Robot capable of conveniently adjusting visual field

Abstract

The utility model provides a robot capable of conveniently adjusting a visual field, and belongs to the field of robots. The robot comprises a head, a trunk and a horizontal visual field adjusting mechanism, the horizontal visual field adjusting mechanism is arranged on the trunk, the head is arranged on the horizontal visual field adjusting mechanism, a camera is arranged on the head, the horizontal visual field adjusting mechanism comprises a rotating table, a flexible gear, a fixed gear, an anti-jamming assembly and a first motor, and the head is arranged at the top of the rotating table; the bottom of the rotating table is fixedly connected with one end face of a flexible gear, the anti-jamming assembly is of an oval structure and matched with the inner side of the flexible gear, the outer side of the flexible gear is meshed with a fixed gear, the fixed gear is fixedly connected with the trunk, and the center of one side of the anti-jamming assembly is connected with a motor shaft of a first motor. By the adoption of the robot facilitating view field adjustment, the problem that in the prior art, the view field in the horizontal direction is difficult to adjust and fix can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially a robot convenient for adjusting field of vision. BACKGROUND

[0002] With the rapid development of the robot industry, the research on the vision system of the robot is also more and more, the robot can usually capture the image and data of the surrounding environment through the built-in camera, sensor and other equipment. At the same time, its function of adjusting the field of vision may involve complex mechanical structure, electronic control and algorithm processing and other aspects, in order to realize the accurate control of the field of vision range, angle and definition. The comprehensive application of these technologies makes the robot convenient for adjusting the field of vision have wide application prospect in the field of industrial production, medical operation, safety monitoring and so on.

[0003] The robot in the prior art usually controls the rotation of the rotating disc by simply cooperating with the motor or gear when adjusting the field of vision, and often because the rotating disc is easy to jam or unstable, the adjusting mechanism is complex and the height is not high, which leads to the difficulty in adjusting and fixing the horizontal direction field of vision of the robot. UTILITY MODEL CONTENT

[0004] The utility model embodiment provides a robot convenient for adjusting field of vision can solve the prior art in horizontal direction field of vision adjustment and fixed more difficult problem. The technical scheme is as follows:

[0005] A robot convenient for adjusting field of vision, comprising: head, torso, horizontal field of vision adjusting mechanism,

[0006] The horizontal field of vision adjusting mechanism is arranged on the torso, the head is arranged on the horizontal field of vision adjusting mechanism, a camera is arranged on the head, the horizontal field of vision adjusting mechanism includes rotating table, flexible gear, fixed gear, anti-jamming assembly and first motor, the head is arranged at the top of the rotating table, the bottom of the rotating table is fixedly connected with one end face of the flexible gear, the anti-jamming assembly is elliptical structure, and is matched with the inner side of the flexible gear, the outer side of the flexible gear is engaged with the fixed gear, the fixed gear is fixedly connected with the torso, and the center of one side of the anti-jamming assembly is connected with the motor shaft of the first motor.

[0007] Optionally, the anti-jamming assembly includes an inner ring body and an outer ring body, the inner ring body and the outer ring body are both elliptical structure, the first motor is connected with the center of the inner ring body, and a steel ball is arranged between the inner ring body and the outer ring body.

[0008] Optionally, the inner ring body and the outer ring body are detachably connected, the outer ring body is provided with a plurality of outer ring bodies, and the major axis lengths of the plurality of outer ring bodies are different.

[0009] Optionally, a connecting sleeve is further included, the flexible gear is provided with a first boss on one side close to the rotating table, the rotating table is provided with a second boss on one side close to the flexible gear, and the connecting sleeve is sleeved on the first boss at one end and on the second boss at the other end.

[0010] Optionally, a protective shell is arranged outside the horizontal field of view adjusting mechanism, the fixed gear is fixedly connected with the protective shell, and the protective shell is arranged between the head and the trunk.

[0011] Optionally, a lifting platform and a sliding block are arranged at the bottom of the horizontal field of view adjusting mechanism, the lifting platform is fixed on the sliding block, a sliding groove in the vertical direction is formed in the trunk, and the sliding block is slidably arranged in the sliding groove.

[0012] Optionally, a head support is further included, the head is fixed on the rotating table through the head support, a second motor is arranged on one side of the head, a motor shaft of the second motor is horizontally arranged and rotationally connected with the head support, and the second motor is used for adjusting the elevation angle of the head.

[0013] Optionally, a telescopic motor is arranged on the head support and faces the head, a first toothed disc is arranged on a motor shaft of the telescopic motor, and a second toothed disc matched with the first toothed disc is arranged on the motor shaft of the second motor.

[0014] The technical scheme provided by the embodiment of the utility model has at least the following beneficial effects:

[0015] The robot provided by the embodiment of the utility model is convenient for adjusting the field of view, the head can be rotated on the trunk through the horizontal field of view adjusting mechanism, and the orientation of the camera arranged on the head can be adjusted. The anti-jamming assembly is arranged on the inner side of the flexible gear, so that the flexible gear is also elliptical according to the shape of the anti-jamming assembly. The flexible gear and the fixed gear are matched through the elliptical flexible gear, so that part of the gear on the flexible gear is engaged with the fixed gear, the flexible gear can be rotated under the support of the fixed gear and can be engaged and fixed with the fixed gear when the flexible gear stops rotating, the rotation of the rotating table and the head can be accurately controlled, and the problem that the horizontal field of view is difficult to adjust and fix in the prior art can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0017] Figure 1 is a whole structure schematic view provided by the embodiment of the utility model, and

[0018] Figure 2 is a whole structure front view schematic view provided by the embodiment of the utility model, and

[0019] Figure 3 is a torso cross section schematic view provided by the embodiment of the utility model, and

[0020] Figure 4 is the A place enlarged schematic view of Figure 3 is the horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model, and

[0021] Figure 5 is the horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model, and

[0022] Figure 6 is another view horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model.

[0023] In the figure: 1-head; 11-camera; 12-head support; 2-trunk; 21-slotted; 3-horizontal field of view adjusting mechanism; 31-rotating table; 311-second boss; 32-flexible gear; 321-first boss; 33-fixed gear; 34-anti jamming component; 341-inner ring body; 342-outer ring body; 343-steel ball; 35-first motor; 36-connecting sleeve; 4-protection shell; 51-arm; 52-wheel; 61-lifting platform; 62-sliding block; 71-second motor; 711-second toothed disc; 72-telescopic motor; 721-first toothed disc. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantage of the utility model more clear, the following will be combined with the drawings to make further detailed description to the utility model embodiment.

[0025] Figure 1 is a whole structure schematic view provided by the embodiment of the utility model, and Figure 2 is a whole structure front view schematic view provided by the embodiment of the utility model, and Figure 3 is a torso cross section schematic view provided by the embodiment of the utility model, and Figure 4 is the A place enlarged schematic view of Figure 3 is the horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model, and Figure 5 is the horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model, and Figure 6 is another view horizontal field of view adjusting mechanism explosion schematic view provided by the embodiment of the utility model. Figures 1 to 6The utility model discloses a kind of robots for adjusting field of view easily, including: head 1, torso 2, horizontal field of view adjusting mechanism 3, horizontal field of view adjusting mechanism 3 is arranged on torso 2, head 1 is arranged on horizontal field of view adjusting mechanism 3, camera 11 is arranged on head 1, horizontal field of view adjusting mechanism 3 includes rotating platform 31, flexible gear 32, fixed gear 33, anti-jamming assembly 34 and first motor 35, head 1 is arranged at the top of rotating platform 31, the bottom of rotating platform 31 is fixedly connected with the one end surface of flexible gear 32, anti-jamming assembly 34 is oval structure, with flexible gear 32 inside matching, flexible gear 32 outside is engaged with fixed gear 33, fixed gear 33 is fixedly connected with torso 2, the side center of anti-jamming assembly 34 is connected with motor shaft of first motor 35.

[0026] Exemplarily, in the embodiment of the utility model, it further includes arm 51 and wheel 52, arm 51 is arranged on the both sides of torso 2, wheel 52 is arranged on the bottom of torso 2, can drive wheel 52 to move to reach target place according to the field of view that camera 11 is shot, and then the target is operated by controlling arm 51, to realize the further operation of robot. Camera 11 is as the visual receiving system of robot, in the use process of robot, need to guarantee that camera 11 is accurately positioned to the angle that needs to rotate, to capture target picture in this direction. Camera 11 is fixed on head 1, and head 1 is fixed on rotating platform 31, by controlling rotating platform 31 to rotate, the rotation of camera 11 can be realized, Figure 5 And Figure 6 As shown, the teeth of fixed gear 33 are located inside, the teeth of flexible gear 32 are located outside, flexible gear 32 is circular in natural state, the major axis of anti-jamming assembly 34 is greater than the diameter of flexible gear 32, when anti-jamming assembly 34 is installed from one side of flexible gear 32 to inside of flexible gear 32, make flexible gear 32 change according to the shape of anti-jamming assembly 34, also change into oval and connect with anti-jamming assembly 34 to become an organic whole, the other side of flexible gear 32 is fixedly connected with rotating platform 31, when first motor 35 rotates, drive anti-jamming assembly 34 to rotate, to drive flexible gear 32 to rotate, further drive rotating platform 31 and head 1 to rotate, to realize the rotation of camera 11. When flexible gear 32 needs to rotate, because the teeth of flexible gear 32 are also flexible, can rotate with fixed gear 33, when first motor 35 stops driving force, by the cooperation of part of gear of flexible gear 32 and fixed gear 33, make flexible gear 32 and fixed gear 33 fixed, and because the number of teeth is fixed, the rotation angle of flexible gear 32 can be accurately calculated according to the number of teeth, so that the rotation angle of camera 11 can be accurately controlled by first motor 35. Compared with transmission technology, only by motor driving rotation in this embodiment, horizontal field of view adjusting mechanism 3 can accurately control the rotation angle of head 1 and fix it.

[0027] The robot with the field of vision convenient to adjust provided by the embodiment of the utility model, through setting horizontal field of vision adjusting mechanism 3, head 1 can rotate on trunk 2, so as to adjust the orientation of camera 11 on head 1. Install anti-jamming assembly 34 on the inner side of flexible gear 32, so that flexible gear 32 is also oval according to the shape of anti-jamming assembly 34, through oval flexible gear 32 and fixed gear 33 cooperation, so that part of gear on flexible gear 32 and fixed gear 33 mesh, so that flexible gear 32 can rotate under the support of fixed gear 33, and can be fixed with fixed gear 33 when flexible gear 32 stops rotating, so as to accurately control the rotation of rotating table 31 and head 1, which can effectively solve the problem of difficult adjustment and fixation of horizontal field of vision in the prior art.

[0028] Optionally, the anti-jamming assembly 34 includes an inner ring body 341 and an outer ring body 342, both of which are elliptical structures, and a first motor 35 is connected to the center of the inner ring body 341. A steel ball 343 is arranged between the inner ring body 341 and the outer ring body 342.

[0029] For example, in the embodiment of the utility model, as shown in the figure, Figure 6 During the rotation of the flexible gear 32, it will be subjected to extrusion force from the fixed gear 33, which may cause the anti-jamming assembly 34 to deform. By setting the anti-jamming assembly 34 as an inner ring body 341 and an outer ring body 342 structure, and adding a steel ball 343 between the inner ring body 341 and the outer ring body 342, the steel ball 343 can provide a counterforce to resist the extrusion force of the fixed gear 33, thereby ensuring the shape and stability of the anti-jamming assembly 34, and further improving the stability of the robot.

[0030] Optionally, the inner ring body 341 and the outer ring body 342 are detachably connected, and the outer ring body 342 is provided with a plurality of outer ring bodies 342 with different major axis lengths.

[0031] For example, in the embodiment of the utility model, the first motor 35 is fixed to the center of the inner ring body 341, and the inner ring body 341 and the outer ring body 342 are detachably connected. The outer ring body 342 and the steel ball 343 can be removed and replaced with other outer ring bodies 342 with different major axis lengths, thereby changing the size of the anti-jamming assembly 34, and further changing the size of the flexible gear 32, so as to change the number of teeth in contact between the flexible gear 32 and the fixed gear 33, thereby changing the transmission ratio. When different sensitivity is required to control the rotation of the head 1, different outer ring bodies 342 with different major axis lengths can be replaced to improve the practicability of the robot.

[0032] Optionally, the connecting sleeve 36 is further included, the flexible gear 32 is provided with a first boss 321 on the side close to the rotating table 31, the rotating table 31 is provided with a second boss 311 on the side close to the flexible gear 32, one end of the connecting sleeve 36 is sleeved on the first boss 321, and the other end of the connecting sleeve 36 is sleeved on the second boss 311.

[0033] Exemplarily, in the embodiment of the utility model, as shown in Figure 5 The head 1 is fixed on the rotating table 31, the rotating table 31 and the flexible gear 32 are connected through the connecting sleeve 36, when the head 1 needs to be replaced, the connecting sleeve 36 is directly taken down, the head 1 can be disassembled, the structure is convenient to disassemble, the rotating table 31 and the connecting sleeve 36 are fixedly connected, and the operation convenience of the robot is improved.

[0034] Optionally, the horizontal field of view adjusting mechanism 3 is externally provided with a protective shell 4, the fixed gear 33 is fixedly connected with the protective shell 4, and the protective shell 4 is arranged between the head 1 and the trunk 2.

[0035] Exemplarily, in the embodiment of the utility model, since the cooperation of the flexible gear 32 and the fixed gear 33 determines the rotation precision of the head 1, in order to prevent the influence of the external environment on the cooperation, the protective shell 4 is arranged, the horizontal field of view adjusting mechanism 3 is protected, dust and impurities are prevented from entering the inside and affecting the cooperation precision of the flexible gear 32 and the fixed gear 33, and therefore the stability of the robot is further improved.

[0036] Optionally, the horizontal field of view adjusting mechanism 4 is provided with a lifting table 61 and a sliding block 62 at the bottom, the lifting table 61 is fixed on the sliding block 62, a sliding groove 21 in the vertical direction is formed in the trunk 2, and the sliding block 62 is slidably arranged in the sliding groove 21.

[0037] Exemplarily, in the embodiment of the utility model, as shown in Figure 2 And Figure 2 The lifting table 61 and the sliding block 62 can carry the horizontal field of view adjusting mechanism 3 and the head 1 to move up and down in the vertical direction, when the camera 11 needs to adjust the field of view to find the target, the vertical direction movement can be realized through the structure to improve the field of view coverage, and therefore the field of view adjusting range of the robot is improved.

[0038] Optionally, the head support 12 is further included, the head 1 is fixed on the rotating table 31 through the head support 12, one side of the head 1 is provided with a second motor 71, a motor shaft of the second motor 71 is horizontally arranged and rotationally connected with the head support 12, and the second motor 71 is used for adjusting the elevation angle of the head 1.

[0039] Exemplarily, in the embodiment of the utility model, as shown in Figure 3 and Figure 4 The head 1 is arranged on the head support 12 and is suspended, facilitating the rotation of the head 1 in the vertical plane, that is, the adjustment of the elevation angle of the camera 11. The second motor 71 is fixed on one side of the head 1, and the motor shaft of the second motor 71 can be fixed on the head support 12 through a gear or a bearing. When the second motor 71 is started, the rotation of the head 1 in the vertical plane can be controlled, so that the elevation angle of the camera 11 is adjusted, and then the camera 11 can capture more visual range of the picture. By setting this structure, the visual adjustment range of the robot is further improved.

[0040] Optionally, the head support 12 is provided with a telescopic motor 72 facing the head 1, a first toothed disc 721 is arranged on the motor shaft of the telescopic motor 72, and a second toothed disc 711 matched with the first toothed disc 721 is arranged on the motor shaft of the second motor 71.

[0041] Exemplarily, in the embodiment of the utility model, as shown in Figure 4 The first toothed disc 721 and the second toothed disc 711 are vertically arranged. When the elevation angle of the camera 11 needs to be adjusted, the telescopic motor 72 can be controlled to make the first toothed disc 721 disengage from the second toothed disc 711, at which time the second motor 71 can be freely rotated. When the elevation angle of the camera 11 needs to be fixed, the telescopic motor 72 can be controlled to make the first toothed disc 721 move towards the second toothed disc 711, so that they are engaged. At this time, the first toothed disc 721 limits the second toothed disc 711, preventing the second toothed disc 711 and the second motor 71 from rotating, so as to fix the elevation angle of the camera 11. By setting this structure, the operation convenience of the robot is further improved.

[0042] Unless otherwise defined, technical terms or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms "first", "second", and similar terms do not denote any order, quantity, or importance, but are used to distinguish one element from another, and the terms "a" or "an" do not denote a limitation of quantity but denote the presence of at least one. The terms "comprising", "including", and similar terms do not denote the presence of the elements or objects followed by the terms, but encompass the elements or objects followed by the terms, as well as equivalents thereof, and do not exclude other elements or objects. The terms "connected" or "coupled" do not denote a direct or mechanical connection or coupling, but can include an electrical connection or coupling, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are used only to indicate relative positions, and can change when the absolute positions of the described objects change.

[0043] The above description is only some optional embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot with easily adjustable field of view, characterized in that, include: Head (1), torso (2), horizontal field of vision adjustment mechanism (3), The horizontal field of view adjustment mechanism (3) is set on the torso (2), the head (1) is set on the horizontal field of view adjustment mechanism (3), and a camera (11) is set on the head (1). The horizontal field of view adjustment mechanism (3) includes a rotating platform (31), a flexible gear (32), a fixed gear (33), an anti-jamming component (34), and a first motor (35). The head (1) is set on the top of the rotating platform (31), and the bottom of the rotating platform (31) is fixedly connected to one end face of the flexible gear (32). The anti-jamming component (34) has an elliptical structure and matches the inner side of the flexible gear (32). The outer side of the flexible gear (32) meshes with the fixed gear (33). The fixed gear (33) is fixedly connected to the torso (2). The center of one side of the anti-jamming component (34) is connected to the motor shaft of the first motor (35).

2. The robot with an easily adjustable field of view according to claim 1, characterized in that, The anti-jamming component (34) includes an inner ring (341) and an outer ring (342), both of which are elliptical structures. The first motor (35) is connected to the center of the inner ring (341), and a steel ball (343) is provided between the inner ring (341) and the outer ring (342).

3. A robot with an easily adjustable field of view according to claim 2, characterized in that, The inner ring (341) and the outer ring (342) are detachably connected. Multiple outer rings (342) are provided, and the major axis lengths of the multiple outer rings (342) are different.

4. A robot with an easily adjustable field of view according to claim 1, characterized in that, It also includes a connecting sleeve (36), the flexible gear (32) is provided with a first boss (321) on the side near the rotating platform (31), the rotating platform (31) is provided with a second boss (311) on the side near the flexible gear (32), one end of the connecting sleeve (36) is sleeved on the first boss (321), and the other end is sleeved on the second boss (311).

5. A robot with an easily adjustable field of view according to claim 1, characterized in that, The horizontal field of vision adjustment mechanism (3) is provided with a protective shell (4) on the outside. The fixed gear (33) is fixedly connected to the protective shell (4). The protective shell (4) is located between the head (1) and the torso (2).

6. A robot with an easily adjustable field of view according to claim 1, characterized in that, The horizontal field of view adjustment mechanism (3) is provided with a lifting platform (61) and a slider (62) at the bottom. The lifting platform (61) is fixed on the slider (62). The torso (2) is provided with a vertical groove (21). The slider (62) is slidably disposed in the groove (21).

7. A robot with an easily adjustable field of view according to claim 1, characterized in that, It also includes a head support (12), the head (1) is fixed on the rotating platform (31) by the head support (12), a second motor (71) is provided on one side of the head (1), the motor shaft of the second motor (71) is horizontally arranged and rotatably connected to the head support (12), and the second motor (71) is used to adjust the elevation angle of the head (1).

8. A robot with an easily adjustable field of view according to claim 7, characterized in that, The head support (12) is provided with a telescopic motor (72) facing the head (1). The motor shaft of the telescopic motor (72) is provided with a first toothed disc (721), and the motor shaft of the second motor (71) is provided with a second toothed disc (711) that matches the first toothed disc (721).

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