Projection robot

Abstract

The utility model relates to the technical field of household appliances, and discloses a projection robot which comprises a shell; the projection assembly is rotatably arranged on the shell in a pitching manner; the projection assembly comprises a first support which is arranged on the shell in a pitching rotation mode; the light machine is arranged on one side of the first support, and the light machine is used for projecting light out of the shell; the first fan is arranged on the side, away from the optical machine, of the first support and used for cooling the optical machine; the shell comprises an outer shell which is provided with heat dissipation holes, and the heat dissipation holes are communicated with an inner cavity of the outer shell; the first support is arranged on the shell in a pitching rotation mode and located in the inner cavity. The second fan is arranged on the shell and located in the inner cavity, and an air outlet of the second fan faces part of the heat dissipation holes; in the process that the first support rotates in a pitching mode relative to the shell, the air outlet of the first fan and the air inlet of the second fan are at least partially overlapped. The utility model provides a projection robot. The projection robot is high in heat dissipation efficiency.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to a projection robot. Background Technology

[0002] Existing spherical projection robots rotate the outer shell to drive the projection component, thereby changing the projection direction and adjusting it. If a projection robot is designed where the projection component's rotation is located within the outer shell, independent of the shell's rotation, then heat dissipation of the projection component becomes crucial. This is because when the projection component rotates relative to the outer shell, the relative position of the projection component's cooling fan and the outer shell's ventilation holes changes. The heat generated by the projection component is difficult to expel through the ventilation holes with the fan's airflow, resulting in low heat dissipation efficiency for the projection robot. Utility Model Content

[0003] This application discloses a projection robot with high heat dissipation efficiency.

[0004] To achieve the above objectives, this application discloses a projection robot, comprising:

[0005] The outer casing is spherical and has an inner cavity. The outer casing is provided with heat dissipation holes that are connected to the inner cavity. The bottom of the outer casing is provided with a drive wheel.

[0006] The projection component includes:

[0007] A first support is located in the inner cavity and is rotatably mounted on the outer shell.

[0008] An optical engine is fixed to one side of the first bracket to tilt and rotate with the first bracket, and the optical engine is used to project onto the outside of the housing;

[0009] The first fan is located on the side of the first bracket away from the optical engine. The first fan is a centrifugal fan and the air inlet of the first fan faces the first bracket.

[0010] The second fan is located on the inner wall of the housing. The second fan is an axial fan, and the air outlet of the second fan is oriented towards a portion of the heat dissipation holes.

[0011] During the pitching and rotation of the first bracket relative to the outer casing, the air inlet of the second fan is located on the air outlet path of the first fan.

[0012] The first bracket, rotatable relative to the outer shell and located within the inner cavity, allows the projection orientation of the optical engine to be changed, enabling the optical engine to project from different positions on the shell to the outside. Furthermore, a first fan is mounted on the first bracket, using its airflow to remove heat generated by the optical engine. Simultaneously, a second fan is mounted on the outer shell, with its inlet facing some of the shell's ventilation holes. During the first bracket's rotation relative to the shell, the second fan's inlet is positioned in the airflow path of the first fan's outlet. Therefore, the heat removed by the first fan's airflow is expelled from the shell through the ventilation holes by the second fan's airflow, resulting in high heat dissipation efficiency for the projection robot.

[0013] In some embodiments of this application, when the first bracket is tilted relative to the housing until the projection direction of the optical engine is parallel to the horizontal center plane of the sphere, the direction of the air outlet of the first fan and the direction of the air inlet of the second fan are approximately coincident.

[0014] By tilting the first bracket relative to the outer casing until the projection direction of the optical engine is parallel to the horizontal center plane of the sphere, the projection direction of the optical engine is in its initial direction. The direction of the first fan's exhaust port roughly coincides with the direction of the second fan's intake port. This ensures that as much air as possible from the first fan's exhaust port is directed towards the second fan's intake port, resulting in better heat dissipation. When the projection direction of the optical engine is adjusted upwards or downwards from its initial direction, the exhaust port of the first fan and the intake port of the second fan are offset, but they still maintain a significant overlap.

[0015] In some embodiments of this application, the outer casing has a first opening that communicates with the inner cavity of the outer casing;

[0016] The projection robot includes an inner shell located in the inner cavity. The inner shell is fixed to one end of the first support facing the first opening so that the inner shell can pitch and rotate with the first support. During the pitch and rotation of the inner shell with the first support, the projection of the inner shell on the outer shell covers the first opening.

[0017] The inner shell has a projection hole facing the first opening for projecting the optical engine onto the outside of the inner shell.

[0018] The outer shell has a first opening, and the inner shell located in the inner cavity is fixed to the first bracket. The inner shell can tilt and rotate relative to the outer shell with the first bracket so that the optical engine projects onto the outside of the inner shell in different directions through the projection hole of the inner shell. At the same time, during the tilting and rotation with the first bracket, the projection of the inner shell onto the outer shell can cover the first opening, which can prevent dust and other foreign objects from entering the inner cavity of the outer shell through the first opening, and can also block the projection component, preventing the user from seeing the projection component through the first opening from the outside of the outer shell.

[0019] In some embodiments of this application, the projection component includes heat-conducting fins, which are disposed on the first bracket and located on the periphery of the optical engine, and the air inlet of the first fan is disposed corresponding to the heat-conducting fins.

[0020] The heat-conducting fins on the first support, located around the optical engine, can conduct the heat generated by the optical engine during operation and carry it away through the airflow of the first fan, resulting in high heat dissipation efficiency.

[0021] In some embodiments of this application, the first bracket is provided with a first heat dissipation window corresponding to the heat-conducting fins, and the air inlet of the first fan is provided corresponding to the first heat dissipation window.

[0022] The first heat dissipation window is set by the first bracket, and the air inlet of the first fan can correspond to the heat conduction fins through the first heat dissipation window. Thus, the heat of the heat conduction fins can be drawn in through the air inlet of the first fan and discharged and dissipated through the air outlet of the first fan.

[0023] In some embodiments of this application, the projection component includes:

[0024] The second bracket is connected to the first bracket and is spaced apart from it. The first bracket and the second bracket are respectively located on opposite sides of the optical engine.

[0025] The main control board is located on the side of the second bracket away from the optical engine, and the main control board is electrically connected to the optical engine.

[0026] The main control board is mounted on the second bracket and connected to the optomechanic for control. Furthermore, the optomechanic and the main control board are located on opposite sides of the second bracket, which prevents heat generated during operation from affecting each other and facilitates heat dissipation.

[0027] In some embodiments of this application, the main control board includes:

[0028] The first sub-board is disposed on the side of the second bracket away from the optical engine;

[0029] The second sub-board is disposed on the side of the first sub-board away from the second bracket, and the second sub-board is electrically connected to the first sub-board;

[0030] The projection robot includes sensors, with at least one sensor located at the top of the inner cavity;

[0031] The first sub-board is electrically connected to the sensor located at the top of the inner cavity, and the second sub-board is electrically connected to the optomechanic.

[0032] The first and second sub-boards are electrically connected, and these sub-boards are respectively electrically connected to the optomechanic and the sensor located at the top of the inner cavity, thereby controlling the optomechanic and the sensor. Compared to using a single circuit board for control, which has a larger area, the stacked arrangement of the first and second sub-boards reduces the space occupied. Furthermore, the second sub-board and the optomechanic rotate with the first support, and their relative movement means that the electrical connection traces between the second sub-board and the optomechanic are not affected by the rotation of the first support. When the first sub-board rotates with the first support, the relative position of the first sub-board and the sensor located at the top of the inner cavity changes. By using the first sub-board, which is closer to the horizontal center plane of the sphere, to electrically connect with the sensor, the positional offset of the first sub-board is smaller, minimizing the possibility of the electrical connection traces between the first sub-board and the sensor being stretched and causing connection failure.

[0033] In some embodiments of this application, the housing includes:

[0034] A bottom shell, wherein the drive wheel is provided at the bottom of the bottom shell;

[0035] A top shell, which is connected above the bottom shell, such that the outer shell is spherical and the inner cavity is formed between the top shell and the bottom shell;

[0036] The projection robot includes a first support frame and a second support frame, which are disposed on the bottom shell, and the projections of the first support frame and the second support frame on the bottom shell are respectively located on both sides of the projection of the projection component on the bottom shell.

[0037] The two opposite sides of the first bracket are respectively rotatably connected to the first support frame and the second support frame, so that the rotation axis of the first bracket is approximately coincident with the horizontal center plane of the sphere.

[0038] By setting a first support frame and a second support frame on the bottom shell, and using the first support frame and the second support frame to set up the first bracket, the first bracket can be supported and assembled. Furthermore, since the projections of the first support frame and the second support frame on the bottom shell are located on both sides of the projection of the projection component on the bottom shell, when the first bracket is set up using the first support frame and the second support frame, the weight of the projection component can be distributed more evenly on the bottom shell, making the overall center of gravity of the projection robot more central.

[0039] Furthermore, by using the first and second support frames, the rotation axis of the first bracket is designed to approximately coincide with the horizontal center plane of the sphere. On one hand, this allows the projection component to be located at the center of the inner cavity, and the distance between the projection component and the inner wall of the outer shell is relatively large. This reduces the risk of interference between the projection component and the outer shell when the projection component rotates relative to the outer shell, thereby reducing the restriction on the rotation angle of the projection component relative to the outer shell and allowing for a larger adjustable range of the projection orientation. On the other hand, the first fan, located on the first bracket, is relatively close to the horizontal center plane of the sphere. When the first bracket rotates relative to the outer shell, the offset of the air outlet of the first fan is small, which can keep the air inlet of the second fan on the air outlet path of the first fan as much as possible.

[0040] In some embodiments of this application, the projection robot includes a drive component, the drive component comprising:

[0041] A driven shaft mechanism is provided on the side of the second support frame facing the top shell, and the driven shaft mechanism is connected to one side of the first bracket;

[0042] A motor bracket, wherein the motor bracket is disposed on the side of the first support frame facing the top shell;

[0043] An electric motor is mounted on the motor bracket, and the drive shaft of the motor is connected to the side of the first bracket away from the driven shaft mechanism.

[0044] The rotation axis of the drive shaft of the motor coincides with the rotation axis of the driven shaft mechanism to drive the first bracket to pitch relative to the outer casing.

[0045] A driven shaft mechanism is installed on the side of the second support frame facing the top shell, and is connected to one side of the projection assembly. Simultaneously, a motor bracket is installed on the side of the first support frame facing the top shell, and a motor is mounted on the bracket. The motor's drive shaft is connected to the side of the projection assembly opposite the driven shaft mechanism, and the rotation axis of the driven shaft mechanism coincides with the rotation axis of the projection assembly. In this way, the motor can drive the projection assembly to tilt and rotate relative to the outer shell. The connection points between the motor and the projection assembly, and between the driven shaft and the projection assembly, are located on opposite sides of the projection assembly. When the projection assembly tilts and rotates relative to the outer shell, the forces are balanced, resulting in relatively smooth tilting and rotation.

[0046] In some embodiments of this application, the pitch angle of the first bracket relative to the housing is α, α ≥ -40°, and / or α ≤ 60°.

[0047] With the pitch angle α of the first bracket relative to the outer shell being ≥ -40°, when the optical engine projects onto the driving plane, the projection position is far from the projection robot itself (outer shell), making it difficult for the user to see the projected content. However, with the pitch angle α of the first bracket relative to the outer shell being ≤ 60°, when the optical engine projects onto the ceiling or wall, the projection robot does not need to move to a relatively close location to project, allowing it to project from a greater distance and reducing the limitations on its application scenarios.

[0048] Compared with the prior art, this application has at least the following beneficial effects:

[0049] In this embodiment, a first bracket is rotatably mounted on the outer shell and located within the inner cavity. The first bracket can rotate relative to the outer shell to change the projection orientation of the optical engine, allowing the optical engine to project from different positions on the outer shell to the outside. Furthermore, a first fan is mounted on the first bracket, using its airflow to remove heat generated by the optical engine. Simultaneously, a second fan is mounted on the outer shell with its inlet facing a portion of the shell's heat dissipation holes. During the rotation of the first bracket relative to the outer shell, the inlet of the second fan is located in the airflow path of the outlet of the first fan. Therefore, the heat removed by the airflow from the first fan can be expelled from the outer shell through the heat dissipation holes under the action of the second fan's airflow, resulting in high heat dissipation efficiency for the projection robot. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the structure of a projection robot provided in an embodiment of this application;

[0052] Figure 2 This is a structural schematic diagram of a projection robot (partial shell omitted) provided in an embodiment of this application;

[0053] Figure 3 This is an exploded structural diagram of a projection component provided in an embodiment of this application;

[0054] Figure 4 This is an exploded structural diagram of a projection component provided in an embodiment of this application from another perspective;

[0055] Figure 5 This is a schematic diagram of the structure connecting the bottom shell and the projection component according to an embodiment of this application;

[0056] Figure 6 This is an exploded structural diagram of a bottom shell and a projection component provided in an embodiment of this application;

[0057] Figure 7 This is a structural schematic diagram of a projection robot provided in an embodiment of this application from another perspective;

[0058] Figure 8 This is an exploded structural diagram of the inner shell and outer shell provided in an embodiment of this application;

[0059] Figure 9 This is a schematic diagram of the structure of a projection robot (the projection hole corresponds to different positions of the first opening) provided in an embodiment of this application.

[0060] Explanation of main figure symbols

[0061] 1000. Projection robot;

[0062] 11. Outer casing; 11a. First opening; 11b. Heat dissipation holes;

[0063] 111. Bottom shell; 112. Top shell;

[0064] 12. Inner shell; 12a. Projection hole;

[0065] 20. Projection assembly; 21. First bracket; 21a. First heat dissipation window; 22. Optical engine; 232. First fan; 231. Heat-conducting fins; 24. Second bracket; 25. Main control board; 251. First daughter board; 252. Second daughter board;

[0066] 31. Drive wheel;

[0067] 44. First support frame; 45. Second support frame;

[0068] 46. ​​Second fan;

[0069] 60. Drive assembly; 61. Driven shaft mechanism; 62. Motor bracket; 63. Motor. Detailed Implementation

[0070] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0071] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0072] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0073] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0074] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0075] Before explaining the technical solution of this application, the inventive concept of this application will be explained first.

[0076] Figure 1This is a structural schematic diagram of a projection robot 1000 provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a projection robot 1000 (with the outer shell 11 omitted) provided in an embodiment of this application.

[0077] With its user-friendly design, the projection robot 1000 not only automatically adjusts the projection orientation of the projection component 20, but also features autonomous movement. Specifically, it is equipped with drive wheels 31, allowing the robot to autonomously move to different positions for projection. To coordinate with the drive wheels 31, the projection robot 1000 typically requires various sensors for obstacle avoidance, sound source localization, and other functions. These sensors can also be used for other functions such as appliance control and projection brightness adjustment.

[0078] However, in existing projection robots 1000, the projection component 20 typically relies on the rotation of the housing 11 to drive the rotation of the projection component 20 when it is tilted to adjust its projection orientation. This causes the sensors mounted on the housing 11 to rotate as well. Consequently, when the projection orientation of the projection component 20 changes, the position of the sensor's spatial coordinate system also changes. The sensor cannot maintain its spatial coordinate system position at the same location for detection, resulting in low detection accuracy and affecting the use of sensor-related functions in the projection robot 1000.

[0079] To prevent the outer casing 11 from rotating, the projection component 20 can be rotatably mounted on the outer casing 11. Instead of relying on the rotation of the outer casing 11, the projection robot 1000 can be designed by rotating the projection component 20 relative to the outer casing 11. However, when the projection component 20 rotates relative to the outer casing 11, the relative position of the cooling fan of the projection component 20 and the heat dissipation hole 11b of the outer casing 11 changes accordingly. The heat generated by the projection component 20 is difficult to expel from the outer casing 11 through the heat dissipation hole 11b along with the airflow of the cooling fan, resulting in low heat dissipation efficiency for the projection robot 1000.

[0080] In summary, the projection robot 1000 in the related technology has the problem of difficulty in achieving good heat dissipation efficiency while designing the projection component 20 to rotate relative to the outer shell 11. Based on this, this application provides a projection robot 1000 to solve the above problems.

[0081] In some embodiments, such as Figure 1 and Figure 2 As shown, the projection robot 1000 includes a shell 11, and the shell 11 forms an inner cavity.

[0082] The outer shell 11 can be spherical, square, or irregular in shape, etc., and this embodiment does not make specific limitations on it.

[0083] The outer shell 11 forms an inner cavity to provide installation space and protection for the internal structure and circuitry of the projection robot 1000.

[0084] In some embodiments, the projection robot 1000 includes a projection component 20, which is rotatably mounted on the housing 11.

[0085] By tilting and rotating the projection component 20 relative to the outer casing 11, the projection orientation of the projection component 20 can be adjusted, thereby enabling the projection component 20 to project onto different locations such as the driving plane (ground), wall, and ceiling.

[0086] In some embodiments, the projection robot 1000 includes a drive wheel 31 located at the bottom of the housing 11.

[0087] With the drive wheel 31 located at the bottom of the housing 11, the drive wheel 31 can move the projection robot 1000 to different positions, so that the projection component 20 can project in different places.

[0088] In some embodiments, such as Figure 3 and Figure 4 As shown, the projection assembly 20 includes a first bracket 21, which is located in the inner cavity and is mounted on the outer shell 11 for tilting and rotating.

[0089] The first bracket 21 is rotatably mounted on the outer shell 11 and can drive the projection component 20 to rotate relative to the outer shell 11.

[0090] In some embodiments, the projection assembly 20 includes an optical engine 22, which is fixed to one side of the first bracket 21 to tilt and rotate with the first bracket 21.

[0091] By setting an optical engine 22 on one side of the first bracket 21, the optical engine 22 can project, and the projection direction of the optical engine 22 can be adjusted by the pitch and rotation of the first bracket 21 relative to the outer shell 11.

[0092] In some embodiments, the projection assembly 20 includes a first fan 232, which is located on the side of the first bracket 21 away from the optical engine 22. The first fan 232 is a centrifugal fan, and the air inlet of the first fan 232 faces the first bracket.

[0093] The first fan 232 is located on the side of the first bracket 21 away from the optical engine 22. The air generated by the operation of the first fan 232 carries away the heat of the optical engine 22, thereby improving the heat dissipation effect.

[0094] In some embodiments, such as Figure 5 and Figure 6 As shown, the outer shell 11 is provided with heat dissipation holes 11b, which are connected to the inner cavity. The projection robot 1000 includes a second fan 46, which is located on the inner wall of the outer shell 11. The air outlet of the second fan 46 is directed toward a portion of the heat dissipation holes 11b.

[0095] With the air outlet of the second fan 46 facing the heat dissipation holes 11b, the heat generated by the internal components (such as the optical engine 22 and circuit boards) of the projection robot 1000 can be carried out of the inner cavity by the air generated by the operation of the second fan 46, thus avoiding the accumulation of heat in the inner cavity and the occurrence of high operating temperature of the projection robot 1000.

[0096] In some embodiments, during the pitching and rotation of the first bracket 21 relative to the housing 11, the air inlet of the second fan 46 is located on the air outlet path of the first fan 232.

[0097] When the first bracket 21 tilts and rotates relative to the outer casing 11, the air inlet of the second fan 46 is located on the air outlet path of the first fan 232. Therefore, the first fan 232 can always blow the heat generated by the optical engine 22 through the air outlet of the first fan 232 to the air inlet of the second fan 46, and carry it out of the inner cavity through the air outlet of the second fan 46 to the heat dissipation hole 11b, resulting in better heat dissipation.

[0098] In some embodiments, when the first bracket 21 is tilted relative to the housing 11 until the projection direction of the optical engine 22 is parallel to the horizontal center plane of the sphere, the direction of the air outlet of the first fan 232 is approximately the same as the direction of the air inlet of the second fan 46.

[0099] By tilting the first bracket 21 relative to the outer casing 11 until the projection direction of the optical engine 22 is parallel to the horizontal center plane of the sphere, the projection direction of the optical engine 22 is in its initial direction. The direction of the exhaust port of the first fan 232 roughly coincides with the direction of the intake port of the second fan 46. This allows the airflow from the exhaust port of the first fan 232 to reach the intake port of the second fan 46 as much as possible, resulting in better heat dissipation. When the projection direction of the optical engine 22 is adjusted upwards or downwards from its initial direction, the exhaust port of the first fan 232 and the intake port of the second fan 46 are offset, but they still maintain a significant overlap.

[0100] In some embodiments, the pitch angle of the first bracket 21 relative to the outer casing 11 is α, where α ≥ -40°.

[0101] If the pitch angle α of the first bracket 21 relative to the outer shell 11 is less than -40°, then when the optical engine 22 projects onto the driving plane, the projection position is relatively close to the projection robot 1000 itself (outer shell 11), making it difficult for the user to see the projected content. Therefore, the pitch angle α of the first bracket 21 relative to the outer shell 11 can be α ≥ -40°. When the optical engine 22 projects onto the driving plane, the projection position is relatively far from the projection robot 1000 itself (outer shell 11), making it difficult for the user to see the projected content. Furthermore, the pitch angle α of the first bracket 21 relative to the outer shell 11 can be -40°, -35°, -30°, -25°, -20°, -15°, -10°, -5°, etc., and this embodiment does not specifically limit this.

[0102] In some embodiments, α ≤ 60°.

[0103] If the pitch angle α of the first bracket 21 relative to the outer casing 11 is greater than 60°, then when the optical engine 22 projects onto the ceiling or wall, the projection robot 1000 needs to move to a location closer to the projection position, making it unable to project from a greater distance, thus significantly limiting the application scenarios of the projection robot 1000. Therefore, the pitch angle α of the first bracket 21 relative to the outer casing 11 can be α ≤ 60°. When the optical engine 22 projects onto the ceiling or wall, the projection robot 1000 does not need to move to a location closer to the projection position, allowing it to project from a greater distance, thus reducing the limitations on its application scenarios. Furthermore, the pitch angle α of the first bracket 21 relative to the outer casing 11 can be 5°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 60°, 55°, 60°, etc., and this embodiment does not specifically limit this value.

[0104] In some embodiments, when the pitch angle α of the first bracket 21 relative to the housing 11 is asymmetrical with 0° as the center, the state in which the direction of the air outlet of the first fan 232 is approximately coincident with the direction of the air inlet of the second fan 46 can be: the first bracket 21 is in a state where the projection direction of the optomechanical 22 is not parallel to the horizontal center plane of the sphere.

[0105] The asymmetry of the pitch angle α around 0° means that the absolute values ​​of the two endpoints of the pitch angle α's range are not equal, resulting in different pitch rotation amplitudes of the first support 21. For example, if the absolute value of -40° is less than the absolute value of 60°, the downward pitch rotation amplitude of the first support 21 is less than the upward pitch rotation amplitude. In this case, the first support 21 can be positioned with a pitch angle α of 10°, such that the direction of the air outlet of the first fan 232 roughly coincides with the direction of the air inlet of the second fan 46.

[0106] In some embodiments, such as Figure 7 and Figure 8 As shown, the outer shell 11 is provided with a first opening 11a, which communicates with the inner cavity.

[0107] The first opening 11a refers to a window opened on the outer shell 11. The window connects the space outside the outer shell 11 with the inner cavity, so that the projection component 20 located in the inner cavity can project onto the space outside the outer shell 11 through the window.

[0108] In some embodiments, the outer shell 11 includes an inner shell 12 located in the inner cavity. The inner shell 12 is connected to one end of the projection assembly 20 facing the first opening 11a so that the inner shell 12 can be tilted and rotated with the projection assembly 20. During the tilting and rotation of the inner shell 12 with the projection assembly 20, the projection of the inner shell 12 on the outer shell 11 covers the first opening 11a. The inner shell 12 has a projection hole 12a for the projection assembly 20 to project onto the outside of the inner shell 12.

[0109] The outer shell 11 has a first opening 11a. The inner shell 12 located in the inner cavity is fixed to the projection component 20. The inner shell 12 can tilt and rotate relative to the outer shell 11 with the projection component 20 so that the projection component 20 projects to the outside of the inner shell 12 in different directions through the projection hole 12a. At the same time, during the tilt and rotation with the projection component 20, the inner shell 12 can cover the first opening 11a with the projection on the outer shell 11, which can prevent dust and other foreign objects from entering the inner cavity of the outer shell 11 through the first opening 11a, and can also block the projection component 20, preventing the user from seeing the projection component 20 through the first opening 11a from the outside of the outer shell 11.

[0110] That is, when the projection orientation of the projection component 20 is changed, the inner shell 12 and the outer shell 11 form a double-shell structure, the inner shell 12 tilts and rotates relative to the outer shell 11, while the outer shell 11 remains stationary.

[0111] In some embodiments, the outer casing 11 is spherical.

[0112] Since the outer shell 11 is spherical, the extension direction of the first opening 11a is the same as the circumferential direction of the spherical shape. When the projection component 20 tilts and rotates relative to the outer shell 11, it can avoid motion interference and better ensure that the inner shell 12 always blocks the first opening 11a.

[0113] In some embodiments, see again Figure 3 and Figure 4 The projection component 20 includes a heat-conducting fin 231, which is disposed on the first bracket 21 and located on the periphery of the optical engine 22. The water inlet of the first fan 232 is disposed corresponding to the heat-conducting fin 231.

[0114] The heat-conducting fins 231 are provided on the first support 21 and are located on the periphery of the optical engine 22. The heat-conducting fins 231 can conduct heat generated by the optical engine 22 during operation and achieve heat dissipation.

[0115] In some embodiments, the first bracket 21 is provided with a first heat dissipation window 21a corresponding to the heat-conducting fins 231, and the air inlet of the first fan 232 is provided corresponding to the first heat dissipation window 21a.

[0116] The first heat dissipation window 21a is set by the first bracket 21, and the air inlet of the first fan 232 can correspond to the heat conduction fins 231 through the first heat dissipation window 21a. Thus, the heat of the heat conduction fins 231 can be drawn in through the air inlet of the first fan 232 and discharged and dissipated through the air outlet of the first fan 232.

[0117] In some embodiments, the projection assembly 20 includes a second bracket 24, which is connected to the first bracket 21 and spaced apart from it. The first bracket 21 and the second bracket 24 are respectively disposed on opposite sides of the optical engine 22.

[0118] By connecting the second bracket 24 to the first bracket 21, and by using the space between the second bracket 24 and the first bracket 21, the space between the first bracket 21 and the second bracket 24 can be used to accommodate the optical engine 22. Furthermore, the second bracket 24 can provide mounting positions for other components of the projection assembly 20.

[0119] In some embodiments, the projection assembly 20 includes a main control board 25, which is disposed on the side of the second bracket 24 away from the optical engine 22 and is electrically connected to the optical engine 22.

[0120] The main control board 25 is mounted on the second bracket 24, and is electrically connected to the optical engine 22 to control the optical engine 22. Furthermore, the optical engine 22 and the main control board 25 are located on different sides of the second bracket 24, which can prevent the heat generated by both during operation from affecting each other and is conducive to heat dissipation.

[0121] In some embodiments, the projection robot 1000 includes sensors (not shown).

[0122] As described above, when the projection orientation of the projection component 20 is changed, the inner shell 12 and the outer shell 11 form a double-layer shell structure. The inner shell 12 rotates relative to the outer shell 11 in pitch, while the outer shell 11 remains stationary. When extending the autonomous movement function of the projection robot 1000, sensors can be installed on the outer shell 11, ensuring that the position of the sensor's spatial coordinate system remains unchanged. This ensures high detection accuracy for the sensors and avoids affecting the use of sensor-related functions of the projection robot 1000.

[0123] In some embodiments, at least one sensor is located at the top of the inner cavity (e.g., top shell 112), and the main control board 25 includes a first sub-board 251, which is located on the side of the second bracket 24 away from the optical engine 22. The first sub-board 251 is electrically connected to at least some of the sensors located at the top of the inner cavity.

[0124] The sensor assembly of the top shell 112 can be controlled by electrically connecting the first sub-board 251 to the sensor at the top of the inner cavity.

[0125] In some embodiments, the main control board 25 includes a second sub-board 252, which is disposed on the side of the first sub-board 251 away from the second bracket 24. The second sub-board 252 is electrically connected to the first sub-board 251 and to the optomechanical system 22.

[0126] The second daughterboard 252 is electrically connected to the optomechanical system 22, and the second daughterboard 252 is used to control the optomechanical system 22.

[0127] Furthermore, by electrically connecting the first sub-board 251 and the second sub-board 252 to the optomechanical system 22 and the sensor located on the top shell 112, respectively, compared to using a single circuit board for control, which has a larger area, the stacked arrangement of the first sub-board 251 and the second sub-board 252 reduces the space occupied. Moreover, the second sub-board 252 and the optomechanical system 22 rotate with the first bracket 21, and their relative positions are unaffected by the rotation of the first bracket 21. When the first sub-board 251 rotates with the first bracket 21, the relative position of the first sub-board 251 and the sensor located on the top shell 112 changes. By using the first sub-board 251, which is closer to the horizontal center plane of the sphere, to electrically connect with the sensor, the positional offset of the first sub-board 251 is smaller, minimizing the possibility of the electrical connection between the first sub-board 251 and the sensor being pulled and causing connection failure.

[0128] In some embodiments, such as Figure 8 and Figure 9 As shown, the outer shell 11 includes a bottom shell 111, and a drive wheel 31 is provided at the bottom of the bottom shell 111. The projection component 20 is mounted on the bottom shell 111 and can be tilted and rotated.

[0129] Drive wheels 31 are installed at the bottom of the base shell 111, which can drive the base shell 111 to move, thereby moving the projection robot 1000 to different positions. The projection component 20 is mounted on the base shell 111 and can be tilted and rotated. The overall center of the projection robot 1000 is relatively close to the base shell 111, that is, the center of gravity is low, which can reduce the risk of the projection robot 1000 tipping over. The drive wheels 31 drive the projection robot 1000 to move more smoothly and reliably.

[0130] In some embodiments, the outer shell 11 includes a top shell 112 connected above the bottom shell 111, and an inner cavity is formed between the top shell 112 and the bottom shell 111.

[0131] By connecting the top shell 112 to the bottom shell 111, different internal structures and circuits of the projection robot 1000 can be installed on the top shell 112 and the bottom shell 111 respectively. Then, the two are connected by covering the top shell 112. The assembly and disassembly of the projection robot 1000 are relatively easy.

[0132] In some embodiments, the top shell 112 is used to connect with the bottom shell 111 to make the outer shell 11 spherical and to form a first opening 11a.

[0133] By connecting the top shell 112 and the bottom shell 111 to make the outer shell 11 spherical, the extension direction of the first opening 11a is the same as the circumferential direction of the sphere. When the projection component 20 tilts and rotates relative to the outer shell 11, it can better ensure that the inner shell 12 always covers the first opening 11a, thus avoiding motion interference.

[0134] like Figure 7 and Figure 9 As shown, this illustrates the process of the inner shell 12 tilting and rotating with the projection assembly 20. Figure 5 Can be regarded as Figure 3 The inner shell 12 rotates with the projection assembly 20 in a tilting motion, specifically an upward rotation. Figure 5 The projection hole 12a of the inner shell 12 is compared to Figure 3 Closer to the top of the top shell 112.

[0135] In some embodiments, such as Figure 5 and Figure 6 As shown, the projection robot 1000 includes a first support frame 44 and a second support frame 45. The first support frame 44 and the second support frame 45 are disposed on the bottom shell 111. The two opposite sides of the first bracket 21 are respectively rotatably connected to the first support frame 44 and the second support frame 45 so that the rotation axis of the first bracket 21 is approximately coincident with the horizontal center plane of the sphere.

[0136] The first support frame 44 and the second support frame 45 create a gap between the first support 21 and the bottom shell 111, thereby raising the height of the first support 21 relative to the bottom shell 111. This makes the rotation axis of the first support 21 approximately coincide with the horizontal center plane of the sphere. The projection component 20 is located at the center of the inner cavity, and the distance between the projection component 20 and the inner wall of the outer shell 11 is relatively large, which reduces the risk of interference between the projection component 20 and the outer shell 11 when rotating relative to the outer shell 11. This reduces the limitation on the rotation angle of the optical engine 22 relative to the outer shell 11, and the adjustable range of the projection orientation of the optical engine 22 is large. Furthermore, the optical engine 22 is close to the horizontal center plane of the sphere, and the inner cavity of the outer shell 11 at the horizontal center plane has a large space to accommodate the optical engine. The outer shell 11 does not need to be designed with a large volume, and the overall volume of the projection robot 1000 is small.

[0137] In some embodiments, the projection robot 1000 includes a drive component 60, which is disposed on the bottom shell 111 and connected to the projection component 20. The drive component 60 is used to drive the projection component 20 to pitch and rotate relative to the shell 11.

[0138] The projection component 20 is driven to pitch and rotate relative to the outer shell 11 by the drive component 60, so that the projection robot 1000 can automatically adjust the projection orientation of the projection component 20.

[0139] In some embodiments, the drive assembly 60 includes a driven shaft mechanism 61, which is disposed on the side of the second support frame 45 facing the top shell 112 and connected to one side of the first bracket 21 so that the first bracket 21 can be pitched relative to the bottom shell 111.

[0140] By providing a driven shaft mechanism 61 on the side of the second support frame 45 facing the top shell 112, and connecting the driven shaft mechanism 61 to one side of the first bracket 21, the first bracket 21 can be pitched and rotated relative to the bottom shell 111.

[0141] In some embodiments, the drive assembly 60 includes a motor bracket 62 disposed on the side of the first support frame 44 facing the top shell 112.

[0142] By providing a motor bracket 62 on the side of the first support frame 44 facing the top shell 112, the motor bracket 62 can provide mounting for the motor 63.

[0143] In some embodiments, the drive assembly 60 includes a motor 63, which is mounted on a motor bracket 62 and connected to the side of the first bracket 21 opposite to the driven shaft mechanism 61. The motor 63 is used to drive the first bracket 21 to pitch and rotate relative to the housing 11.

[0144] Motor 63 is mounted on motor bracket 62. Motor 63 is connected to the side of the first bracket 21 opposite to the driven shaft mechanism 61, allowing motor 63 to drive the first bracket 21 to pitch and rotate relative to the outer casing 11. Furthermore, the connection points of motor 63 and projection component 20, and the connection points of the driven shaft and projection component 20, are located on opposite sides of the first bracket 21. This ensures that the first bracket 21 experiences balanced forces and relatively smooth pitch and rotation relative to the outer casing 11.

[0145] In some embodiments, the projections of the first support frame 44 and the second support frame 45 onto the bottom shell 111 are located on both sides of the projection of the projection assembly 20 onto the bottom shell 111.

[0146] With the projections of the first support frame 44 and the second support frame 45 onto the bottom shell 111 located on both sides of the projection of the projection component 20 onto the bottom shell 111, when the first support frame 44 and the second support frame 45 are respectively equipped with the motor bracket 62 and the driven shaft mechanism 61, the weight of the drive component 60 can be distributed relatively evenly on both sides of the projection component 20 with the projection component 20 as the center, so that the overall center of gravity of the projection robot 1000 is relatively centered.

[0147] The foregoing has provided a detailed description of a projection robot disclosed in this application. This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the projection robot and its core ideas in this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A projection robot, characterized in that, include: The outer casing is spherical and has an inner cavity. The outer casing is provided with heat dissipation holes that are connected to the inner cavity. The bottom of the outer casing is provided with a drive wheel. Projection assembly, the projection assembly comprising: A first support is located in the inner cavity and is rotatably mounted on the outer shell. An optical engine is fixed to one side of the first bracket to tilt and rotate with the first bracket, and the optical engine is used to project onto the outside of the housing; The first fan is located on the side of the first bracket away from the optical engine. The first fan is a centrifugal fan and the air inlet of the first fan faces the first bracket. The second fan is located on the inner wall of the housing. The second fan is an axial fan, and the air outlet of the second fan is oriented towards a portion of the heat dissipation holes. During the pitching and rotation of the first bracket relative to the outer casing, the air inlet of the second fan is located on the air outlet path of the first fan.

2. The projection robot according to claim 1, characterized in that, When the first bracket is tilted relative to the outer shell until the projection direction of the optical engine is parallel to the horizontal center plane of the sphere, the direction of the air outlet of the first fan and the direction of the air inlet of the second fan are approximately coincident.

3. The projection robot according to claim 1 or 2, characterized in that, The outer shell has a first opening, which communicates with the inner cavity; The projection robot includes an inner shell located in the inner cavity. The inner shell is fixed to one end of the first support facing the first opening so that the inner shell can pitch and rotate with the first support. During the pitch and rotation of the inner shell with the first support, the projection of the inner shell on the outer shell covers the first opening. The inner shell has a projection hole facing the first opening for projecting the optical engine onto the outside of the inner shell.

4. The projection robot according to claim 1 or 2, characterized in that, The projection component includes heat-conducting fins, which are disposed on the first bracket and located on the periphery of the optical engine. The air inlet of the first fan is disposed corresponding to the heat-conducting fins.

5. The projection robot according to claim 4, characterized in that, The first bracket has a first heat dissipation window corresponding to the heat-conducting fins, and the air inlet of the first fan is set corresponding to the first heat dissipation window.

6. The projection robot according to claim 1 or 2, characterized in that, The projection component includes: The second bracket is connected to the first bracket and is spaced apart from it. The first bracket and the second bracket are respectively located on opposite sides of the optical engine. The main control board is located on the side of the second bracket away from the optical engine, and the main control board is electrically connected to the optical engine.

7. The projection robot according to claim 6, characterized in that, The main control board includes: The first sub-board is disposed on the side of the second bracket away from the optical engine; The second sub-board is disposed on the side of the first sub-board away from the second bracket, and the second sub-board is electrically connected to the first sub-board; The projection robot includes sensors, with at least one sensor located at the top of the inner cavity; The first sub-board is electrically connected to the sensor located at the top of the inner cavity, and the second sub-board is electrically connected to the optomechanic.

8. The projection robot according to claim 1 or 2, characterized in that, The outer casing includes: A bottom shell, wherein the drive wheel is provided at the bottom of the bottom shell; A top shell, which is connected above the bottom shell, such that the outer shell is spherical and the inner cavity is formed between the top shell and the bottom shell; The projection robot includes a first support frame and a second support frame, which are disposed on the bottom shell, and the projections of the first support frame and the second support frame on the bottom shell are respectively located on both sides of the projection of the projection component on the bottom shell. The two opposite sides of the first bracket are respectively rotatably connected to the first support frame and the second support frame, so that the rotation axis of the first bracket is approximately coincident with the horizontal center plane of the sphere.

9. The projection robot according to claim 8, characterized in that, The projection robot includes a drive component, which includes: A driven shaft mechanism is provided on the side of the second support frame facing the top shell, and the driven shaft mechanism is connected to one side of the first bracket; A motor bracket, wherein the motor bracket is disposed on the side of the first support frame facing the top shell; An electric motor is mounted on the motor bracket, and the drive shaft of the motor is connected to the side of the first bracket away from the driven shaft mechanism. The rotation axis of the drive shaft of the motor coincides with the rotation axis of the driven shaft mechanism to drive the first bracket to pitch relative to the outer casing.

10. The projection robot according to claim 1, characterized in that, The pitch angle of the first bracket relative to the outer shell is α, where α ≥ -40° and / or α ≤ 60°.

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