CN110802637A - Robot and shell structure thereof - Google Patents
Robot and shell structure thereof Download PDFInfo
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- CN110802637A CN110802637A CN201911047954.7A CN201911047954A CN110802637A CN 110802637 A CN110802637 A CN 110802637A CN 201911047954 A CN201911047954 A CN 201911047954A CN 110802637 A CN110802637 A CN 110802637A
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- shell
- inner frame
- casing
- housing
- elastic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention provides a robot and a shell structure thereof, wherein the shell structure of the robot comprises an inner frame, a first shell, a second shell and a holder shell, a holder notch is formed in the joint of the first shell or the second shell, a first elastic structure is arranged between the inner frame and the first shell, two ends of the first elastic structure are respectively and rotatably connected with the inner frame and the first shell, a second elastic structure is arranged between the inner frame and the second shell, two ends of the second elastic structure are respectively and rotatably connected with the inner frame and the second shell, and the shell structure of the robot further comprises a locking structure used for fixing the first shell and the second shell on the inner frame. According to the robot and the shell structure thereof, the first shell and the second shell can be opened only by unlocking the lock catch structure, the first shell and the second shell are rotationally locked on the inner frame, and the lock catch structure is locked, so that the first shell and the second shell can be closed, screws are not needed, and later maintenance is convenient.
Description
Technical Field
The invention belongs to the technical field of intelligent machines, and particularly relates to a shell structure of a robot.
Background
With the technology of intelligent robots becoming mature, the application of the intelligent robots is also becoming more and more extensive. The top casing of intelligent robot is whole setting or fall into a plurality of parts setting usually, and the casing still has cloud platform hole for dodge the cloud platform. The casing passes through the screw and is fixed in on the inside support of robot, leads to the dismouting consuming time longer. Moreover, the cradle head needs to be carefully avoided in the dismounting process, and the dismounting efficiency is lower.
Disclosure of Invention
The invention aims to provide a shell structure of a robot, which aims to solve the technical problem that a shell in the prior art is inconvenient to disassemble and assemble.
In order to achieve the purpose, the invention adopts the technical scheme that: provides a shell structure of a robot, which comprises an inner frame, a first shell, a second shell and a tripod head shell, the first shell and the second shell are both rotationally connected with an inner frame, a holder notch for the holder shell to pass through is arranged at the joint of the first shell or the second shell, a first elastic structure which can stretch is arranged between the inner frame and the first shell, two ends of the first elastic structure are respectively connected with the inner frame and the first shell in a rotating way, a second elastic structure which can stretch is arranged between the inner frame and the second shell, two ends of the second elastic structure are respectively connected with the inner frame and the second shell in a rotating way, the robot housing structure further comprises a latch structure for compressing the first and second elastic structures such that the first and second housings are both secured to the inner frame.
In one embodiment, the edge of the second shell extends to the outer surface of the first shell, so that the edges of the first shell and the second shell are arranged in an overlapping manner.
In one embodiment, the latch structure includes a first locking portion and a second locking portion for locking each other, the first locking portion being fixed to the second housing, and the second locking portion being fixed to the inner frame.
In one embodiment, the edge of the first shell close to the second shell is provided with the cradle head notch.
In one embodiment, a joint of the first housing and the first elastic structure and a joint of the second housing and the second elastic structure are both disposed away from the pan and tilt head housing.
In one embodiment, a first hinge is connected between the inner frame and the first housing, a second hinge is connected between the inner frame and the second housing, and the first hinge and the second hinge are both disposed away from the pan and tilt head housing.
In one embodiment the first elastic structure is connected to the inner frame higher than the first hinge arrangement and the second elastic structure 5 is connected to the inner frame higher than the second hinge arrangement in height direction.
In one embodiment, the first and second resilient structures are both gas springs.
In one embodiment, the locking structure is one of a key lock, a combination lock, a fingerprint lock, or a snap-fit structure.
The invention also provides a robot, which comprises the robot shell structure.
The robot and the shell structure thereof provided by the invention have the beneficial effects that: compared with the prior art, the shell structure of the robot comprises an inner frame, a first shell, a second shell and a holder shell, wherein a first elastic structure is arranged between the inner frame and the first shell, and a second elastic structure is arranged between the inner frame and the second shell. When the first shell and the second shell are buckled on the inner frame, the first shell and the second shell are fixed on the inner frame through the locking structure. After the locking structure is unlocked, the first elastic structure and the second elastic structure automatically extend to push the first shell and the second shell open, so that the first shell and the second shell rotate relative to the inner frame, and the first shell and the second shell are opened. So, when later maintenance, only need unblock hasp structure can open first casing and second casing, rotate first casing and second casing lock in internal frame and locking hasp structure, can close first casing and second casing, need not to pull down first casing and second casing, later maintenance is convenient. Moreover, the cradle head shell is arranged at the joint of the first shell and the second shell, and when the first shell and the second shell are turned over, the cradle head shell cannot interfere with the cradle head shell.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective structural view of a robot according to an embodiment of the present invention;
fig. 2 is a side view of a robot provided by an embodiment of the present invention when the first and second housings are opened;
FIG. 3 is a block diagram of a robot with a second housing partially shown in an open configuration in accordance with an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 2;
fig. 5 is a perspective structural view of a first elastic structure according to an embodiment of the present invention;
fig. 6 is a perspective view of a first housing according to an embodiment of the present invention;
fig. 7 is a cross-sectional view of a robot at a locking structure according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-a first housing; 11-a cradle head gap; 12-step; 2-a second housing; 3-a cradle head shell; 4-a first elastic structure; 41-cavity rod; 42-a piston rod; 5-a second elastic structure; 6-inner frame; 7-a first hinge; 8-a second hinge; 9-a locking structure; 91-a first locking portion; 92-second locking portion.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 and fig. 2, a shell structure of a robot according to an embodiment of the present invention will be described. In one embodiment, the robot housing structure comprises an inner frame 6, a first housing 1, a second housing 2, a cradle head housing 3 and a locking structure 9, wherein the first housing 1 and the second housing 2 are rotatably connected with the inner frame 6. The first and second casings 1 and 2 are provided on the top of the inner frame 6 to shield the inner frame 6 and the structure inside the robot. Be equipped with first elastic construction 4 between internal frame 6 and the first casing 1, be equipped with second elastic construction 5 between internal frame 6 and the second casing 2, first elastic construction 4 and second elastic construction 5 are all scalable. Further, both ends of the first elastic structure 4 are rotatably connected to the first casing 1 and the inner frame 6, respectively, and both ends of the second elastic structure 55 are also rotatably connected to the second casing 2 and the inner frame 6, respectively. The locking structure 9 is used to fix the first casing 1 and the second casing 2 to the inner frame 6 in a closed state. When the first casing 1 and the second casing 2 are closed, the first elastic structure 4 and the second elastic structure 55 are compressed, and have a certain external pushing force on the first casing 1 and the second casing 2, and the locking structure 9 overcomes the external pushing force to lock the first casing 1 and the second casing 2 to the inner frame 6. When the locking structure 9 is unlocked, the first shell 1 and the second shell 2 are respectively pushed by the first elastic structure 4 and the second elastic structure 5 to turn outwards and open, so that the internal structure of the robot is exposed. In the process of turning over the first shell 1, the first elastic structure 4 correspondingly turns over along with the first shell 1, two ends of the first elastic structure 4 are always located on the inner frame 6 and the first shell 1 respectively, the distance between two ends of the first elastic structure 4 is constantly changed, and the first elastic structure 4 is extended or shortened along with the distance. The change of the second elastic structure 5 during the turning of the second housing 2 is similar to the change of the first elastic structure 4, and will not be described again here. The cloud platform casing 3 is located the combination department of first casing 1 and second casing 2, when first casing 1 and second casing 2 overturn to the outside, can not interfere with cloud platform casing 3 each other, consequently when the inside part of robot need carry out the later maintenance, need not dismantle the cloud platform, directly open first casing 1 and second casing 2 can.
The shell structure of the robot in the above embodiment includes the inner frame 6, the first shell 1, the second shell 2 and the pan/tilt head shell 3, the first elastic structure 4 is arranged between the inner frame 6 and the first shell 1, and the second elastic structure 5 is arranged between the inner frame 6 and the second shell 2. When the first housing 1 and the second housing 2 are fastened to the inner frame 6, the locking structure 9 fixes the first housing 1 and the second housing 2 to the inner frame 6. After the locking structure 9 is unlocked, the first elastic structure 4 and the second elastic structure 55 automatically extend to push the first casing 1 and the second casing 2 open, so that the first casing 1 and the second casing 2 both rotate relative to the inner frame 6, thereby opening the first casing 1 and the second casing 2. So, when later maintenance, only need unblock hasp structure 9 can open first casing 1 and second casing 2, rotate first casing 1 and second casing 2 lock in internal frame 6 and locking hasp structure 9 can close first casing 1 and second casing 2, need not to pull down first casing 1 and second casing 2, and later maintenance is convenient. Moreover, the holder housing 3 is disposed at the joint of the first housing 1 and the second housing 2, and the joint is provided with a holder gap 11 through which the holder housing 3 passes, so that the holder housing 3 does not interfere with the first housing 1 and the second housing 2 when the holder housing 3 is turned over.
Referring to fig. 3, in one embodiment of the robot housing, the edge of the second housing 2 extends to the outer surface of the first housing 1, so that the edges of the first housing 1 and the second housing 2 are overlapped. In this embodiment, the edge crimping of second casing 2 is on first casing 1, firstly can strengthen the waterproof performance of robot casing, the installation sealing member of being more convenient for has also reduced the inside possibility of rainwater entering robot, secondly can push down first casing 1 through second casing 2, and like this, hasp structure 9 only needs fixed second casing 2, just can restrict first casing 1 and second casing 2 in the closed condition simultaneously, reducible hasp structure 9's use.
Optionally, the edge of the first casing 1 has a step 12, and the edge of the second casing 2 extends to the side of the step 12, so as to position the second casing 2, and further, the exposed surfaces of the first casing 1 and the second casing 2 are on the same curved surface, and uneven surfaces such as edges do not occur.
In another embodiment of the robot housing, an edge of the first housing extends to an outer surface of the second housing such that the edges of the first housing and the second housing are arranged to overlap. The robot shell in this embodiment can also strengthen its self waterproof performance, can also push down the second casing through first casing, and the hasp structure only need fix first casing, also can reduce the use of hasp structure.
Referring to fig. 3, in one embodiment of the robot housing, when the edge of the second housing 2 extends to the outer surface of the first housing 1, a cradle head notch 11 is formed at the edge of the first housing 1 close to the second housing 2, and the cradle head notch 11 is disposed through the edge of the first housing 1 to prevent the first housing 1 from interfering with the cradle head housing 3 when the first housing 1 is turned over. The cradle head notch 11 can also be arranged on the second shell 2, and because the edge of the second shell 2 covers the first shell 1, the part of the first shell 1 covered by the second shell 2 needs to be correspondingly provided with an avoiding notch.
In another embodiment of the robot housing, when the edge of the first housing extends to the outer surface of the second housing, the edge of the second housing near the first housing is concavely formed with a cradle head notch, and the cradle head notch is disposed through the edge of the second housing to prevent the second housing from interfering with the cradle head housing when being overturned. The cloud platform breach also can be located first casing, because the edge of first casing covers in the second casing, then the part that the second casing is covered by first casing also needs the corresponding breach of dodging of seting up.
Referring to fig. 7, in one embodiment of the robot housing, when the edge of the second housing 2 extends to the outer surface of the first housing 1, the second housing 2 can press the first housing 1, the locking structure 9 is disposed on the second housing 2, the locking structure 9 includes a first locking portion 91 and a second locking portion 92 locked to each other, the first locking portion 91 is fixed to the second housing 2, and the second locking portion 92 is fixed to the inner frame 6, so that when the first locking portion 91 and the second locking portion 92 are locked to each other, the second housing 2 is locked to the inner frame 6, and the edge of the first housing 1 is pressed by the second housing 2, so that the first housing 1 and the second housing 2 are both fixed to the inner frame 6 by the locking structure 9. When the locking structure 9 is unlocked, the second housing 2 is firstly turned open, and then the first housing 1 is turned open. The locking structure 9 may also be disposed at the overlapping position of the first casing 1 and the second casing 2, the first locking portion 91 is fixed to the second casing 2 and disposed through the first casing 1, the second locking portion 92 is fixed to the inner frame 6, and the locking structure 9 can also lock the first casing 1 and the second casing 2 to the inner frame 6. Optionally, the number of the locking structures 9 is one, two or more, and the number and distribution of the locking structures 9 are not limited herein. For example, the number of the locking structures 9 is two, and the two locking structures are disposed on the second casing 2 and spaced apart from each other along the joint line direction of the first casing 1 and the second casing 2.
In another embodiment of the robot housing, when the edge of the first housing extends to the outer surface of the second housing, the first housing can press the second housing, the locking structure is disposed on the first housing, the first locking portion is fixed to the first housing, and the second locking portion is fixed to the inner frame. When the locking structure is unlocked, the first shell is firstly turned and opened, and then the second shell is turned and opened. The locking structure can also be arranged at the overlapping position of the first shell and the second shell, the first locking part is fixed on the first shell and penetrates through the second shell, the second locking part is fixed on the inner frame, and the locking structure can also lock the first shell and the second shell on the inner frame.
Referring to fig. 2, in one embodiment, a connection point between the first housing 1 and the first elastic structure 4 and a connection point between the second housing 2 and the second elastic structure 5 are both far away from the cradle head housing 3, so that the rotation shafts of the first housing 1 and the second housing 2 are both far away from the cradle head housing 3, and the first housing 1 and the second housing 2 will gradually get away from the cradle head housing 3 in the process of being opened and turned over, and will not interfere with the cradle head housing 3.
Referring to fig. 2 and 6, in one embodiment of the robot shell structure, a first hinge 7 is further connected between the inner frame 6 and the first shell 1, and the first shell 1 rotates relative to the inner frame 6 with an axis of the first hinge 7 as a rotation axis. A second hinge 8 is connected between the inner frame 6 and the second housing 2, and the second housing 2 rotates relative to the inner frame 6 with the axis of the second hinge 8 as a rotation axis. Since the first elastic structure 4 and the second elastic structure 5 have a limited length, and in order to push the first housing 1 and the second housing 2 away, the first elastic structure 4 is connected to the inner wall of the top of the first housing 1, the second elastic structure 5 is connected to the inner wall of the top of the second housing 2, the connection point of the first elastic structure 4 and the first housing 1, the closer the connection point of the second elastic structure 5 and the second shell 2 is to the joint of the first shell 1 and the second shell 2, the easier the first shell 1 and the second shell 2 are pushed away, the larger the stress of the first elastic structure 4 under the action of the gravity of the first shell 1 and the action of the gravity of the second elastic structure 5 under the action of the gravity of the second shell 2 is, and the easy damage is caused, the first shell 1 can be supported by the first hinge 7, the second shell 2 can be supported by the second hinge 8, and the rotation of the first shell 1 and the second shell 2 can be more stable. The first hinge 7 and the second hinge 8 are arranged on one side far away from the holder shell 3, the joint of the first hinge 7 and the first elastic structure 4 is far away from the first shell 1, and the joint of the second hinge 8 and the second elastic structure 5 is also far away from the second shell 2, so that the turnover angles of the first shell 1 and the second shell 2 are larger, and the inner structure of the robot is exposed as much as possible. The structure of the first hinge 7 and the second hinge 8 is not limited herein, and any conventional rotating structure that can rotate the first casing 1 and the second casing 2 with respect to the inner frame 6 is within the scope of the present embodiment.
Optionally, the first hinge 7 and the second hinge 8 are both provided with a stop portion to prevent the first elastic structure 4 and the second elastic structure 5 from being stressed too much due to an excessive rotation angle of the first casing 1 and the second casing 2, so as to protect the first elastic structure 4 and the second elastic structure 5.
Referring to fig. 2, in one embodiment of the robot housing structure, the connection point of the first elastic structure 4 and the inner frame 6 is higher than the first hinge 7, and the connection point of the second elastic structure 5 and the inner frame 6 is higher than the second hinge 8. Specifically, when the robot travels on the ground, the first elastic structure 4 is higher than the first hinge 7 relative to the ground, and the second elastic structure 5 is higher than the second hinge 8 relative to the ground, so that the first hinge 7 and the second hinge 8 are disposed closer to the edges of the first housing 1 and the second housing 2, and thus the turning angle of the first housing 1 and the second housing 2 is larger, and more internal structures can be exposed. The peripheries of the first shell 1 and the second shell 2 are provided with flanges, and the flanges extend towards the bottom of the robot so that the structure formed by the first shell 1 and the second shell 2 is in a cover shape and wraps the inner structure of the robot. The first hinge 7 and the second hinge 8 may be provided at the edge of the flange.
Referring to fig. 4, in one embodiment of the housing structure of the robot, the first elastic structure 4 has three positions during the rotation process, as shown in fig. 4: when the first casing 1 is closed, the first elastic structure 4 is located at the rightmost end, that is, the first elastic structure 4 is located at the closed position; the first shell 1 is perpendicular to the thrust direction of the first elastic structure 4 at the joint of the first shell 1 and the first elastic structure 4, at this time, the first elastic structure 4 is located in the middle, that is, the first elastic structure 4 is located at a dead point, the thrust force applied to the first shell 1 is perpendicular to the tangential direction of the first shell 1 at the stressed point, and the first elastic structure 4 may not push the first shell 1; when the first casing 1 is fully opened, the first elastic structure 4 is located at the leftmost end, i.e. the first elastic structure 4 is located at the open position. When the latch structure 9 is unlocked, the first housing 1 is gradually pushed away, and when the first elastic structure 4 moves to the dead point position, the first elastic structure 4 cannot continue to extend, the first housing 1 remains stationary, and the first housing 1 needs to continue to rotate under an artificial external force. Like this, can avoid behind the unblock of hasp structure 9, first casing 1 overturns to the open position fast, and first casing 1 only can move earlier to dead point position to can avoid first casing 1 to rotate too fast and produce too big inertial force and damage the casing, also can avoid colliding object on every side carelessly. Second elastic construction 5 also has three position at the rotation in-process, is closed position, dead point position and opens the position respectively, and after 9 unblocks of hasp structures, second casing 2 also can move earlier to the dead point position, then can manual assistance rotate second casing 2, prevent that first casing 1 from rotating the too fast too big inertial force of production and damaging the casing, also can avoid colliding object around carelessly.
Referring to fig. 5, in one embodiment of the housing structure of the robot, the first elastic structure 4 and the second elastic structure 5 are both gas springs, and the gas springs are retractable. The gas spring comprises a cavity rod 41 and a piston rod 42, wherein one end of the cavity rod 41 is provided with a piston cavity, and the other end of the cavity rod 41 is connected with the shell or the inner frame 6. Wherein, the shell is a first shell 1 or a second shell 2. One end of the piston rod 42 is arranged to extend into the piston cavity, the other end of the piston rod 42 is connected to the housing or inner frame 6, and compressible fluid such as gas or liquid is arranged in the piston cavity. The first elastic structure 4 and the second elastic structure 5 may also be a spring, a cylinder, or other telescopic structures.
Optionally, the number of the first elastic structures 4 and the second elastic structures 5 is one, two or more, and the specific number thereof is not limited herein. When the number of the first elastic structures 4 and the second elastic structures 5 is one, the first elastic structures 4 are supported in the middle of the first shell 1, and the second elastic structures 5 are supported in the middle of the second shell 2; when the number of the first elastic structures 4 and the second elastic structures 5 is two, the two second elastic structures 5 are respectively supported on two opposite sides of the first housing 1, and the two second elastic structures 5 are respectively supported on two opposite sides of the second housing 2.
In one embodiment of the locker structure 9, the locker structure 9 is one of a key lock, a combination lock, a fingerprint lock and a snap structure, and the locker structure 9 includes a first locking portion 91 and a second locking portion 92 which are locked to each other no matter which one of the above structures is adopted for the locker structure 9. As shown in fig. 7, the latch structure 9 is provided on the second housing 2, the first locking portion 91 is fixed to the second housing 2, and the second locking portion 92 is fixed to the inner frame 6.
Referring to fig. 1 and fig. 2, an embodiment of the present invention further provides a robot, and in one embodiment of the robot, the robot includes a housing structure of the robot in any one of the embodiments.
The robot of above-mentioned embodiment has adopted robot shell structure, when later maintenance, only needs unblock hasp structure 9 can open first casing 1 and second casing 2, rotates first casing 1 and second casing 2 lock in internal frame 6 and locking hasp structure 9 can close first casing 1 and second casing 2, need not to pull down first casing 1 and second casing 2, and later maintenance is convenient. Moreover, the holder housing 3 is disposed at the joint of the first housing 1 and the second housing 2, and the joint is provided with a holder gap 11 through which the holder housing 3 passes, so that the holder housing 3 does not interfere with the first housing 1 and the second housing 2 when the holder housing 3 is turned over.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Robot shell structure, its characterized in that: comprises an inner frame, a first shell, a second shell and a tripod head shell, wherein the first shell and the second shell are both rotationally connected with the inner frame, a cradle head gap for the cradle head shell to pass through is arranged at the joint of the first shell or the second shell, a first elastic structure which can stretch is arranged between the inner frame and the first shell, two ends of the first elastic structure are respectively connected with the inner frame and the first shell in a rotating way, a second elastic structure which can stretch is arranged between the inner frame and the second shell, two ends of the second elastic structure are respectively connected with the inner frame and the second shell in a rotating way, the robot housing structure further comprises a latch structure for compressing the first and second elastic structures such that the first and second housings are both secured to the inner frame.
2. The robot housing structure of claim 1, wherein: the edge of the second shell extends to the outer surface of the first shell, so that the edges of the first shell and the second shell are arranged in an overlapping mode.
3. The robot housing structure of claim 2, wherein: the latch structure includes a first locking portion and a second locking portion for locking each other, the first locking portion being fixed to the second housing, the second locking portion being fixed to the inner frame.
4. The robot housing structure of claim 2, wherein: the edge that first casing is close to the second casing is equipped with the cloud platform breach.
5. The robot housing structure of claim 1, wherein: the first shell and the junction of first elastic construction and the second shell and the junction of second elastic construction all keep away from the setting of cloud platform casing.
6. The robot housing structure of claim 1, wherein: the inner frame and be connected with first hinge between the first casing, be connected with the second hinge between the inner frame and the second casing, first hinge with the second hinge all keeps away from the cloud platform casing sets up.
7. The robot housing structure of claim 6, wherein: in the height direction, the connection position of the first elastic structure and the inner frame is higher than the first hinge, and the connection position of the second elastic structure and the inner frame is higher than the second hinge.
8. A robot housing structure according to any of claims 1-7, characterized in that: the first elastic structure and the second elastic structure are both gas springs.
9. A robot housing structure according to any of claims 1-7, characterized in that: the lock catch structure is one of a key lock, a coded lock, a fingerprint lock or a buckle structure.
10. Robot, its characterized in that: comprising a robot housing structure according to any of the claims 1-9.
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| CN201911047954.7A CN110802637A (en) | 2019-10-30 | 2019-10-30 | Robot and shell structure thereof |
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| CN201911047954.7A CN110802637A (en) | 2019-10-30 | 2019-10-30 | Robot and shell structure thereof |
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Application publication date: 20200218 |