CN109551503B

CN109551503B - Robot and radar scanning layered structure thereof

Info

Publication number: CN109551503B
Application number: CN201811640420.0A
Authority: CN
Inventors: 周礼兵; 余文华; 赵坤雷; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2021-03-02
Anticipated expiration: 2038-12-29
Also published as: CN109551503A

Abstract

The invention provides a robot and a radar scanning layered structure thereof, comprising a base; the body and the base are arranged in a suspended manner, so that a 360-degree non-shielding scanning gap is formed between the body and the base; the two sides of the bearing platform are respectively abutted with the base and the machine body; a radar extending into the scanning gap; the support column sequentially penetrates through the machine body, the scanning gap and the base, and the machine body and the base are fixedly connected with the support column. According to the robot and the radar scanning layered structure thereof provided by the invention, the base and the body are suspended in the air, so that a scanning gap of 360 degrees is formed between the base and the body, and the weight of the body is transmitted to the base through the support column, so that the radar scanning layered structure has enough strength.

Description

Robot and radar scanning layered structure thereof

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot radar scanning layered structure and a robot.

Background

In the process of walking, the mobile robot is generally provided with a laser radar to avoid collision with surrounding objects, scans surrounding areas, judges whether barriers exist around the areas, and determines a moving path according to the judgment result. At present, most laser radar locates the overhead of robot or the dead ahead of bottom, locates the laser radar of robot overhead, can't detect shorter barrier, and locates the laser radar in the dead ahead of bottom, because fuselage and base body coupling, the barrier at the unable scanning robot rear of laser radar has restricted the scanning area.

Disclosure of Invention

The invention aims to provide a robot radar scanning layered structure to solve the technical problem that a laser radar cannot scan a rear obstacle in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a robotic radar scanning hierarchy comprising:

a base;

the body and the base are arranged in a suspended mode, so that a 360-degree non-shielding scanning gap is formed between the body and the base;

the two sides of the bearing table are respectively abutted with the base and the machine body;

a radar extending into the scanning gap;

the support column passes in proper order the fuselage the scanning clearance reaches the base, just the fuselage the base all with support column fixed connection.

Furthermore, the plummer cover is located on the support column, offer on the plummer and supply the post hole that the support column passed and supply the line hole of crossing that the cable passed.

Furthermore, the direction of a connecting line between the center of the support column and the radar is radial, the bearing platform sleeved on the support column is in a long strip shape, and the length direction of the bearing platform is the same as the radial direction.

Further, the base with plummer fixed connection, the post hole extends to and runs through the base, just the base in post hole department is equipped with the location step, the periphery of support column be fixed with the collar of location step looks butt.

Further, the fuselage include preceding shell, with preceding shell fixed connection's backshell and with preceding shell with the chassis of the equal joint of backshell, the radar is fixed in the chassis.

Further, the front shell reaches the inner wall of backshell all is equipped with relative last buckle and lower buckle that sets up, go up the buckle with form the slot down between the buckle, the edge on chassis is equipped with and inserts the picture peg of slot, the both sides of picture peg be equipped with respectively with go up buckle complex last draw-in groove, with buckle complex lower draw-in groove down.

Furthermore, one side of the chassis facing the base is provided with a positioning groove for positioning the bearing table.

Furthermore, the radar fixing device further comprises a radar fastening piece used for fixing the radar, a first connecting hole is formed in the chassis, a second connecting hole is formed in the radar, and the radar fastening piece penetrates through the first connecting hole and the second connecting hole in sequence from the inside of the machine body.

Further, a lamp strip is arranged on one side, facing the scanning gap, of the machine body.

The invention also aims to provide a robot comprising the radar scanning layered structure.

The robot and the radar scanning layered structure thereof have the advantages that: compared with the prior art, the robot radar scanning layered structure comprises the base and the body, the base and the body are arranged in a suspended mode to enable a scanning gap to be formed between the base and the body, the bearing table and the supporting column are arranged between the base and the body, the bearing table is used for supporting the weight of the body and transmitting the weight of the body to the base through the supporting column, the radar scanning layered structure is enabled to have enough strength, and therefore a radar can scan a space near the robot through the scanning gap for 360 degrees.

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 partial structure diagram of a robot radar scanning hierarchical structure provided in an embodiment of the present invention;

FIG. 3 is a partial exploded view of a robot radar scanning hierarchy according to an embodiment of the present invention;

fig. 4 is a partial structural diagram of a radar scanning layered structure of a robot according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a carrier and collar connection provided by an embodiment of the present invention;

FIG. 6 is a cross-sectional view of a front shell and chassis latch provided by an embodiment of the present invention;

FIG. 7 is a partial block diagram of a front housing provided in accordance with an embodiment of the present invention;

FIG. 8 is an assembly view of a radar and chassis provided by an embodiment of the present invention;

FIG. 9 is a perspective view of a base plate according to an embodiment of the present invention;

FIG. 10 is a schematic view of the structure A in FIG. 9;

fig. 11 is a perspective view of a collar according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

001-scan gap; 1-a fuselage; 11-a front shell; 110-slot; 111-upper buckle; 112-lower buckle; 12-a rear shell; 13-a chassis; 1301-an upper card slot; 1302-lower card slot; 1303 — first connection hole; 1304-positioning grooves; 1305-radar hole; 1306-lamp trough; 131-inserting plate; 2-a base; 201-a recess; 202-positioning step; 3-a support column; 31-a collar; 311-a semicircular ring; 3111-reinforcing ribs; 4-radar; 401-second connection hole; 5-a bearing platform; 501-column hole; 502-a wire-passing hole; 6-boss; 7-head.

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 to 4, a robot radar scanning layered structure provided by the present invention will be described. The robot radar scanning layered structure comprises a base 2, a bearing platform 5, a machine body 1, a radar 4 and a support column 3. Base 2 and the unsettled setting of fuselage 1 have 360 degrees scanning gaps 001 that do not have the shelter between base 2 and the fuselage 1, and radar 4 stretches into in scanning gap 001, outwards launches radio wave from this scanning gap 001, the obstacle of all directions near detectable robot. The radar 4 is fixed to the base 2 or the body 1. The height of the scanning gap 001 is not limited herein. Plummer 5 locates between base 2 and the fuselage 1, plummer 5's both sides respectively with base 2 and fuselage 1 looks butt, support column 3 passes scanning clearance 001 to base 2 from fuselage 1 moreover, with base 2, the equal fixed connection of fuselage 1, the weight of fuselage 1 passes plummer 5 and support column 3 and transmits to base 2 jointly, makes it have sufficient structural strength and supports fuselage 1. In this embodiment, the detection distance of the radar 4 is between 10m and 20m, the diameter of the supporting column 3 and the width of the carrier 5 are between 30mm and 50mm, the detection distance of the supporting column 3 and the carrier relative to the radar 4 is small, and the radar 4 can be set to detect an obstacle with a size larger than that of the supporting column 3 and the carrier 5, that is, to detect an obstacle larger than 50mm, so as to prevent the supporting column 3 and the carrier 5 from affecting the detection result. Optionally, the cross section of the body 1 is cylindrical, and the radar 4 is arranged on the central axis of the body 1, so that the detection distances of the radar 4 relative to all directions of the surface of the robot are equal. The number of the support columns 3 is optionally plural, and is distributed around the radar 4. Optionally, the plurality of support columns 3 are radially and uniformly distributed with the radar 4 as a center.

Compared with the prior art, the robot radar scanning layered structure provided by the invention comprises a base 2 and a machine body 1, wherein the base 2 and the machine body 1 are arranged in a suspended manner to form a scanning gap 001 therebetween, a bearing table 5 and a support column 3 are arranged between the base 2 and the machine body 1, the bearing table 5 is used for supporting the weight of the machine body 1, and the weight of the machine body 1 is transmitted to the base 2 through the support column 3, so that the layered structure has enough strength, and the radar 4 can scan all directions near the robot through the scanning gap 001.

Referring to fig. 4, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, a bearing table 5 is sleeved on a supporting column 3, and the bearing table 5 is provided with a column hole 501 for the supporting column 3 to pass through and a cable hole 502 for a cable to pass through. When the bearing table 5 is sleeved on the supporting column 3, the size of an object between the base 2 and the machine body 1 is reduced, the shielding of the radar 4 is reduced, and the accuracy of the detection of the radar 4 is improved. Simultaneously, the setting of crossing line hole 502 on plummer 5 makes the cable of base 2 extend to fuselage 1 through this crossing line hole 502 in, has the effect of reason line firstly, has secondly and can hide the cable, guarantees the clean and tidy nature of the appearance face of scan clearance department. In this embodiment, the quantity of support column 3 is a plurality of, and the cover is equipped with plummer 5 on some support column 3, and this some plummer 5 can satisfy the cable and walk the line, and the cover is equipped with boss 6 on another part support column 3, has only seted up the post hole on the boss 6, and boss 6 is less for the volume of plummer 5, so, under the condition of proof strength, can minimize the sheltering from to radar 4. The boss 6 may be optionally drop-shaped. In other embodiments, the number of the support columns 3 is also multiple, but each support column 3 is sleeved with a carrying platform 5, so that the arrangement of cables is facilitated.

Referring to fig. 3 and 4, as an embodiment of the radar scanning layered structure of the robot provided by the present invention, a connecting line direction between the center of the supporting column 3 and the radar 4 is a radial direction, the carrying platform 5 sleeved on the supporting column 3 is a strip shape, and a length direction of the carrying platform 5 is the same as the radial direction. Because the bearing table 5 is provided with the column hole 501 and the line passing hole 502, the bearing table 5 has a larger size in one direction, and the larger size direction is the same as the radial direction, and the shielded area during scanning of the radar 4 is only the area occupied by the width direction of the bearing table 5. The wire passing hole 502 may be a waist-shaped hole, and the length direction of the waist-shaped hole is the same as the radial direction.

Referring to fig. 5, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, a base 2 is fixedly connected to a bearing platform 5, a column hole 501 extends toward the base 2 to penetrate through the base 2, a positioning step 202 is disposed at the column hole 501 of the base 2, and a collar 31 abutting against the positioning step 202 is fixed on the periphery of a supporting column 3. The collar 31 around the support column 3 is used to support the body 1 on the bearing table 5, so that the weight of the body 1 is effectively transmitted to the support column 3 and then to the bottom of the base 2 through the collar 31, and the whole structure of the robot is more stable. Specifically, the bottom wall of the positioning step 202 on the base 2 abuts against the collar 31, so as to support the bearing table 5 and the body 1 by the collar 31. In one embodiment, the base 2 is integrally formed with the carrier 5, reducing the number of mounting steps.

In another embodiment, the side of the platform 5 facing the base 2 has a positioning step, the collar 31 abutting against the positioning step is fixed on the outer circumference of the support column 3, and the positioning step abuts against the collar 31, so that the weight of the body 1 is transmitted to the support column 3 and the base 2 through the collar 31.

Referring to fig. 11, as an embodiment of the radar scanning layered structure of the robot provided by the present invention, the shaft ring 31 includes two semicircular rings 311 fixedly connected to each other, and the two semicircular rings 311 together form a shaft hole for the supporting column 3 to pass through. The two semicircular rings 311 are fixed to each other by fasteners such as screws, the tightness of the fasteners is adjusted, and the bonding strength between the collar 31 and the support column 3 can be adjusted. The semicircular ring 311 is further provided with a reinforcing rib 3111 on one side thereof to reinforce the strength of the collar 31 itself so as not to be damaged by a long-term force.

Optionally, the support column 3 is vertically arranged, the upper end of the support column 3 penetrates through the machine body 1, the weight of the head 7 can be directly borne, and the machine body 1 can be prevented from shaking. The lower end of the support column 3 is inserted inside the base 2. So, the upper and lower both ends of support column 3 all have location structure, can make fuselage 1 more stable, and the impact to support column 3 is also littleer.

Referring to fig. 2 to 4, as an embodiment of the radar scanning layered structure of the robot provided by the present invention, the robot body 1 includes a front shell 11, a rear shell 12 fixedly connected to the front shell 11, and a chassis 13 clamped to both the front shell 11 and the rear shell 12, and the radar 4 is fixed to the chassis 13. The chassis 13 can be circular, and the radar 4 is fixed at the center of the chassis 13 and is equal to the distance of the edge of the chassis 13. When assembling the body 1, the front shell 11 and the rear shell 12 are respectively clamped with the chassis 13, then the front shell 11 and the rear shell 12 are locked, and the whole weight of the body 1 is transmitted to the bearing platform 5 through the chassis 13. More specifically, the front case 11 and the rear case 12 are fastened by screws or the like. The disassembly of the fuselage 1 into three pieces is more convenient for assembly and maintenance.

Referring to fig. 6 to 10, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, the inner walls of the front shell 11 and the rear shell 12 are respectively provided with an upper buckle 111 and a lower buckle 112 which are oppositely arranged, a slot 110 is formed between the upper buckle 111 and the lower buckle 112, an insert plate 131 inserted into the slot 110 is arranged at the edge of the chassis 13, and both sides of the insert plate 131 are respectively provided with an upper slot 1301 matched with the upper buckle 111 and a lower slot 1302 matched with the lower buckle 112. The insertion plate 131 is horizontally disposed on the periphery of the chassis 13, and the upper and

lower clips

111 and 112 are disposed on the bottom of the front/

rear cases

11 and 12. The inserting plate 131 of the chassis 13 is inserted between the slots 110 between the upper buckle 111 and the lower buckle 112, so that the positions of the front shell 11 and the rear shell 12 in the height direction are fixed, and the positions of the front shell 11 and the rear shell 12 in the circumferential direction are fixed by the cooperation of the upper buckle 111 and the upper clamping groove 1301 and the cooperation of the lower buckle 112 and the lower clamping groove 1302, so that the clamping connection of the front shell 11/the rear shell 12 and the chassis 13 is realized. This joint mode, easy dismounting can not tear bad part moreover. In other embodiments, the front shell 11 and the rear shell 12 may also be clamped with the chassis 13 by means of a snap or a slot.

Referring to fig. 9, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, a positioning groove 1304 for positioning the bearing platform 5 is disposed on a side of the chassis 13 facing the base 2, and the positioning groove 1304 is used to quickly position the body 1 when the body 1 is mounted, and also to prevent the body 1 from rotating relative to the base 2. The size of the positioning groove 1304 is the same as that of the bearing table 5, so that the chassis 13 is prevented from shaking in the positioning groove 1304.

Referring to fig. 8, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, the radar scanning layered structure of the robot further includes a radar fastener for fixing the radar 4, the chassis 13 is provided with a first connection hole 1303, the radar 4 is provided with a second connection hole 401, and the radar fastener sequentially passes through the first connection hole 1303 and the second connection hole 401 from the inside of the body 1. More specifically, seted up radar hole 1305 on the chassis 13, radar 4 is placed in radar hole 1305 upside down, and radar 4's bottom is fixed with chassis 13, and radar 4's top and base 2 looks butt are equipped with the depressed part 201 with the structure looks adaptation on radar 4 top on the base 2 correspondingly, make radar 4 more stable at the during operation. The radar fastener is installed from the inside of the body 1 downwards, and when the radar 4 needs to be replaced or maintained, the radar fastener can be detached only by detaching the front shell 11 or the rear shell 12, and the radar 4 is taken out from the radar hole 1305.

Referring to fig. 9, as a specific embodiment of the radar scanning layered structure of the robot provided by the present invention, a lamp strip is disposed on a side of the body 1 facing the scanning gap 001, and the lamp strip is used for displaying a working state of the radar 4, so that a user can recognize the radar more easily. More specifically, a lamp groove 1306 is formed in a side of the chassis 13 facing the base 2, and the lamp strip is fixed in the lamp groove 1306, so that a top surface of the lamp strip does not exceed a top surface of the lamp groove 1306, and does not occupy the scanning gap 001.

Referring to fig. 1, the present invention further provides a robot, which includes the radar scanning layered structure in any of the above embodiments, and further includes a head 7, wherein the head 7 is rotatably connected to the body 1.

The robot provided by the invention adopts the radar scanning layered structure, and comprises a base 2 and a machine body 1, wherein the base 2 and the machine body 1 are arranged in a suspended manner to form a scanning gap 001 therebetween, a bearing table 5 and a support column 3 are arranged between the base 2 and the machine body 1, the bearing table 5 is used for supporting the weight of the machine body 1, and the weight of the machine body 1 is transmitted to the base 2 through the support column 3, so that the layered structure has enough strength, and the radar 4 can scan all directions near the robot through the scanning gap 001.

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

1. Robot radar scanning layered structure, its characterized in that includes:

a base;

a radar extending into the scanning gap;

the supporting column sequentially penetrates through the machine body, the scanning gap and the base, and the machine body and the base are fixedly connected with the supporting column;

the bearing table is sleeved on the supporting column, and is provided with a column hole for the supporting column to pass through and a line passing hole for the cable to pass through; the quantity of support column is a plurality of, and distribute in around the radar.

2. The robotic radar scanning hierarchy of claim 1, wherein: the center of the support column and the connecting line direction of the radar are radial, the bearing platform sleeved on the support column is in a long strip shape, and the length direction of the bearing platform is the same as the radial direction.

3. The robotic radar scanning hierarchy of claim 1, wherein: the base with plummer fixed connection, the post hole extends to and runs through the base, just the base in post hole department is equipped with the location step, the periphery of support column be fixed with the collar of location step looks butt.

4. The robotic radar scanning hierarchy of claim 1, wherein: the fuselage include preceding shell, with preceding shell fixed connection's backshell and with preceding shell with the chassis of the equal joint of backshell, the radar is fixed in the chassis.

5. The robotic radar scanning hierarchy of claim 4, wherein: the front shell reaches the inner wall of backshell all is equipped with relative last buckle and lower buckle that sets up, go up the buckle with form the slot down between the buckle, the edge on chassis is equipped with and inserts the picture peg of slot, the both sides of picture peg be equipped with respectively with go up buckle complex last draw-in groove, with buckle complex lower draw-in groove down.

6. The robotic radar scanning hierarchy of claim 4, wherein: one side of the base plate, which faces the base, is provided with a positioning groove for positioning the bearing table.

7. The robotic radar scanning hierarchy of claim 4, wherein: the radar fixing device is characterized by further comprising a radar fastener for fixing the radar, a first connecting hole is formed in the chassis, a second connecting hole is formed in the radar, and the radar fastener penetrates through the first connecting hole and the second connecting hole in sequence from the inside of the machine body.

8. The robotic radar scanning hierarchy of claim 1, wherein: a lamp strip is arranged on one side of the machine body facing the scanning gap.

9. Robot, its characterized in that: comprising the robot radar scanning hierarchy of any of claims 1-8.