CN115284313B - Robot with external operation function - Google Patents

Abstract

The invention discloses a robot with an external operation function, which comprises a shell, a rack and a mechanical arm, wherein the shell comprises a first shell and a second shell, the shell has a first form and a second form, the first form is characterized in that the first shell and the second shell are separated to be suitable for the robot to run on two wheels, and the second form is characterized in that the first shell and the second shell are closed to be suitable for the robot to run on in a rolling way; the shell is provided with a through hole, the rack is rotatably matched in the through hole, and part of the rack extends out of the through hole of the shell and forms an extension section; the mechanical arm is arranged on the extension section and has an operation mode and a shrinkage mode, and in the shrinkage mode, the mechanical arm is shrunk and symmetrically arranged relative to the width direction of the frame. The robot with the external operation function has the advantage of being capable of operating externally while moving.

Description

Robot with external operation function

Technical Field

The invention relates to the technical field of robots, in particular to a robot with an external operation function.

Background

The spherical shell 1 of the spherical robot can enable the spherical shell to quickly and stably move without overturning in the task execution process, the spherical closed space can protect internal mechanisms from being damaged by the interference of various complex terrains and road conditions, and the spherical shell is in point contact with the ground in the sphere movement process, so that the spherical shell has small movement resistance. The robot in the related art cannot operate the work to the outside while moving, and the working efficiency is not high.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides a robot with an external operation function, which has the advantage of being capable of operating externally while moving.

The robot with the external operation function comprises a shell, wherein the shell comprises a first shell and a second shell, the shell is provided with a first shape and a second shape, the first shell and the second shell are separated to be suitable for the robot to run on two wheels, and the second shape is closed to be suitable for the robot to run on in a rolling way; a housing having a through bore, the housing being rotatably fitted within the through bore, and a portion of the housing extending from the through bore of the housing and forming an extension, the housing being rotatable relative to the housing about a first direction, at least one of the first housing and the second housing being movable relative to the housing in the first direction to switch the housing between the first configuration and the second configuration; the mechanical arm is arranged on the extension section and has an operation mode and a contraction mode, in the operation mode, the mechanical arm stretches and is suitable for executing operation, and in the contraction mode, the mechanical arm contracts and is symmetrically arranged in the width direction of the frame.

The robot with the external operation function has the advantage of being capable of operating externally while moving.

In some embodiments, the frame includes a main frame, a screw assembly, a telescopic motor, a first pushing frame and a second pushing frame, wherein the main frame extends along a length direction of the frame, the first pushing frame is connected with the first driving motor and assembled to the main frame along a length direction of the frame in a guiding manner, the second pushing frame is connected with the second driving motor and assembled to the main frame along a length direction of the frame in a guiding manner, the telescopic motor is connected with the screw assembly to drive the screw assembly to rotate, and the screw assembly extends along a length direction of the frame and is connected with the first pushing frame and the second pushing frame to drive the first pushing frame and the second pushing frame to move relative to the main frame.

In some embodiments, the mechanical arms are two, and the two mechanical arms are a first mechanical arm and a second mechanical arm respectively, and the first mechanical arm and the second mechanical arm are symmetrically arranged along the left-right direction.

In some embodiments, the mechanical arm includes a first arm and a second arm, one end of the first arm is rotatably connected to the extension section and has a first set interval with the extension section, the other end of the first arm is rotatably connected to one end of the second arm, in the contracted configuration, at least a portion of the second arm is received into the first set interval, and the second arm extends along a length direction of the first arm to reduce a profile size of the spherical robot having an external operation function.

In some embodiments, the robotic arm includes a first articulation drive coupled between the turret and the outer extension segment to drive rotation of the turret, a second articulation drive coupled between the turret and the first arm to drive rotation of the first arm, and a third articulation drive disposed between the first arm and the second arm to drive rotation of the second arm.

In some embodiments, the first articulation drive shaft extends along a length of the frame, the second articulation drive shaft extends along a radial direction of the first articulation drive, and the third articulation drive shaft extends along a radial direction of the second articulation drive.

In some embodiments, the second arm is disposed radially symmetrically along the third joint drive, the second arm being disposed perpendicular to the frame axis in the contracted configuration;

the first arms are symmetrically arranged along the radial direction of the second joint drive, and the length of the first arms is adjustable to adjust the spacing between the second joint drive and the third joint drive.

In some embodiments, the robot with external operation function includes a weight assembly, the weight assembly is disposed on the frame, and the weight assembly can translate relative to the frame along a vertical direction so as to be suitable for adjusting the center of gravity of the robot.

In some embodiments, the weight assembly includes an adjustment assembly and a counterweight, one end of the adjustment assembly is connected to the frame, the counterweight is disposed at the other end of the adjustment assembly, and the adjustment assembly is adapted to drive the counterweight to translate to adjust the distance between the counterweight and the frame.

In some embodiments, the robot with external operation function includes a driving motor including a first driving motor and a second driving motor, the first driving motor is connected between the first shell and the frame, the first driving motor is adapted to drive the first shell to rotate around the frame, the second driving motor is connected between the second shell and the frame, and the second driving motor is adapted to drive the second shell to rotate around the frame.

Drawings

Fig. 1 is a schematic structural view of a robot with an external operation function according to an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of a robot having an external operation function according to an embodiment of the present invention.

Fig. 3 is a partial enlarged view at a in fig. 2.

Fig. 4 is a schematic view of a robot arm with an external operation function in a contracted configuration according to an embodiment of the present invention.

Fig. 5 is a schematic view of a robot arm with an external operation function in an expanded state according to an embodiment of the present invention.

Fig. 6 is a schematic view of a frame of a robot having an external operation function according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a weight assembly of a robot with an external operation function according to an embodiment of the present invention.

Fig. 8 is a schematic cross-sectional view of a weight assembly of a robot with external operation function according to an embodiment of the present invention.

Reference numerals:

a housing 1; a first housing 11; a second housing 12;

a frame 2; a screw assembly 21; a bidirectional screw rod 211; a first nut portion 212; a second nut portion 213; a telescopic motor 22; a first pushing frame 23; a first push rod 231; a second push rod 232; a first push plate 233; a second pushing frame 24; a third push rod 241; a fourth push rod 242; a second push plate 243; a main frame 25; a connecting shaft 26;

a mechanical arm 3; a first mechanical arm 301; a second robotic arm 302; a first joint drive 31; a turret 32; a second joint drive 33; a first arm 34; a fixed section 341; a free section 342; a slide bar 343; a first slide bar 3431; a second slide bar 3432; a carriage 344; a first carriage 3441; a second carriage 3442; a third joint drive 35; a second arm 36; a first plate 361; a second plate 362; a clamping jaw 37;

a weight assembly 4; an adjustment assembly 41; adjusting the motor 411; an adjustment screw 412; a first guide bar 413; a second guide rod 414; a counterweight 42; the avoidance groove 421; an end plate 43;

a drive motor 5; a first drive motor 501; a second drive motor 502.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

A robot having an external operation function according to an embodiment of the present invention will be described with reference to fig. 1 to 8.

The robot with the external operation function comprises a shell 1, a frame 2 and a mechanical arm 3.

The housing 1 comprises a first 11 and a second 12 housing 1 having a first configuration in which the first 11 and second 12 housings are separated for two-wheeled travel of the robot and a second configuration in which the first 11 and second 12 housings are closed for rolling travel of the robot.

Specifically, the housing 1 has an inner cavity therein, the frame 2 is located in the inner cavity, the first shell 11 and the second shell 12 are hemispherical, the first shell 11 and the second shell 12 are symmetrically arranged in the left-right direction, and the left end of the first shell 11 and the right end of the second shell 12 can be spliced so that the first shell 11 and the second shell 12 are spliced into the housing 1.

In the second mode, the first shell 11 and the second shell 12 are spliced to form the shell 1, so that the robot with the external operation function in the embodiment of the invention can conveniently roll on the ground, in the first mode, the first shell 11 and the second shell 12 are separated to enable the inner cavity of the shell 1 to be communicated with the outside, and accordingly the first shell 11 and the second shell 12 are respectively contacted with the ground, the distance between the robot with the external operation function and the ground contact point in the embodiment of the invention is increased, and therefore the rolling stability of the spherical robot is improved.

The housing 1 is provided with a through hole, the frame 2 is rotatably fitted in the through hole, and a part of the frame 2 protrudes from the through hole of the housing 1 and forms an extension, the housing 1 is rotatable relative to the frame 2 about a first direction, and at least one of the first housing 11 and the second housing 12 is movable relative to the frame 2 in the first direction to switch the housing 1 between the first configuration and the second configuration.

Specifically, the through hole extends in the left-right direction and penetrates through the shell 1, the shell 1 can rotate along the geometric central axis of the through hole, so that the machine frame 2 can roll and move in the front-back direction, the machine frame 2 extends in the left-right direction, part of the extension section is matched in the through hole, at least part of the extension section is located on one side of the through hole, which is away from the inner cavity of the shell 1, and the shell 1 can rotate relative to the extension section, so that the robot with the external operation function provided by the embodiment of the invention rolls and moves.

The robot arm 3 is provided in the extension section, and the robot arm 3 has an operation configuration in which the robot arm 3 is extended to be suitable for performing work, and a contracted configuration in which the robot arm 3 is contracted and the robot arm 3 is symmetrically arranged with respect to the width direction of the frame 2.

Specifically, one end of the mechanical arm 3 is connected to the extension section, the other end of the mechanical arm 3 can swing relative to the extension section, in the operation mode, the mechanical arm 3 has a larger outline dimension, the other end of the mechanical arm 3 can swing relative to the extension section and move to the outside of the housing 1 to perform external operation, in the contraction mode, the mechanical arm 3 has a minimum outline dimension, and the mechanical arm 3 is symmetrically arranged along the front-rear direction

The mechanical arm 3 of the robot with the external operation function is directly connected with the frame 2, and the shell 1 is rotatably connected with the frame 2, so that the mechanical arm 3 does not rotate along with the rotation of the shell 1 when the shell 1 rotates to drive the frame 2 to rotate, and therefore, when the robot with the external operation function moves, only the shell 1 rolls, the mass distribution of the rotating part of the spherical robot with the external operation function is uniform, the dynamic balance effect is good, and the stability of the robot with the external operation function in the embodiment of the invention during movement is improved.

When the robot with the external operation function of the embodiment of the invention advances, the mechanical arm 3 is in a contracted state, and the mechanical arm 3 is symmetrically arranged along the front-rear direction, so that the mass of the robot with the external operation function of the embodiment of the invention is uniformly distributed along the front-rear direction, and the postures of the frame 2 and the mechanical arm 3 are kept stable when the shell 1 rolls, so that the robot with the external operation function of the embodiment of the invention has the advantages of good motion adaptability and high motion stability of the mechanical arm 3.

In some embodiments, the frame 2 includes a main frame 25, a screw assembly 21, a telescopic motor 22, a first push frame 23 and a second push frame 24, the main frame 25 extends along a length direction of the frame 2, the first push frame 23 is connected to the first driving motor 201 and assembled to the main frame 25 along a length direction of the frame 2 in a guiding manner, the second push frame 24 is connected to the second driving motor 502 and assembled to the main frame 25 along a length direction of the frame 2 in a guiding manner, the telescopic motor 22 is connected to the screw assembly 21 to drive the screw assembly 21 to rotate, and the screw assembly 21 extends along a length direction of the frame 2 and is connected to the first push frame 23 and the second push frame 24 to drive the first push frame 23 and the second push frame 24 to move relative to the main frame 25.

Specifically, as shown in fig. 6, the outer circumferential side of the telescopic motor 22 is fixedly coupled to the frame 2, and the rotating part of the telescopic motor 22 is coupled to the screw assembly 21 to drive the first push frame 23 and the second push frame 24 to move toward or away from each other in the left-right direction, and the first case 11 and the second case 12 are symmetrical in the left-right direction while changing the interval between the first driving motor 201 and the second driving motor 502, thereby adjusting the interval between the first case 11 and the second case 12.

The screw assembly 21 includes a bidirectional screw 211, a first nut portion 212, and a second nut portion 213, the first nut portion 212 and the second nut portion 213 are screw-fitted with the bidirectional screw 211, the direction of rotation of the mating portions of the bidirectional screw 211 and the first nut portion 212 is opposite to the direction of rotation of the mating portions of the bidirectional screw 211 and the second nut portion 213, the first nut portion 212 is connected with the first push frame 23 to drive the first push frame 23, and the second nut portion 213 is connected with the second push frame 24 to drive the second push frame 24.

Thus, when the telescopic motor 22 drives the bidirectional screw rod 211 to rotate, the first nut portion 212 and the second nut portion 213 move along the axial direction of the bidirectional screw rod 211, driving the first push frame 23 and the second push frame 24 to move in the left-right direction, thereby driving the first driving motor 201 and the second driving motor 502 to move left-right relative to the frame 2, and moving the first case 11 and the second case 12 left-right relative to the frame 2 to open and close the case 1.

The first pushing frame 23 includes a first push rod 231, a second push rod 232 and a first push plate 233, the first push plate 233 is connected with the first nut portion 212, the first push rod 231 and the second push rod 232 are arranged at intervals in parallel, the first push rod 231 and the second push rod 232 extend along the length direction of the frame 2 and are assembled in a guiding manner with the frame 2, one end of the first push rod 231 and the second push rod 232 extending out of the frame 2 is connected with the first driving motor 201, and one end of the first push rod 231 and the second push rod 232 extending into the frame 2 is connected with the first push plate 233.

The second pushing frame 24 includes a third pushing rod 241, a fourth pushing rod 242 and a second pushing plate 243, the second pushing plate 243 is connected with the second nut portion 213, the third pushing rod 241 and the fourth pushing rod 242 are arranged in parallel and at intervals, the third pushing rod 241 and the fourth pushing rod 242 extend along the length direction of the frame 2 and are assembled in a guiding manner with the frame 2, one end of the third pushing rod 241 and the fourth pushing rod 242 extending out of the frame 2 is connected with the second driving motor 502, and one end of the third pushing rod 241 and the fourth pushing rod 242 extending into the frame 2 is connected with the second pushing plate 243.

Thus, when the telescopic motor 22 drives the bi-directional screw rod 211 to rotate, the first nut portion 212 and the second nut portion 213 move along the axial direction of the bi-directional screw rod 211, driving the first push plate 233 and the second push plate 243 to move in the left-right direction, the first push rod 231 and the second push rod 232 are connected between the first push plate 233 and the first driving motor 201, and the third push rod 241 and the fourth push rod 242 are connected between the second push plate 243 and the second driving motor 502, thereby driving the first driving motor 201 and the second driving motor 502 to move left-right with respect to the frame 2, and causing the first case 11 and the second case 12 to move left-right with respect to the frame 2 to open and close the case 1.

In some embodiments, there are two mechanical arms 3, and the two mechanical arms 3 are a first mechanical arm 301 and a second mechanical arm 302, respectively, and the first mechanical arm 301 and the second mechanical arm 302 are symmetrically arranged along the left-right direction.

Specifically, the first mechanical arm 301 is located on the right side of the housing 1, and the first mechanical arm 301 is connected to the right end of the frame 2, the second mechanical arm 302 is located on the left side of the housing 1, and the second mechanical arm 302 is connected to the left end of the frame 2.

Therefore, on one hand, the first mechanical arm 301 and the second mechanical arm 302 can achieve two-hand clamping operation, and on the other hand, the first mechanical arm 301 and the second mechanical arm 302 are symmetrically arranged along the left-right direction, so that the robot with the external operation function in the embodiment of the invention can be uniform in mass distribution along the left-right direction, and the stability of the spherical robot with the external operation function in the embodiment of the invention in movement is improved.

In some embodiments, the mechanical arm 3 includes a first arm 34 and a second arm 36, one end of the first arm 34 is rotatably connected to the extension section with a first set interval therebetween, the other end of the first arm 34 is rotatably connected to one end of the second arm 36, in the contracted configuration, at least part of the second arm 36 is received within the first set interval, and the second arm 36 extends along the length direction of the first arm 34 to reduce the outline size of the spherical robot having an external operation function.

Specifically, the first arm 34 extends in the radial direction of the frame 2, and one end of the first arm 34 is rotatably connected to the extension section, the first arm 34 rotates about the extending direction of the frame 2, the other end of the first arm 34 is rotatably connected to one end of the second arm 36, and the second arm 36 rotates relative to the first arm 34, so that the other end of the second arm 36 can rotate relative to the first arm 34, thereby allowing the free end of the mechanical arm 3 to extend to the set position.

In the contracted configuration, the first arm 34 extends in a vertical up-down direction, the second arm 36 extends in a vertical up-down direction, one end of the first arm 34 is connected to the extension section, the other end of the first arm 34 extends vertically downward, the second arm 36 is located between the first arm 34 and the extension section, and a projector of the second arm 36 in the left-right direction coincides with a projection of the first arm 34 in the left-right direction.

In this way, in the contracted configuration, the second arm 36 is received in the first set interval between the first arm 34 and the extension section, so that the profile dimension of the mechanical arm 3 in the left-right direction in the contracted configuration is reduced, and the projections of the first arm 34 and the second arm 36 in the left-right direction are substantially overlapped, so that the profile dimension of the mechanical arm 3 in the vertical direction in the contracted configuration is reduced, and the mass distribution of the mechanical arm 3 in the contracted configuration is more concentrated, so that the stability of the spherical robot with the external operation function in the embodiment of the invention in movement is improved.

In some embodiments, the robotic arm 3 includes a first articulation drive 31, a second articulation drive 33, a third articulation drive 35, and a turret 32, the first articulation drive 31 being coupled between the turret 32 and the extension segment to drive rotation of the turret 32, the second articulation drive 33 being coupled between the turret 32 and the first arm 34 to drive rotation of the first arm 34, and the third articulation drive 35 being disposed between the first arm 34 and the second arm 36 to drive rotation of the second arm 36.

Specifically, the mechanical arm 3 includes a first joint drive 31, a rotating frame 32, a second joint drive 33, a first arm 34, a third joint drive 35 and a second arm 36 which are sequentially connected, one end of the first joint drive 31 is connected with the connecting shaft 26, a rotating shaft of the first joint drive 31 extends along the length direction of the telescopic mechanism, the other end of the first joint drive 31 is connected with the rotating frame 32 to drive the rotating frame 32 to rotate, the second joint drive 33 is connected between the rotating frame 32 and the first arm 34 and is suitable for driving the first arm 34 to swing, the third joint drive 35 is connected between the first arm 34 and the second arm 36 and is suitable for driving the second arm 36 to swing, the length of the first arm 34 is adjustable to adjust the distance between the second joint drive 33 and the third joint drive 35, and the mechanical arm is arranged at the free end of the second arm 36.

The stator of the first joint driving 31 is connected with the extension section through a fastener, the rotor of the first joint driving 31 is connected with the rotating frame 32, the stator of the first joint driving 31 and the rotor of the first joint driving 31 are in running fit and rotate relative to the rotating shaft of the first joint driving 31, so that the rotating frame 32 is driven to rotate around the rotating shaft of the first joint driving 31, and the rotating shaft of the first joint driving 31 extends along the length direction of the frame 2.

Thus, the rotation axis of the third joint drive 35 extends in the radial direction of the second joint drive 33, and when the second joint drive 33 rotates, the rotation axis of the third joint drive 35 is adjusted accordingly, thereby adjusting the swinging direction of the second arm 36, and one end of the second arm 36 is connected to the third joint drive 35. Thereby, the degree of freedom of the free end of the second arm 36 is increased, facilitating the operation of the free end of the second arm 36 to the outside.

In some embodiments, the axis of rotation of the first articulation drive 31 extends along the length of the frame 2, the axis of rotation of the second articulation drive 33 extends along the radial direction of the first articulation drive 31, and the axis of rotation of the third articulation drive 35 extends along the radial direction of the second articulation drive 33.

Specifically, the rotation axis of the first joint drive 31 extends in the left-right direction, the stator portion of the second joint drive 33 is connected to the rotor portion of the first joint drive 31, and the rotation axis of the second joint drive 33, relative to the rotor portion of the second joint drive 33, extends in the radial direction of the first joint drive 31, and the first arm 34 is connected to the rotor portion of the second joint drive 33, so that the first arm 34 is driven to rotate along the Zhou Xiangzuo circumference of the first joint drive 31 while the first arm 34 is also rotatable along the axis of the second joint drive 33.

The axis of the third joint drive 35 extends in the radial direction of the first arm 34, i.e. the stator part of the third joint drive 35 is connected to the first arm 34, the rotor part of the third joint drive 35 is connected to the second arm 36, the rotor part of the third joint drive 35 extends in the radial direction of the first arm 34 relative to the rotational axis of the stator part of the third joint drive 35, so that the third joint drive 35 drives the second arm 36 to rotate relative to the free end of the first arm 34, thereby increasing the swing range of the free end of the mechanical arm 3, i.e. the working range of the mechanical arm 3.

In some embodiments, the mechanical arm 3 includes a clamping jaw 37, the clamping jaw 37 is rotatably connected to the other end of the second arm 36, and a rotation axis of the clamping jaw 37 relative to the rotation of the second arm 36 extends in the axial direction of the third joint drive 35.

Specifically, the clamping jaw 37 is provided at the free end of the second arm 36, the clamping jaw 37 rotates relative to the free end of the second arm 36, and the extending direction of the rotating shaft of the clamping jaw 37 rotating relative to the second arm 36 is the same as the extending direction of the rotating shaft of the third joint drive 35.

Thereby, the holding jaw 37 is rotatable with respect to the second arm 36, and the holding jaw 37 can perform an external operation work, so that when the free end of the second arm 36 swings with respect to the frame 2, the holding jaw 37 extends to a set position with the swing of the second arm 36 to perform the external operation work.

In some embodiments, the second arm 36 is arranged symmetrically along the radial direction of the third articulation drive 35, the second arm 36 being arranged perpendicular to the frame 2 axis in the contracted configuration;

specifically, the second arm 36 includes a first plate 361 and a second plate 362, the first plate 361 being coupled to the third joint drive 35, the second plate 362 being positioned on a side of the first plate 361 adjacent the first arm 34 with a second set spacing between the second plate 362 and the first plate 361, and in the contracted configuration, the jaw 37 being positioned within the second set spacing to clear the first joint drive 31.

The first plate 361 and the second plate 362 are spaced apart, and the second plate 362 is positioned on a side of the first plate 361 adjacent to the first arm 34 such that the thickness dimension of the second arm 36 coincides with the axial dimension of the third joint driver 35, whereby a portion of the second arm 36 is positioned on the outer peripheral side of the third joint driver 35, thereby reducing the thickness of the third joint driver 35 and the second arm 36 combination, facilitating the accommodation of the second arm 36 within the first set interval.

The second plate 362 is located on a side of the first plate 361 facing the third joint drive 35, the second plate 362 and the first plate 361 are arranged in parallel with a spacing in the axial direction of the third joint drive 35, a second set spacing is provided between the second plate 362 and the first plate 361, the gripping claw 37 is rotated relative to the second arm 36 into the second set spacing when the mechanical arm 3 is switched from the operation configuration to the contracted configuration, so that the gripping claw 37 is accommodated between the first plate 361 and the second plate 362, and in the contracted configuration, the gripping claw 37 is symmetrically arranged in the front-rear direction.

In this way, the length of the second arm 36 and the jaw 37 assembly is reduced when the jaw 37 is stored in the second set interval in the contracted state, so that the second arm 36 and the jaw 37 assembly can be conveniently stored in the first set interval, and the mass distribution of the jaw 37 and the second arm 36 is more concentrated, so that the stability of the spherical robot with an external operation function in movement is improved.

The first arms 34 are symmetrically arranged in the radial direction of the second joint driving 33, and the length of the first arms 34 is adjustable to adjust the spacing between the second joint driving 33 and the third joint driving 35.

Specifically, the rotating frame 32 is connected to the second joint driving 33, the rotating shaft of the second joint driving 33 extends along the radial direction of the first joint driving 31, so as to drive the first arm 34 to rotate around the rotating shaft of the second joint driving 33, the first arm 34 comprises a fixed section 341 and a free section, the free section of the first arm 34 is connected with the fixed section 341 of the first arm 34 in a sliding fit manner, one end of the fixed section 341 of the first arm 34 is connected with the second joint driving 33, the other end of the fixed section 341 of the first arm 34 is connected with one end of the free section of the first arm 34 in a sliding fit manner, the other end of the free section of the first arm 34 is connected with the third joint driving 35, the positions of the fixed section 341 of the first arm 34 and the free section of the first arm 34 are adjustable, the distance between the second joint driving 33 and the third joint driving 35 is changed along with the change of the length of the first arm 34, and thus the length of the mechanical arm 3 is adjusted.

Therefore, the length of the first arm 34 is adjustable, and the maximum distance between the free end of the second arm 36 and the extension section can be adjusted by adjusting the length of the first arm 34 in the operation mode, so that the robot with the external operation function in the embodiment of the invention has a larger external operation range.

In some embodiments, the first arm 34 includes a fixed segment 341, a free segment 342, a slide bar 343, and a carriage 344, the free segment 342 is in guided engagement with the fixed segment 341, the carriage 344 is connected to the free segment 342, the slide bar 343 is connected to the fixed segment 341, and the slide bar 343 is in guided engagement with the carriage 344.

Specifically, the slide bar 343 includes a first slide bar 3431 and a second slide bar 3432, the first slide bar 3441 includes a first slide bar 3441 and a second slide bar 3442, one end of the fixed section 341 is connected to the rotor portion of the second joint drive 33, one end of the free section 342 is connected to the stator portion of the third joint drive 35, the other end of the free section 342 is guide-fitted to the other end of the fixed section 341, the first slide bar 3431 and the second slide bar 3432 are connected to the rotor portion of the second joint drive 33, the first slide bar 3441 and the second slide bar 3442 are connected to the stator portion of the third joint drive 35, the first slide bar 3431 is guide-fitted to the first slide bar 3441, the second slide bar 3432 is guide-fitted to the second slide bar 3442, the first slide bar 3431 and the second slide bar 3432 are symmetrically arranged in the width direction of the first arm 34, and the first slide bar 3441 and the second slide bar 3442 are symmetrically arranged in the width direction of the first arm 34.

Thereby, on the one hand, the guide part and the fixed segment 341 are in guide fit and the guide part is slidable relative to the fixed segment 341 along the length direction of the first arm 34, so that the length dimension of the first arm 34 is adjusted, the swinging range of the mechanical arm 3 is increased, and on the other hand, the sliding rod 343 and the sliding frame 344 are matched, and the radial bearing capacity of the first arm 34 is improved while the sliding guide performance of the free segment 342 relative to the fixed segment 341 is improved. In addition, the first and second slide bars 3431 and 3432 are symmetrically arranged in the width direction of the first arm 34, and the first and second carriages 3441 and 3442 are symmetrically arranged in the width direction of the first arm 34 so that the masses of the first arm 34 are symmetrically arranged in the width direction of the first arm 34.

In some embodiments, the robot with the external operation function comprises a weight assembly 4, wherein the weight assembly 4 is arranged on the frame 2, and the weight assembly 4 can translate relative to the frame 2 along the vertical direction so as to be suitable for adjusting the gravity center of the robot.

As shown in fig. 1, when the robot with external operation function according to the embodiment of the present invention rolls in the second state, the weight swing assembly 4 can maintain the center of gravity of the robot with external operation function according to the embodiment of the present invention at the lower side of the frame 2, so that the posture of the frame 2 of the robot with external operation function according to the embodiment of the present invention is maintained stable during rolling.

In some embodiments, the weight assembly 4 includes an adjustment assembly 41 and a weight 42, one end of the adjustment assembly 41 is connected to the frame 2, the weight 42 is disposed at the other end of the adjustment assembly 41, and the adjustment assembly 41 is adapted to drive the weight 42 to translate to adjust the distance between the weight 42 and the frame 2.

Specifically, the adjusting component 41 is arranged along the vertical direction, the upper end of the adjusting component 41 is connected with the frame 2, the counterweight 42 is located at the lower end of the adjusting component 41, and the adjusting component 41 drives the counterweight 42 to move along the extending direction of the adjusting component 41 so as to adjust the distance between the counterweight 42 and the frame 2, thereby adjusting the gravity center position of the robot with external operation function in the embodiment of the invention.

Thus, when the robot with the external operation function according to the embodiment of the present invention travels in a spherical rolling manner, the adjustment unit 41 adjusts the position of the weight 42 in the up-down direction, thereby adjusting the swing width of the center of gravity of the robot, and thus adjusting the sensitivity of the weight unit 4 in controlling the robot to roll.

In some embodiments, the adjusting assembly 41 includes an adjusting motor 411, an adjusting screw 412, a first guide rod 413 and a second guide rod 414, the adjusting motor 411 is fixedly connected to the frame 2, the adjusting motor 411 is connected to the adjusting screw 412 to drive the adjusting screw 412 to rotate, the first guide rod 413 and the second guide rod 414 are arranged in parallel and spaced apart from the adjusting screw 412, the adjusting screw 412 is located between the first guide rod 413 and the second guide rod 414, the counterweight 42 is in sliding fit with the first guide rod 413 and the second guide rod 414, and the adjusting screw 412 is in threaded fit with the counterweight 42 to drive the counterweight 42 to move along the bidirectional screw 211.

Specifically, as shown in fig. 7 and 8, an adjustment motor 411 is connected to the frame 2, an adjustment screw 412 extends in a vertical direction, a first guide bar 413 and a second guide bar 414 are arranged in parallel with the adjustment screw 412 at intervals, and the adjustment motor 411 is connected to the adjustment screw 412 to drive the adjustment screw 412 to rotate in a circumferential direction of the adjustment screw 412.

When the adjusting screw rod 412 rotates, the counterweight 42 moves along the axial direction of the adjusting screw rod 412 to adjust the distance between the counterweight 42 and the frame 2, so that the mass distribution of the robot with the external operation function in the embodiment of the invention is closer to the frame 2, and when the counterweight assembly 4 adjusts the position of the counterweight 42 in the left-right direction, the torsional moment applied by the counterweight 42 to the robot is smaller, so that the stability of the robot with the external operation function in the embodiment of the invention is improved.

In some embodiments, the adjusting motor 411 includes a rotor portion and a stator portion, the stator portion of the adjusting motor 411 is connected to the frame 2, the rotor portion of the adjusting motor 411 is sleeved on the outer peripheral side of the screw and connected to the screw, the rotor portion of the adjusting motor 411 is rotationally matched with the stator portion of the adjusting motor 411 to drive the screw to rotate, and the screw is in threaded matching connection with the counterweight 42 to drive the counterweight 42 to move along the bidirectional screw 211.

Specifically, the rotation shaft of the adjustment motor 411 extends in the up-down direction, the upper end of the stator portion of the adjustment motor 411 is connected to the lower end of the frame 2, the rotor portion of the adjustment motor 411 is rotatably assembled in the stator portion of the adjustment motor 411, and the screw is assembled in the rotor portion of the adjustment motor 411 and connected to the rotor portion of the adjustment motor 411.

The weight 42 is provided with a screw hole and a guide hole, the screw hole extends along the up-down direction and penetrates through the weight 42, the extending direction of the guide hole is the same as the extending direction of the screw hole and penetrates through the weight 42, the number of the guide holes is two, and the screw rod is assembled in the screw hole in a threaded manner.

Thereby, when the rotor portion of the adjustment motor 411 rotates with respect to the stator portion of the adjustment motor 411, the screw is driven to rotate in the circumferential direction of the adjustment motor 411, so that the weight 42 is translated in the axial direction of the screw to change the distance between the weight 42 and the swing frame.

The upper end of the screw rod extends out of the rotor part of the adjusting motor 411 and forms an extension section, and the extension section is rotatably assembled on the frame 2 through a bearing. Thus, when the screw receives a torsional moment rotating relative to the frame 2, the bearing between the extension and the connection receives a radial moment of the screw, thereby reducing the radial moment received by the adjustment motor 411.

In some embodiments, the pendulous device includes an end plate 43, one end of a lead screw is rotatably coupled to the connection portion, the other end of the lead screw is rotatably coupled to the end plate 43, and a first guide bar 413 and a second guide bar 414 are coupled between the end plate 43 and the connection portion.

Thus, the end plate 43 connects the lower ends of the first and second guide rods 413, 414 with the lower end of the lead screw, which improves the structural strength of the combination of the first and second guide rods 413, 414, the lead screw, and the weight 42, on the one hand, and the guiding accuracy of the first and second guide rods 413, 414 to the weight 42, when the weight 42 translates in the axial direction of the first and second guide rods 413, 414, on the other hand.

In some embodiments, the weight 42 is provided with relief grooves 421, the relief grooves 421 extending along the length of the lead screw, the relief grooves 421 being adapted to relief the end plate 43.

Specifically, the avoidance groove 421 is located at the lower side of the weight 42 and extends in the left-right direction, the width dimension of the avoidance groove 421 is greater than the width dimension of the end plate 43, the lower end of the threaded hole of the weight 42 is communicated with the avoidance groove 421, and the lower end of the guide hole of the weight 42 is communicated with the avoidance groove 421.

Thus, at least a portion of the lead screw and at least a portion of the first and second guide rods 413, 414 are positioned within the relief groove 421, and as the weight 42 translates downward, the end plate 43 may move into the relief groove 421, thereby increasing the travel of the weight 42 in the axial direction of the lead screw.

In some embodiments, the weight 42 has an interior cavity adapted to receive the weight 42. Specifically, the weight 42 is a hollow structure. Thus, the components with larger density such as the battery of the robot with the external operation function in the embodiment of the invention can be arranged in the counterweight 42, on one hand, the larger mass of the counterweight 42 can adjust the gravity center position of the robot with the external operation function in the embodiment of the invention, and on the other hand, the components such as the battery and the like are arranged in the inner cavity, so that the volume of the robot with the external operation function in the embodiment of the invention can be reduced.

In some embodiments, the robot having the external operation function includes a driving motor 5, the driving motor 5 includes a first driving motor 201 and a second driving motor 502, the first driving motor 201 is connected between the first housing 11 and the frame 2, the first driving motor 201 is adapted to drive the first housing 11 to rotate around the frame 2, the second driving motor 502 is connected between the second housing 12 and the frame 2, and the second driving motor 502 is adapted to drive the second housing 12 to rotate around the frame 2.

Specifically, the rotation shafts of the first driving motor 201 and the second driving motor 502 extend in the left-right direction, one end of the first driving motor 201 is connected to the first housing 11, the other end of the first driving motor 201 is connected to the frame 2, one end of the second driving motor 502 is connected to the second housing 12, and the other end of the second driving motor 502 is connected to the frame 2.

Thus, the first driving motor 201 can drive the first shell 11 to rotate relative to the frame 2, and the second driving motor 502 can drive the second shell 12 to rotate relative to the frame 2, so that in the second mode, the first shell 11 and the second shell 12 rotate relative to the frame 2 to drive the robot with external operation function to perform rolling motion.

In some embodiments, the driving motor 5 includes a rotor part and a stator part, the rotor part of the driving motor 5 is rotationally matched with the stator part of the driving motor 5, the stator part of the driving motor 5 is connected with the frame 2, the rotor part of the driving motor 5 is connected with the housing 1, the rotor part of the driving motor 5 can rotate relative to the stator part of the driving motor 5 to drive the housing 1 to rotate relative to the frame 2, the frame 2 includes a connecting shaft 26, the rotor part is rotationally assembled on the outer peripheral side of the connecting shaft 26, and one end of the connecting shaft 26 extends to the outer side of the first housing 11 and is connected with the mechanical arm 3.

Specifically, as shown in fig. 3, one end of a stator portion of the driving motor 5 is connected to the frame 2, a right half portion of a rotor portion of the driving motor 5 is rotatably fitted in the stator portion of the driving motor 5, and a rotation shaft of the rotor portion of the driving motor 5 extends in a left-right direction, a right end of the rotor portion of the driving motor 5 is provided with a bearing housing, and the bearing housing is connected to a left end of the first housing 11.

The rotor part is provided with a through hole, the connecting shaft 26 is matched in the through hole, one end of the connecting shaft 26 is connected with the left end of the frame 2, the right end of the connecting shaft 26 extends to the left end face of the bearing seat, and a bearing is arranged between the connecting shaft 26 and the bearing seat to support the bearing seat.

Therefore, when the driving motor 5 drives the shell 1 to rotate, the connecting shaft 26 and the mechanical arm 3 do not rotate along with the shell 1, so that the robot with the external operation function does not influence the operation of the mechanical arm 3 when moving, and the mechanical arm 3 is connected with the frame 2 through the connecting shaft 26, so that the radial bearing capacity of the joint of the frame 2 and the mechanical arm 3 is improved.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims (8)

1. A robot having an external operation function, comprising:

a housing comprising a first housing and a second housing, the housing having a first configuration in which the first housing and the second housing are separated for two-wheeled travel of a robot and a second configuration in which the first housing and the second housing are closed for rolling travel of a robot;

a housing having a through bore, the housing being rotatably fitted within the through bore, and a portion of the housing extending from the through bore of the housing and forming an extension, the housing being rotatable relative to the housing about a first direction, at least one of the first housing and the second housing being movable relative to the housing in the first direction to switch the housing between the first configuration and the second configuration;

the mechanical arm is arranged on the extension section and has an operation mode and a contraction mode, in the operation mode, the mechanical arm extends and is suitable for executing work, and in the contraction mode, the mechanical arm contracts and is symmetrically arranged about the width direction of the rack;

the robot comprises a weight swing assembly, a robot body and a robot body, wherein the weight swing assembly is arranged on the frame and can translate relative to the frame along the vertical direction so as to be suitable for adjusting the gravity center of the robot;

the weight swing assembly comprises an adjusting assembly and a counterweight, one end of the adjusting assembly is connected with the rack, the counterweight is arranged at the other end of the adjusting assembly, and the adjusting assembly is suitable for driving the counterweight to translate so as to adjust the distance between the counterweight and the rack;

the adjusting component adjusts the position of the counterweight in the up-down direction, thereby adjusting the swing amplitude of the gravity center of the robot.

2. The robot with an external operation function according to claim 1, wherein the frame comprises a main frame, a screw rod assembly, a telescopic motor, a first pushing frame and a second pushing frame, the main frame extends along the length direction of the frame, the first pushing frame is connected with a first driving motor and assembled to the main frame along the length direction of the frame in a guiding manner, the second pushing frame is connected with a second driving motor and assembled to the main frame along the length direction of the frame in a guiding manner, the telescopic motor is connected with the screw rod assembly to drive the screw rod assembly to rotate, and the screw rod assembly extends along the length direction of the frame and is connected with the first pushing frame and the second pushing frame to drive the first pushing frame and the second pushing frame to move relative to the main frame.

3. The robot with an external operation function according to claim 1, wherein the number of the mechanical arms is two, the two mechanical arms are a first mechanical arm and a second mechanical arm, and the first mechanical arm and the second mechanical arm are symmetrically arranged along a left-right direction.

4. A robot with external operation function according to claim 3, wherein the mechanical arm comprises a first arm and a second arm, one end of the first arm is rotatably connected with the extension section and has a first set interval with the extension section, the other end of the first arm is rotatably connected with one end of the second arm, at least part of the second arm is accommodated in the first set interval in the contracted configuration, and the second arm extends along the length direction of the first arm to reduce the outline size of the spherical robot with external operation function.

5. The robot with external operation according to claim 4, wherein the mechanical arm comprises a first joint drive, a second joint drive, a third joint drive and a rotating frame, the first joint drive is connected between the rotating frame and the extension section to drive the rotating frame to rotate, the second joint drive is connected between the rotating frame and the first arm to drive the first arm to rotate, and the third joint drive is arranged between the first arm and the second arm to drive the second arm to rotate.

6. The robot with external operation according to claim 5, wherein the first joint-driven rotation shaft extends in a longitudinal direction of the frame, the second joint-driven rotation shaft extends in a radial direction of the first joint drive, and the third joint-driven rotation shaft extends in a radial direction of the second joint drive.

7. The robot with external operation according to claim 6, wherein the second arm is arranged symmetrically along the radial direction of the third joint drive, the second arm being arranged perpendicular to the frame axis in the contracted configuration;

the first arms are symmetrically arranged along the radial direction of the second joint drive, and the length of the first arms is adjustable to adjust the spacing between the second joint drive and the third joint drive.

8. The robot with external operation function according to any one of claims 1 to 7, comprising a driving motor including a first driving motor and a second driving motor, the first driving motor being connected between the first housing and the frame, the first driving motor being adapted to drive the first housing to rotate around the frame, the second driving motor being connected between the second housing and the frame, the second driving motor being adapted to drive the second housing to rotate around the frame.