的转动从而带动2个限位齿轮132的转动，最后实现自动伸缩功能。Clip body 125 is made up of upper cover 150 and lower cover 151, and the top of clip body 125 is provided with telescopic button 147 and limit button 148, and limit button 148 is connected with first telescopic spring 135, and the other end of first telescopic spring 135 is connected with The second movable block 136, the telescopic button 147 is connected with the third telescopic spring 149, the second telescopic spring 145 and the slide rail 137 matched with the chute 130 are also arranged in the clip body 125, and the clip body 125 is provided with a projection 138, one end of the second telescopic spring 145 is stuck on the protrusion 138, the first movable clamping part 126 is provided with a second telescopic spring clip 139, and the other end of the second telescopic spring 145 is clipped on the second telescopic spring clip 139, The first movable clamping block 133 and the second movable clamping block 136 are provided with a clamping end 140, the clamping end 140 of the second movable clamping block 136 is stuck on the limit gear 132, and the fixing device 107 is used to move and fix the local control device 202 , the fixing device 107 has an automatic telescopic function, a manual stretching function and a limit function, and the fixed size is a tablet computer of 7-10 inches. Through the above design, the automatic telescopic function is realized in this way: the clamp body 125 is provided with a telescopic button 147, and the telescopic button 147 is connected with a third telescopic spring 149. When the first movable clamping part 126 and the second movable clamping part 127 are compressed When the minimum size is reached, the second telescopic spring 145 is also compressed, the first movable block 133 and the second movable block 136 are provided with a position end 140, and the positions of the first movable block 133 and the second movable block 136 are The end 140 is stuck on the limit gear 132, thereby limiting the rotation of the transmission gear 134, pressing the telescopic button 147, the third telescopic spring 149 moves up to drive the second movable block 136 to move upward, and the second movable block 136 moves upward from When the limit gear 132 is removed, the second telescopic spring 145 bounces to drive the movement of the first movable clamping part 127. The limit gear 132 is connected with the transmission gear 134 through the rotating shaft 141, and the teeth on the first movable clamping part 126 The mutual cooperation between the groove 131 and the transmission gear 134 drives the rotation of the transmission gear 134 to drive the rotation of the two limit gears 132, and finally realizes the automatic telescopic function.
手动拉伸功能是这样实现的：第二活动卡块136的卡位端140时刻卡在限位齿轮132的上，第二活动卡块136一端连接有第一伸缩弹簧135，当施以外力手动拉伸两个活动夹持部时，第一伸缩弹簧135的伸缩作用使两个活动夹持部能够顺利转动，从而实现手动拉伸功能，当手动拉伸到一定的尺寸时，停止对两个活动夹持部的拉伸，第二活动卡块136的卡位端140重新卡紧在限位齿轮132的上，限制了传动齿轮134的转动。The manual stretching function is realized in this way: the clamping end 140 of the second movable clamping block 136 is stuck on the limit gear 132 at all times, and the first telescopic spring 135 is connected to one end of the second movable clamping block 136. When stretching the two movable clamping parts, the expansion and contraction of the first telescopic spring 135 enables the two movable clamping parts to rotate smoothly, thereby realizing the manual stretching function. When the movable clamping part is stretched, the clamping end 140 of the second movable clamping block 136 is clamped again on the limiting gear 132 , limiting the rotation of the transmission gear 134 .
一种多功能机器人的使用方法，包括以下步骤：A method for using a multifunctional robot, comprising the following steps:
i）将本地控制设备202与多功能移动机器人绑定：在本地控制设备202上登陆网站下载安装第三方应用软件，登陆该应用软件，进入到机器人控制界面，打开本地控制设备202的蓝牙，通过第三方应用软件的蓝牙功能搜索到多功能移动机器人，点击机器人连接与多功能机器人建立连接；i) Bind the local control device 202 with the multifunctional mobile robot: log in to the website on the local control device 202 to download and install a third-party application software, log in to the application software, enter the robot control interface, turn on the Bluetooth of the local control device 202, and pass The Bluetooth function of the third-party application software searches for the multifunctional mobile robot, and clicks on the robot connection to establish a connection with the multifunctional robot;
ii）通过控制界面上的指示，发出指令，指令通过蓝牙传输到主控制器，主控制器将指令转换为对机器人的运动控制，控制机器人前进、后退、抬头、低头、左转、右转；ii) Send instructions through the instructions on the control interface, the instructions are transmitted to the main controller through Bluetooth, and the main controller converts the instructions into motion control for the robot, and controls the robot to move forward, backward, raise its head, lower its head, turn left, and turn right;
通过上述两步实现本地控制机器人；Realize local control of the robot through the above two steps;
iii）远程控制机器人：在上述两步的基础上，在远程控制设备201上安装应用软件，在应用软件上通过网络添加本地控制设备202为好友，与本地控制设备202建立连接，远程控制设备201和本地控制设备202可视频通话，同时可直接远程控制本地控制设备202发出指令，指令通过蓝牙传输到主控制器，主控制器将指令转换为对机器人的运动控制，控制机器人前进、后退、抬头、低头、左转、右转。iii) Remote control robot: On the basis of the above two steps, install application software on the remote control device 201, add the local control device 202 as a friend through the network on the application software, establish a connection with the local control device 202, and remotely control the device 201 It can make a video call with the local control device 202, and at the same time, it can directly remotely control the local control device 202 to issue instructions, which are transmitted to the main controller through Bluetooth, and the main controller converts the instructions into motion control for the robot, and controls the robot to move forward, backward, and look up , look down, turn left, turn right.
通过以上设计，在家里时，可通过多功能机器人与好友视频聊天，通过控制机器人行走移动，轻松方便又智能；监控功能：当外出上班时，家里老人小孩无人照料，可随时随地通过远程控制机器人监控家里环境，轻轻松松，在紧急情况发生时，能第一时间做出反应。Through the above design, when you are at home, you can use the multi-functional robot to video chat with your friends, and control the robot to walk and move, which is easy, convenient and intelligent; monitoring function: when you go out to work, the elderly and children at home are unattended, and you can use remote control anytime, anywhere The robot monitors the home environment with ease, and can respond immediately when an emergency occurs.
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式，在本领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下做出各种变化。以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案内容，依据本发明的技术实质，在本发明的精神和原则之内，对以上实施例所作的任何简单的修改、等同替换与改进等，均仍属于本发明技术方案的保护范围之内。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. Variations. The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but as long as they do not depart from the technical solution of the present invention, according to the technical content of the present invention Within the spirit and principles of the present invention, any simple modifications, equivalent replacements and improvements made to the above embodiments still fall within the scope of protection of the technical solutions of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510066152.6ACN104647340B (en) | 2015-02-09 | 2015-02-09 | A kind of Multifunctional mobile robot |
| Application Number | Priority Date | Filing Date | Title |
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| CN201510066152.6ACN104647340B (en) | 2015-02-09 | 2015-02-09 | A kind of Multifunctional mobile robot |
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| CN104647340A CN104647340A (en) | 2015-05-27 |
| CN104647340Btrue CN104647340B (en) | 2017-07-07 |
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| CN201510066152.6AActiveCN104647340B (en) | 2015-02-09 | 2015-02-09 | A kind of Multifunctional mobile robot |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | Denomination of invention:A multifunctional mobile robot Granted publication date:20170707 Pledgee:Bank of Guangzhou Science Park sub branch Pledgor:INBOT TECHNOLOGY Ltd. Registration number:Y2025980018039 |