WO2023070913A1 - Sea-water-air three-purpose safe intelligent robot - Google Patents
Sea-water-air three-purpose safe intelligent robot Download PDFInfo
- Publication number
- WO2023070913A1 WO2023070913A1 PCT/CN2021/140456 CN2021140456W WO2023070913A1 WO 2023070913 A1 WO2023070913 A1 WO 2023070913A1 CN 2021140456 W CN2021140456 W CN 2021140456W WO 2023070913 A1 WO2023070913 A1 WO 2023070913A1
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- WIPO (PCT)
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- motor
- intelligent robot
- motor shaft
- hinged
- wheel seat
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000007423 decrease Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Definitions
- the utility model relates to a robot, in particular to a three-purpose safety intelligent robot for water, land and air.
- the technical problem to be solved by the utility model is to provide a safety intelligent robot with three functions of water, land and air, which can not only monitor the safety of children at all times, prevent children from disappearing in the sight of parents, but also effectively adjust the shooting angle to ensure the quality of shooting.
- the utility model discloses a three-purpose safety intelligent robot for water, land and air, which includes a body. hole; the left part of the motor fixing hole is provided with a left motor, and the right part of the motor fixing hole is provided with a right motor, and the motor shaft of the left motor is oriented opposite to that of the right motor; It is a symmetrical wheel seat; a drive chamber is provided in the wheel seat; the left end of the motor shaft of the left motor penetrates into the drive chamber of the left wheel seat, and the right end of the motor shaft of the right motor penetrates into the right side In the drive chamber of the wheel seat; the left end of the motor shaft of the left motor and the right end of the motor shaft of the right motor are provided with a driving gear; the inner peripheral surface of the drive chamber is provided with a number of meshing teeth that are evenly distributed around the circumference; the drive chamber There are several driven gears evenly distributed around the circumference between the indoor surface and the driving gear, and the driven gears and meshing teeth are all meshed with the driving gear; the upper part
- the deploying device includes a chute arranged on the wall of the drive chamber adjacent to the side of the body; the upper end of the wheel seat is provided with a hinged notch connected with the chute; the front and rear sides of the hinged notch are provided with mutually symmetrical the hinged hole; the chute is provided with a matching arm motor, and the upper end of the motor shaft of the arm motor is inclined toward the direction of the body; the upper end of the motor shaft of the arm motor is provided with a screw that penetrates into the hinged gap
- the upper end of the flying wing is provided with a hinge end matching the hinge gap; the front and rear sides of the hinge end are provided with hinge shafts matching the hinge holes; the end of the hinge end close to the body is provided with an arc-shaped rotating surface ;
- the rotating surface is provided with a number of meshing grooves evenly distributed around the circumference, and the meshing grooves are meshed with the screw rod.
- the wheel base is composed of an inner seat plate fitted to it and an outer seat plate located outside the inner seat plate; the inner seat plate and the outer seat plate are enclosed to form a drive chamber.
- a speech device is arranged inside the body; and a pronunciation hole corresponding to the position of the speech device is arranged on the outer peripheral surface of the body.
- the body is provided with a sound wave distance measuring device; the outer peripheral surface of the body is provided with a sound wave hole corresponding to the sound wave distance measuring device.
- the inner diameter of the flying wing gradually decreases toward the direction away from the body.
- the safety intelligent robot for water, land and air with the structure of the utility model can switch between three states of walking on land, flying in the air and moving underwater. It is safe and intelligent no matter whether children are active on land or in water.
- the robot can always follow the children, and use the camera to monitor at any time, so that parents can know the actual dynamics of the children through the pictures captured by the camera, and only need to follow the children by operating the safe intelligent robot, which can effectively prevent the children from disappearing.
- the eyes of the parents it is possible to prevent the parents from losing their children due to lack of physical strength, so that when the children are in trouble, the parents can know and arrive at the first time to ensure the safety of the children, and fly with the safe intelligent robot In the air, it can effectively increase the field of vision.
- the safe intelligent robot can continuously adjust the angle of the camera by flying to adapt to different shooting. It can meet the requirements of different angles, and can perform upward shooting in the state of walking on land, and carry out underwater follow-up shooting in the state of underwater movement. While ensuring the shooting quality, it can meet the follow-up shooting in various environments.
- Fig. 1 is the cross-sectional view of the safety intelligent robot of the utility model for water, land and air;
- Fig. 2 is an enlarged view of part A of Fig. 1;
- Fig. 3 is the cross-sectional view when the flying wing of the safety intelligent robot for water, land and air of the utility model is deployed;
- Fig. 4 is a perspective view when the flying wings of the safety intelligent robot for water, land and air of the utility model are deployed;
- Fig. 5 is a schematic diagram of the structure of the utility model when the flying wings of the three-purpose safety intelligent robot for water, land and air are deployed;
- FIG. 6 is an enlarged view of part B in FIG. 5 .
- the utility model provides an amphibious three-purpose safety intelligent robot, including a body 1, the outer peripheral surface of the body 1 is provided with a number of evenly distributed embedded holes 2, and a camera 3 is arranged in the embedded holes 2
- the middle part of the body 1 is provided with a motor fixing hole 4; the left part of the motor fixing hole 4 is provided with a left motor 5, and the right part of the motor fixing hole 4 is provided with a right motor 6, and the motor shaft of the left motor 5 is directed towards the right
- the motor shaft of the motor 6 faces oppositely; the left and right sides of the body 1 are provided with mutually symmetrical wheel bases 7; the wheel base 7 is provided with a drive chamber 8; the left end of the motor shaft of the left motor 5 penetrates In the drive chamber 8 of the wheel base 7 on the left side, the motor shaft right end of the right motor 6 penetrates into the drive chamber 8 of the wheel base 7 on the right side;
- the right end of the motor shaft is provided with a driving gear 9; the inner peripheral surface of the driving
- the deployment device includes a chute 15 arranged on the wall of the drive chamber 8 adjacent to the body 1; the upper end of the wheel seat 7 is provided with a hinged gap 16 that communicates with the chute 15; the hinged gap 16 is front and rear The both sides are provided with mutually symmetrical hinged holes 17; Described chute 15 is provided with a spread arm motor 18 matched with it, and the motor shaft upper end of spread arm motor 18 is inclined toward body 1 direction; Described spread arm motor 18 The upper end of the motor shaft is provided with a screw rod 19 that penetrates into the hinged notch 16; the upper end of the flying wing 11 is provided with a hinged end 20 that matches the hinged notch 16; A matching hinge shaft 21; the hinged end 20 is provided with an arc-shaped rotating surface 22 near the end of the body 1; the rotating surface 22 is provided with a number of engaging grooves 23 evenly distributed around the circumference, and the engaging grooves 23 are in phase with the screw rod 19 engage.
- the wheel seat 7 is composed of an inner seat plate 24 attached thereto and an outer seat plate 25 located outside the inner seat plate 24 ; the inner seat plate 24 and the outer seat plate 25 enclose to form a drive chamber 8 .
- the body 1 is provided with a speech device; the outer peripheral surface of the body 1 is provided with a sound hole 26 corresponding to the position of the speech device.
- the body 1 is provided with a sound wave distance measuring device; the outer peripheral surface of the body 1 is provided with a sound wave hole 27 corresponding to the sound wave distance measuring device.
- the inner diameter of the flying wing 11 gradually decreases toward the direction away from the body 1 .
- the using method of the present utility model is as follows:
- the flying wings 11 are located on the left and right sides of the body 1, and the safety intelligent robot is on the ground.
- the motor shaft of the left motor 5 will drive the driving gear 9 in the drive chamber 8 on the left to rotate
- the motor shaft of the right motor 6 will drive the drive gear located on the right.
- the driving gear 9 in the chamber 8 rotates, and the driven gear 10 meshes with the driving gear 9, so when the driving gear 9 rotates, the driving gear 9 will drive the driven gear 10 to rotate, and the circumference is uniformly distributed on the driving gear.
- the meshing teeth on the inner peripheral surface of the chamber 8 mesh with the driven gear 10.
- the wheel seat 7 rotates accordingly under the action of the meshing teeth and the driven gear 10.
- the unfolding motor is not turned on, the screw rod 19 and the engagement groove 23 on the hinged end 20 are stuck, and the wheel base 7 and the flying wing 11 are fixed at this time, so when the wheel base 7 rotates, the flying wing 11 will rotate accordingly.
- the flying wing 11 at this time is in contact with the ground as a moving wheel, and realizes the land walking of the safety intelligent robot.
- the flying wings 11 on both sides rotate, and at this time, the camera 3 installed on the body 1 can stably take pictures.
- the left motor 5 and the right motor 6 can be closed, and then the arm motor 18 is started.
- the arm motor 18 would drive the screw rod 19 to rotate, and The screw rod 19 is engaged with the engagement groove 23 on the hinged end 20.
- the hinged end 20 rotates under the screw thread of the screw rod 19, and the hinged end 20 is arranged on the upper end of the flight wing 11.
- the hinged end 20 rotates, the flight The wing 11 will rotate around the hinged end 20. At this time, the lower end of the flying wing 11 is gradually tilted up.
- the lower end of the flying wing 11 and the upper end of the flying wing 11 are in a coplanar state, and the arm spreading action is completed, and then the arm spreading motor can be turned off. 18.
- the flight motor 13 When the flight motor 13 is running, the motor shaft of the flight motor 13 will drive the fan blade 14 to rotate.
- the safety intelligent robot can obtain a rising force and change from the state of walking on land to the state of flying in the air, and as the flight altitude changes, the shooting angle of the camera 3 also changes, which can effectively adapt to the needs of different shooting angles.
- the motor shaft of the left motor 5 and the motor shaft of the right motor 6 drive the left and right sides again.
- the driving gear 9 rotates, and with the rotation of the driving gear 9, the wheel seat 7 finally rotates, and the flying wing 11 rotates with the wheel seat 7.
- the flying wing 11 rotates from the top of the body 1 to the front and bottom of the body 1, it is safe The intelligent robot then rushes into the water under the propelling force of the blades 14 in the flying wing 11.
- the blades 14 are like propellers, and by means of propulsion, the safety The intelligent robot can always follow the child underwater.
- the sound wave distance measuring device can be turned on, and sound waves can be transmitted into the water through the sound wave hole 27 to effectively measure the water depth, thereby predicting the safety level of activities in the water.
- the utility model can switch between three states of walking on land, flying in the air and moving underwater. No matter whether the child is active on land or in the water, the safe intelligent robot can always follow the child, and use the camera 3 Monitor at any time, so that parents can know the actual dynamics of the children through the pictures captured by the camera 3, and only need to follow the children by operating the safe intelligent robot, which can effectively prevent the children from disappearing in the sight of the parents and prevent the parents from being exhausted.
- the safe intelligent robot can continuously adjust the angle of the camera by flying to adapt to the needs of different shooting angles, and can walk on land Underwater for upward shooting, and underwater follow-up shooting in the underwater moving state, while ensuring the shooting quality, it can meet the follow-up shooting in various environments.
- the wheel seat 7 is made up of an inner seat plate 24 that fits with it, and an outer seat plate 25 positioned at the outer side of the inner seat plate 24.
- the inner seat plate 24 and the outer seat plate 25 enclose the drive chamber 8, and the inner seat plate 24 and the outer seat plate
- the seat plates 25 can be fixed by screws, and the way of forming the drive chambers is convenient for maintenance and replacement of the components in the drive chambers 8 .
- the body 1 is provided with a voice device, and the outer peripheral surface of the body 1 is provided with a pronunciation hole 26 corresponding to the position of the voice device.
- the voice device enables parents to remotely play what they want to say through a safe intelligent robot. Some dangerous behaviors, and can issue early warnings before some dangers occur.
- the smaller the diameter of the channel for gas flow the greater the air pressure.
- the propulsion of the flying wing 11 can be effectively improved to ensure safety and intelligence. Robot performance.
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Abstract
A sea-water-air three-purpose safe intelligent robot, comprising a machine body (1). Multiple evenly-distributed embedding holes (2) are formed on the peripheral surface of the machine body (1), cameras (3) are arranged in the embedding holes (2); a motor fixing hole (4) is provided at the middle of the machine body (1); a left motor (5) is provided in the left part of the motor fixing hole (4); a right motor (6) is provided in the right part of the motor fixing hole (4); the direction of a motor shaft of the left motor (5) is opposite to that of a motor shaft of the right motor (6); wheel seats (7) which are symmetrical to each other are provided on the left side and the right side of the machine body (1); a driving chamber (8) is provided in each of the wheel seats (7); the left end of the motor shaft of the left motor (5) penetrates into the driving chamber (8) of the left wheel seat (7), and the right end of the motor shaft of the right motor (6) penetrates into the driving chamber (8) of the right wheel seat (7); and the left end of the motor shaft of the left motor (5) and the right end of the motor shaft of the right motor (6) are both provided with a driving gear (9). The sea-water-air three-purpose safe intelligent robot not only can monitor the safety of a child at any time to prevent the child from disappearing in the sight of parents, but also can effectively adjust the photographing angle to ensure the photographing quality.
Description
本实用新型涉及一种机器人，特别是一种水陆空三用安全智能机器人。The utility model relates to a robot, in particular to a three-purpose safety intelligent robot for water, land and air.
在实际生活中，儿童的安全问题始终是家长极为关注的事情，由于成人体力问题，因此当儿童在陆地上跑动玩耍时，经常会出现家长无法及时跟在身边导致儿童消失在家长视线中的情况，同时，有些儿童极喜欢在水里玩耍游泳，若是单纯游泳，家长只需观察水面便能够清楚了解到儿童的实际情况，但一些儿童喜欢潜泳，长时间消失在水里，家长根本无法了解水下的儿童的实际情况，若是儿童在离开家长视线后发生意外，家长根本无法及时发现并进行救援，易危害到儿童的生命安全，存在严重的安全隐患。In real life, the safety of children is always a matter of great concern to parents. Due to physical problems of adults, when children run and play on land, parents often fail to follow them in time, causing children to disappear from their sight At the same time, some children like to play and swim in the water very much. If they just swim, parents can clearly understand the actual situation of the children just by observing the water surface. However, some children like to dive and disappear in the water for a long time. In the actual situation of children underwater, if an accident occurs after the child leaves the sight of the parents, the parents will not be able to detect and rescue them in time, which will easily endanger the life safety of the children, and there is a serious potential safety hazard.
为了记录生活，经常会通过拍摄的方式保存生活中需要被记录的点点滴滴，但为了保证拍摄质量，需要调整拍摄角度，有时候需要俯视拍摄，有时候需要处于地面进行仰视拍摄，但是普通的拍摄工具，根本无法做到随时调节拍摄角度，导致拍摄质量无法得到保障。In order to record life, we often save the bits and pieces in life that need to be recorded by shooting, but in order to ensure the quality of the shooting, we need to adjust the shooting angle, sometimes we need to look down and sometimes we need to look up on the ground, but ordinary With the shooting tools, it is impossible to adjust the shooting angle at any time, resulting in that the shooting quality cannot be guaranteed.
发明内容Contents of the invention
本实用新型要解决的技术问题是提供一种水陆空三用安全智能机器人，它不仅能够时刻监测儿童的安全，避免儿童消失在家长的视线中，且能够有效调整拍摄角度，保证拍摄质量。The technical problem to be solved by the utility model is to provide a safety intelligent robot with three functions of water, land and air, which can not only monitor the safety of children at all times, prevent children from disappearing in the sight of parents, but also effectively adjust the shooting angle to ensure the quality of shooting.
本实用新型解决上述技术问题采用的技术方案为：The technical solution adopted by the utility model to solve the problems of the technologies described above is:
本实用新型公开一种水陆空三用安全智能机器人，包括机体，其特征在于：所述机体外周面设有若干均匀分布的嵌孔，嵌孔内设有摄像头；所述机体中部设有一电机固定孔；所述电机固定孔左部内设有一左电机，电机固定孔右部内设有一右电机，左电机的电机轴朝向与右电机的电机轴朝向相反；所述机体左右两侧设有互为对称的轮座；所述轮座内设有一驱动腔室；所述左电机的电机轴左端穿入至左侧的轮座的驱动腔室内，右电机的电机轴右端穿入至右侧的轮座的驱动腔室内；所述左电机的电机轴左端与右电机的电机轴右端皆设有一主动齿轮；所述驱动腔室内周面设有若干呈圆周均匀分布的啮合齿；所述驱动腔室内周面与主动齿轮之间设有若干呈圆周均匀分布的从动齿轮，从动齿轮、啮合齿皆与主动齿轮相啮合；所述驱动腔室上部设有展开装置；一飞行翼通过展开装置铰接于轮座上端；所述飞行翼呈环形，飞行翼内壁设有一罩于轮座外的固定架；所述固定架中心设有一飞行电机；所述飞行电机的电机轴端部朝外并设有一风叶。The utility model discloses a three-purpose safety intelligent robot for water, land and air, which includes a body. hole; the left part of the motor fixing hole is provided with a left motor, and the right part of the motor fixing hole is provided with a right motor, and the motor shaft of the left motor is oriented opposite to that of the right motor; It is a symmetrical wheel seat; a drive chamber is provided in the wheel seat; the left end of the motor shaft of the left motor penetrates into the drive chamber of the left wheel seat, and the right end of the motor shaft of the right motor penetrates into the right side In the drive chamber of the wheel seat; the left end of the motor shaft of the left motor and the right end of the motor shaft of the right motor are provided with a driving gear; the inner peripheral surface of the drive chamber is provided with a number of meshing teeth that are evenly distributed around the circumference; the drive chamber There are several driven gears evenly distributed around the circumference between the indoor surface and the driving gear, and the driven gears and meshing teeth are all meshed with the driving gear; the upper part of the driving chamber is provided with a deployment device; a flying wing passes through the deployment device Hinged at the upper end of the wheel seat; the flying wing is ring-shaped, and the inner wall of the flying wing is provided with a fixed frame covered outside the wheel seat; the center of the fixed frame is provided with a flying motor; the motor shaft end of the flying motor faces outward and is arranged There is a leaf.
所述展开装置包括设于驱动腔室邻近机体一侧的腔壁上的斜槽；所述轮座上端设有一与斜槽相贯通的铰接缺口；所述铰接缺口前后两侧设有互为对称的铰接孔；所述斜槽内设有一与其相匹配的展臂电机，展臂电机的电机轴上端向着机体方向倾斜；所述展臂电机的电机轴上端设有一穿入至铰接缺口内的螺杆；所述飞行翼上端设有一与铰接缺口相匹配的铰接端；所述铰接端前后两侧设有与铰接孔相匹配的铰接轴；所述铰接端靠近机体的一端设有一呈弧状的旋转面；所述旋 转面上设有若干呈圆周均匀分布的啮合槽，啮合槽与螺杆相啮合。The deploying device includes a chute arranged on the wall of the drive chamber adjacent to the side of the body; the upper end of the wheel seat is provided with a hinged notch connected with the chute; the front and rear sides of the hinged notch are provided with mutually symmetrical the hinged hole; the chute is provided with a matching arm motor, and the upper end of the motor shaft of the arm motor is inclined toward the direction of the body; the upper end of the motor shaft of the arm motor is provided with a screw that penetrates into the hinged gap The upper end of the flying wing is provided with a hinge end matching the hinge gap; the front and rear sides of the hinge end are provided with hinge shafts matching the hinge holes; the end of the hinge end close to the body is provided with an arc-shaped rotating surface ; The rotating surface is provided with a number of meshing grooves evenly distributed around the circumference, and the meshing grooves are meshed with the screw rod.
所述轮座由与其相贴合的内座板、位于内座板外侧的外座板组成；所述内座板与外座板围合形成驱动腔室。The wheel base is composed of an inner seat plate fitted to it and an outer seat plate located outside the inner seat plate; the inner seat plate and the outer seat plate are enclosed to form a drive chamber.
所述机体内设有一语音装置；所述机体外周面上设有与语音装置位置相对应的发音孔。A speech device is arranged inside the body; and a pronunciation hole corresponding to the position of the speech device is arranged on the outer peripheral surface of the body.
所述机体内设有一声波测距装置；所述机体外周面设有与声波测距装置相对应的声波孔。The body is provided with a sound wave distance measuring device; the outer peripheral surface of the body is provided with a sound wave hole corresponding to the sound wave distance measuring device.
所述飞行翼内径向着远离机体的方向逐渐递减。The inner diameter of the flying wing gradually decreases toward the direction away from the body.
本实用新型的有益效果是：The beneficial effects of the utility model are:
与现有技术相比，采用本实用新型结构的水陆空三用安全智能机器人可在陆地行走、空中飞行以及水下移动三种状态进行转换，无论儿童在陆地上还是在水中进行活动，安全智能机器人能够始终跟随在儿童身边，并利用摄像头进行随时监测，使家长能够通过摄像头拍摄到的画面了解到儿童的实际动态，只需通过操作安全智能机器人对儿童进行跟随，便能够有效避免儿童消失在家长的视线中，避免家长体力不支跟丢儿童的情况，从而在儿童出现状况时，家长能够第一时间得知并在第一时间赶到，保证儿童的安全性，且随着安全智能机器人飞到空中，能够有效增加视野，即使不跟随在儿童身边，也能够在远处观察到儿童的所在位置以及儿童的动态，同时，安全智能机器人能够通过飞行的方式不断调整摄像头的角度，适应不同拍摄角度的需求，并能够在陆地行走状态下进行仰拍，在水下移动状态下进行水下跟拍，在保证拍摄质量的同时，满足各个环境的跟拍。Compared with the prior art, the safety intelligent robot for water, land and air with the structure of the utility model can switch between three states of walking on land, flying in the air and moving underwater. It is safe and intelligent no matter whether children are active on land or in water. The robot can always follow the children, and use the camera to monitor at any time, so that parents can know the actual dynamics of the children through the pictures captured by the camera, and only need to follow the children by operating the safe intelligent robot, which can effectively prevent the children from disappearing. In the eyes of the parents, it is possible to prevent the parents from losing their children due to lack of physical strength, so that when the children are in trouble, the parents can know and arrive at the first time to ensure the safety of the children, and fly with the safe intelligent robot In the air, it can effectively increase the field of vision. Even if you don’t follow the child, you can observe the location of the child and the dynamics of the child in the distance. At the same time, the safe intelligent robot can continuously adjust the angle of the camera by flying to adapt to different shooting. It can meet the requirements of different angles, and can perform upward shooting in the state of walking on land, and carry out underwater follow-up shooting in the state of underwater movement. While ensuring the shooting quality, it can meet the follow-up shooting in various environments.
图1是本实用新型水陆空三用安全智能机器人的剖面图；Fig. 1 is the cross-sectional view of the safety intelligent robot of the utility model for water, land and air;
图2是图1的A部的放大图；Fig. 2 is an enlarged view of part A of Fig. 1;
图3是本实用新型水陆空三用安全智能机器人的飞行翼展开时的剖面图；Fig. 3 is the cross-sectional view when the flying wing of the safety intelligent robot for water, land and air of the utility model is deployed;
图4是本实用新型水陆空三用安全智能机器人的飞行翼展开时的立体图；Fig. 4 is a perspective view when the flying wings of the safety intelligent robot for water, land and air of the utility model are deployed;
图5是本实用新型水陆空三用安全智能机器人的飞行翼展开时的结构示意图；Fig. 5 is a schematic diagram of the structure of the utility model when the flying wings of the three-purpose safety intelligent robot for water, land and air are deployed;
图6是图5的B部的放大图。FIG. 6 is an enlarged view of part B in FIG. 5 .
下面结合附图和具体实施方式对本发明作进一步详细的说明：Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:
请参阅图1至图6，本实用新型提供一种水陆空三用安全智能机器人，包括机体1，所述机体1外周面设有若干均匀分布的嵌孔2，嵌孔2内设有摄像头3；所述机体1中部设有一电机固定孔4；所述电机固定孔4左部内设有一左电机5，电机固定孔4右部内设有一右电机6，左电机5的电机轴朝向与右电机6的电机轴朝向相反；所述机体1左右两侧设有互为对称的轮座7；所述轮座7内设有一驱动腔室8；所述左电机5的电机轴左端穿入至左侧的轮座7的驱动腔室8内，右电机6的电机轴右端穿入至右侧的轮座7的驱动腔室8内；所述左电机5的电机轴左端与右电机6的电机轴右端皆设有一主动齿轮9；所述驱动腔室8内周面设有若干呈圆周均匀分布的啮合齿；所述 驱动腔室8内周面与主动齿轮之间设有若干呈圆周均匀分布的从动齿轮10，从动齿轮10、啮合齿皆与主动齿轮9相啮合；所述驱动腔室8上部设有展开装置；一飞行翼11通过展开装置铰接于轮座7上端；所述飞行翼11呈环形，飞行翼11内壁设有一罩于轮座外的固定架12；所述固定架12中心设有一飞行电机13；所述飞行电机13的电机轴端部朝外并设有一风叶14。Please refer to Fig. 1 to Fig. 6, the utility model provides an amphibious three-purpose safety intelligent robot, including a body 1, the outer peripheral surface of the body 1 is provided with a number of evenly distributed embedded holes 2, and a camera 3 is arranged in the embedded holes 2 The middle part of the body 1 is provided with a motor fixing hole 4; the left part of the motor fixing hole 4 is provided with a left motor 5, and the right part of the motor fixing hole 4 is provided with a right motor 6, and the motor shaft of the left motor 5 is directed towards the right The motor shaft of the motor 6 faces oppositely; the left and right sides of the body 1 are provided with mutually symmetrical wheel bases 7; the wheel base 7 is provided with a drive chamber 8; the left end of the motor shaft of the left motor 5 penetrates In the drive chamber 8 of the wheel base 7 on the left side, the motor shaft right end of the right motor 6 penetrates into the drive chamber 8 of the wheel base 7 on the right side; The right end of the motor shaft is provided with a driving gear 9; the inner peripheral surface of the driving chamber 8 is provided with a number of evenly distributed meshing teeth; the inner peripheral surface of the driving chamber 8 and the driving gear are provided with several uniform teeth The distributed driven gear 10, the driven gear 10 and the meshing teeth are all meshed with the driving gear 9; the top of the driving chamber 8 is provided with a deployment device; a flying wing 11 is hinged on the upper end of the wheel base 7 through the deployment device; The flying wing 11 is annular, and the inner wall of the flying wing 11 is provided with a fixed mount 12 covering the outside of the wheel seat; the center of the fixed mount 12 is provided with a flying motor 13; Leaves 14.
所述展开装置包括设于驱动腔室8邻近机体1一侧的腔壁上的斜槽15；所述轮座7上端设有一与斜槽15相贯通的铰接缺口16；所述铰接缺口16前后两侧设有互为对称的铰接孔17；所述斜槽15内设有一与其相匹配的展臂电机18，展臂电机18的电机轴上端向着机体1方向倾斜；所述展臂电机18的电机轴上端设有一穿入至铰接缺口16内的螺杆19；所述飞行翼11上端设有一与铰接缺口16相匹配的铰接端20；所述铰接端20前后两侧设有与铰接孔17相匹配的铰接轴21；所述铰接端20靠近机体1的一端设有一呈弧状的旋转面22；所述旋转面22上设有若干呈圆周均匀分布的啮合槽23，啮合槽23与螺杆19相啮合。The deployment device includes a chute 15 arranged on the wall of the drive chamber 8 adjacent to the body 1; the upper end of the wheel seat 7 is provided with a hinged gap 16 that communicates with the chute 15; the hinged gap 16 is front and rear The both sides are provided with mutually symmetrical hinged holes 17; Described chute 15 is provided with a spread arm motor 18 matched with it, and the motor shaft upper end of spread arm motor 18 is inclined toward body 1 direction; Described spread arm motor 18 The upper end of the motor shaft is provided with a screw rod 19 that penetrates into the hinged notch 16; the upper end of the flying wing 11 is provided with a hinged end 20 that matches the hinged notch 16; A matching hinge shaft 21; the hinged end 20 is provided with an arc-shaped rotating surface 22 near the end of the body 1; the rotating surface 22 is provided with a number of engaging grooves 23 evenly distributed around the circumference, and the engaging grooves 23 are in phase with the screw rod 19 engage.
所述轮座7由与其相贴合的内座板24、位于内座板24外侧的外座板25组成；所述内座板24与外座板25围合形成驱动腔室8。The wheel seat 7 is composed of an inner seat plate 24 attached thereto and an outer seat plate 25 located outside the inner seat plate 24 ; the inner seat plate 24 and the outer seat plate 25 enclose to form a drive chamber 8 .
所述机体1内设有一语音装置；所述机体1外周面上设有与语音装置位置相对应的发音孔26。The body 1 is provided with a speech device; the outer peripheral surface of the body 1 is provided with a sound hole 26 corresponding to the position of the speech device.
所述机体1内设有一声波测距装置；所述机体1外周面设有与声波测距装置相对应的声波孔27。The body 1 is provided with a sound wave distance measuring device; the outer peripheral surface of the body 1 is provided with a sound wave hole 27 corresponding to the sound wave distance measuring device.
所述飞行翼11内径向着远离机体1的方向逐渐递减。The inner diameter of the flying wing 11 gradually decreases toward the direction away from the body 1 .
本实用新型的使用方法如下：The using method of the present utility model is as follows:
安全智能机器人在正常使用时，飞行翼11位于机体1的左右两侧，同时安全智能机器人处于地面上，需要安全智能机器人在地上进行跟拍时，则可同步启动左电机5与右电机6，当左电机5与右电机6运行时，左电机5的电机轴则会带动位于左侧的驱动腔室8内的主动齿轮9进行旋转，右电机6的电机轴则会带动位于右侧的驱动腔室8内的主动齿轮9进行旋转，而从动齿轮10与主动齿轮9相啮合，因此当主动齿轮9旋转时，主动齿轮9则会带动从动齿轮10旋转，而呈圆周均匀分布于驱动腔室8内周面的啮合齿与从动齿轮10相啮合，当从动齿轮10旋转时，在啮合齿与从动齿轮10啮合的作用下，轮座7随之发生旋转，而在展开装置的展开电机不开启的情况下，螺杆19与铰接端20上的啮合槽23卡死，此时轮座7与飞行翼11相固定，所以当轮座7发生旋转时，飞行翼11随之发生旋转，此时的飞行翼11作为移动的轮子与地面接触，实现安全智能机器人的陆地行走，在安全智能机器人在陆地上行走时，机体1不发生旋转，始终保持平衡，始终只有位于机体1左右两侧的飞行翼11发生旋转，而此时设于机体1上的摄像头3便能够稳定的进行拍摄。When the safety intelligent robot is in normal use, the flying wings 11 are located on the left and right sides of the body 1, and the safety intelligent robot is on the ground. When the left motor 5 and the right motor 6 are running, the motor shaft of the left motor 5 will drive the driving gear 9 in the drive chamber 8 on the left to rotate, and the motor shaft of the right motor 6 will drive the drive gear located on the right. The driving gear 9 in the chamber 8 rotates, and the driven gear 10 meshes with the driving gear 9, so when the driving gear 9 rotates, the driving gear 9 will drive the driven gear 10 to rotate, and the circumference is uniformly distributed on the driving gear. The meshing teeth on the inner peripheral surface of the chamber 8 mesh with the driven gear 10. When the driven gear 10 rotates, the wheel seat 7 rotates accordingly under the action of the meshing teeth and the driven gear 10. When the unfolding motor is not turned on, the screw rod 19 and the engagement groove 23 on the hinged end 20 are stuck, and the wheel base 7 and the flying wing 11 are fixed at this time, so when the wheel base 7 rotates, the flying wing 11 will rotate accordingly. Rotate, the flying wing 11 at this time is in contact with the ground as a moving wheel, and realizes the land walking of the safety intelligent robot. The flying wings 11 on both sides rotate, and at this time, the camera 3 installed on the body 1 can stably take pictures.
需要安全智能机器人在空中进行跟拍时，则可关闭左电机5与右电机6，然后启动展臂电机18，当展臂电机18运行时，展臂电机18则会带动螺杆19进行旋转，而螺杆19与铰接端20上的啮合槽23相啮合，此时铰接端20在螺杆19的螺纹带动下发生旋转，而铰接端 20设于飞行翼11的上端，当铰接端20发生旋转时，飞行翼11则会以铰接端20为中心发生旋转，此时飞行翼11下端逐渐翘起，最终飞行翼11下端与飞行翼11上端处于共面状态，完成展臂动作，接着便可关闭展臂电机18，利用螺杆19与铰接端20的啮合槽23的自动卡死使飞行翼11展臂后自动完成固定，当飞行翼11完成展臂时，飞行翼11内的风叶朝上，然后便可启动飞行电机13，当飞行电机13运行时，飞行电机13的电机轴便会带动风叶14旋转，当风叶14旋转后，安全智能机器人便能获得一个上升的力，从陆地行走的状态转变至空中飞行的状态，而随着飞行高度的变化，摄像头3的拍摄角度也随之变化，能够有效适应不同拍摄角度的需求。When the safe intelligent robot is required to follow up in the air, the left motor 5 and the right motor 6 can be closed, and then the arm motor 18 is started. When the arm motor 18 was running, the arm motor 18 would drive the screw rod 19 to rotate, and The screw rod 19 is engaged with the engagement groove 23 on the hinged end 20. At this moment, the hinged end 20 rotates under the screw thread of the screw rod 19, and the hinged end 20 is arranged on the upper end of the flight wing 11. When the hinged end 20 rotates, the flight The wing 11 will rotate around the hinged end 20. At this time, the lower end of the flying wing 11 is gradually tilted up. Finally, the lower end of the flying wing 11 and the upper end of the flying wing 11 are in a coplanar state, and the arm spreading action is completed, and then the arm spreading motor can be turned off. 18. Use the automatic locking of the screw rod 19 and the engagement groove 23 of the hinged end 20 to automatically complete the fixation after the flying wing 11 spreads its arms. Start the flight motor 13. When the flight motor 13 is running, the motor shaft of the flight motor 13 will drive the fan blade 14 to rotate. After the fan blade 14 rotates, the safety intelligent robot can obtain a rising force and change from the state of walking on land to the state of flying in the air, and as the flight altitude changes, the shooting angle of the camera 3 also changes, which can effectively adapt to the needs of different shooting angles.
若是需要进入水中进行跟拍，可在安全智能机器人的飞行状态的基础上，开启左电机5与右电机6，此时左电机5的电机轴与右电机6的电机轴再次带动左右两侧的主动齿轮9进行旋转，随着主动齿轮9旋转，最终轮座7发生旋转，而飞行翼11则随着轮座7发生旋转，当飞行翼11从机体1上方旋转至机体1前下方时，安全智能机器人则会在飞行翼11内的风叶14的推进力作用下冲入水下，当安全智能机器人进入至水下后，此时的风叶14如同螺旋桨一般，通过推进的方式，使安全智能机器人能够始终在水下跟随着儿童，与此同时，可开启声波测距装置，通过声波孔27将声波传入至水中，对水深进行有效测量，从而预估在水中活动时的安全程度。If you need to enter the water for follow-up shooting, you can turn on the left motor 5 and the right motor 6 on the basis of the flight state of the safe intelligent robot. At this time, the motor shaft of the left motor 5 and the motor shaft of the right motor 6 drive the left and right sides again. The driving gear 9 rotates, and with the rotation of the driving gear 9, the wheel seat 7 finally rotates, and the flying wing 11 rotates with the wheel seat 7. When the flying wing 11 rotates from the top of the body 1 to the front and bottom of the body 1, it is safe The intelligent robot then rushes into the water under the propelling force of the blades 14 in the flying wing 11. When the safety intelligent robot enters the water, the blades 14 are like propellers, and by means of propulsion, the safety The intelligent robot can always follow the child underwater. At the same time, the sound wave distance measuring device can be turned on, and sound waves can be transmitted into the water through the sound wave hole 27 to effectively measure the water depth, thereby predicting the safety level of activities in the water.
综上所述，本实用新型可在陆地行走、空中飞行以及水下移动三种状态进行转换，无论儿童在陆地上还是在水中进行活动，安全智能 机器人能够始终跟随在儿童身边，并利用摄像头3进行随时监测，使家长能够通过摄像头3拍摄到的画面了解到儿童的实际动态，只需通过操作安全智能机器人对儿童进行跟随，便能够有效避免儿童消失在家长的视线中，避免家长体力不支跟丢儿童的情况，从而在儿童出现状况时，家长能够第一时间得知并在第一时间赶到，保证儿童的安全性，且随着安全智能机器人飞到空中，能够有效增加视野，即使不跟随在儿童身边，也能够在远处观察到儿童的所在位置以及儿童的动态，同时，安全智能机器人能够通过飞行的方式不断调整摄像头的角度，适应不同拍摄角度的需求，并能够在陆地行走状态下进行仰拍，在水下移动状态下进行水下跟拍，在保证拍摄质量的同时，满足各个环境的跟拍。To sum up, the utility model can switch between three states of walking on land, flying in the air and moving underwater. No matter whether the child is active on land or in the water, the safe intelligent robot can always follow the child, and use the camera 3 Monitor at any time, so that parents can know the actual dynamics of the children through the pictures captured by the camera 3, and only need to follow the children by operating the safe intelligent robot, which can effectively prevent the children from disappearing in the sight of the parents and prevent the parents from being exhausted. The situation of missing children, so that when children have problems, parents can know and arrive at the first time to ensure the safety of children, and as the safe intelligent robot flies into the air, it can effectively increase the field of vision, even if it is not Following the children, you can also observe the location of the children and the dynamics of the children in the distance. At the same time, the safe intelligent robot can continuously adjust the angle of the camera by flying to adapt to the needs of different shooting angles, and can walk on land Underwater for upward shooting, and underwater follow-up shooting in the underwater moving state, while ensuring the shooting quality, it can meet the follow-up shooting in various environments.
轮座7由与其相贴合的内座板24、位于内座板24外侧的外座板25组成，内座板24与外座板25围合形成驱动腔室8，内座板24与外座板25之间可通过螺丝固定，这种拼合形成驱动腔室的方式便于对驱动腔室8内的部件进行维修与更换。The wheel seat 7 is made up of an inner seat plate 24 that fits with it, and an outer seat plate 25 positioned at the outer side of the inner seat plate 24. The inner seat plate 24 and the outer seat plate 25 enclose the drive chamber 8, and the inner seat plate 24 and the outer seat plate The seat plates 25 can be fixed by screws, and the way of forming the drive chambers is convenient for maintenance and replacement of the components in the drive chambers 8 .
机体1内设有语音装置，机体1外周面上设有与语音装置位置相对应的发音孔26，语音装置可使家长能够远程将想讲的话通过安全智能机器人播放出来，不仅能够及时发声制止儿童的一些危险行为，且能够在一些危险发生之前提前发出预警。The body 1 is provided with a voice device, and the outer peripheral surface of the body 1 is provided with a pronunciation hole 26 corresponding to the position of the voice device. The voice device enables parents to remotely play what they want to say through a safe intelligent robot. Some dangerous behaviors, and can issue early warnings before some dangers occur.
在相同气流流量的情况下，供气体流动的通道直径越小，气压便越大，随着飞行翼11内径向着远离机体1的方向逐渐递减，能够有效提高飞行翼11的推进力，保证安全智能机器人的使用性能。In the case of the same air flow rate, the smaller the diameter of the channel for gas flow, the greater the air pressure. As the inner diameter of the flying wing 11 gradually decreases in the direction away from the body 1, the propulsion of the flying wing 11 can be effectively improved to ensure safety and intelligence. Robot performance.
Claims (6)
- 一种水陆空三用安全智能机器人，包括机体，其特征在于：所述机体外周面设有若干均匀分布的嵌孔，嵌孔内设有摄像头；所述机体中部设有一电机固定孔；所述电机固定孔左部内设有一左电机，电机固定孔右部内设有一右电机，左电机的电机轴朝向与右电机的电机轴朝向相反；所述机体左右两侧设有互为对称的轮座；所述轮座内设有一驱动腔室；所述左电机的电机轴左端穿入至左侧的轮座的驱动腔室内，右电机的电机轴右端穿入至右侧的轮座的驱动腔室内；所述左电机的电机轴左端与右电机的电机轴右端皆设有一主动齿轮；所述驱动腔室内周面设有若干呈圆周均匀分布的啮合齿；所述驱动腔室内周面与主动齿轮之间设有若干呈圆周均匀分布的从动齿轮，从动齿轮、啮合齿皆与主动齿轮相啮合；所述驱动腔室上部设有展开装置；一飞行翼通过展开装置铰接于轮座上端；所述飞行翼呈环形，飞行翼内壁设有一罩于轮座外的固定架；所述固定架中心设有一飞行电机；所述飞行电机的电机轴端部朝外并设有一风叶。A three-purpose safety intelligent robot for water, land and air, including a body, characterized in that: the outer peripheral surface of the body is provided with a number of evenly distributed embedded holes, and a camera is arranged in the embedded holes; a motor fixing hole is provided in the middle of the body; A left motor is arranged in the left part of the motor fixing hole, and a right motor is arranged in the right part of the motor fixing hole, and the direction of the motor shaft of the left motor is opposite to that of the right motor; seat; a drive chamber is provided in the wheel seat; the left end of the motor shaft of the left motor penetrates into the drive chamber of the wheel seat on the left side, and the right end of the motor shaft of the right motor penetrates into the drive chamber of the wheel seat on the right side In the chamber; the left end of the motor shaft of the left motor and the right end of the motor shaft of the right motor are provided with a driving gear; the inner peripheral surface of the drive chamber is provided with a number of meshing teeth that are evenly distributed around the circumference; the inner peripheral surface of the drive chamber and the There are several driven gears evenly distributed around the circumference between the driving gears, and the driven gears and meshing teeth are all meshed with the driving gears; the upper part of the driving chamber is provided with a deployment device; a flying wing is hinged to the wheel seat through the deployment device The upper end; the flying wing is ring-shaped, and the inner wall of the flying wing is provided with a fixed frame covering the outside of the wheel seat; the center of the fixed frame is provided with a flying motor; the motor shaft end of the flying motor faces outwards and is provided with a fan blade.
- 根据权利要求1所述的一种水陆空三用安全智能机器人，其特征在于：所述展开装置包括设于驱动腔室邻近机体一侧的腔壁上的斜槽；所述轮座上端设有一与斜槽相贯通的铰接缺口；所述铰接缺口前后两侧设有互为对称的铰接孔；所述斜槽内设有一与其相匹配的展臂电机，展臂电机的电机轴上端向着机体方向倾斜；所述展臂电机的电机轴上端设有一穿入至铰接缺口内的螺杆；所述飞行翼上端设有一与铰接缺口相匹配的铰接端；所述铰接端前后 两侧设有与铰接孔相匹配的铰接轴；所述铰接端靠近机体的一端设有一呈弧状的旋转面；所述旋转面上设有若干呈圆周均匀分布的啮合槽，啮合槽与螺杆相啮合。According to claim 1, an amphibious three-purpose safety intelligent robot is characterized in that: the deployment device includes a chute provided on the wall of the driving chamber adjacent to the side of the body; the upper end of the wheel seat is provided with a A hinged notch connected with the chute; the front and rear sides of the articulated notch are provided with mutually symmetrical hinged holes; the chute is provided with a matching arm motor, and the upper end of the motor shaft of the arm motor faces the direction of the body Tilting; the upper end of the motor shaft of the boom motor is provided with a screw rod that penetrates into the hinged gap; the upper end of the flying wing is provided with a hinged end that matches the hinged gap; the front and rear sides of the hinged end are provided with hinged holes A matching hinge shaft; an arc-shaped rotating surface is provided at the end of the hinged end close to the body; a number of evenly distributed engaging grooves are arranged on the rotating surface, and the engaging grooves are engaged with the screw rod.
- 根据权利要求1所述的一种水陆空三用安全智能机器人，其特征在于：所述轮座由与其相贴合的内座板、位于内座板外侧的外座板组成；所述内座板与外座板围合形成驱动腔室。According to claim 1, an amphibious three-purpose safety intelligent robot is characterized in that: the wheel seat is composed of an inner seat plate that fits with it, and an outer seat plate located outside the inner seat plate; the inner seat The plate and the outer seat plate are enclosed to form a drive chamber.
- 根据权利要求1所述的一种水陆空三用安全智能机器人，其特征在于：所述机体内设有一语音装置；所述机体外周面上设有与语音装置位置相对应的发音孔。According to claim 1, a safety intelligent robot for water, land and air is characterized in that: a voice device is provided in the body; and a pronunciation hole corresponding to the position of the voice device is provided on the outer peripheral surface of the body.
- 根据权利要求1所述的一种水陆空三用安全智能机器人，其特征在于：所述机体内设有一声波测距装置；所述机体外周面设有与声波测距装置相对应的声波孔。According to claim 1, a safety intelligent robot for water, land and air is characterized in that: the body is provided with a sound wave distance measuring device; the outer peripheral surface of the body is provided with a sound wave hole corresponding to the sound wave distance measuring device.
- 根据权利要求1所述的一种水陆空三用安全智能机器人，其特征在于：所述飞行翼内径向着远离机体的方向逐渐递减。According to claim 1, an amphibious three-purpose safe intelligent robot is characterized in that: the inner diameter of the flying wing gradually decreases toward the direction away from the body.
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| CN202111241169.2A CN114043830B (en) | 2021-10-25 | 2021-10-25 | Land, water and air three-purpose safe intelligent robot |
| CN202111241169.2 | 2021-10-25 |
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| WO2023070913A1 true WO2023070913A1 (en) | 2023-05-04 |
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