Projection robot

Abstract

The utility model relates to the technical field of household appliances, and discloses a projection robot, which comprises a spherical shell, the shell is provided with a first opening communicated with an inner cavity, and the bottom of the shell is provided with a driving wheel; the projection assembly is located in the inner cavity; the driving assembly comprises a driven shaft mechanism, and the driven shaft mechanism is arranged on the shell and connected to one side of the projection assembly; the motor support is arranged on the shell and located on the side, away from the driven shaft mechanism, of the projection assembly. The motor is arranged on the motor support and connected to the side, away from the driven shaft mechanism, of the projection assembly, the rotating axis of a driving shaft of the motor coincides with the rotating axis of the driven shaft mechanism, and the rotating axis roughly coincides with the spherical horizontal central plane; the inner shell is located in the inner cavity, and the inner shell is fixed to one end of the projection assembly so that the inner shell can rotate in a pitching mode along with the projection assembly. According to the projection robot, the adjustable range of the projection orientation direction of the projection assembly is large.

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 typically adjust the projection direction of their projection components by rotating the outer shell, which in turn rotates the projection component. To avoid this, the projection component could be mounted on the outer shell, rotating relative to it instead. However, this rotation can lead to interference with the shell, limiting the rotation angle and restricting the adjustable range of the projection direction. Utility Model Content

[0003] This application discloses a projection robot, in which the projection orientation of the projection component has a large adjustable range.

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

[0005] The outer shell is spherical and has an inner cavity. The outer shell has a first opening that communicates with the inner cavity. The bottom of the outer shell has a drive wheel.

[0006] A projection assembly located within the cavity;

[0007] A drive assembly, located within the cavity, comprising:

[0008] A driven shaft mechanism is disposed in the housing and connected to one side of the projection assembly;

[0009] A motor bracket is disposed on the housing and located on the side of the projection assembly opposite to the driven shaft mechanism;

[0010] The motor is mounted on the motor bracket and connected to the side of the projection assembly away from the driven shaft mechanism. The rotation axis of the motor's drive shaft coincides with the rotation axis of the driven shaft mechanism to drive the projection assembly to pitch relative to the housing. The rotation axis is approximately coincident with the horizontal center plane of the sphere.

[0011] An inner shell is located in the inner cavity. The inner shell is fixed to one end of the projection assembly facing the first opening so that the inner shell can rotate with the projection assembly. During the rotation with the projection assembly, the projection of the inner shell on the outer shell covers the first opening.

[0012] The inner shell has a projection hole facing the first opening for the projection assembly to project onto the outside of the inner shell.

[0013] Drive wheels are located at the bottom of the outer shell, enabling the projection robot to move. The projection component is located within the inner cavity of the outer shell and can rotate in both directions. This allows the projection robot to move to different positions and project at different angles using the different projection directions of the projection component. Furthermore, the outer shell has a first opening. An inner shell located within the inner cavity is fixed to the projection component. The inner shell can rotate relative to the outer shell as the projection component rotates, allowing the projection component to project onto the outside of the inner shell in different directions through its projection holes. Simultaneously, as the inner shell rotates with the projection component, its projection onto the outer shell covers the first opening, preventing dust and other foreign objects from entering the inner cavity of the outer shell through the first opening. It also shields the projection component, preventing the user from seeing it through the first opening from outside the outer shell.

[0014] Furthermore, the drive assembly is located within the inner cavity of the housing. A driven shaft mechanism is installed within the housing, connecting to one side of the projection assembly. Simultaneously, a motor bracket is installed within the housing, mounting the motor. The motor's drive shaft connects to the side of the projection assembly opposite the driven shaft mechanism, with the rotation axis of the driven shaft mechanism coinciding with the rotation axis of the projection assembly. Thus, the motor can drive the projection assembly to pitch relative to the housing. 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. This ensures that the projection assembly experiences balanced forces and smooth pitch rotation relative to the housing. Moreover, by designing the rotation axis to approximately coincide with the horizontal center plane of the sphere, the projection assembly is positioned at the center of the inner cavity, resulting in a greater distance between the projection assembly and the inner wall of the housing. This reduces the risk of interference between the projection assembly and the housing during rotation, thereby minimizing limitations on the rotation angle of the projection assembly relative to the housing and allowing for a wider range of adjustment for the projection orientation.

[0015] In some embodiments of this application, the driving component includes:

[0016] The outer casing includes:

[0017] Top shell, the top shell having a first notch:

[0018] A bottom shell is connected below the top shell to make the outer shell spherical and to form the inner cavity between the bottom shell and the top shell. The bottom shell is provided with a second notch, and the second notch and the first notch are connected to form the first opening.

[0019] The driven shaft mechanism and the motor bracket are located on the bottom shell.

[0020] The bottom shell is connected to the bottom of the top shell, and the top and bottom shells together form a spherical outer shell, creating an inner cavity between them. This allows for easy assembly of the projection robot. The projection components, inner shell, and other parts can be installed onto the bottom shell, and then connected to the top shell via a first notch in the top shell and a second notch in the bottom shell, forming a first opening. This simplifies the assembly of the projection robot. Furthermore, the first opening extends from the top shell to the bottom shell, increasing the projection coverage of the inner shell onto the outer shell, thereby increasing the pitch angle range of the projection components and the inner shell, resulting in a wider projection angle range for the projection components.

[0021] In some embodiments of this application, the projection robot includes a first support frame and a second support frame;

[0022] The first support frame and the second support frame 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 component on the bottom shell. The motor bracket is disposed on the side of the first support frame facing the top shell, and the driven shaft mechanism is disposed on the side of the second support frame facing the top shell.

[0023] By setting a first support frame and a second support frame on the bottom shell, and using the first and second support frames to respectively mount the motor bracket and the driven shaft mechanism, the motor and the driven shaft mechanism are supported and assembled. Furthermore, since the projections of the first and second support frames onto the bottom shell are located on either side of the projection component's projection onto the bottom shell, when the first and second support frames are used to mount the motor bracket and the driven shaft mechanism, the weight of the drive component can be distributed relatively evenly on both sides of the projection component, making the overall center of gravity of the projection robot more centrally located.

[0024] In some embodiments of this application, the motor bracket includes:

[0025] The first part is located on the bottom shell;

[0026] The second part extends from the edge of the first part near the projection assembly in a direction toward the top of the inner cavity. The motor is fixedly disposed on the side of the second part away from the projection assembly. The drive shaft of the motor passes through the second part and is connected to the side of the projection assembly away from the driven shaft mechanism.

[0027] The driving component includes a first limiting mechanism, the first limiting mechanism comprising:

[0028] A first rotating component is disposed on the side of the projection assembly facing the second part and is fixed to the drive shaft of the motor. The first rotating component is provided with a first limiting notch, which extends along the rotational circumference of the first rotating component.

[0029] A limiting member is provided on the side of the second part facing the projection component, and the limiting member is used to abut against the first limiting notch to limit the rotation of the motor.

[0030] The first part is located on the bottom shell, and the second part extends from the edge of the first part near the projection assembly towards the top of the inner cavity. The motor is fixed to the second part, creating a gap between it and the first part, preventing vibrations generated by the motor during operation from being directly transmitted to the first part and then to the bottom shell. Furthermore, the motor's drive shaft can pass through the second part and connect to the side of the projection assembly opposite to the driven shaft mechanism, enabling the motor to drive the projection assembly to pitch and rotate relative to the outer shell.

[0031] Furthermore, by positioning the first rotating member on the side of the projection assembly facing the second part and fixing it to the drive shaft of the motor, the first rotating member can rotate along with the projection assembly when the motor drives the projection assembly to tilt relative to the outer casing. Moreover, by providing a limiting member on the side of the second part facing the projection assembly, the relative position of the first limiting notch of the rotating member and the limiting member changes when the motor drives the projection assembly to tilt relative to the outer casing. When the limiting member abuts against the first limiting notch, it can prevent the first rotating member from continuing to rotate, thereby limiting the rotation angle of the first rotating member and thus limiting the rotation of the motor.

[0032] In some embodiments of this application, the driven shaft mechanism includes:

[0033] A bearing housing, wherein the bearing housing is disposed on the side of the second support frame facing the top shell;

[0034] A rotating shaft, one end of which is rotatably connected to the bearing housing, and the other end of which is fixedly connected to the side of the projection assembly facing the bearing housing;

[0035] The driving component includes a second limiting mechanism, the second limiting mechanism comprising:

[0036] The second rotating component is fixedly disposed on the rotating shaft. The second rotating component is provided with a second limiting notch, which extends along the circumferential direction of rotation of the second rotating component.

[0037] A photoelectric switch is disposed on the second support frame. The photoelectric switch is used to detect the second limiting notch to control the rotation of the motor and limit the rotation of the shaft relative to the bearing seat.

[0038] By setting a bearing seat on the side of the second support frame facing the top shell, and rotatably connecting one end of the rotating shaft to the bearing seat, the rotating shaft can rotate relative to the bearing seat, while the other end of the rotating shaft is fixedly connected to the side of the projection component facing the bearing seat, so that the projection component can rotate relative to the bearing seat, thereby realizing the tilt-rotation setting of the projection component and the bottom shell.

[0039] Furthermore, by fixing the second rotating component to the rotating shaft, when the projection assembly tilts relative to the outer casing, the rotating shaft rotates relative to the bearing seat, and the second rotating component can rotate along with the tilt of the projection assembly. Additionally, a photoelectric switch is installed on the second support frame. The photoelectric switch can detect the second limiting notch. When the projection assembly tilts relative to the outer casing, the relative position of the second limiting notch of the rotating component and the photoelectric switch changes, thereby determining different projection orientations of the projection assembly. Thus, the rotation angle of the rotating shaft relative to the bearing seat can be controlled based on the real-time projection orientation of the projection assembly, achieving rotational limiting of the rotating shaft relative to the bearing seat by controlling the rotation of the motor.

[0040] In some embodiments of this application, the second support frame includes:

[0041] The second main body portion, wherein the driven shaft mechanism is located on the side of the second main body portion facing the top shell;

[0042] Two second bends extend from two opposite edges of the second main body in a direction away from the driven shaft mechanism and are connected to the bottom shell;

[0043] An extension portion is provided extending from the edge of the second main body portion near the projection assembly in a direction toward the top of the inner cavity;

[0044] The photoelectric switch is located on the side of the extension facing the second rotating member.

[0045] The second main body provides an installation position for the driven shaft mechanism and supports it. Simultaneously, two second bends are spaced apart on the second main body and connected to the bottom shell, enabling the assembly of the second support frame and the bottom shell. Furthermore, the second bends extend from the second main body away from the driven shaft mechanism, thus moving the second main body away from the bottom shell. This allows the rotation axis of the driven shaft mechanism to approximately coincide with the horizontal center plane of the sphere through the use of second bends of varying lengths.

[0046] Furthermore, by providing an extension in the second main body, the extension provides an installation position for the photoelectric switch, enabling the photoelectric switch to correspond to the position of the second rotating member and detect the second limiting notch of the second rotating member.

[0047] In some embodiments of this application, the second support frame includes:

[0048] The second main body has the driven shaft mechanism located on the side of the second main body facing the top shell. The second main body has a through groove corresponding to the second rotating member, and the second rotating member partially passes through the through groove.

[0049] Two second bends extend from the two opposite edges of the second main body in a direction away from the driven shaft mechanism and are connected to the bottom shell.

[0050] The second main body provides an installation position for the driven shaft mechanism and supports it. Simultaneously, two second bends are spaced apart on the second main body and connected to the bottom shell, enabling the assembly of the second support frame and the bottom shell. Furthermore, the second bends extend from the second main body away from the driven shaft mechanism, thus moving the second main body away from the bottom shell. This allows the rotation axis of the driven shaft mechanism to approximately coincide with the horizontal center plane of the sphere through the use of second bends of varying lengths.

[0051] Furthermore, by providing a through groove in the second main body, the second rotating member is avoided, and the second rotating member partially passes through the through groove, thus preventing interference between the second rotating member and the second main body.

[0052] In some embodiments of this application, the bottom shell has two recesses, and the space formed by the recesses outside the bottom shell is used to accommodate the drive wheel;

[0053] The first support frame includes:

[0054] The first main body portion, wherein the motor bracket is disposed on the side of the first main body portion facing the top shell;

[0055] Two first bends, each extending from two opposite edges of the first main body in a direction away from the motor bracket, one first bend connected to the top surface of one of the recesses facing the top shell, and the other first bend connected to the bottom shell;

[0056] The second support frame includes:

[0057] The second main body portion, wherein the driven shaft mechanism is located on the side of the second main body portion facing the top shell;

[0058] Two second bends extend from opposite edges of the second main body in a direction away from the driven shaft mechanism. One second bend connects to the top surface of the other recess facing the top shell, and the other second bend connects to the bottom shell. The first main body provides a mounting position for the motor bracket and supports it. Simultaneously, the two first bends, spaced apart on the first main body and connected to the bottom shell and the top surface of the recess facing the top shell, enable the assembly of the first support frame and the bottom shell. Furthermore, the first bends extend from the first main body away from the motor bracket, thus moving the first main body away from the bottom shell. Therefore, the rotation axis of the motor can be approximately aligned with the horizontal center plane of the sphere by using first bends of varying lengths. The second main body provides an installation position for the driven shaft mechanism and supports it. Two second bends are spaced apart on the second main body and connect to the bottom shell and the top surface of the recessed portion facing the top shell, enabling the assembly of the second support frame with the bottom shell. Furthermore, the second bends extend from the second main body away from the driven shaft mechanism, thus moving the second main body away from the bottom shell. This allows the rotation axis of the driven shaft mechanism to approximately coincide with the horizontal center plane of the sphere through the use of second bends of varying lengths.

[0059] In some embodiments of this application, the first support frame includes a reinforcing portion, which is disposed on the side of the first main body away from the motor bracket, and the two ends of the reinforcing portion are respectively connected to the two first bending portions;

[0060] The second support frame includes a second reinforcing part, which is located on the side of the second main body away from the driven shaft mechanism, and the two ends of the second reinforcing part are respectively connected to the two second bending parts.

[0061] By providing a first reinforcing part on the side of the first main body away from the motor bracket, and connecting the two ends of the first reinforcing part to two first bending parts respectively, the bending resistance of the first main body can be improved, and the first bending parts can better support the motor bracket and the motor. By providing a second reinforcing part on the side of the second main body away from the driven shaft mechanism, and connecting the two ends of the second reinforcing part to two second bending parts respectively, the bending resistance of the second main body can be improved, and the second bending parts can better support the driven shaft mechanism.

[0062] In some embodiments of this application, the pitch angle of the projection component driven by the motor relative to the housing is α, α≥-40°, and / or α≤60°.

[0063] When the projection component is driven by a drive assembly to rotate the projection component relative to the outer shell at a pitch angle α ≥ -40°, the projection position is far from the projection robot itself (outer shell), making it difficult for the user to see the projected content. However, when the projection component is driven by a drive assembly to rotate the projection component relative to the outer shell at a pitch angle α ≤ 60°, the projection robot does not need to move closer to the projection position when projecting onto a ceiling or wall. The projection robot can project from a greater distance, thus reducing the limitations of its application scenarios.

[0064] Compared with the prior art, this application has at least the following beneficial effects:

[0065] In this embodiment, a drive wheel is provided at the bottom of the outer shell, enabling the projection robot to move. Simultaneously, the projection component is located within the inner cavity of the outer shell and is rotatable within it. This allows the projection robot to move to different positions and project at different locations and angles by utilizing the different projection directions of the projection component. Furthermore, the outer shell has a first opening. An inner shell located within the inner cavity is fixed to the projection component. The inner shell can rotate relative to the outer shell as the projection component tilts, allowing the projection component to project onto the outside of the inner shell through its projection hole in different directions. During this rotation, the inner shell's projection onto the outer shell covers the first opening, preventing dust and other foreign objects from entering the inner cavity of the outer shell through the first opening and shielding the projection component from view by the user through the first opening.

[0066] Furthermore, the drive assembly is located within the inner cavity of the housing. A driven shaft mechanism is installed within the housing, connecting to one side of the projection assembly. Simultaneously, a motor bracket is installed within the housing, mounting the motor. The motor's drive shaft connects to the side of the projection assembly opposite the driven shaft mechanism, with the rotation axis of the driven shaft mechanism coinciding with the rotation axis of the projection assembly. Thus, the motor can drive the projection assembly to pitch relative to the housing. 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. This ensures that the projection assembly experiences balanced forces and smooth pitch rotation relative to the housing. Moreover, by designing the rotation axis to approximately coincide with the horizontal center plane of the sphere, the projection assembly is positioned at the center of the inner cavity, resulting in a greater distance between the projection assembly and the inner wall of the housing. This reduces the risk of interference between the projection assembly and the housing during rotation, thereby minimizing limitations on the rotation angle of the projection assembly relative to the housing and allowing for a wider range of adjustment for the projection orientation. Attached Figure Description

[0067] 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.

[0068] Figure 1 This is a schematic diagram of the structure of a projection robot provided in an embodiment of this application;

[0069] Figure 2 This is a structural schematic diagram of a projection robot (partial shell omitted) provided in an embodiment of this application;

[0070] Figure 3 This is a structural schematic diagram of a projection robot provided in an embodiment of this application from another perspective;

[0071] Figure 4 This is an exploded structural diagram of the inner shell and outer shell provided in an embodiment of this application;

[0072] 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;

[0073] Figure 6 This is an exploded structural diagram of a bottom shell and a projection component provided in an embodiment of this application;

[0074] Figure 7 This is an exploded structural diagram of a driving component and a projection component provided in an embodiment of this application;

[0075] Figure 8 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;

[0076] Figure 9 This is an exploded structural diagram of a projection robot provided in an embodiment of this application;

[0077] Figure 10 This is a schematic diagram of the structure of a driving component provided in an embodiment of this application;

[0078] Figure 11 This is a schematic diagram of the structure of a bottom shell provided in an embodiment of this application.

[0079] Explanation of main figure symbols

[0080] 1000. Projection robot;

[0081] 11. Outer shell; 11a. First opening;

[0082] 111. Bottom shell; 111a. Second notch; 111b. Inner recess;

[0083] 112. Top shell; 1121. First notch;

[0084] 12. Inner shell; 12a. Projection hole;

[0085] 20. Projection components;

[0086] 31. Drive wheel;

[0087] 44. First support frame; 441. First main body; 442. First bending section; 443. First reinforcing section;

[0088] 45. Second support frame; 451. Second main body; 451a. Through groove; 452. Second bending part; 453. Extension part; 454. Second reinforcing part;

[0089] 60. Driver components;

[0090] 61. Driven shaft mechanism; 611. Bearing housing; 612. Rotating shaft;

[0091] 62. Motor bracket; 621. First part; 622. Second part;

[0092] 63. Electric motor;

[0093] 641. First rotating component; 641a. First limiting notch; 642. Limiting component;

[0094] 651, Second rotating component; 651a, Second limiting notch; 652, Photoelectric switch. Detailed Implementation

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (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, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0100] Before explaining the technical solution of this application, the inventive concept of this application will be explained first.

[0101] Figure 1 This 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.

[0102] 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.

[0103] 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.

[0104] To prevent the outer shell from rotating, a projection component can be mounted on the outer shell, allowing the projection robot to rotate relative to it without relying on the outer shell's rotation. However, when the projection component rotates relative to the outer shell, interference can easily occur, the rotation angle of the projection component relative to the outer shell is limited, and the adjustable range of the projection direction is small.

[0105] In summary, the projection robot 1000 in the related technology has the problem of making it difficult to achieve a large adjustable range of projection orientation while designing the projection component to rotate relative to the outer shell. Therefore, this application provides a projection robot 1000 to solve the above problems.

[0106] The technical solutions of some 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.

[0107] 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.

[0108] The outer shell 11 can be spherical, square, or irregular in shape, etc., and this embodiment does not make specific limitations on it.

[0109] 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.

[0110] In some embodiments, the projection robot 1000 includes a projection component 20, which is rotatably mounted on the housing 11.

[0111] 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.

[0112] In some embodiments, the projection robot 1000 includes a drive wheel 31 located at the bottom of the housing 11.

[0113] 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.

[0114] In some embodiments, such as Figure 3 and Figure 4 The outer shell 11 is provided with a first opening 11a, which communicates with the inner cavity.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] In some embodiments, the outer casing 11 is spherical.

[0120] 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.

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

[0122] As can be seen from the above, 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 pitches and rotates relative to the outer shell 11, while the outer shell 11 remains stationary. When the autonomous movement function of the projection robot 1000 is extended, the sensor can be installed on the outer shell 11 so that the position of the sensor's spatial coordinate system remains unchanged. The sensor has high detection accuracy and avoids affecting the use of the projection robot 1000 and the sensor-related functions.

[0123] In some embodiments, such as Figures 5 to 7 As shown, the projection robot 1000 includes a drive component 60, which is located in the inner cavity 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 outer shell 11.

[0124] 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.

[0125] In some embodiments, such as Figure 7 As shown, the drive assembly 60 includes a driven shaft mechanism 61, which is disposed in the housing 11 and connected to one side of the projection assembly 20.

[0126] By providing a driven shaft mechanism 61 on the bottom shell 111 and connecting the driven shaft mechanism 61 to one side of the projection assembly 20, the projection assembly 20 can be tilted and rotated relative to the bottom shell 111.

[0127] In some embodiments, the drive assembly 60 includes a motor bracket 62 disposed on the housing 11.

[0128] By providing a motor bracket 62 in the housing 11, the motor bracket 62 can provide mounting for the motor 63.

[0129] 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 projection assembly 20 away from the driven shaft mechanism 61. The rotation axis of the drive shaft of the motor 63 coincides with the rotation axis of the driven shaft mechanism 61 to drive the projection assembly 20 to pitch relative to the housing 11.

[0130] Motor 63 is mounted on motor bracket 62 and connected to the side of projection component 20 away from driven shaft mechanism 61. Motor 63 can drive projection component 20 to tilt and rotate relative to housing 11. Furthermore, the connection positions of motor 63 and projection component 20, and the connection positions of driven shaft and projection component 20, are located on both sides of projection component 20, respectively. When projection component 20 tilts and rotates relative to housing 11, the forces are balanced, and the tilting and rotation is relatively smooth.

[0131] In some embodiments, the axis of rotation substantially coincides with the horizontal center plane of the sphere.

[0132] By designing the rotation axis to roughly coincide with the horizontal center plane of the sphere, the projection component 20 is located at the center of the inner cavity. The distance between the projection component 20 and the inner wall of the outer shell 11 is relatively large, which can reduce the risk of interference between the projection component 20 and the outer shell 11 when the projection component 20 rotates relative to the outer shell 11. This reduces the limitation on the rotation angle of the projection component 20 relative to the outer shell 11, and the adjustable range of the projection orientation of the projection component 20 is large.

[0133] In this context, "approximately identical" should be understood as perfectly identical under ideal conditions. However, in reality, due to uncontrollable factors such as processing errors and assembly errors, there may be minor differences, which should also be included in the category of "approximately identical." In other embodiments, the term "approximately" should be understood in the same way.

[0134] In some embodiments, such as Figure 3 and Figure 4 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.

[0135] Drive wheels 31 are installed on the bottom shell 111, which can drive the bottom shell 111 to move, thereby moving the projection robot 1000 to different positions. The projection component 20 is mounted on the bottom shell 111 and can be tilted and rotated. The overall center of the projection robot 1000 is relatively close to the bottom 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.

[0136] 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.

[0137] 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, and then the two are connected together. The assembly and disassembly of the projection robot 1000 is relatively easy.

[0138] 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.

[0139] 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, avoiding motion interference.

[0140] like Figure 3 and Figure 8 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.

[0141] In some embodiments, such as Figure 9 As shown, the top shell 112 is provided with a first notch 1121, which extends to the edge of the top shell 112.

[0142] By providing a first notch 1121 in the top shell 112, and extending the first notch 1121 to the edge of the top shell 112, when the top shell 112 and the bottom shell 111 are closed and connected, the first notch 1121 can extend to the closing connection between the top shell 112 and the bottom shell 111.

[0143] In some embodiments, the bottom shell 111 is provided with a second notch 111a, which extends to the edge of the bottom shell 111.

[0144] By providing a second notch 111a in the bottom shell 111, and extending the second notch 111a to the edge of the bottom shell 111, when the top shell 112 is closed and connected to the bottom shell 111, the second notch 111a can extend to the closing connection between the bottom shell 111 and the top shell 112.

[0145] In some embodiments, the second notch 111a is used to enclose the first notch 1121 to form the first opening 11a.

[0146] The top shell 112 and the bottom shell 111 are closed together. At this time, the second notch 111a and the first notch 1121 can be closed to form the first opening 11a. The assembly of the top shell 112 and the bottom shell 111 is relatively easy.

[0147] In some embodiments, such as Figure 6 and Figure 7The 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 located on the bottom shell 111. The driven shaft mechanism 61 is located on the side of the second support frame 45 facing the top shell 112. The motor bracket 62 is located on the side of the first support frame 44 facing the top shell 112.

[0148] By setting a first support frame 44 and a second support frame 45 on the bottom shell 111, and using the first support frame 44 and the second support frame 45 to set the motor bracket 62 and the driven shaft mechanism 61 respectively, the motor 63 and the driven shaft mechanism 61 are supported and assembled.

[0149] 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.

[0150] 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.

[0151] In some embodiments, such as Figure 7 and Figure 10 As shown, the motor bracket 62 includes a first part 621, which is disposed on the bottom shell 111.

[0152] The first part 621 is provided on the bottom shell 111, and the connection between the motor bracket 62 and the bottom shell 111 is realized by the first part 621.

[0153] In some embodiments, the motor bracket 62 includes a second portion 622, which extends from the edge of the first portion 621 near the projection assembly 20 in a direction toward the top of the inner cavity. The motor 63 is fixedly mounted on the second portion 622, and the drive shaft of the motor 63 passes through the second portion 622 and is connected to the side of the projection assembly 20 away from the driven shaft mechanism 61.

[0154] The second part 622 extends from the edge of the first part 621 near the projection assembly 20 in the direction toward the top of the inner cavity. The motor 63 is fixed to the second part 622 and can form a gap with the first part 621, so as to avoid the vibration generated by the motor 63 during operation being directly transmitted to the first part 621 and then to the bottom shell 111.

[0155] In some embodiments, the drive assembly 60 includes a first limiting mechanism for limiting the rotation of the motor 63.

[0156] The rotation of the motor 63 is limited by the first limiting mechanism, thereby limiting the pitch rotation angle of the projection component 20 relative to the outer shell 11. This prevents the pitch rotation angle of the projection component 20 relative to the outer shell 11 from exceeding the design range, which would cause interference between the projection component 20 and the outer shell 11, as well as other internal components.

[0157] In some embodiments, the first limiting mechanism includes a first rotating member 641, which is disposed on the side of the projection assembly 20 facing the second part 622 and is fixed to the drive shaft of the motor 63. The first rotating member 641 is provided with a first limiting notch 641a, which extends along the rotational circumference of the first rotating member 641.

[0158] A first rotating member 641 is disposed on the side of the projection assembly 20 facing the second part 622. The first rotating member 641 is fixed to the drive shaft of the motor 63. Therefore, when the motor 63 drives the projection assembly 20 to tilt relative to the outer casing 11, the first rotating member 641 can rotate along with the tilt of the projection assembly 20. Furthermore, a first limiting notch 641a is provided on the first rotating member 641. The first limiting notch 641a extends along the circumferential direction of the first rotating member 641. Different positions of the first limiting notch 641a can indicate different projection orientations of the projection assembly 20, that is, they also indicate the rotation angle of the motor 63.

[0159] In some embodiments, the first limiting mechanism includes a limiting member 642, which is disposed on the side of the second portion 622 facing the projection assembly 20. The limiting member 642 is used to abut against the first limiting notch 641a to limit the rotation of the motor 63.

[0160] By providing a limiting member 642 on the side of the second part 622 facing the projection assembly 20, when the motor 63 drives the projection assembly 20 to pitch and rotate relative to the outer shell 11, the relative position of the first limiting notch 641a of the first rotating member 641 that follows the rotation and the limiting member 642 changes. When the limiting member 642 abuts against the first limiting notch 641a, it can prevent the first rotating member 641 from continuing to rotate, thereby limiting the rotation angle of the first rotating member 641, and thus achieving rotation limiting of the motor 63.

[0161] In some embodiments, the driven shaft mechanism 61 includes a bearing housing 611 disposed on the side of the second support frame 45 facing the top shell 112.

[0162] By providing a bearing seat 611 on the side of the second support frame 45 facing the top shell 112, the bearing seat 611 can provide a rotatable connection position, so that the projection assembly 20 can be tilted and rotated on the bottom shell 111.

[0163] In some embodiments, the driven shaft mechanism 61 includes a rotating shaft 612, one end of which is rotatably connected to a bearing housing 611, and the other end of which is fixedly connected to the side of the projection assembly 20 facing the bearing housing 611.

[0164] One end of the rotating shaft 612 is rotatably connected to the bearing seat 611, and the rotating shaft 612 can rotate relative to the bearing seat 611. The other end of the rotating shaft 612 is fixedly connected to the side of the projection component 20 facing the bearing seat 611, so that the projection component 20 can rotate relative to the bearing seat 611, thereby realizing the tilt-rotation setting of the projection component 20 and the bottom shell 111.

[0165] In some embodiments, the drive assembly 60 includes a second limiting mechanism for limiting the rotation of the shaft 612 relative to the bearing housing 611.

[0166] The rotation of the rotating shaft 612 relative to the bearing seat 611 is limited by the second limiting mechanism, thereby limiting the pitch rotation angle of the projection component 20 relative to the outer shell 11. This prevents the pitch rotation angle of the projection component 20 relative to the outer shell 11 from exceeding the design range, which would cause interference between the projection component 20 and the outer shell 11, as well as other internal components.

[0167] In some embodiments, the second limiting mechanism includes a second rotating member 651, which is fixedly disposed on the rotating shaft 612. The second rotating member 651 is provided with a second limiting notch 651a, which extends along the rotational circumference of the second rotating member 651.

[0168] With the second rotating member 651 mounted on the rotating shaft 612, when the projection assembly 20 tilts relative to the outer casing 11, the rotating shaft 612 rotates relative to the bearing seat 611, and the second rotating member 651 can rotate along with the tilting rotation of the projection assembly 20. Furthermore, by providing a second limiting notch 651a along the circumferential direction of rotation of the second rotating member 651, the different positions of the second limiting notch 651a can indicate different projection orientations of the projection assembly 20, that is, also indicate the rotation angle of the rotating shaft 612 relative to the bearing seat 611.

[0169] In some embodiments, the second limiting mechanism includes a photoelectric switch 652, which is disposed on the second support frame 45. The photoelectric switch 652 is used to detect the second limiting notch 651a to control the rotation of the motor 63 to limit the rotation of the shaft 612 relative to the bearing seat 611.

[0170] The second limiting notch 651a is detected by photoelectric switch 652. When the projection component 20 tilts relative to the outer shell 11, the relative position of the second limiting notch 651a of the rotating component 651 and the photoelectric switch 652 changes, thereby determining the different projection orientation directions of the projection component 20. Thus, the rotation angle of the rotating shaft 612 relative to the bearing seat 611 can be controlled according to the real-time projection orientation direction of the projection component 20, thereby realizing the rotation limiting of the rotating shaft 612 relative to the bearing seat 611 by controlling the rotation of the motor 63.

[0171] In some embodiments, the first support frame 44 includes a first main body 441, and the motor bracket 62 is disposed on the first main body 441.

[0172] The first main body 441 provides an installation position for the motor bracket 62 and supports the motor bracket 62.

[0173] The first main body 441 may be a plate-like structure, a block-like structure, etc., and this embodiment does not specifically limit it.

[0174] In some embodiments, the first support frame 44 includes two first bending portions 442, which are spaced apart from the first main body portion 441 and extend from the first main body portion 441 in a direction away from the motor bracket 62, and are connected to the bottom shell 111.

[0175] Two first bends 442 are spaced apart on the first main body 441 and connected to the bottom shell 111, enabling the assembly of the first support frame 44 and the bottom shell 111. Furthermore, the first bends 442 extend from the first main body 441 away from the motor bracket 62, thus moving the first main body 441 away from the bottom shell 111. Therefore, the rotation axis of the motor 63 can be approximately aligned with the spherical horizontal center plane by using first bends 442 of varying lengths.

[0176] In some embodiments, the first support frame 44 includes a first reinforcing part 443, which is disposed on the side of the first main body 441 away from the motor bracket 62, and the two ends of the first reinforcing part 443 are respectively connected to two first bending parts 442.

[0177] By providing a first reinforcing part 443 on the side of the first main body away from the motor bracket 62, and by connecting the two ends of the first reinforcing part 443 to the two first bending parts 442 respectively, the bending resistance of the first main body part 441 can be improved, and the first bending parts 442 can better support the motor bracket 62 and the motor 63.

[0178] The first support frame 44 can be made of sheet metal, and the first main body 441 and the first bent part 442 are formed by bending.

[0179] In some embodiments, the second support frame 45 includes a second main body 451, and the driven shaft mechanism 61 is disposed on the second main body 451.

[0180] The second main body 451 provides an installation position for the driven shaft mechanism 61 and supports the driven shaft mechanism 61.

[0181] The second main body 451 may be a plate-like structure, a block-like structure, etc., and this embodiment does not make specific limitations on it.

[0182] In some embodiments, the second support frame 45 includes two second bends 452, which are spaced apart from the second main body 451 and extend from the second main body 451 in a direction away from the driven shaft mechanism 61, and are connected to the bottom shell 111.

[0183] Two second bends 452 are spaced apart on the second main body 451 and connected to the bottom shell 111, enabling the assembly of the second support frame 45 and the bottom shell 111. Furthermore, the second bends 452 extend from the second main body 451 away from the driven shaft mechanism 61, thus moving the second main body 451 away from the bottom shell 111. Therefore, by using second bends 452 of varying lengths, the rotation axis of the driven shaft mechanism 61 can be made to approximately coincide with the spherical horizontal center plane.

[0184] The second support frame 45 can be made of sheet metal, and the second main body 451 and the second bent part 452 can be formed by bending.

[0185] In some embodiments, the second support frame 45 includes a second reinforcing part 454, which is disposed on the side of the second main body 451 away from the driven shaft mechanism 61, and the two ends of the second reinforcing part 454 are respectively connected to two second bending parts 452.

[0186] By providing a second reinforcing part 454 on the side of the second main body 451 away from the motor bracket 62, and by connecting the two ends of the second reinforcing part 454 to the two second bending parts 452 respectively, the bending resistance of the second main body 451 can be improved, and the second bending parts 452 can better support the motor bracket 62 and the motor 63.

[0187] In some embodiments, the second support frame 45 includes an extension 453 disposed on the second main body 451. The extension 453 extends from the second main body 451 to between the bearing seat 611 and the projection assembly 20, and the photoelectric switch 652 is disposed on the side of the extension 453 facing the bearing seat 611.

[0188] By providing an extension 453 in the second main body 451, the extension 453 provides an installation position for the photoelectric switch 652, so that the photoelectric switch 652 can correspond to the position of the second rotating member 651 to detect the second limiting notch 651a of the second rotating member 651.

[0189] In some embodiments, the second main body 451 is provided with a through groove 451a corresponding to the second rotating member 651, and the second rotating member 651 is partially inserted through the through groove 451a.

[0190] By providing a through groove 451a in the second main body 451, the second rotating member 651 is avoided by using the through groove 451a. The second rotating member 651 is partially inserted through the through groove 451a, which can prevent the second rotating member 651 from interfering with the second main body 451.

[0191] In some embodiments, such as Figure 11 As shown, the bottom shell 111 has two recesses 111b, and the space formed by the recesses 111b outside the bottom shell 111 is used to accommodate the drive wheel 31.

[0192] In some embodiments, a first bend 442 is connected to a recess 111b facing the top surface of the top shell 112, another first bend 442 is connected to the bottom shell 111, a second bend 452 is connected to another recess 111b facing the top surface of the top shell 112, and another second bend 452 is connected to the bottom shell 111.

[0193] The first main body 441 provides an installation position for the motor bracket 62 and supports the motor bracket 62. Simultaneously, two first bending portions 442 are spaced apart on the first main body 441 and connect to the bottom shell 111 and the top surface of the recessed portion 111b facing the top shell 112, enabling the assembly of the first support frame 44 and the bottom shell 111. Furthermore, the first bending portions 442 extend from the first main body 441 away from the motor bracket 62, thus moving the first main body 441 away from the bottom shell 111. Therefore, the rotation axis of the motor 63 can be approximately aligned with the horizontal center plane of the sphere by using first bending portions 442 of varying lengths. The second main body 451 provides an installation position for the driven shaft mechanism 61 and supports the driven shaft mechanism 61. Simultaneously, two second bends 452 are spaced apart on the second main body 451 and connect to the bottom shell 111 and the top surface of the recessed portion 111b facing the top shell 112, enabling the assembly of the second support frame 45 with the bottom shell 111. Furthermore, the second bends 452 extend from the second main body 451 away from the driven shaft mechanism 61, thus moving the second main body 451 away from the bottom shell 111. Therefore, by using second bends 452 of varying lengths, the rotation axis of the driven shaft mechanism 61 can be made to approximately coincide with the spherical horizontal center plane.

[0194] When the angle α of the pitch rotation of the projection component 20 relative to the housing 11 driven by the drive component 60 is negative, the projection component 20 rotates downward, and the projection direction of the projection component 20 is tilted downward, enabling it to project onto the driving plane. When the angle α of the pitch rotation of the projection component 20 relative to the housing 11 driven by the drive component 60 is positive, the projection component 20 rotates upward, and the projection direction of the projection component 20 is tilted upward, enabling it to project onto a wall or ceiling.

[0195] In some embodiments, the driving component 60 drives the projection component 20 to pitch and rotate relative to the housing 11 by an angle α, where α ≥ -40°.

[0196] If the angle α by which the driving component 60 drives the projection component 20 to pitch relative to the outer shell 11 is less than -40°, then when the projection component 20 projects onto the driving plane, the distance between the projection position and the projection robot 1000 itself (outer shell 11) is relatively close, making it difficult for the user to see the projected content. Therefore, the angle α by which the driving component 60 drives the projection component 20 to pitch relative to the outer shell 11 can be α ≥ -40°. When the projection component 20 projects onto the driving plane, the distance between the projection position and the projection robot 1000 itself (outer shell 11) is relatively far, making it difficult for the user to see the projected content. Furthermore, the angle α by which the driving component 60 drives the projection component 20 to pitch 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.

[0197] In some embodiments, α ≤ 60°.

[0198] If the angle α of the pitch rotation of the projection component 20 relative to the outer casing 11 driven by the drive component 60 is greater than 60°, then when the projection component 20 projects onto the ceiling or wall, the projection robot 1000 needs to move to a location closer to the projection position, and cannot project from a greater distance, thus greatly limiting the application scenarios of the projection robot 1000. Therefore, the angle α of the pitch rotation of the projection component 20 relative to the outer casing 11 driven by the drive component 60 can be α≤60°. When the projection component 20 projects onto the ceiling or wall, the projection robot 1000 does not need to move to a location closer to the projection position, and the projection robot 1000 can project from a greater distance, thus reducing the limitations on the application scenarios of the projection robot 1000. Furthermore, the angle α of the pitch rotation of the projection component 20 relative to the outer casing 11 driven by the drive component 60 can be 5°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 60°, 55°, 60°, etc., and this embodiment does not specifically limit it.

[0199] 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 shell is spherical and has an inner cavity. The outer shell has a first opening that communicates with the inner cavity. The bottom of the outer shell has a drive wheel. A projection assembly located within the cavity; A drive assembly, located within the cavity, comprising: A driven shaft mechanism is disposed in the housing and connected to one side of the projection assembly; A motor bracket is disposed on the housing and located on the side of the projection assembly opposite to the driven shaft mechanism; The motor is mounted on the motor bracket. The drive shaft of the motor is connected to the side of the projection assembly 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 projection assembly to pitch and rotate relative to the housing. The rotation axis is approximately coincident with the horizontal center plane of the sphere. An inner shell is located in the inner cavity. The inner shell is fixed to one end of the projection assembly facing the first opening so that the inner shell can rotate with the projection assembly. During the rotation of the inner shell with the projection assembly, 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 the projection assembly to project onto the outside of the inner shell.

2. The projection robot according to claim 1, characterized in that, The outer casing includes: Top shell, the top shell having a first notch: A bottom shell is connected below the top shell to make the outer shell spherical and to form the inner cavity between the bottom shell and the top shell. The bottom shell is provided with a second notch, and the second notch and the first notch are connected to form the first opening. The driven shaft mechanism and the motor bracket are located on the bottom shell.

3. The projection robot according to claim 2, wherein, The projection robot includes a first support frame and a second support frame; The first support frame and the second support frame 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 assembly on the bottom shell. The motor bracket is disposed on the side of the first support frame facing the top shell, and the driven shaft mechanism is disposed on the side of the second support frame facing the top shell.

4. The projection robot according to claim 2 or 3, characterized in that, The motor bracket includes: The first part is located on the bottom shell; The second part extends from the edge of the first part near the projection assembly in a direction toward the top of the inner cavity. The motor is fixedly mounted on the side of the second part away from the projection assembly. The drive shaft of the motor passes through the second part and is connected to the side of the projection assembly away from the driven shaft mechanism. The driving component includes a first limiting mechanism, the first limiting mechanism comprising: A first rotating component is disposed on the side of the projection assembly facing the second part and is fixed to the drive shaft of the motor. The first rotating component is provided with a first limiting notch, which extends along the rotational circumference of the first rotating component. A limiting member is provided on the side of the second part facing the projection component, and the limiting member is used to abut against the first limiting notch to limit the rotation of the motor.

5. The projection robot according to claim 3, characterized in that, The driven shaft mechanism includes: A bearing housing, wherein the bearing housing is disposed on the side of the second support frame facing the top shell; A rotating shaft, one end of which is rotatably connected to the bearing housing, and the other end of which is fixedly connected to the side of the projection assembly facing the bearing housing; The driving component includes a second limiting mechanism, the second limiting mechanism comprising: The second rotating component is fixedly disposed on the rotating shaft. The second rotating component is provided with a second limiting notch, which extends along the circumferential direction of rotation of the second rotating component. A photoelectric switch is disposed on the second support frame. The photoelectric switch is used to detect the second limiting notch to control the rotation of the motor and limit the rotation of the shaft relative to the bearing seat.

6. The projection robot according to claim 5, characterized in that, The second support frame includes: The second main body portion, wherein the driven shaft mechanism is located on the side of the second main body portion facing the top shell; Two second bends extend from two opposite edges of the second main body in a direction away from the driven shaft mechanism and are connected to the bottom shell; An extension portion is provided extending from the edge of the second main body portion near the projection assembly in a direction toward the top of the inner cavity; The photoelectric switch is located on the side of the extension facing the second rotating member.

7. The projection robot of claim 5, wherein, The second support frame includes: The second main body has the driven shaft mechanism located on the side of the second main body facing the top shell. The second main body has a through groove corresponding to the second rotating member, and the second rotating member partially passes through the through groove. Two second bends extend from the two opposite edges of the second main body in a direction away from the driven shaft mechanism and are connected to the bottom shell.

8. The projection robot according to claim 3, characterized in that, The bottom shell has two recesses, and the space formed by the recesses on the outside of the bottom shell is used to accommodate the drive wheel; The first support frame includes: The first main body portion, wherein the motor bracket is disposed on the side of the first main body portion facing the top shell; Two first bends, each extending from two opposite edges of the first main body in a direction away from the motor bracket, one first bend connected to the top surface of one of the recesses facing the top shell, and the other first bend connected to the bottom shell; The second support frame includes: The second main body portion, wherein the driven shaft mechanism is located on the side of the second main body portion facing the top shell; Two second bends extend from the two opposite edges of the second main body in a direction away from the driven shaft mechanism. One second bend is connected to the top surface of the other recess facing the top shell, and the other second bend is connected to the bottom shell.

9. The projection robot of claim 8, wherein, The first support frame includes a first reinforcing part, which is located on the side of the first main body away from the motor bracket, and the two ends of the reinforcing part are respectively connected to the two first bending parts; The second support frame includes a second reinforcing part, which is located on the side of the second main body away from the driven shaft mechanism, and the two ends of the second reinforcing part are respectively connected to the two second bending parts.

10. The projection robot of claim 1, wherein, The pitch angle of the projection component driven by the motor relative to the outer casing is α, where α ≥ -40° and / or α ≤ 60°.

Images