Projection robot

Abstract

The utility model relates to the technical field of household appliances, and discloses a projection robot which comprises a shell, the shell comprises a bottom shell, and driving wheels are arranged at the bottom of the bottom shell; the top shell is connected above the bottom shell, so that the shell is spherical, and an inner cavity is formed between the top shell and the bottom shell; the first supporting frame and the second supporting frame are arranged on the bottom shell, and the projection of the first supporting frame and the projection of the second supporting frame on the bottom shell are located on the two sides of the projection of the projection assembly on the bottom shell respectively; the projection assembly comprises a first support, the two opposite sides of the first support are connected to the first supporting frame and the second supporting frame in a pitching rotating mode respectively, and the first support is located on the sides, facing the top shell, of the first supporting frame and the second supporting frame so that the rotating axis of the first support can be roughly overlapped with the spherical horizontal center face; the light machine is arranged on the first support. According to the projection robot, the shell does not need to be designed to be large in size, and the overall size of the projection robot is small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of household appliances, and in particular to a projection robot. BACKGROUND

[0002] The existing spherical head projection robot drives the projection assembly to rotate by rotating the shell, so as to change the projection direction of the projection assembly and realize the adjustment of the projection direction of the projection assembly. In order to avoid the rotation of the shell, the projection assembly can be designed to rotate relative to the shell, instead of being driven by the rotation of the shell. However, in order to avoid interference between the projection assembly and the shell during the rotation of the projection assembly relative to the shell, a shell with a large volume is usually designed to match a projection assembly with a large volume, resulting in a large overall volume of the projection robot. CONTENT OF THE UTILITY MODEL

[0003] The projection robot disclosed by the embodiments of the present application has a small overall volume without a large volume of the shell.

[0004] To achieve the above-mentioned purpose, on the one hand, the present application discloses a projection robot, comprising:

[0005] The shell comprises:

[0006] The bottom shell is provided with a driving wheel at the bottom;

[0007] The top shell is connected above the bottom shell, so that the shell is spherical and an inner cavity for accommodating the projection assembly is formed between the top shell and the bottom shell;

[0008] The first support frame and the second support frame are arranged on the bottom shell, and 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 assembly on the bottom shell;

[0009] The projection assembly comprises:

[0010] The first support frame is pivotally connected to the first support frame and the second support frame at two opposite sides thereof, so that the rotation axis of the first support frame is substantially coincident with the horizontal center plane of the sphere;

[0011] The light machine is arranged on the first support frame.

[0012] The top shell and the bottom shell are connected to make the shell spherical, the first support frame is pivotally arranged on the bottom shell, and the light machine can pivot relative to the shell to change the projection direction of the light machine, so that the light machine projects from different positions of the shell to the outside of the shell. The first support frame and the bottom shell are spaced apart by the first support frame and the second support frame, so that the height of the first support frame relative to the bottom shell is raised, the rotation axis of the first support frame is substantially coincided with the horizontal center plane of the sphere, the projection assembly is located at the center position of the inner cavity, and the distance between the projection assembly and the inner wall of the shell is far. The risk of interference between the projection assembly and the shell during rotation of the projection assembly relative to the shell is reduced, the rotation angle of the light machine relative to the shell is limited, and the adjustable range of the projection direction of the light machine is large. The light machine is close to the horizontal center plane of the sphere, the inner cavity of the shell at the horizontal center plane has a large space to accommodate the light machine, and the shell does not need to be designed to have a large volume, so that the overall volume of the projection robot is small.

[0013] In some embodiments of the present application, the first support frame comprises:

[0014] The mounting base is provided with the light machine on the side facing the top shell;

[0015] The first side plate is pivotally connected to the first support frame.

[0016] The second side plate is pivotally connected to the second support frame.

[0017] The light machine is arranged on the mounting base, and the first side plate and the second side plate are pivotally connected to the first support frame and the second support frame respectively, so that the first support frame can pivot relative to the shell. Moreover, the light machine is closer to the rotation axis of the first support frame relative to the shell, i.e., closer to the horizontal center plane of the sphere.

[0018] In some embodiments of the present application, the projection assembly comprises:

[0019] The main control board is arranged on the side of the light machine facing the top shell, and is electrically connected to the light machine.

[0020] The first fan is arranged on the side of the first support frame away from the light machine, and is used for heat dissipation of the light machine.

[0021] By arranging the main control board and the first fan on two opposite sides of the light machine respectively, and electrically connecting the main control board with the light machine, on one hand, the main control board can be used to control the light machine, and the first fan can be used to dissipate heat for the light machine. On the other hand, the main control board, the light machine and the first fan are arranged in a stacked manner, and the structure is relatively compact, so that the volume of the projection assembly can be reduced, thereby avoiding the interference between the projection assembly and the shell when the projection assembly rotates relative to the shell, and the overall volume of the projection robot is relatively small. Moreover, as the horizontal center is close to the top shell and the bottom shell, the space of the inner cavity of the shell gradually decreases, and the volume of the main control board and the first fan located on two opposite sides of the light machine is smaller than that of the light machine, which is just suitable for the decrease of the space of the inner cavity.

[0022] In some embodiments of the present application, the projection assembly comprises a second support connected to the first support and arranged in a spaced manner with the second support, the light machine is located in the space between the first support and the second support, and the main control board is arranged on the side of the second support away from the light machine.

[0023] The main control board is arranged by the second support, and the main control board is electrically connected with the light machine to control the light machine. Moreover, the light machine and the main control board are located on different sides of the second support, so that the heat generated by the two when working does not affect each other, and the heat dissipation is facilitated.

[0024] In some embodiments of the present application, the main control board comprises:

[0025] a first sub-board arranged on the side of the second support away from the light machine;

[0026] a second sub-board arranged on the side of the first sub-board away from the second support, and electrically connected to the first sub-board;

[0027] The projection robot comprises sensors, and at least one of the sensors is arranged on the top shell.

[0028] Among them, the first sub-board is electrically connected to the sensor arranged on the top shell, and the second sub-board is electrically connected to the light machine.

[0029] The first sub-board and the second sub-board are electrically connected, the first sub-board and the second sub-board are electrically connected to the optical machine and the sensor arranged on the top shell respectively, so that the optical machine and the sensor are controlled. Compared with the control mode of using a single circuit board, the area of the single circuit board is larger, and the use of the first sub-board and the second sub-board stacked arrangement can reduce the occupied space. Moreover, the second sub-board and the optical machine rotate with the first support, and the relative positions of the second sub-board and the optical machine change. The electrical connection line between the second sub-board and the optical machine is not affected by the rotation of the first support. When the first sub-board rotates with the first support, the relative position between the first sub-board and the sensor arranged on the top shell changes. The first sub-board and the sensor are electrically connected by using the first sub-board which is closer to the horizontal center surface of the sphere among the first sub-board and the second sub-board. The position offset of the first sub-board is small, which can avoid the electrical connection line between the first sub-board and the sensor being pulled and causing the electrical connection between the first sub-board and the sensor to fail.

[0030] In some embodiments of the present application, the projection assembly comprises a heat-conducting fin, the heat-conducting fin is arranged on the first support and located on the circumferential side of the optical machine, the first support is provided with a first heat dissipation window corresponding to the heat-conducting fin, and the air inlet of the first fan is arranged corresponding to the first heat dissipation window.

[0031] The heat-conducting fin arranged on the first support can conduct the heat generated by the optical machine during operation, and the first heat dissipation window is arranged on the first support. The air inlet of the first fan can correspond to the heat-conducting fin through the first heat dissipation window. Therefore, the heat of the heat-conducting fin can follow the air inlet of the first fan and be discharged through the air outlet of the first fan.

[0032] In some embodiments of the present application, the shell is formed with a first opening, and the first opening is communicated with the inner cavity.

[0033] The projection robot comprises an inner shell, the inner shell is located in the inner cavity, and the inner shell is fixed to one end of the first support facing the first opening, so that the inner shell can rotate with the first support. During the pitching rotation of the inner shell, the projection of the inner shell on the shell covers the first opening. The inner shell is provided with a projection hole for the projection assembly to project outside the inner shell.

[0034] The shell is formed with a first opening, and the inner shell located in the inner cavity is fixed to the projection assembly. The inner shell can pitch with the projection assembly relative to the shell to make the projection assembly project to the outside of the inner shell through the projection hole of the inner shell. At the same time, during the pitching rotation of the inner shell with the projection assembly, the projection of the inner shell on the shell covers the first opening, which can avoid the entry of dust and other foreign matters into the inner cavity of the shell through the first opening, and can shield the projection assembly to avoid the user seeing the projection assembly from the outside of the shell through the first opening.

[0035] In some embodiments of the present application, the projection robot comprises a driving assembly, which comprises:

[0036] a driven shaft mechanism arranged on one side of the second support frame facing the top shell, connected to one side of the first support frame to enable the first support frame to be tilted relative to the bottom shell;

[0037] a motor support arranged on one side of the first support frame facing the top shell;

[0038] a motor arranged on the motor support, connected to one side of the first support frame away from the driven shaft mechanism, for driving the first support frame to tilt relative to the outer shell.

[0039] By arranging the driven shaft mechanism on one side of the second support frame facing the top shell, and connecting the driven shaft mechanism to one side of the first support frame, the first support frame can be tilted relative to the bottom shell. At the same time, the motor support is arranged on one side of the first support frame facing the top shell, the motor is installed on the motor support, and the motor is connected to one side of the first support frame away from the driven shaft mechanism. In this way, the motor can drive the first support frame to tilt relative to the outer shell, and the connection position of the motor and the first support frame and the connection position of the driven shaft and the first support frame are respectively located on both sides of the first support frame. When the first support frame tilts relative to the outer shell, the force is balanced and the tilting is relatively stable.

[0040] In some embodiments of the present application, the bottom shell is provided with two inner recesses, and the space formed outside the bottom shell is used to accommodate the drive wheel.

[0041] The first support frame comprises:

[0042] a first main body portion, the motor support being arranged on one side of the first main body portion facing the top shell;

[0043] two first bending portions respectively extending from two opposite edges of the first main body portion in a direction away from the motor support, one of the first bending portions being connected to the top surface of one of the inner recesses facing the top shell, and the other first bending portion being connected to the bottom shell.

[0044] The second support frame comprises:

[0045] a second main body portion, the driven shaft mechanism being arranged on one side of the second main body portion facing the top shell;

[0046] Two second bending parts, the two second bending parts respectively extend from two opposite edges of the second main part in a direction away from the driven shaft mechanism, one of the second bending parts is connected to the other inner recess part towards the top surface of the top shell, and the other second bending part is connected to the bottom shell.

[0047] The first main part provides a mounting position for the motor support, and the first main part supports the motor support, and the two first bending parts are arranged at intervals on the first main part, and the two first bending parts are connected to the bottom shell and the inner recess part towards the top surface of the top shell, so that the first support frame and the bottom shell can be assembled. Furthermore, the first bending part extends from the first main part in a direction away from the motor support, so that the first main part is away from the bottom shell, and thus the first bending part with different extension lengths can make the rotation axis of the motor substantially coincide with the horizontal central surface of the sphere. The second main part provides a mounting position for the driven shaft mechanism, and the second main part supports the driven shaft mechanism, and the two second bending parts are arranged at intervals on the second main part, and the two second bending parts are connected to the bottom shell and the inner recess part towards the top surface of the top shell, so that the second support frame and the bottom shell can be assembled. Furthermore, the second bending part extends from the second main part in a direction away from the driven shaft mechanism, so that the second main part is away from the bottom shell, and thus the second bending part with different extension lengths can make the rotation axis of the driven shaft mechanism substantially coincide with the horizontal central surface of the sphere.

[0048] In some embodiments of the present application, the bottom shell is provided with a counterweight, and a projection of the counterweight on the bottom of the inner cavity at least partially overlaps a projection of the motor on the bottom of the inner cavity.

[0049] Since the volume of the motor is larger than that of the driven shaft mechanism, the projection of the motor on the bottom shell is closer to the center of the bottom shell than the projection of the driven shaft mechanism on the bottom shell, that is, the weight of the motor makes the overall center of gravity of the projection robot deviate from the center of the bottom shell and is closer to the driven shaft mechanism. Therefore, by arranging the counterweight on the bottom shell, the projection of the counterweight on the bottom of the inner cavity at least partially overlaps the projection of the motor on the bottom of the inner cavity, and the weight of the counterweight compensates for the deviation of the overall center of gravity of the projection robot caused by the weight of the motor, so that the center of gravity of the projection robot is more centered.

[0050] Compared with the prior art, the present application has at least the following beneficial effects:

[0051] In the embodiment of the present application, the shell is spherical by connecting the top shell and the bottom shell, the first support is arranged on the bottom shell and can be tilted and rotated, the light machine can be tilted and rotated relative to the shell with the first support to change the projection direction of the light machine, so that the light machine projects from different positions of the shell to the outside of the shell. Furthermore, the first support and the bottom shell form a distance by using the first support and the second support, so as to raise the height of the first support relative to the bottom shell, so that the rotation axis of the first support is substantially coincided with the horizontal center plane of the spherical shell, the projection assembly is located at the center position of the inner cavity, the distance between the projection assembly and the inner wall of the shell is far, which can reduce the risk of interference between the projection assembly and the shell when the projection assembly rotates relative to the shell, so as to reduce the limitation of the rotation angle of the light machine relative to the shell, and the adjustable range of the projection direction of the light machine is larger. Furthermore, the light machine is close to the horizontal center plane of the spherical shell, the inner cavity of the shell at the horizontal center plane has a larger space to accommodate the light machine, the shell does not need to be designed to have a larger volume, and the overall volume of the projection robot is smaller. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0053] Figure 1 is a structural schematic diagram of a projection robot provided by an embodiment of the present application;

[0054] Figure 2 is a structural schematic diagram of a projection robot (part of the shell is omitted) provided by an embodiment of the present application;

[0055] Figure 3 is a structural schematic diagram of a projection robot from another perspective provided by an embodiment of the present application;

[0056] Figure 4 is an exploded structural schematic diagram of an inner shell and an outer shell provided by an embodiment of the present application;

[0057] Figure 5 is an exploded structural schematic diagram of a projection assembly provided by an embodiment of the present application;

[0058] Figure 6 is an exploded structural schematic diagram of a projection assembly from another perspective provided by an embodiment of the present application;

[0059] Figure 7 is a structural schematic diagram of a projection robot (the projection hole corresponds to different positions of the first opening) provided by an embodiment of the present application;

[0060] Figure 8 is a structural schematic diagram of a bottom shell and a projection assembly provided by an embodiment of the present application;

[0061] Figure 9 is an exploded structural schematic diagram of a bottom shell and a projection assembly provided by an embodiment of the present application;

[0062] Figure 10 is an exploded structural schematic diagram of a drive assembly and a projection assembly provided by an embodiment of the present application;

[0063] Figure 11 is a structural schematic diagram of a drive assembly provided by an embodiment of the present application;

[0064] Figure 12 is a structural schematic diagram of a bottom shell provided by an embodiment of the present application.

[0065] Main figure mark explanation

[0066] 1000, projection robot;

[0067] 11, shell; 11a, first opening;

[0068] 111, bottom shell; 111b, inner recess;

[0069] 112, top shell;

[0070] 12, inner shell; 12a, projection hole;

[0071] 20, projection assembly; 21, first support; 211, mounting substrate; 212, first side plate; 213, second side plate; 21a, first heat dissipation window; 22, optical engine; 232, first fan; 231, heat conduction fin; 24, second support; 25, main control board; 251, first sub-board; 252, second sub-board;

[0072] 31, drive wheel;

[0073] 43, counterweight;

[0074] 44, first support frame; 441, first main body part; 442, first bending part; 443, reinforcing part; 45, second support frame; 451, second main body part; 452, second bending part;

[0075] 60, drive assembly;

[0076] 61, driven shaft mechanism; 62, motor support; 63, motor;

[0077] 66, buffer pad. DETAILED DESCRIPTION

[0078] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0079] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings. These terms are mainly used for better description of the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0080] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. Those skilled in the art can understand the specific meaning of these terms in the present application according to the specific situation.

[0081] In addition, the terms "mount", "set", "provided with", "connected", "connected" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally constructed; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific situation.

[0082] In addition, the terms "first", "second" and the like are mainly used to distinguish different devices, elements or components (the specific type and structure can be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise stated, the meaning of "multiple" is two or more.

[0083] Before the technical solutions of the present application are explained, the inventive concept of the present application will be explained.

[0084] Figure 1 is a structural schematic diagram of a projection robot 1000 provided by an embodiment of the present application. Figure 2 is a structural schematic diagram of a projection robot 1000 provided by an embodiment of the present application (omitting part of the shell 11).

[0085] With the humanization design of the projection robot 1000, the projection robot 1000 is additionally provided with the autonomous moving function on the basis of being capable of automatically adjusting the projection orientation direction of the projection assembly 20, and specifically, the projection robot 1000 is configured with the driving wheel 31, and the driving wheel 31 is used to enable the projection robot 1000 to autonomously move to different positions for projection. In order to cooperate with the operation of the driving wheel 31, the projection robot 1000 usually needs to be configured with different sensors, which are used to realize obstacle avoidance positioning, sound source positioning and the like. Of course, different sensors can also be used to realize other functions such as home appliance control and projection brightness adjustment.

[0086] However, since the projection assembly 20 of the existing projection robot 1000 usually relies on the rotation of the shell 11 to drive the rotation of the projection assembly 20 when adjusting the projection orientation direction of the projection assembly 20, the sensor mounted on the shell 11 also rotates. Therefore, when the projection orientation direction of the projection assembly 20 changes, the position of the spatial coordinate system of the sensor also changes, and the sensor cannot always keep its spatial coordinate system at the same position for detection, which leads to low detection accuracy of the sensor and affects the use of the functions related to the sensor of the projection robot 1000.

[0087] In summary, the projection robot 1000 in the related art has the problem of being difficult to expand the autonomous moving function. Based on this, the present application provides a projection robot 1000 to solve the above problems.

[0088] The technical solutions in some embodiments of the present application will be described clearly and completely below in combination with the drawings in some embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0089] In some embodiments, as shown in Figure 1 and Figure 2 The projection robot 1000 includes a shell 11.

[0090] The shell 11 can be spherical, square, irregular, etc., which is not limited in the present embodiment.

[0091] The shell 11 provides installation space for the internal structure and circuit of the projection robot 1000 and protects them.

[0092] In some embodiments, the projection robot 1000 includes a projection assembly 20, and the projection assembly 20 is pivotally arranged in the shell 11.

[0093] By pitching the projection assembly 20 relative to the shell 11, the projection direction of the projection assembly 20 can be adjusted, so that the projection assembly 20 can project towards different directions, such as the driving plane (ground), wall, ceiling, etc.

[0094] In some embodiments, the projection robot 1000 comprises a driving wheel 31, which is arranged at the bottom of the shell 11.

[0095] By arranging the driving wheel 31 at the shell 11, the driving wheel 31 can drive the projection robot 1000 to move to different positions, so that the projection assembly 20 can project at different places.

[0096] In some embodiments, as shown in Figure 3 and Figure 4 , the shell 11 comprises a bottom shell 111, the bottom of the bottom shell 111 is provided with the driving wheel 31, and the projection assembly 20 is pivotally arranged on the bottom shell 111.

[0097] By arranging the driving wheel 31 at the bottom shell 111, the driving wheel 31 can drive the bottom shell 111 to move, so that the projection robot 1000 moves to different positions. The projection assembly 20 is pivotally arranged on the bottom shell 111, and the overall center of the projection robot 1000 is relatively close to the bottom shell 111, that is, the center of gravity is relatively low, which can reduce the risk of the projection robot 1000 falling, and the driving wheel 31 can drive the projection robot 1000 to move more stably and reliably.

[0098] In some embodiments, the shell 11 comprises a top shell 112, which is connected above the bottom shell 111, and an inner cavity is formed between the top shell 112 and the bottom shell 111.

[0099] By connecting the top shell 112 to the bottom shell 111, different internal structures and circuits of the projection robot 1000 can be respectively installed on the top shell 112 and the bottom shell 111, and then the two are connected by covering. The assembly and disassembly of the projection robot 1000 are relatively low in difficulty.

[0100] In some embodiments, as shown in Figure 5 and Figure 6 , the projection assembly 20 comprises a first support 21, which is pivotally arranged on the bottom shell 111.

[0101] By pivotally arranging the first support 21 on the bottom shell 111, the first support 21 can drive the projection assembly 20 to pitch relative to the bottom shell 111.

[0102] In some embodiments, the projection assembly 20 comprises an optical engine 22, which is arranged on the first support 21.

[0103] The light machine 22 can project, and the projection direction of the light machine 22 can be adjusted following the pitching rotation of the first support 21 relative to the bottom shell 111.

[0104] In some embodiments, the rotation axis of the first support 21 is substantially coincident with the horizontal central plane of the sphere.

[0105] With the rotation axis of the first support 21 substantially coincident with the horizontal central plane of the sphere, the projection assembly 20 is located at the central position of the inner cavity, and the distance between the projection assembly 20 and the inner wall of the outer shell 11 is far, which can reduce the risk of interference between the projection assembly 20 and the outer shell 11 when the projection assembly 20 rotates relative to the outer shell 11, thereby reducing the limitation of the rotation angle of the light machine 22 relative to the outer shell 11, and the adjustable range of the projection direction of the light machine 22 is larger. Moreover, the light machine 22 is close to the horizontal central plane of the sphere, and the inner cavity of the outer shell 11 at the horizontal central plane has a larger space to accommodate the light machine 22, so the outer shell 11 does not need to be designed to have a larger volume, and the overall volume of the projection robot 1000 is smaller.

[0106] Wherein, substantially coincident should be understood as completely coincident in an ideal state, and in fact, due to uncontrollable factors such as machining errors, assembly errors, etc., there may be a small difference, which should also be included in the category of substantially the same. In other embodiments, the word substantially should have the same understanding as this.

[0107] In some embodiments, the top shell 112 is connected with the bottom shell 111 to make the outer shell 11 spherical, and a first opening 11a is formed.

[0108] By connecting the top shell 112 with 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, and when the projection assembly 20 pitches relative to the outer shell 11, the inner shell 12 can be better covered in the first opening 11a at all times to avoid motion interference.

[0109] Wherein, the first opening 11a refers to a window formed in the outer shell 11, and the space outside the outer shell 11 is communicated with the inner cavity through the window, so that the projection assembly 20 located in the inner cavity can project to the space outside the outer shell 11 through the window.

[0110] In some embodiments, the outer shell 11 includes an inner shell 12, the inner shell 12 is located in the inner cavity, and the inner shell 12 is fixed to the end of the first support 21 facing the first opening 11a, so that the inner shell 12 can pitch with the first support 21. During the pitching rotation, the projection of the inner shell 12 on the outer shell 11 covers the first opening 11a, and the inner shell 12 is provided with a projection hole 12a for the projection assembly 20 to project to the outside of the inner shell 12.

[0111] The first opening 11a is formed in the outer shell 11, and the inner shell 12 located in the inner cavity is fixed with the projection assembly 20. The inner shell 12 can be tilted relative to the outer shell 11 to project the projection assembly 20 to different directions through the projection hole 12a of the inner shell 12. At the same time, the inner shell 12 can cover the first opening 11a on the outer shell 11 during the tilting of the projection assembly 20, so as to avoid the entry of dust and other foreign matters into the inner cavity of the outer shell 11 through the first opening 11a, and to shield the projection assembly 20 from the user outside the outer shell 11 through the first opening 11a.

[0112] That is, when changing the projection direction of the projection assembly 20, the inner shell 12 forms a double-layered outer shell 11 structure with the outer shell 11, and the inner shell 12 is tilted relative to the outer shell 11, while the outer shell 11 remains unchanged.

[0113] As shown in Figure 3 and Figure 7 , the tilting of the inner shell 12 with the projection assembly 20 is shown, Figure 5 which can be regarded as Figure 3 the tilting of the inner shell 12 with the projection assembly 20 in Figure 5 , and the tilting is upward, that is, Figure 3 the projection hole 12a of the inner shell 12 in is closer to the top of the top shell 112 than

[0114] .

[0115] As described above, the tilting axis of the first support 21 is substantially coincident with the horizontal center plane of the sphere, so that the tilting path of the inner shell 12 during the tilting of the first support 21 matches the sphere of the outer shell 11, and the mutual interference between the inner shell 12 and the outer shell 11 can be avoided. Figure 8 Figure 9 In some embodiments, in combination with and

[0116] , the projection robot 1000 comprises a first support frame 44 and a second support frame 45, which are arranged on the bottom shell 111. The two opposite sides of the first support 21 are respectively tiltably connected to the first support frame 44 and the second support frame 45, so that the tilting axis of the first support 21 is substantially coincident with the horizontal center plane of the sphere.The first support frame 44 and the second support frame 45 are used to make the first support 21 spaced apart from the bottom shell 111, thereby raising the height of the first support 21 relative to the bottom shell 111, making the rotation axis of the first support 21 substantially coincide with the horizontal central plane of the sphere, and the projection assembly 20 is located at the center of the inner cavity as a whole, and the distance between the projection assembly 20 and the inner wall of the shell 11 is far, which can reduce the risk of interference between the projection assembly 20 and the shell 11 when the projection assembly 20 rotates relative to the shell 11, thereby reducing the limitation of the rotation angle of the light machine 22 relative to the shell 11, and the adjustable range of the projection direction of the light machine 22 is larger. Moreover, the light machine 22 is close to the horizontal central plane of the sphere, and the inner cavity of the shell 11 at the horizontal central plane has a larger space to accommodate the light machine, and the shell 11 does not need to be designed to be larger in size, and the overall size of the projection robot 1000 is smaller.

[0117] In some embodiments, referring again to Figure 5 and Figure 6 , the first support 21 includes a mounting base plate 211, a first side plate 212 and a second side plate 213, the mounting base plate 211 is provided with the light machine 22 on the side facing the top shell 112, the first side plate 212 extends from the first edge of the mounting base plate 211 in the direction facing the top shell 112, and the first side plate 212 is pivotally connected to the first support frame 44, and the second side plate 213 extends from the second edge of the mounting base plate 211 in the direction facing the top shell 112, and the second side plate 213 is pivotally connected to the second support frame 45. The second edge is the edge opposite to the first edge on the mounting base plate 211.

[0118] The light machine 22 is arranged on the mounting base plate 211, and the first side plate 212 and the second side plate 213 are respectively pivotally connected to the first support frame 44 and the second support frame 45, so that the first support 21 can pivot relative to the shell 11. Moreover, the light machine 22 is closer to the rotation axis of the first support 21 pivoting relative to the shell 11, i.e., closer to the horizontal central plane of the sphere.

[0119] In some embodiments, the projection assembly 20 includes a main control board 25, which is arranged on the side of the light machine 22 facing the top shell 112, and the main control board 25 is electrically connected to the light machine 22.

[0120] By arranging the main control board 25, the main control board 25 is electrically connected to the light machine 22 to control the light machine 22.

[0121] In some embodiments, the projection assembly 20 includes a first fan 232 arranged on the side of the first support 21 away from the light machine 22.

[0122] The first fan 232 is used to dissipate heat for the light engine 22. The main control board 25, the light engine 22 and the first fan 232 are stacked, which is compact in structure and can reduce the volume of the projection assembly 20, so that a larger volume of the shell 11 does not need to be designed, and the interference between the projection assembly 20 and the shell 11 can be avoided when the projection assembly 20 rotates relative to the shell 11, and the overall volume of the projection robot 1000 is small. Moreover, the inner cavity of the shell 11 gradually reduces from the horizontal center to the top shell 112 and the bottom shell 11, and the volume of the main control board 25 and the first fan 232 located on the two opposite sides of the light engine 22 is smaller than that of the light engine 22, which can adapt to the reduction of the space of the inner cavity.

[0123] In some embodiments, the projection assembly 20 comprises a heat-conducting fin 231, which is arranged on the first support 21 and located on the circumferential side of the light engine 22.

[0124] The heat-conducting fin 231 arranged on the first support 21 and located on the circumferential side of the light engine 22 can conduct the heat generated by the light engine 22 during operation to achieve heat dissipation.

[0125] In some embodiments, the first support 21 is provided with a first heat dissipation window 21a corresponding to the heat-conducting fin 231, and the air inlet of the first fan 232 is arranged corresponding to the first heat dissipation window 21a.

[0126] The first heat dissipation window 21a is arranged on the first support 21, and the air inlet of the first fan 232 can correspond to the heat-conducting fin 231 through the first heat dissipation window 21a, so that the heat of the heat-conducting fin 231 can follow the air inlet of the first fan 232 and be discharged by the air outlet of the first fan 232.

[0127] In some embodiments, the projection assembly 20 comprises a second support 24, which is connected to the first support 21 and arranged in space with the second support 24, and the light engine 22 is located in the space between the first support 21 and the second support 24.

[0128] The second support 24 is connected to the first support 21, and the first support 21 and the second support 24 are arranged in space, so that the space between the first support 21 and the second support 24 can be used to accommodate the light engine 22. Moreover, the second support 24 can provide mounting positions for other components of the projection assembly 20.

[0129] In some embodiments, the main control board 25 is arranged on the side of the second support 24 away from the light engine 22, and the main control board 25 is electrically connected to the light engine 22.

[0130] The main control board 25 is arranged on the second support 24, and the main control board 25 is electrically connected with the light machine 22 to control the light machine 22. The light machine 22 and the main control board 25 are located on different sides of the second support 24, so that the heat generated by the operation of the light machine 22 and the main control board 25 cannot affect each other, and the heat can be dissipated.

[0131] In some embodiments, the projection robot 1000 comprises a sensor (not shown).

[0132] As described above, when the projection direction of the projection assembly 20 is changed, the inner shell 12 and the outer shell 11 form a double-shell structure, the inner shell 12 rotates relative to the outer shell 11, and the outer shell 11 remains unchanged. When the projection robot 1000 is expanded to have an autonomous moving function, the sensor can be installed on the outer shell 11, so that the position of the spatial coordinate system of the sensor remains unchanged, the sensor has high detection accuracy, and the use of the functions related to the sensor of the projection robot 1000 is not affected.

[0133] In some embodiments, at least one sensor is arranged on the top shell 112, and the main control board 25 comprises a first sub-board 251, the first sub-board 251 is arranged on the side of the second support 24 away from the light machine 22, and the first sub-board 251 is electrically connected with the sensor arranged on the top shell 112.

[0134] The first sub-board 251 is electrically connected with the sensor of the top shell 112, so that the sensor assembly of the top shell 112 can be controlled.

[0135] In some embodiments, the main control board 25 comprises a second sub-board 252, the second sub-board 252 is arranged on the side of the first sub-board 251 away from the second support 24, the second sub-board 252 is electrically connected with the first sub-board 251, and the second sub-board 252 is electrically connected with the light machine 22.

[0136] The second sub-board 252 is electrically connected with the light machine 22, and the second sub-board 252 is used to control the light machine 22.

[0137] Further, by electrically connecting the first sub-board 251 and the second sub-board 252 to the optical engine 22 and the sensor arranged on the top shell 112 respectively, compared with the control mode of using a single circuit board, the area of the single circuit board is larger, and the first sub-board 251 and the second sub-board 252 are arranged in a stacked manner, so that the occupied space can be reduced. Moreover, the second sub-board 252 and the optical engine 22 rotate with the first support 21, and the relative positions of the second sub-board 252 and the optical engine 22 are changed, the first sub-board 251 and the sensor are electrically connected, the position offset of the first sub-board 251 is small, and the electrical connection between the first sub-board 251 and the sensor can be avoided as much as possible. The electrical connection between the first sub-board 251 and the sensor is not affected by the electrical connection between the first sub-board 251 and the sensor.

[0138] In some embodiments, as shown in FIG. 1, the projection robot 1000 comprises a driving assembly 60 arranged on the bottom shell 111, the driving assembly 60 is connected to the projection assembly 20, and the driving assembly 60 is used to drive the projection assembly 20 to pitch relative to the outer shell 11. Figures 8 to 10

[0139] By driving the projection assembly 20 to pitch relative to the outer shell 11 through the driving assembly 60, the projection robot 1000 can automatically adjust the projection direction of the projection assembly 20.

[0140] In some embodiments, as shown in FIG. 1, the driving assembly 60 comprises a driven shaft mechanism 61 arranged on one side of the second support frame 45 facing the top shell 112, and the driven shaft mechanism 61 is connected to one side of the first support 21 to enable the first support 21 to pitch relative to the bottom shell 111. Figure 10

[0141] By arranging the driven shaft mechanism 61 on one 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 support 21, the first support 21 can pitch relative to the bottom shell 111.

[0142] In some embodiments, the driving assembly 60 comprises a motor support 62 arranged on one side of the first support frame 44 facing the top shell 112.

[0143] By arranging the motor support 62 on one side of the first support frame 44 facing the top shell 112, the motor support 62 can provide installation for the motor 63.

[0144] In some embodiments, a buffer pad 66 is arranged between the first support frame 44 and the motor support 62. ​​

[0145] By setting the buffer pad 66 between the first support frame 44 and the motor support frame 62, the buffer pad 66 can buffer the vibration generated by the motor 63 during operation.

[0146] In some embodiments, the driving assembly 60 comprises the motor 63, the motor 63 is arranged on the motor support frame 62, the motor 63 is connected to the side of the first support frame 21 away from the driven shaft mechanism 61, and the motor 63 is used to drive the first support frame 21 to pitch relative to the shell 11.

[0147] By arranging the motor 63 on the motor support frame 62 and connecting the motor 63 to the side of the first support frame 21 away from the driven shaft mechanism 61, the motor 63 can drive the first support frame 21 to pitch relative to the shell 11. Moreover, the connection position of the motor 63 to the projection assembly 20 and the connection position of the driven shaft to the projection assembly 20 are respectively located on both sides of the first support frame 21, and the first support frame 21 is balanced when it pitches relative to the shell 11, and the pitching is relatively stable.

[0148] In some embodiments, the first support frame 44 and the second support frame 45 are respectively located on both sides of the projection of the projection assembly 20 on the projection of the bottom shell 111.

[0149] By respectively locating the first support frame 44 and the second support frame 45 on both sides of the projection of the projection assembly 20 on the projection of the bottom shell 111, when the motor support frame 62 and the driven shaft mechanism 61 are respectively arranged on the first support frame 44 and the second support frame 45, the weight of the driving assembly 60 can be evenly distributed on both sides of the projection assembly 20 with the projection assembly 20 as the center, so that the overall center of gravity of the projector robot 1000 is relatively centered.

[0150] In some embodiments, as shown in Figure 10 and Figure 11 The first support frame 44 comprises a first main body part 441, and the motor support frame 62 is arranged on the first main body part 441.

[0151] The first main body part 441 provides a mounting position for the motor support frame 62 and supports the motor support frame 62.

[0152] The first main body part 441 can be a plate-shaped structure, a block-shaped structure, etc., which is not specifically limited in the present embodiment.

[0153] In some embodiments, the first support frame 44 comprises two first bending parts 442, the two first bending parts 442 are arranged on the first main body part 441 at intervals and extend away from the motor support frame 62, and are connected to the bottom shell 111.

[0154] The first support frame 44 is assembled with the bottom shell 111 by the two first bent portions 442 being arranged at intervals on the first body portion 441 and being connected with the bottom shell 111. The first bent portions 442 extend from the first body portion 441 in a direction away from the motor bracket 62, so that the first body portion 441 is away from the bottom shell 111. Thus, the rotational axis of the motor 63 can be made to substantially coincide with the horizontal central plane of the spherical body by the first bent portions 442 having different extension lengths.

[0155] The first support frame 44 can be formed as a whole by a sheet metal structure, and the first body portion 441 and the first bent portions 442 are formed by bending and molding.

[0156] In some embodiments, the second support frame 45 includes a second body portion 451, and the driven shaft mechanism 61 is arranged on the second body portion 451.

[0157] The second body portion 451 provides a mounting position for the driven shaft mechanism 61, and the second body portion 451 supports the driven shaft mechanism 61.

[0158] The second body portion 451 can be a plate structure, a block structure, etc., which is not specifically limited in the present embodiment.

[0159] In some embodiments, the second support frame 45 includes two second bent portions 452 arranged at intervals on the second body portion 451 and extending from the second body portion 451 in a direction away from the driven shaft mechanism 61, and connected with the bottom shell 111.

[0160] The second support frame 45 is assembled with the bottom shell 111 by the two second bent portions 452 being arranged at intervals on the second body portion 451 and being connected with the bottom shell 111. The second bent portions 452 extend from the second body portion 451 in a direction away from the driven shaft mechanism 61, so that the second body portion 451 is away from the bottom shell 111. Thus, the rotational axis of the driven shaft mechanism 61 can be made to substantially coincide with the horizontal central plane of the spherical body by the second bent portions 452 having different extension lengths.

[0161] The second support frame 45 can be formed as a whole by a sheet metal structure, and the second body portion 451 and the second bent portions 452 are formed by bending and molding.

[0162] In some embodiments, as shown in Figure 12 The bottom shell 111 is provided with two inner recesses 111b, and the space formed outside the bottom shell 111 is used to accommodate the drive wheel 31.

[0163] The two inner recesses are arranged corresponding to the two driving wheels 31 of the bottom shell 111, and the space formed outside the bottom shell 111 by the inner recesses accommodates the driving wheels 31, so that the driving wheels 31 can be hidden, the space occupied by the driving wheels 31 outside the bottom shell 111 is reduced, and the overall volume of the projection robot 1000 is smaller.

[0164] In some embodiments, one first bending part 442 is connected to the top surface of the top shell 112 facing the other inner recess, and the other first bending part 442 is connected to the bottom shell 111. One second bending part 452 is connected to the top surface of the top shell 112 facing the other inner recess, and the other second bending part 452 is connected to the bottom shell 111.

[0165] The extension length of the first bending part 442 and the second bending part 452 can be adapted to the inner recess depth of the inner recess in the bottom shell 111 by arranging the first bending part 442 and the second bending part 452 to be connected to the top surface of the top shell 112 facing the inner recess. The inner recess is used as a partial connection position of the first support frame 44, the second support frame 45 and the bottom shell 111.

[0166] In some embodiments, the bottom shell 111 is provided with a counterweight 43, and the projection of the counterweight 43 on the bottom of the inner cavity at least partially overlaps the projection of the motor 63 on the bottom of the inner cavity.

[0167] Since the volume of the motor 63 is larger than that of the driven shaft mechanism 61, the projection of the motor 63 on the bottom shell 111 is closer to the center of the bottom shell 111 than the projection of the driven shaft mechanism 61 on the bottom shell 111, that is, the weight of the motor 63 causes the overall center of gravity of the projection robot 1000 to deviate from the center of the bottom shell 111 and be closer to the driven shaft mechanism 61. Therefore, by arranging the counterweight 43 on the bottom shell 111, the projection of the counterweight 43 on the bottom of the inner cavity at least partially overlaps the projection of the motor 63 on the bottom of the inner cavity, and the weight of the counterweight 43 is used to compensate for the deviation of the overall center of gravity of the projection robot 1000 caused by the weight of the motor 63, so that the center of gravity of the projection robot 1000 is more centered.

[0168] The above describes a projection robot disclosed in the embodiments of the present application in detail. The principles and implementation manners of the present application are described by using examples, and the above description of the embodiments is only used to help understand the projection robot of the present application and its core idea; meanwhile, for those skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application, and the above description of the present application should not be understood as a limitation.

Claims

1. A projection robot, characterized in that, The projection robot comprises: a shell comprising: a bottom shell, a bottom of the bottom shell being provided with a driving wheel; a top shell connected above the bottom shell to make the shell spherical and form an inner cavity between the top shell and the bottom shell for accommodating a projection assembly; a first support frame and a second support frame provided on the bottom shell, and the first support frame and the second support frame being located on both sides of the projection of the bottom shell respectively; the projection assembly comprising: a first support frame, two opposite sides of the first support frame being respectively pivotally connected to the first support frame and the second support frame, so that the rotation axis of the first support frame is substantially coincided with the horizontal center plane of the sphere; an optical engine provided on the first support frame.

2. The projection robot according to claim 1, wherein the first support frame comprises: a mounting base, one side of the mounting base towards the top shell being provided with the optical engine; a first side plate, the first side plate being provided along a direction towards the top shell from a first edge of the mounting base, the first side plate being pivotally connected to the first support frame; a second side plate, the second side plate being provided along a direction towards the top shell from a second edge of the mounting base, the second side plate being pivotally connected to the second support frame, the second edge being an edge of the mounting base opposite to the first edge.

3. The projection robot according to claim 1, wherein the projection assembly comprises: a main control board, the main control board being provided on a side of the optical engine towards the top shell, the main control board being electrically connected to the optical engine; a first fan, the first fan being provided on a side of the first support frame away from the optical engine, the first fan being used for heat dissipation of the optical engine.

4. The projection robot according to claim 3, wherein, the projection assembly comprises a second support frame, the second support frame being connected to the first support frame and being spaced apart from the second support frame, the optical engine being located in the space between the first support frame and the second support frame, the main control board being provided on a side of the second support frame away from the optical engine.

5. The projection robot according to claim 4, wherein the main control board comprises: a first sub-board, the first sub-board being provided on a side of the second support frame away from the optical engine; a second sub-board, the second sub-board being provided on a side of the first sub-board away from the second support frame, the second sub-board being electrically connected to the first sub-board; the projection robot comprises sensors, at least one of the sensors being provided on the top shell; wherein the first sub-board is electrically connected to the sensors provided on the top shell, and the second sub-board is electrically connected to the optical engine.

6. The projection robot of claim 3, wherein, the projection assembly comprises heat-conducting fins, the heat-conducting fins being provided on the first support frame and located on the circumferential side of the optical engine, the first support frame being provided with a first heat dissipation window corresponding to the heat-conducting fins, and an air inlet of the first fan being provided corresponding to the first heat dissipation window.

7. The projection robot according to any one of claims 1-6, characterized in that, the shell is formed with a first opening, the first opening being communicated with the inner cavity; The projection robot comprises an inner shell, the inner shell is located in the inner cavity, and the inner shell is fixed to one end of the first support frame towards the first opening, so that the inner shell can rotate with the first support frame, and in the process of the rotation, the projection of the inner shell on the outer shell covers the first opening, and the inner shell is provided with a projection hole for the projection assembly to project out of the inner shell.

8. The projection robot according to any one of claims 1-6, wherein, The projection robot comprises a driving assembly, the driving assembly comprises: a driven shaft mechanism, the driven shaft mechanism is arranged on one side of the second support frame towards the top shell, and the driven shaft mechanism is connected to one side of the first support frame, so that the first support frame can rotate relative to the bottom shell; a motor support, the motor support is arranged on one side of the first support frame towards the top shell; a motor, the motor is arranged on the motor support, and the motor is connected to one side of the first support frame away from the driven shaft mechanism, so that the motor drives the first support frame to rotate relative to the outer shell.

9. The projection robot according to claim 8, wherein the bottom shell is provided with two inner recesses, and the space formed outside the bottom shell is used for accommodating the driving wheels; the first support frame comprises: a first main body portion, the motor support is arranged on one side of the first main body portion towards the top shell; two first bending portions, the two first bending portions respectively extend from two opposite edges of the first main body portion away from the motor support, one first bending portion is connected to the top surface of one inner recess towards the top shell, and the other first bending portion is connected to the bottom shell; the second support frame comprises: a second main body portion, the driven shaft mechanism is arranged on one side of the second main body portion towards the top shell; two second bending portions, the two second bending portions respectively extend from two opposite edges of the second main body portion away from the driven shaft mechanism, one second bending portion is connected to the top surface of the other inner recess towards the top shell, and the other second bending portion is connected to the bottom shell.

10. The projection robot of claim 8, wherein, The bottom shell is provided with a counterweight, and the projection of the counterweight at the bottom of the inner cavity at least partially overlaps the projection of the motor at the bottom of the inner cavity.

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