CN203236477U - Automatic robot - Google Patents
Automatic robot Download PDFInfo
- Publication number
- CN203236477U CN203236477U CN 201320097611 CN201320097611U CN203236477U CN 203236477 U CN203236477 U CN 203236477U CN 201320097611 CN201320097611 CN 201320097611 CN 201320097611 U CN201320097611 U CN 201320097611U CN 203236477 U CN203236477 U CN 203236477U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- robot
- reflective mirror
- power motor
- runner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an automatic robot. The automatic robot comprises a robot body and a light beam scanning mechanism, the light beam scanning mechanism comprises a rotary portion, a first power motor, a second power motor, a reflective motor and a mirror shaft. The first power motor drives the rotary portion to rotate. The automatic robot is characterized in that the second power motor, the reflective mirror and the mirror shaft are arranged on the rotary portion, and a running wheel and a connecting rod are further arranged on the rotary portion. One end of the connecting rod is connected with the reflective mirror, and the other end of the connecting rod is connected with the running wheel. The second power motor drives the running wheel to rotate to enable one end of the connecting rod to carry out circumferential path motion around the rotary center of the running wheel. Due to the fact that the connecting rod enables the reflective mirror to swing around the rotary shaft, the reflective light beam swings at a certain angle in the vertical direction. Meanwhile, the reflective mirror rotates by 360 degrees, the light beam scanning path extends in the vertical space, and when the robot works in a working area of a non-horizontal surface, the extension of the scanning path in the vertical space enables the scanning light beam to be capable of projecting to a light reflector, so that the robot can confirm the position of itself by utilizing reflected light signals reflected by the light reflector.
Description
Technical field
The utility model relates to a kind of automatic robot.
Background technology
In robot navigation's navigation system, usually place in advance some reflecting components in the working region of robot, reflecting component is known at the coordinate of robot work region, light-beam transmitter and beam receiver are set in the body of robot, the scanning light beam that robot rotates to external emission with 360 ° of levels of certain angular speed in the process of advancing, scanning light beam is inswept each preset reflecting component the time, reflecting component forms the folded light beam be parallel to scanning light beam.Beam receiver receives folded light beam, and robot has angular transducer and can detect angle on scanning light beam and the robot navigation direction simultaneously.Algorithms of Robots Navigation System comprises central processing unit, and is preset at the navigation algorithm in the memory, central processing unit utilize known reflecting component coordinate and angle can calculate current robot in the working region residing coordinate.Along with the navigation of robot and the process central processing unit of beam flying constantly recomputate the current residing coordinate of robot.Central processing unit can be according to current coordinate and the travel path that is preset at the navigation algorithm control in the memory simultaneously.In the scene of some robot application, the residing working region of robot often is not complete level (with reference to Figure 1A, Figure 1B and Fig. 1 C), body tilts because of the working region in traveling process, be arranged on the scanning light beam that the beam launcher on the body sends and also can produce inclination, cause scanning light beam to be incident upon away from the upper space of reflecting component or be incident upon the surface of working region, and then reflecting component also just can't produce folded light beam.Spacing between robot and the reflecting component is far away, and the probability that the scanning light beam of inclination can't project on the reflecting component is larger.Scanning light beam projects the reflecting component outside, and beam receiver can't receive folded light beam, also just can not navigate smoothly in the position that robot then can't calculative determination self.Therefore the problem for above-mentioned existence is necessary to propose a kind of new solution.
The utility model content
Provide a kind of automatic robot to comprise for addressing the above problem the utility model: body, beam flying mechanism; Described beam flying mechanism comprises rotation section, the first power motor, the second power motor, reflective mirror, mirror axle; The first power motor drives the rotation section rotation, it is characterized in that: described the second power motor, reflective mirror, mirror axle are arranged on the rotation section, also be provided with runner and connecting rod on the described rotation section, described connecting rod one end is connected the other end and is connected with runner with reflective mirror, the second power motor drives the runner rotation makes the connecting rod one end upper pivot of wheel that rotates do the circular path motion.
Preferably, between described connecting rod and the reflective mirror be connected to pivotally connected.
Preferably, described motor is connected with runner by motor drive shaft, and being connected between connecting rod and the runner is pivotally connected, and this pivot center does not overlap with the runner pivot.
Preferably, described runner is eccentric wheel, the geometric center biasing of the relative runner of described pivot.
Preferably, described connecting rod and eccentric wheel periphery are pivotally connected.
Preferably, described pivot is the runner center of circle.
Preferably, the outside, the described runner center of circle is provided with connecting axle, and described connecting rod and connecting axle are pivotally connected.
Preferably, described beam flying mechanism is the laser transceiver with R-T unit.
Reflective mirror rotated in horizontal plane with the rotation section when automatic robot moved.Beam emissions section is projected to light beam on the reflective mirror, because connecting rod swings reflective mirror around the shaft, the folded light beam in the vertical direction that reflective mirror produces swings along certain angle, and reflective mirror rotates in horizontal plane and makes 360 ° of rotations of scanning light beam simultaneously.Described beam flying track has the continuous oblique palisade track while scan of certain altitude around the robot surrounding space forms, this track oblique line extends in vertical space, when robot is in the working region of upward slope, descending or other non-horizontal surfaces, track while scan can project on the reflecting component scanning light beam in the extension in vertical space, and then the optical signal that makes robot can utilize reflecting component to be reflected back is determined the position of self.
Description of drawings
Figure 1A, Figure 1B and Fig. 1 C are prior art robot work schematic diagrames
Fig. 2 is robot assembling schematic diagram
Fig. 3 is laser scanning mechanism exploded view
Fig. 4 is laser scanning mechanism overall schematic
Fig. 5 is laser scanning mechanism side view
Fig. 6 is that laser scanning mechanism is along the F-F profile
Fig. 7 is laser scanning mechanism side perspective view
Fig. 8 is that laser scanning mechanism is along the E-E generalized section
Fig. 9 is laser scanning mechanism top view
Figure 10 is runner rotational trajectory schematic diagram
Figure 11 A, Figure 11 B are laser scanning track schematic diagrames
Figure 12 A, Figure 12 B are the connecting rod of embodiment two and facing and side view of runner
The specific embodiment
With reference to the accompanying drawings the utility model is described in further details
Embodiment one: comprise body 1, beam flying mechanism 2, main road wheel 11, auxiliary road wheel 12 with reference to robot shown in Figure 2.Body 1 is used for carrying beam flying mechanism 2 and robot miscellaneous part.Beam flying mechanism 2 is installed in body 1 higher position and prevents that the miscellaneous part on the body from blocking scanning light beam, the utility model adopts laser as scanning light beam, can imagine also can adopt other depth of parallelisms preferably light source as scanning light beam, the continuous 360 ° of scan lasers that rotation forms of light beam sweep mechanism 2 during robot ambulation.
Comprise with reference to laser scanning mechanism 2 shown in Fig. 3,4: laser transceiver 27, the first power motor 28, the second power motor 29, the eccentric wheel 291 of reflective mirror 21, connecting rod 22, rotation section 23, stationary part 24, rolling bearing 25, support 26, collection emission part and acceptance division one.Described reflective mirror 21 is the single-surface mirrors with single reflective side, reflective mirror, connecting rod 22 and the second power motor are arranged on the rotation section 23, described rotation section is roughly cylindrical, described rolling bearing 25 is annular, and the rolling bearing center has can make rotation section 23 be set in opening 251 on the bearing 25 just.Described support 26 is used for fixed laser transceiver and the first power motor, and support 26 is installed in stationary part 24 bottoms.
With reference to the laser scanning mechanism 2 shown in Fig. 3,4, described stationary part 24 is installed on the body 1 of robot, described stationary part 24 is the tabular of even thickness, and some perforation 243 are set on the stationary part 24, and the securing member that connects stationary part 24 and robot body passes this perforation 243.It is rounded that stationary part 24 arranges an opening 240 these openings, and run through stationary part 24, and described reflective mirror 21 and support arm 215 are arranged on top, plane, stationary part place.
With reference to Fig. 4,5,6, stationary part 24 belows arrange support 26, and described support 26 is connected with stationary part 24 bottoms, and support and stationary part form cavity 261.Laser transceiver 27 and the first power motor 28 are individually fixed on the support 26, the first power motor 28 that adopts in the present embodiment is direct current generator, the output of motor shaft 281 is arranged on cavity 261 inside, motor main body 282 parts are arranged on cavity 261 outsides, 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) be 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 comprised of pedestal 231 and reflective mirror bracing frame 232, described reflective mirror 21 bracing frames and pedestal are the split setting, pedestal 231 is arranged on cavity 261 inside, pedestal 231 is the cylindrical of hollow, the pedestal center-diameter is to inwardly being provided with connecting plate 233, this connecting plate 233 is for are connected connection with the reflective mirror bracing frame, have hole 234 on the connecting plate 233 and run through connecting plate, the hole 234 that screw fastener passes on the connecting plate 233 connects pedestal 231 and reflective mirror bracing frame 232.The center of connecting plate 233 is provided with logical light mouth 235, laser transceiver 27 be positioned at logical light mouth 235 under, laser transmitting-receiving window 271 is over against the logical light mouth 235 at connecting plate 233 centers so that laser can pass this logical light mouth 235 projects on the reflective mirror 21.The outer surface of described pedestal 231 arranges reduction gearing 236, the bottom that this gear is positioned at pedestal 231 is annular, and described reduction gearing 236 is intermeshing with the output gear 283 of the output setting of motor shaft, the number of teeth of reduction gearing 236 is more with respect to the motor output end number of teeth, so power motor when work rotation section 23 is lower with respect to the rotating speed of CD-ROM drive motor.
Be arranged on the pedestal 231 with reference to Fig. 6,7,8,9 reflective mirror bracing frames 232, bracing frame comprises the clamp 237 that is arranged on the rolling bearing 25 and is wholely set the inwall 238 that is positioned at the 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 is along inwall 238 longitudinal extensions, and the hole 234 that screw fastener passes on the connecting plate 233 enters screw hole 239.Inwall 238 outsides are provided with rolling bearing 25, and inwall 238 outsides are connected rotationally with rolling bearing 25 inboards.Described clamp 237 arranges light inlet window 210, light inlet window 210 be positioned at clamp 237 the center so that during clamp 237 rotation laser beam can expeditely project on the reflective mirror 21.Light inlet window 210 both sides arrange two parallel support arms 211, support arm 211 bottoms and clamp 237 are wholely set, support arm 211 tops are provided with in dead eye 213 dead eyes 213 and are provided with bearing 214, reflective mirror 21 is arranged between light inlet window top between two support arms, reflective mirror is rectangle, reflective mirror one end both sides are oppositely arranged semicircle the first male part 216, the first male part extends upward perpendicular to mirror surface, the first male part setting has the hole, and this hole is used for passing reflective mirror axle 212 is suspended between two support arms 211 reflective mirror obliquely.Reflective mirror other end centre position arranges another the second male part 217 to being oppositely arranged, described the second male part 217 arranges respectively circular hole 218, tie rod holes 221 is set on the connecting rod accordingly, connecting rod is arranged between two the second male part, pitman shaft 219 passes circular hole 218 and the tie rod holes 221 on the second male part, connects connecting rod 22 and reflective mirror 21.The other end arranges in the circular eccentric wheel opening 222 described openings eccentric wheel 291 is set on the described connecting rod 22, and eccentric external diameter is slightly less than eccentric wheel opening 222 makes eccentric wheel can either drive link can make again eccentric wheel 291 and connecting rod 22 relative to rotating flexibly.Described eccentric wheel is provided with an off-centre 292.Described off-centre is the hole of running through this eccentric wheel 291, and 29 rotating shafts of the second power motor are installed in this off-centre.Described the second power motor is arranged on the motor base 293, and motor base and reflective mirror bracing frame 232 are wholely set.
With reference to Figure 10, Figure 11 A, Figure 11 B when robot is in running order, the rotation of the second power motor band movable eccentric wheel, form rotary motion trace A, A ', A ' ' from the rotation of eccentric wheel unilateral observation eccentric wheel, the center that described eccentric wheel rotation forms track is eccentric 292.The center of circle of the eccentric wheel hole opening 222 on the described connecting rod is that center of circle B is identical with eccentric geometric center, eccentric wheel hole center of circle B formed circular trace C when therefore eccentric wheel 291 rotated, connecting rod one end is done the circular path motion around eccentric 292, when eccentric wheel center of circle B when circular trace C is in ascent stage, 22 pairs of reflective mirrors of connecting rod 21 produce up, and traction makes reflective mirror upward deflect around mirror axle 212, when eccentric wheel center of circle B when circular trace C is in the decline stage, 22 pairs of reflective mirrors of connecting rod 21 produce down to push and make reflective mirror around axially lower deflection.The second power motor 29 continues rotation makes lasting the drawing and push of connecting rod, make the reflective mirror can be along reflective mirror along arc centered by the mirror axle to M (with reference to Fig. 8) reciprocally swinging, the second power motor has higher rotating speed makes the vibration frequency of reflective mirror can maintain 200Hz ~ 500Hz.Laser sends the logical light mouth 235 at the center of passing pedestal 231 upper junction plates then by the light inlet window 210 on reflective mirror 21 supports from the laser transceiver that is positioned at cavity 261, project on the reflective mirror 21, along the swing at a certain angle of the formed reflection ray track of the reflective mirror of mirror shaft vibration in the vertical direction, the reflector laser T on top and the formed angle N of the reflector laser B of bottom are roughly 10 °.Machine man-hour the first power motor output gear 283 rotates, driven with the reduction gearing 236 of output gear 283 engagements, overlook the in the counterclockwise direction D rotation (with reference to Fig. 9) of laser scanning mechanism 22 rotation sections 23, described reflection ray is moved in a circle in horizontal plane simultaneously, therefore scan laser can form the continuous oblique palisade track while scan with certain altitude around the 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 track while scan forms forms reflector laser through reflecting component 3, and the laser transceiver 27 that is built in the robot can receive described reflector laser, calculates the robot position through navigation system.When robot work region was on a non-horizontal surface, described oblique palisade track while scan in the vertical direction extended, and scan laser can project on the reflecting component 3.
Embodiment two: with reference to runner shown in Figure 12 A, Figure 12 B, different from embodiment one is that described runner is circular wheel, its circle center hole 294 is used for circular wheel is installed in the axle 297 of the second power motor, circle center hole 294 radially outward arranges lug boss 295, this lug boss is cylindrical to stretch out perpendicular to the circular wheel surface, have on the connecting rod 22 and lug boss mating holes 296, lug boss is installed on the mating holes 296.The second power motor drives runner around circle center hole 294 rotations when robot is in running order, similarly the end that is connected with lug boss of connecting rod is done circular path C ' motion around circle center hole 294, with embodiment one similarly when connecting rod one end is in the circular path ascent stage, (with reference to Fig. 8) upwards draws reflective mirror to connecting rod along arc to M, when shaking an end when circular path is in the decline stage, connecting rod pushes reflective mirror downwards along arc to M on the contrary.The second power motor 29 continues rotation makes lasting the drawing and push of connecting rod, make the reflective mirror can be along reflective mirror along arc centered by the mirror axle to the M reciprocally swinging, the second power motor has higher rotating speed makes the vibration frequency of reflective mirror can maintain 200Hz ~ 500Hz.
In addition, described the second power motor 29 both reached and can rotate along single direction, also can be the periodicity positive and negative rotation, namely can make connecting rod one end rise and descend along circular path is periodic, reflective mirror is produced periodically swing to M along arc.Described connecting rod one end is connected with runner and does circular path motion in a word, connecting rod other end traction and push reflective mirror and make it to produce and periodically swing to M along arc, and laser projection can be created in the reflection trace that swings in the vertical space to reflective after upper.Machine man-hour reflective mirror rotates in horizontal plane with rotating; make the 360 ° of scannings centered by robot of described laser; finally the space outerpace in robot forms oblique palisade track while scan; above-described embodiment; be the utility model preferred embodiment, but protection domain of the present utility model is not limited to this, those skilled in the art; in the change and the modification that do not break away from claim scope of the present utility model and make, all in the utility model protection domain.
Claims (8)
1. an automatic robot comprises: body (1), beam flying mechanism (2); Described beam flying mechanism (2) comprises rotation section (23), the first power motor (28), the second power motor (29), reflective mirror (21), mirror axle (212); The first power motor drives the rotation section rotation, it is characterized in that: described the second power motor (29), reflective mirror (21), mirror axle are arranged on the rotation section (23), also be provided with runner and connecting rod (22) on the described rotation section, described connecting rod (22) one ends are connected with reflective mirror, the other end is connected with runner, and the second power motor drives the runner rotation makes the connecting rod one end upper pivot (292) of wheel that rotates do circular path (B) motion.
2. a kind of automatic robot as claimed in claim 1, it is characterized in that: being connected between described connecting rod (22) and the reflective mirror (21) is pivotally connected.
3. a kind of automatic robot as claimed in claim 1, it is characterized in that: described motor is connected with runner by motor drive shaft, and being connected between connecting rod (22) and the runner is pivotally connected, and this pivot center does not overlap with runner pivot (292).
4. a kind of automatic robot as claimed in claim 3, it is characterized in that: described runner is eccentric wheel (291), described pivot (292) is the geometric center biasing of runner relatively.
5. a kind of automatic robot as claimed in claim 4 is characterized in that: described connecting rod (22) is pivotally connected with the eccentric wheel periphery.
6. a kind of automatic robot as claimed in claim 3 is characterized in that: described pivot (292) is the runner center of circle.
7. a kind of automatic robot as claimed in claim 6 is characterized in that: the outside, the described runner center of circle is provided with connecting axle (295), and described connecting rod and connecting axle are pivotally connected.
8. a kind of automatic robot as claimed in claim 1 is characterized in that: described beam flying mechanism has the laser transceiver of R-T unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320097611 CN203236477U (en) | 2013-03-05 | 2013-03-05 | Automatic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320097611 CN203236477U (en) | 2013-03-05 | 2013-03-05 | Automatic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203236477U true CN203236477U (en) | 2013-10-16 |
Family
ID=49313804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320097611 Expired - Fee Related CN203236477U (en) | 2013-03-05 | 2013-03-05 | Automatic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203236477U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029193A (en) * | 2013-03-05 | 2014-09-10 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
-
2013
- 2013-03-05 CN CN 201320097611 patent/CN203236477U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029193A (en) * | 2013-03-05 | 2014-09-10 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
| CN104029193B (en) * | 2013-03-05 | 2018-09-18 | 苏州科瓴精密机械科技有限公司 | A kind of automatic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104175332B (en) | Laser positioning automatic robot | |
| JP2010038859A (en) | Three-dimensional laser range finder | |
| CN102080760B (en) | Self-balance space scanning support | |
| CN103612686B (en) | A kind of six sufficient vertical type walking robots | |
| CN1590956A (en) | Laser distance tester | |
| CN203236477U (en) | Automatic robot | |
| CN106646859B (en) | Double wedge optical scanners executing agency of single motor driving | |
| CN100529659C (en) | Active mechanism for obtaining laser three dimension depth of field | |
| CN203317421U (en) | Automatic robot | |
| CN107803590A (en) | Examine electrical scanner | |
| CN203317434U (en) | Automatic laser positioning robot | |
| CN205147590U (en) | Rotatory laser welder head | |
| CN203438228U (en) | Automatic robot | |
| CN105938246A (en) | Adjustable dual-optical-wedge laser scanning performing mechanism based on cantilever beam structure | |
| CN104029193A (en) | Automatic robot | |
| CN203236478U (en) | Automatic robot | |
| CN219346819U (en) | Heliostat | |
| CN113133613A (en) | Rocking chair for children | |
| CN103197416A (en) | Double-freedom-degree high-speed parallel scan platform and perpendicularity error calibrating method | |
| CN106227241A (en) | A kind of motion platform double-view field double loop scan tracing system and method | |
| CN100442100C (en) | Circular laser trace realizing method based on object lens rotation | |
| CN103970131A (en) | Automatic robot | |
| TWI667496B (en) | Concentrating device | |
| WO2019064776A1 (en) | Robotic device | |
| CN208350998U (en) | A kind of 3-D scanning rotating mirror system for laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131016 Termination date: 20190305 |