CN212666073U - Robot mounting structure and mobile robot - Google Patents

Abstract

The utility model discloses a robot mounting structure and mobile robot belongs to smart machine technical field. The utility model provides a robot mounting structure includes base housing and radar, and base housing is including the mounting panel that is provided with the installation breach, and the radar inlays through joint groove joint and locates the installation breach to through connection structure and mounting panel erection joint. This robot mounting structure is through setting up the installation breach of holding radar on the mounting panel to adopt joint and connecting piece to connect dual connectivity mode between messenger's radar and the mounting panel, showing and having improved the connection stability of radar on base housing, thereby improved the removal precision of robot.

Description

Robot mounting structure and mobile robot

Technical Field

The utility model relates to an intelligent equipment technical field especially relates to a robot mounting structure and mobile robot.

Background

With the increasing development of science and technology and the gradual improvement of living standard of people, more and more mobile robots appear in the life and work of people, such as logistics robots, hotel robots and the like. The robot can replace the manual work to accomplish the task of delivering the article to reach the purpose such as reduction of labor cost, improvement manual work environmental security.

Existing mobile robots generally have an automatic navigation function, which can automatically move to a target location to complete the delivery of an item. The radar is an important part for realizing the automatic navigation function of the robot, the existing radar is generally fixedly installed on a base shell of the robot through a connecting piece, the installation stability of the existing radar is poor, when the moving environment of the mobile robot is poor, the radar with poor connection stability causes the moving precision of the robot to be reduced, and the use performance of the robot is seriously influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot mounting structure, this robot mounting structure installs the stability of radar high, is favorable to improving the removal precision of robot.

To achieve the purpose, the utility model adopts the following technical proposal:

a robot mounting structure comprising:

the mounting plate is arranged in the base shell, and a mounting notch is formed in the mounting plate;

the radar, the radar passes through the joint groove to inlay and locates the installation breach, the radar pass through connection structure with mounting panel erection joint.

Preferably, the outer convex has first joint board and second joint board on the wall surface of radar, first joint board with the second joint board is followed the direction of height interval of radar sets up, and forms the joint groove, the joint groove with the mounting panel joint.

Preferably, the second engaging plate and the first engaging plate are offset in a circumferential direction of an outer wall surface of the radar.

As preferred, the installation breach is U type breach, the outer wall of radar be with the U type wall of U type breach looks adaptation, two the second joint board is followed respectively the protruding stretching of the arc bending segment of U type wall both sides is established with corresponding card one side of mounting panel, it is a plurality of first joint board is protruding to be established respectively with the card on the antetheca and the lateral wall face of U type wall establish the opposite side of mounting panel.

Preferably, the clamping groove is formed in the outer wall surface of the radar and has a groove-shaped structure.

Preferably, the two sides of the mounting notch are respectively provided with a connecting flange;

the two connecting structures are respectively arranged on two sides of the radar in a protruding mode and then correspondingly connected with the two connecting flanges.

Preferably, the connecting structure is lug-shaped and extends vertically.

Preferably, both ends of the first clamping plate are bent to form a U-shaped reinforcing structure.

Another object of the present invention is to provide a mobile robot, which has high moving accuracy.

To achieve the purpose, the utility model adopts the following technical proposal:

preferably, a mobile robot includes:

the robot mounting structure described above;

the supporter, the supporter is including connecting the base, be equipped with the bracing piece on connecting the base, connect the base with through the plug connector erection joint that sets up along the equidirectional setting between the bracing piece.

Preferably, the mobile robot further includes:

the tray assembly is arranged on the supporting rod and comprises a tray body, and the edge of the tray body is connected with a wrapping structure in a hot melting mode.

The utility model has the advantages that:

the utility model provides a robot mounting structure, this robot mounting structure include base casing and radar, and base casing inlays through joint groove joint and locates the installation breach including the mounting panel that is provided with the installation breach, radar to through connection structure and mounting panel erection joint. This robot mounting structure is through setting up the installation breach of holding radar on the mounting panel to adopt joint and connecting piece to connect dual connectivity mode between messenger's radar and the mounting panel, showing and having improved the connection stability of radar on base housing, thereby improved the removal precision of robot.

Drawings

Fig. 1 is an installation diagram of a base housing and a radar of a robot provided by the present invention;

fig. 2 is an exploded view of a mounting plate and radar provided by the present invention;

fig. 3 is an assembly view of the mounting plate and radar provided by the present invention at a certain viewing angle;

FIG. 4 is an assembly view of the mounting plate and radar provided by the present invention at another viewing angle;

fig. 5 is a schematic structural view of a rack of the robot provided by the present invention;

fig. 6 is an exploded view of a set of support rods and columns of the rack of the robot provided by the present invention;

fig. 7 is a schematic structural view of a tray assembly of a rack of a robot according to the present invention at a certain viewing angle;

fig. 8 is a schematic structural view of a tray assembly of a rack of a robot in another view angle.

In the figure:

100. a base housing; 110. mounting a plate; 101. installing a notch; 102. connecting the flanging;

200. a radar; 201. a first clamping connection plate; 202. a second clamping plate; 203. a connecting structure;

300. a connecting member;

1. connecting a base; 11. a base plate; 111. a column; 12. a support bar; 13. a first connection hole; 14. a second connection hole;

2. a tray assembly; 21. a tray body; 211. flanging; 212. a first fixing hole; 22. a first edge-wrapping structure; 23. a second edging structure; 24. and (3) thermally fusing the connector.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, 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 relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present embodiment provides a mobile robot capable of assuming a task of delivering an item to a target location, thereby reducing the cost of manually delivering the item. As shown in fig. 1, the mobile robot includes a robot mounting structure and a commodity shelf, and the robot mounting structure specifically includes a base housing 100 and a radar 200. The base housing 100 is an execution component that the mobile robot can move, and a power mechanism and a transmission mechanism are arranged inside the base housing, optionally, the power mechanism is a motor, the transmission mechanism is a gear set, and an electric shaft of the motor is in transmission connection with an input gear of the gear set. The bottom of the base housing 100 is provided with a roller, the roller is rotatably connected to the bottom plate of the base housing 100, the output gear of the gear set is in transmission connection with the roller, and the roller can rotate under the driving of the motor, so that the base housing 100 moves.

The radar 200 is used for acquiring information of an external environment in the moving process of the robot and feeding the information back to a control mechanism of the mobile robot, so that the control mechanism can control the movement of the mobile robot. The radar 200 is disposed on the base housing 100, and in order to stably connect the radar 200 and the base housing 100, as shown in fig. 2 to 4, a mounting plate 110 is disposed on the base housing 100 in a protruding manner, a front end of the mounting plate 110 is fixedly connected to a wall plate of the base housing 100, and a mounting notch 101 for accommodating the radar 200 is disposed at a tail end of the mounting plate 110.

In this embodiment, the installation notch 101 is a U-shaped notch, and the outer wall surface of the front end of the radar 200 is a U-shaped wall surface adapted to the installation notch 101, so that the front end of the radar 200 can be just placed in the U-shaped notch. Of course, in other embodiments, if the shape of the installation notch 101 changes, the shape of the radar 200 disposed at the front end of the installation notch 101 may be adaptively changed. Be provided with the joint groove on radar 200's the outer wall, when radar 200 front end was put into installation breach 101, the mounting panel 110 joint that is located installation breach 101 inboard was in the joint inslot to realize radar 200 and mounting panel 110's joint. Further, a connection structure 203 is provided on the outer wall surface of the radar 200, the connection structure 203 is provided at the rear end of the radar 200, and when the front end of the radar 200 is placed in the mounting notch 101, the connection structure 203 can abut against the end of the mounting plate 110 and be fixedly connected by the connector 300.

This robot mounting structure is through setting up the installation breach 101 of holding radar 200 on mounting panel 110 to adopt joint and connecting piece 300 to connect dual connection mode between radar 200 and the mounting panel 110, showing and improving the connection stability of radar 200 on base casing 100, thereby improved the accuracy that radar 200 acquireed the external environment information of robot, and then improved mobile robot's removal precision, make mobile robot can be fast, accurately reach the target location, in order to accomplish the task of delivering article.

Alternatively, the fastening groove provided in the radar 200 may be a groove-shaped structure directly opened on the outer wall surface of the radar 200, and of course, as shown in fig. 2, the fastening groove may be formed by a first fastening plate 201 and a second fastening plate 202 protruding from the outer wall surface of the radar 200 at intervals in the height direction of the radar 200, and the first fastening plate 201 is located above the second fastening plate 202, where the upper side may be directly above or obliquely above. In order to improve the stability of the chucking, in the present embodiment, the first chucking plate 201 is disposed obliquely above the second chucking plate 202, that is, in the circumferential direction of the outer wall surface of the radar 200, and the first chucking plate 201 and the second chucking plate 202 are disposed in a staggered manner. For example, one first engaging plate 201 and two second engaging plates 202 may be provided, and the first engaging plate 201 may be provided directly above the middle position of the two second engaging plates 202.

In the present embodiment, as shown in fig. 2, the number of the first engaging plates 201 is three, one of the three first engaging plates 201 is provided on the front wall surface of the U-shaped wall surface, and the other two are provided on the two side wall surfaces of the U-shaped wall surface, respectively. The number of the second clamping plates 202 is two, and the two second clamping plates 202 are arranged on the arc-shaped bent section of the U-shaped wall surface of the radar 200 and extend outwards in a protruding manner. Three first joint board 201 can the joint in one side of mounting panel 110, and two second joint boards 202 can the joint in the opposite side of mounting panel 110, so set up and show the improvement joint area to radar 200 and mounting panel 110's joint stability has been improved. Further, the corner of the U-shaped notch of the mounting plate 110 is a fillet, correspondingly, the arc bending section of the U-shaped wall surface is also an arc surface, and the second clamping plate 202 disposed on the arc bending section of the U-shaped wall surface is an arc plate.

In order to improve the structural strength of the first clamping plate 201, in the present embodiment, as shown in fig. 2, structural reinforcing plates are formed by bending both ends of the first clamping plate 201, so that the first clamping plate 201 is a U-shaped reinforcing structure as a whole.

In order to facilitate the connecting piece 300 of installation connection mounting panel 110 and connection structure 203, be provided with two connection turn-ups 102 that turn over the book downwards at the end of mounting panel 110, two connection turn-ups 102 are located the both sides of installation breach 101, and set up two connection structure 203 in radar 200's both sides, connection structure 203 is lug form and vertical extension, connection structure 203 can be lug or flat board, two connection structure 203 respectively with two connection turn-ups 102 butt, two connecting piece 300 pass the connection structure 203 and the connection turn-ups 102 of two pairs of butts respectively, thereby realize being connected of radar 200 rear end and mounting panel 110.

Optionally, a first threaded hole is formed in the connecting structure 203, a second threaded hole is formed in the connecting flange 102, and the connecting member 300 is a screw which is screwed in the first threaded hole and the second threaded hole. The detachable attachment using screws enables the radar 200 to be detached from the base housing 100 for repair or replacement in the event of a malfunction of the radar 200.

As shown in fig. 5, the shelf comprises a connection base 1 and a tray assembly 2. Wherein the connection base 1 is used for being connected with the base housing 100 and for fixing and supporting the tray assembly 2. Specifically, the connection base 1 includes a base plate 11 and a support rod 12, wherein a column 111 is protruded on the base plate 11, and the column 111 is inserted into and matched with the support rod 12. The number of the upright posts 111 and the number of the supporting rods 12 are the same, for example, one, two, three or more, in this embodiment, two are taken as an example, the two upright posts 111 are arranged on the base plate 11 at intervals, and the two supporting rods 12 are in one-to-one corresponding insertion fit with the two upright posts 111.

The support rod 12 is a rod-shaped structure made of metal, the bottom end of the support rod 12 is provided with an accommodating cavity with a downward opening, and the top end of the upright post 111 can be inserted into the accommodating cavity, so that the insertion fit between the support rod 12 and the upright post 111 is realized. The insertion parts of the upright post 111 and the support rod 12 are provided with connecting holes along at least two directions, and a plurality of insertion pieces arranged along different directions are respectively arranged by penetrating through the connecting holes which are oppositely arranged, thereby realizing multidirectional connection of the support rod 12 and the upright post 111. Compared with unidirectional connection, the multidirectional connection has the advantages of higher strength, difficulty in loosening and small occupied space.

In this embodiment, as shown in fig. 6, the connectors include a first connector and a second connector, the first connection holes 13 are respectively opened on the upright 111 and the support rod 12 along the third direction, and the first connector passes through the two first connection holes 13, so as to realize the fixed connection between the upright 111 and the support rod 12 in the third direction. And, second connecting hole 14 has been seted up respectively along the fourth direction to stand 111 and bracing piece 12, and the fourth direction sets up with the third direction is perpendicular, and two second connecting holes 14 are passed to the second plug connector to realize the fixed connection of stand 111 and bracing piece 12 in the fourth direction. So arranged, the fixed connection of the upright 111 and the support bar 12 in both directions is achieved. Alternatively, the first and second connection holes 13 and 14 may be screw holes, and both the first and second connectors may be screws. Of course, in other embodiments, more connecting holes may be formed in more directions, and then more connectors are used to achieve the fixed connection between the upright 111 and the supporting rod 12 in more directions.

Further, in order to avoid the mutual interference of the first and second connectors and the weakening of the structural strength of the column 111 and the support bar 12 caused by the concentration of the openings, it is preferable that the first and second connection holes 13 and 14 are formed at different heights of the column 111 or the support bar 12.

The tray assembly 2 is horizontally arranged between the two support rods 12, and a plurality of tray assemblies 2 can be arranged between the two support rods 12 according to requirements, so that the number of delivered articles can be increased, and different kinds of articles can be stored in a layered mode. Specifically, as shown in fig. 7, the tray assembly 2 includes the tray body 21 and the structure of borduring, and the tray body 21 adopts the aluminum product to make, has the advantage of being light in weight, and the mode that the structure of borduring passes through hot melt connection sets up in the border department of tray body 21 to avoid the border fish tail user of tray body 21 and carry out certain spacing to the article on the tray body 21.

In this embodiment, in order to realize fixing of the edge covering structure on the tray body 21, as shown in fig. 8, mounting holes are provided on the tray body 21, the number of the mounting holes can be set a plurality according to the requirement, the mounting holes are uniformly distributed along the edge of the tray body 21, a plurality of hot-melt connectors 24 are arranged on the edge covering structure in an upward protruding manner, each hot-melt connector 24 passes through the corresponding mounting hole, and the penetrating end of each hot-melt connector 24 can be formed into a limiting part by hot-melting of a hot-melting head after passing through the tray body 21. The limiting part refers to a sheet structure with the size larger than that of the mounting hole, and the main body parts of the sheet structure and the edge covering structure are located on different sides of the tray body 21, so that the tray body 21 is fixed.

In order to fix the tray body 21 and the support rod 12, as shown in fig. 8, flanges 211 are formed by folding the two opposite sides of the tray body 21 upwards, and the flanges 211 are detachably connected with the support rod 12. Specifically, in the present embodiment, a first fixing hole 212 is provided on the flange 211, a second fixing hole is provided on the support rod 12, and the fixing member is disposed through the first fixing hole 212 and the second fixing hole. Optionally, the first fixing hole 212 and the second fixing hole are both threaded holes, and the fixing member is a screw.

Of course, the fixing member may be a metal screw, or a plastic column, the plastic column passes through the first fixing hole 212 and the second fixing hole, and two ends of the plastic column respectively protrude from the first fixing hole 212 of the flange 211 and the second fixing hole of the support rod 12, and are thermally fused by the thermal fuse head to form the limiting cap after protruding. The size of the limiting cap is larger than the size of the first fixing hole 212 and the second fixing hole, so that the flanging 211 and the supporting rod 12 can be limited between the two limiting caps.

In order to improve the connection stability of the tray body 21 and the support rod 12, three first fixing holes 212 arranged in a triangular shape are formed in the turned-over edge 211, three second fixing holes arranged in a triangular shape are formed in the corresponding positions of the support rod 12, and the three fixing pieces penetrate through the corresponding first fixing holes 212 and the corresponding second fixing holes respectively, so that the three-point connection of the tray body 21 and the support rod 12 is realized. Compared with the existing fixing holes and fixing pieces which are arranged in a collinear manner, the connecting stability of the fixing holes and the fixing pieces which are arranged in a triangular manner is better. Of course, in other embodiments, the number of the first fixing holes 212 and the second fixing holes may be more than three, as long as three of them are arranged in a triangular shape.

Optionally, a gasket is further disposed between the flange 211 and the support rod 12, a third fixing hole is disposed at a position opposite to the first fixing hole 212 and the second fixing hole on the gasket, and the fixing frame sequentially passes through the first fixing hole 212, the third fixing hole and the second fixing hole. The provision of the spacer can further improve the stability of the connection between the tray body 21 and the support rod 12.

Because the two edges of the tray body 21 provided with the flanges 211 are smooth, the edge covering structure is not required. In this embodiment, in order to reduce the cost, only the edge of the tray body 21 not provided with the turned-over edge 211 is provided with the edge-covering structure, specifically, as shown in fig. 7 and 8, the edge-covering structure includes a first edge-covering structure 22 and a second edge-covering structure 23, the first edge-covering structure 22 and the second edge-covering structure 23 are both located between the two turned-over edges 211, the first edge-covering structure 22 covers the front edge of the tray body 21, and the second edge-covering structure 23 covers the rear edge of the tray body 21.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A robot mounting structure, characterized by comprising:

the device comprises a base shell (100), wherein a mounting plate (110) is arranged in the base shell (100), and a mounting notch (101) is formed in the mounting plate (110);

radar (200), radar (200) inlay through the joint groove and locate installation breach (101), radar (200) pass through connection structure (203) with mounting panel (110) erection joint.

2. A robot mounting structure according to claim 1,

the evagination has first joint board (201) and second joint board (202) on the outer wall of radar (200), first joint board (201) with second joint board (202) are followed the direction of height interval of radar (200) sets up, and forms the joint groove, the joint groove with mounting panel (110) joint.

3. A robot mounting structure according to claim 2,

the second clamping plate (202) and the first clamping plate (201) are arranged in a staggered mode in the circumferential direction of the outer wall surface of the radar (200).

4. A robot mounting structure according to claim 3,

installation breach (101) are U type breach, the outer wall of radar (200) be with the U type wall of U type breach looks adaptation, two second joint board (202) are followed respectively the protruding arch bending section of U type wall both sides is stretched and is established with corresponding the card one side of mounting panel (110), it is a plurality of first joint board (201) are protruding to be established respectively with the card on the antetheca and the lateral wall face of U type wall establish the opposite side of mounting panel (110).

5. A robot mounting structure according to claim 1,

the clamping groove is formed in the outer wall surface of the radar (200) and is of a groove-shaped structure.

6. A robot mounting structure according to claim 1,

connecting flanges (102) are respectively arranged on two sides of the mounting notch (101);

the two connecting structures (203) are respectively arranged on two sides of the radar (200) in a protruding mode and then correspondingly connected with the two connecting flanges (102).

7. A robot mounting structure according to claim 1,

the connecting structure (203) is in the shape of a lug and extends vertically.

8. A robot mounting structure according to claim 2,

and two ends of the first clamping plate (201) are bent to form a U-shaped reinforcing structure.

9. A mobile robot, comprising:

the robot mounting structure of any one of claims 1-8;

the supporter, the supporter is including connecting base (1), be equipped with bracing piece (12) on connecting base (1), connect base (1) with through the plug connector erection joint that sets up along the not equidirectional between bracing piece (12).

10. The mobile robot of claim 9, comprising:

tray subassembly (2), set up in on bracing piece (12), tray subassembly (2) include tray body (21), the border hot melt of tray body (21) is connected with the structure of borduring.

Images