CN104097214B - A kind of automatic robot - Google Patents
A kind of automatic robot Download PDFInfo
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- CN104097214B CN104097214B CN201310111585.XA CN201310111585A CN104097214B CN 104097214 B CN104097214 B CN 104097214B CN 201310111585 A CN201310111585 A CN 201310111585A CN 104097214 B CN104097214 B CN 104097214B
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- illuminator
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- automatic robot
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Abstract
A kind of automatic robot includes: body, light beam sweep mechanism；Described light beam sweep mechanism includes: rotation section, the first power motor, illuminator, magnetic force receptor；It is characterized in that: described magnetic force receptor is installed on a mirror, and illuminator is arranged on rotation section, described light beam sweep mechanism also includes elastic reset part, and the restoring force that elastic reset part produces acts on illuminator, closes on illuminator and arranges conductive coil.The magnetic field that conductive coil produces makes return unit and magnetic force receptor drive illuminator to swing around mirror axle, and thus illuminator produced reflection light beam in the vertical direction swings along certain angle, and illuminator makes scanning light beam 360 ° rotation at horizontal rotation in surface simultaneously.Scanning light beam has continuous oblique palisade the scanning track, beneficially robot of certain altitude around robot surrounding space is formed and preferably determines self-position when non-area works.
Description
Technical field
The present invention relates to a kind of automatic robot.
Background technology
Generally it is pre-placed some reflecting components in the working region of robot in robot navigation's alignment system, reflecting component is known at the coordinate of robot work region, light-beam transmitter and beam receiver are set in the body of robot, robot launches the scanning light beam rotated during advancing with certain angular velocity 360 ° horizontally outward portion, during scanning light beam is inswept each preset reflecting component, reflecting component is formed in parallel with the reflection light beam of scanning light beam.Beam receiver receives reflection light beam, and robot has angular transducer and can detect the angle on scanning light beam and robot navigation direction simultaneously.Algorithms of Robots Navigation System includes central processing unit, and preset navigation algorithm in memory, and central processing unit utilizes known reflecting component coordinate and angle can calculate current robot at the coordinate residing for working region.Along with during the navigation of robot and light beam scanning, central processor constantly recalculates the coordinate that robot is presently in.Central processing unit can control the travel path of robot according to changing coordinates and preset navigation algorithm in memory simultaneously.In the scene of some robot application, working region residing for robot is frequently not perfectly level (with reference to Fig. 1), body tilts because working region tilts during advancing, the scanning light beam that the beam launcher being arranged on body sends also can produce inclination, cause scanning light beam be incident upon the upper space away from reflecting component or be incident upon the surface of working region, and then reflecting component the most just cannot produce reflection light beam.Spacing between robot and reflecting component is the most remote, and the probability that the scanning light beam of inclination cannot project on reflecting component is the biggest.Scanning light beam projects outside reflecting component, and beam receiver cannot receive reflection light beam, and robot then cannot calculate the position determining self, also cannot navigate smoothly.Therefore the problem for above-mentioned existence is necessary to propose a kind of new solution.
Summary of the invention
A kind of automatic robot is provided to include for solving the problems referred to above present invention: body, light beam sweep mechanism；Described light beam sweep mechanism includes: rotation section, the first power motor, illuminator, magnetic force receptor；It is characterized in that: described magnetic force receptor is installed on a mirror, and illuminator is arranged on rotation section, light beam sweep mechanism also includes elastic reset part, and the restoring force that elastic reset part produces acts on illuminator, closes on illuminator and arranges conductive coil.
Preferably, magnetic force receptor is the permanent magnet by magnetic force or magnetic conductor.
Preferably, illuminator has tailgate, and described magnetic force receptor is arranged on tailgate.
Preferably, coils of electrical wire illuminator, illuminator tailgate stretches out and makes magnetic force receptor adjacent with conductive coil.
Preferably, elastic reset part is arranged between tailgate and rotation section.
Preferably, conductive coil is passed through square wave pulse voltage.
Preferably, closing on illuminator and be provided with yoke, described conductive coil is arranged on yoke.
Preferably, yoke is provided with cannelure, and described wire is arranged in cannelure.
Preferably, the first power motor drives rotation section to rotate, and makes illuminator and return unit synchronous rotary therewith.
When automatic robot runs illuminator with rotation section at horizontal rotation in surface.Beam emissions portion projects light beams upon to illuminator, and conductive coil is passed through square wave pulse voltage, and the magnetic force that pulse voltage is on producing during the period produces absorption to the magnetic conductor on illuminator tailgate；When being in the disconnection period, magnetic force disappearance magnetic conductor is released, and the restoring force that elastic reset part produces makes tailgate recover to initial position；When rotation section rotates, illuminator constantly repeats above-mentioned action and forms the swing around mirror axle, and thus illuminator produced reflection light beam in the vertical direction swings along certain angle, and illuminator makes scanning light beam 360 ° rotation at horizontal rotation in surface simultaneously.Described light beam scanning track has the continuous oblique palisade scanning track of certain altitude around robot surrounding space is formed, this track oblique line extends in vertical space, when robot is in the working region of upward slope, descending or other non-horizontal surface, the scanning track extension in vertical space enables scanning light beam to project on reflecting component, and then the optical signal allowing the robot to utilize reflecting component to be reflected back determines the position of self.
Accompanying drawing explanation
Tu1Shi prior art robot operating diagram.
Fig. 2 is robotic asssembly schematic diagram.
Tu3Shi laser scanning mechanism exploded view.
Tu4Shi laser scanning mechanism integral installation joins schematic diagram.
Tu5Shi laser scanning mechanism sectional view.
Tu6Shi laser scanning mechanism internal structure assembling schematic diagram.
Another sectional view of Tu7Shi laser scanning mechanism.
Fig. 8 is Fig. 5 cross-section front view.
Tu9Shi laser scanning mechanism top view.
Figure 10 is the square-wave pulse schematic diagram being passed through in conductive coil.
Figure 11 is laser scanning track schematic diagram.
Figure 12 is the another embodiment schematic diagram of laser scanning mechanism.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described in further details
Embodiment one: include with reference to the robot shown in Fig. 2, body 1, light beam sweep mechanism 2, main road wheel 11, auxiliary road wheel 12.Body 1 is used for carrying light beam sweep mechanism 2.Light beam sweep mechanism 2 is arranged on the higher position of body 1 and prevents the miscellaneous part on body from blocking scanning light beam, the present invention uses laser as scanning light beam, it is envisioned that may be used without the preferable light source of other depth of parallelisms as scanning light beam, the scanning laser that during robot ambulation, the continuous 360 ° of rotations of light beam sweep mechanism 2 are formed.
Include with reference to Fig. 3, laser scanning mechanism 2 shown in 4: illuminator 21, rotation section 23, stationary part 24, rolling bearing 25, support 26, collection emission part and the laser transceiver 27 of acceptance division one, power motor 28, yoke 29, conductive coil 291.Described illuminator 21 is the single-surface mirror with single reflective side, and illuminator 21 is arranged on rotation section.Described rolling bearing 25 is annular, and rotation section is set in rolling bearing.Described support 26 is used for installing laser transceiver 27 and power motor 28, and support 26 is arranged on stationary part 24 bottom.Stationary part 24 is arranged on the body 1 of robot, and described stationary part 24 is tabular in uniform thickness, and stationary part 24 arranges some perforation 243, connects the securing member of stationary part 24 and robot body through this perforation 243.It is rounded that stationary part 24 arranges this opening of opening 240, and runs through stationary part 24, and described yoke is arranged on the outside of opening 240, is fixed in stationary part 24.Described illuminator 21 is arranged on above the plane of stationary part place.
With reference to Fig. 4,5,6, arranging support 26 below stationary part 24, described support 26 is connected bottom stationary part 24, and support forms cavity 261 with stationary part.Laser transceiver 27 and power motor 28 are individually fixed on support 26, power motor 28 employed in the present embodiment is direct current generator, it is internal that the outfan of motor shaft 281 is arranged on cavity 261, it is outside that motor body 282 part is arranged on cavity 261, and described motor shaft output is provided with output gear 283.The transmitting-receiving window 271(of laser transceiver 27 is with reference to Fig. 3) it is arranged on cavity 261 inside.
With reference to Fig. 6,7,8, in the inside of cavity 261, rotation section 23 is set, rotation section 23 is made up of pedestal 231 and illuminator bracing frame 232, described illuminator 21 bracing frame and pedestal are that split is arranged, it is internal that pedestal 231 is arranged on cavity 261, the pedestal 231 cylinder in hollow, base central is radially-inwardly provided with connecting plate 233, this connecting plate 233 is for connecting with illuminator bracing frame 232, having hole 234 on connecting plate 233 and run through connecting plate, screw fastener connects pedestal 231 and illuminator bracing frame 232 through the hole 234 on connecting plate 233.The center of connecting plate 233 is provided with light admission port 235, and laser transceiver 27 is positioned at the underface of light admission port 235, and laser transmitting-receiving window 271 just light admission port 235 to connecting plate 233 center makes laser can project on illuminator 21 through this light admission port 235.The outer surface of described pedestal 231 arranges gear 236, it is annular that this gear is positioned at the bottom of pedestal 231, and the output gear 283 that described gear 236 is arranged with the outfan of motor shaft is connected by transmission band 284, the number of teeth of reduction gearing 236 is more relative to the motor output end number of teeth, and therefore during power motor work, rotation section 23 is relatively low relative to the rotating speed driving motor.
It is arranged on pedestal 231 with reference to Fig. 6,7,8 illuminator bracing frame 232, bracing frame includes the clamp 237 being arranged on rolling bearing 25 and is wholely set the inwall 238 being positioned at clamp bottom with clamp, bracing frame is connected with pedestal 231 by inwall 238, described inwall 238 is provided with screw hole 239, screw hole 239 enters screw hole 239 along inwall 238 longitudinal extension, screw fastener through the hole 234 on connecting plate 233.Being provided with rolling bearing 25 outside inwall 238, inwall 238 can be freely rotatable with rolling bearing 25.Described clamp 237 centre position arranges light inlet window 210, and what light inlet window 210 was positioned at that when the center of clamp 237 makes clamp 237 rotate, laser beam can be without hindrance projects on illuminator 21.Light inlet window 210 both sides arrange two parallel supporting arms 211, are wholely set with clamp 237 bottom support arm 211, and support arm 211 top is provided with illuminator bearing 213.Illuminator 21 be arranged at above light inlet window 210 between two support arms 211, illuminator has rectangular light-reflecting portion 212 and outward extending tailgate 214.Light-reflecting portion both sides are oppositely arranged mirror axle 216, mirror axle is separately mounted in the illuminator bearing 213 on two support arms, illuminator 21 is suspended between two support arms 211, tailgate 214 stretches out, tailgate outer end is provided with the magnetic conductor 217 that permeability magnetic material (such as iron-nickel alloy) etc. is made, the permanent magnet being used as having polarity replaces magnetic conductor 217 (seeing Figure 12), magnetic conductor and and light-reflecting portion 212 between elastic reset part is set on tailgate, the present invention uses spring 219 as preferred elastic reset part, spring 219 one end is arranged on the spring other end on tailgate and is arranged on clamp 237.Tailgate outer end 218 be arranged right below yoke 29, similarly yoke is made up of permeability magnetic material, yoke is that annular is looped around outside bracing frame, a toroidal conductor groove 291 it is provided with on yoke, being wound with the energising of this conductive coil 292 of conductive coil 292 in metallic channel and produce magnetic force, in the present embodiment, wire has 130 circles.
With reference to Fig. 7,10,11 when robot is in running order, power motor drives rotation section quickly to rotate, and illuminator rotates under the driving of rotation section, and tailgate is rotated up because of rotating centrifugal effect edge circular arc M centered by mirror axle simultaneously.Conductive coil is passed through square wave pulse voltage, end when described square wave pulse voltage is divided into conductingWith the disconnection period, conducting period and disconnection period, its interval was equal in magnitude alternately.It is on the periodTime conductive coil energising produce magnetic force, yoke 29 magnetization makes this magnetic force be strengthened, and tailgate is rotated down along circular arc M centered by mirror axle by magnetic force.It is in the disconnected phaseTime, tailgate is returned to initial position by the elastic force effect of spring 219.Square wave pulse voltageMaking illuminator constantly repeat above-mentioned action, illuminator can be along the arc centered by mirror axle to M reciprocally swinging.Then the light admission port 235 that laser sends the center through pedestal 231 upper junction plate from the laser transceiver being positioned at cavity 261 passes through the light inlet window 210 illuminator 21 support, project on illuminator 21, the reflection ray trajectory in the vertical direction swing at a certain angle formed along the illuminator of mirror axle swing, the angle N substantially 10 ° that the reflection laser T on top and the reflection laser B of bottom is formed.Power motor drives rotation section to rotate simultaneously, overlook laser scanning mechanism 22 rotation section 23 D in the counterclockwise direction and rotate (with reference to Fig. 9), make described reflection light move in a circle in horizontal plane simultaneously, therefore scanning laser can form the continuous oblique palisade scanning track with certain altitude around automatic robot, and this track is formed by connecting by a lot of oblique lines.Reflecting component 3 is arranged in the working region of robot, and the oblique line that scanning track is formed forms reflection laser through reflecting component 3, and the laser transceiver 27 being built in robot is able to receive that described reflection laser, calculates robot position through alignment system.When robot work region is on a non-horizontal surface, described oblique palisade scanning track extends in vertical direction, and scanning laser can project on reflecting component 3.
In a word, it is passed through the conductive coil of square wave pulse voltage, makes illuminator produce and periodically swing to M along arc.Laser projections to reflective upper after can produce in vertical space swing reflection trace.Machine man-hour illuminator, with rotating at horizontal rotation in surface, makes described laser centered by robot 360 ° scanning, and finally the space outerpace in robot forms oblique palisade scanning track.
Above-described embodiment, is preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto, those skilled in the art, in the variation made without departing from scope of the presently claimed invention and amendment, all in scope.
Claims (8)
1. automatic robot includes: a body, light beam sweep mechanism；Described light beam sweep mechanism includes:
Rotation section, the first power motor, illuminator, magnetic force receptor；It is characterized in that: described magnetic force receptor is arranged on
On illuminator, illuminator is arranged on rotation section, and described light beam sweep mechanism also includes elastic reset part, elastic
The restoring force that return unit produces acts on illuminator, closes on illuminator and arranges conductive coil, and described illuminator has
Tailgate, described magnetic force receptor is had to be arranged on tailgate.
2. a kind of automatic robot as claimed in claim 1, it is characterised in that: described magnetic force receptor is to be subject to
The permanent magnet of magnetic force or magnetic conductor.
3. a kind of automatic robot as claimed in claim 1, it is characterised in that: described coils of electrical wire
Illuminator, illuminator tailgate stretches out and makes magnetic force receptor adjacent with conductive coil.
4. a kind of automatic robot as claimed in claim 1, it is characterised in that: described elastic reset part is pacified
It is contained between tailgate and rotation section.
5. a kind of automatic robot as claimed in claim 1, it is characterised in that: described conductive coil is passed through
Square wave pulse voltage.
6. a kind of automatic robot as claimed in claim 1, it is characterised in that: close on illuminator and be provided with
Yoke, described conductive coil is arranged on yoke.
7. a kind of automatic robot as claimed in claim 6, it is characterised in that: described yoke is provided with ring
Shape groove, described conductive coil is arranged in cannelure.
8. a kind of automatic robot as claimed in claim 1, it is characterised in that: described first power motor
Driving rotation section rotates, and makes illuminator and return unit synchronous rotary therewith.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310111585.XA CN104097214B (en) | 2013-04-02 | 2013-04-02 | A kind of automatic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310111585.XA CN104097214B (en) | 2013-04-02 | 2013-04-02 | A kind of automatic robot |
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| Publication Number | Publication Date |
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| CN104097214A CN104097214A (en) | 2014-10-15 |
| CN104097214B true CN104097214B (en) | 2016-12-28 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1393822A (en) * | 2001-07-03 | 2003-01-29 | 讯宝科技公司 | Small scanning module with magnetic centring scanning mirror |
| CN101529331A (en) * | 2005-04-28 | 2009-09-09 | 讯宝科技公司 | Monitoring scan mirror motion in electro-optical readers and image projectors |
| CN102834765A (en) * | 2010-03-24 | 2012-12-19 | 日本电气株式会社 | Magnetic force drive device, optical scanning device, and image display device |
| CN102901058A (en) * | 2012-10-17 | 2013-01-30 | 广州市浩洋电子有限公司 | Optical system for stage lamp |
| CN203236478U (en) * | 2013-04-02 | 2013-10-16 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8390909B2 (en) * | 2009-09-23 | 2013-03-05 | Metrologic Instruments, Inc. | Molded elastomeric flexural elements for use in a laser scanning assemblies and scanners, and methods of manufacturing, tuning and adjusting the same |
| JP5747674B2 (en) * | 2011-06-10 | 2015-07-15 | 株式会社リコー | Optical scanning apparatus and multicolor image forming apparatus |
-
2013
- 2013-04-02 CN CN201310111585.XA patent/CN104097214B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1393822A (en) * | 2001-07-03 | 2003-01-29 | 讯宝科技公司 | Small scanning module with magnetic centring scanning mirror |
| CN101529331A (en) * | 2005-04-28 | 2009-09-09 | 讯宝科技公司 | Monitoring scan mirror motion in electro-optical readers and image projectors |
| CN102834765A (en) * | 2010-03-24 | 2012-12-19 | 日本电气株式会社 | Magnetic force drive device, optical scanning device, and image display device |
| CN102901058A (en) * | 2012-10-17 | 2013-01-30 | 广州市浩洋电子有限公司 | Optical system for stage lamp |
| CN203236478U (en) * | 2013-04-02 | 2013-10-16 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
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| CN104097214A (en) | 2014-10-15 |
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