CN213262691U

CN213262691U - Traveling device and robot

Info

Publication number: CN213262691U
Application number: CN202021745198.3U
Authority: CN
Inventors: 章伯伦
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2021-05-25
Anticipated expiration: 2030-08-20

Abstract

The utility model relates to a running gear and robot, include: moving the chassis; the supporting piece is arranged on the moving chassis and is also used for being connected with the robot main body, so that an annular open cavity is formed between the robot main body and the moving chassis; and the scanning radar is arranged on the movable chassis and is positioned in the cavity. Therefore, after the scanning radar is installed in the avoidance cavity, the scanning radar can realize 360-degree shielding-free full-view detection, and can also finish detection on the environmental conditions and the landforms of the robot in any directions, all around, so that a travel route can be planned, obstacle avoidance walking is realized, the moving reliability of the robot is greatly guaranteed, and potential safety hazards caused by shielding of part of the direction view of the scanning radar are eliminated.

Description

Traveling device and robot

Technical Field

The utility model relates to an intelligent equipment technical field especially relates to a running gear and robot.

Background

At present, the robot is adopted to replace manual labor, which is a development trend of all industries, so that the labor cost of enterprises is greatly reduced, and the production efficiency and the product quality are improved. Among them, robots may be classified into service robots, cleaning robots, construction robots, etc. according to the division of various industrial fields. Taking a service robot as an example, the service robot is used in restaurants in many application occasions, and can realize the work contents of automatically transferring dishes, ordering bills, settling accounts, answering customer questions and the like. The service robot generally comprises a chassis, a robot main body arranged on the chassis, and a scanning radar arranged on the front side of the chassis, wherein the scanning radar is used for detecting the appearance and the landform of the surrounding environment so as to provide support for planning the walking path of the robot, avoiding obstacles and the like.

However, because the scanning radar is arranged on the front side of the chassis in the existing service robot, the robot main body behind the scanning radar can shield the view behind the scanning radar, the scanning radar cannot effectively detect the environment behind the robot, the robot is influenced to normally retreat and move, and great potential safety hazards are caused.

SUMMERY OF THE UTILITY MODEL

Therefore, a need exists for a walking device and a robot, which aim to solve the problem that the field of view is blocked to affect the detection capability in the prior art.

In one aspect, the present application provides a walking device, the walking device comprising:

moving the chassis;

the supporting piece is arranged on the moving chassis and is also used for being connected with the robot main body, so that an annular open cavity is formed between the robot main body and the moving chassis; and

and the scanning radar is arranged on the movable chassis and is positioned in the cavity.

The walking device of above-mentioned scheme is used for equipping in the robot, specifically is used for with robot body equipment connection, makes the robot possess the walking ability, can also make the detection field of vision of scanning radar broad in addition and do not shelter from, guarantees that the robot can reliably remove, eliminates potential safety hazard. Particularly, during the installation, the robot main part is through predetermined support piece and removal chassis assembled connection, can form the uncovered cavity of keeping away that sets up of hoop between the robot main part this moment and the removal chassis, therefore, after installing scanning radar in this cavity of keeping away, scanning radar can realize 360 nearly nothing and shelter from full field of vision detection, also can accomplish the detection to the environmental aspect and the topography landform in the arbitrary position around the robot, thereby can plan the trip and advance the route, realize keeping away the barrier walking, the removal reliability of robot has greatly been ensured, potential safety hazard because of scanning radar part position field of vision is sheltered from has been eliminated.

The technical solution of the present application is further described below:

in one embodiment, the supporting members are arranged in at least two, and at least two supporting members are arranged on the top surface of the moving chassis near the edge at intervals along the annular direction.

In one embodiment, the supports are four and distributed in a rectangular shape, and the scanning radar is arranged at or close to the geometric centers of the four supports.

In one embodiment, the walking device further comprises a mounting mechanism, and the scanning radar is arranged on the moving chassis through the mounting mechanism.

In one embodiment, the mobile chassis is provided as a wheeled chassis; the scanning radar is set as a 3D laser radar.

In addition, the present application also provides a robot, comprising:

a camera shooting cloud deck;

the camera shooting platform is arranged on the robot main body; and

the walking device as described above, the robot main body is connected to the support member.

In one embodiment, the camera shooting platform is arranged at the top of the robot main body or a position close to the top, and the supporting piece is arranged as a shock absorber.

In one embodiment, the shock absorber includes a fixed seat, a movable part and an elastic pressing part, the fixed seat is rotatably disposed on the movable chassis, the movable part is flexibly and movably connected with the fixed seat, the movable part is further connected with the robot body, and the elastic pressing part abuts between the fixed seat and the movable part.

In one embodiment, the robot further includes a first hinge base, a first hinge shaft, a second hinge base and a second hinge shaft, the first hinge base is disposed on the moving chassis, the first hinge shaft is connected to the fixed base and rotatably disposed on the first hinge base, the second hinge base is disposed on the robot main body, and the second hinge shaft is disposed on the movable member and rotatably disposed on the second hinge base.

In one embodiment, the outer wall of the robot main body is concavely provided with concave parts, the number and the positions of the supporting pieces and the concave parts are matched, and the supporting pieces are correspondingly arranged in the concave parts one by one.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments 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 without creative efforts.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 3 is a schematic diagram of a scanning radar according to an embodiment of the present invention;

FIG. 4 is a schematic top view of the structure of FIG. 3;

fig. 5 is a schematic view of an explosion structure of a robot according to an embodiment of the present invention.

Description of reference numerals:

100. a robot; 10. a camera shooting cloud deck; 20. a robot main body; 21. a recess; 30. a traveling device; 31. moving the chassis; 32. a support member; 321. a fixed seat; 322. a movable member; 323. an elastic pressing member; 33. avoiding the cavity; 34. scanning a radar; 40. a first hinge base; 50. a first hinge shaft; 60. a second hinge base; 70. a second hinge shaft.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

As shown in fig. 1 and fig. 2, a robot 100 provided in the embodiment of the present application may be configured as various robot 100 devices suitable for various industries according to actual needs.

For example, the robot 100 may be a service robot 100, which is suitable for public service places such as restaurants, shopping malls, supermarkets, hotels, and the like, and can replace service staff or management personnel to perform article transfer, information interaction, sale and purchase interaction with customers; alternatively, the robot 100 may be a construction robot 100, which is suitable for various construction sites, and can perform various construction operations such as concrete pouring, mortar spreading, tile laying, and putty coating, instead of a constructor, a measurer, or a construction manager.

In general, the various robots 100 generally include: running gear 30, robot main body 20 and camera head 10, in addition running gear 30 includes: a moving chassis 31 and a scanning radar 34.

Among other things, the moving chassis 31 may impart walking ability to the robot 100, which provides power required for the robot 100 to move. The robot main body 20 is generally mounted on a mobile chassis 31, and is a main structure of the robot 100, and functional units such as a controller, a battery, an information processing module, and a terminal execution module are integrated thereon, so that the robot 100 has a capability of performing various tasks. The scanning radar 34, by being mounted on the mobile chassis 31, can detect surrounding environment conditions, topography and the like and feed back data to the controller, so as to provide data support for path planning, obstacle avoidance and the like when the robot 100 walks. The camera head 10 can record information and perform recognition interaction with the outside.

With continued reference to fig. 1 and 2, in the embodiment, the robot main body 20 is installed at the upper surface of the moving chassis 31; the camera head 10 is provided on the robot main body 20. In addition, the robot 100 further includes a support member 32, the support member 32 is disposed on the moving chassis 31, and the support member 32 is further configured to be connected to the robot main body 20, so that a cavity 33 disposed annularly to the opening is formed between the robot main body 20 and the moving chassis 31; the scanning radar 34 is disposed on the moving chassis 31 and located in the cavity 33.

Optionally, the moving chassis 31 in this embodiment is configured as a wheeled chassis; the scanning radar 34 is provided as a 3D lidar. Of course, in other embodiments, the moving chassis 31 may also be a crawler-type chassis, a chain wheel chassis, or the like; the scanning radar 34 may also be an infrared radar, a sodar, etc.; the method can be selected according to actual needs.

Specifically, the wheeled chassis in this embodiment includes a chassis body, steering wheels, drive wheels, and a drive motor, as well as some other auxiliary accessories. The chassis body can be used as a bearing base body of the wheel type chassis and used for loading a driving motor, a driving wheel, a steering wheel and the like. The chassis body is formed into a box or box structure, and the interior of the chassis body adopts a sealed cavity design, so that adverse effects caused by external rain, snow, dust and the like easily invading the interior of the chassis body when the robot 100 works in a complex and harsh environment are avoided. The driving motor is installed inside the chassis body, and a driving shaft of the driving motor penetrates through the side wall of the chassis body to extend out of the chassis body and be connected with the driving wheel, so that the driving wheel can obtain power, and the purpose of driving the robot 100 to walk is achieved.

The steering wheels are directly mounted on the bottom wall of the chassis body for effecting steering of the robot 100. Alternatively, the steerable wheels may be, but are not limited to, universal wheels. Of course, in other embodiments, the chassis body may not be provided with a steering wheel, but two sets of driving motors and driving wheels are provided on the chassis, the two driving wheels are respectively disposed on the left and right sides of the chassis body, and the controller controls the rotation speeds of the two driving motors to be different, so that the two driving wheels form differential rotation, and the steering operation of the robot 100 can also be realized. Or the driving motor and the driving wheel can be converted into a steering wheel and the like, thereby integrating steering and power.

Furthermore, the wheeled chassis also comprises a top bracing hydraulic cylinder and a top bracing foot. When the robot 100 walks, the piston rod of the top support hydraulic cylinder retracts, and the top support foot is arranged far away from the ground. However, when the robot 100 arrives at the working place, the top-support hydraulic cylinder drives the piston rod to extend out, so that the top-support foot supports the ground, thereby limiting the degree of freedom of the mobile chassis 31, ensuring that the robot 100 is stable in place, and avoiding the influence of vibration or unexpected displacement on the working precision of the robot 100. For example, in the case of the construction robot 100 performing a grinding task, if the hydraulic cylinder and the supporting leg are not provided, when there is a slope or unevenness on the ground of the work site, the robot 100 is liable to shake or slip, which may seriously affect the grinding work accuracy.

With continuing reference to fig. 3 and fig. 4, in summary, the implementation of the technical solution of the above embodiment has the following advantages: the walking device 30 of the above scheme is applied to the robot 100, and is specifically used for being assembled and connected with the robot main body 20, so that the robot 100 has walking capability, and in addition, the detection view of the scanning radar 34 is wide and unobstructed, thereby ensuring that the robot 100 can reliably move and eliminating potential safety hazards. Specifically, during installation, the robot main body 20 is assembled and connected with the moving chassis 31 through the preset support piece 32, and at the moment, the cavity avoiding 33 arranged annularly and openly can be formed between the robot main body 20 and the moving chassis 31, so that after the scanning radar 34 is installed in the cavity avoiding 33, 360-degree almost-unobstructed full-view detection can be realized by the scanning radar 34, namely, detection can be completed on the environmental conditions and the landforms of the robot 100 in any directions, so that a travel route can be planned, obstacle avoidance walking is realized, the moving reliability of the robot 100 is greatly guaranteed, and potential safety hazards caused by the fact that part of the azimuth view of the scanning radar 34 is obstructed are eliminated.

Further, on the basis of the above embodiment, the supporting members 32 are provided in at least two, and at least two supporting members 32 are circumferentially spaced apart from each other and are disposed on the top surface of the moving chassis 31 near the edge. So, two at least support piece 32 can form the multiple spot to support robot main part 20, and the supporting force to robot main part 20 distributes more evenly, not only can improve robot main part 20 and remove the joint strength on chassis 31, guarantees robot main part 20 installation stability simultaneously to alleviate the shake interference that camera shooting cloud platform 10 installed on robot main part 20 received.

Preferably, in some embodiments, the supports 32 are four and distributed in a rectangular shape, and the scanning radar 34 is arranged at or near the geometric center of the four supports 32. So, four support piece 32 not only can stabilize and improve the installation intensity and the stability of robot main part 20, simultaneously because four support piece 32 distribute in four apex angle departments of rectangle, can not cause the sheltering from to the field of vision of four square all around of scanning radar 34 this moment, can make scanning radar 34 full play operational capability, effectively survey all ring edge border circumstances and topography and geomorphology, provide the assurance for robot 100 reliably advances safely.

In addition, at this time, since the four supporting members 32 are disposed at the edge of the top surface of the moving chassis 31, and the scanning radar 34 is disposed at the center of the top surface or at a position close to the center, it can be ensured that the scanning radar 34 is farthest away from the supporting members 32, so as to reduce the effective necessary shielding range of the supporting members 32 for the detection field of the scanning radar 34 (as can be understood, the effective necessary shielding range means that due to the existence of the inherent volume of the supporting members 32, a certain shielding effect is inevitably caused on the scanning radar 34, and only when the supporting members 32 are disposed as far as possible from the scanning radar 34, the less detection light of the scanning radar 34 can be shielded by the supporting members 32), thereby facilitating the performance of the detection capability of the scanning radar 34.

On the basis of any of the above embodiments, the walking device 30 further includes a mounting mechanism, and the scanning radar 34 is disposed on the moving chassis 31 through the mounting mechanism. In this way, the scanning radar 34 can be securely mounted on the moving chassis 31 by means of a mounting mechanism.

Specifically, the mounting mechanism in this embodiment may be a jaw structure, which is pre-mounted on the top surface of the moving chassis 31, and can hold the fixed scanning radar 34 or release the scanning radar 34. In addition, in order to avoid the scanning radar 34 from being damaged or scratched due to the overlarge rigid clamping force, a flexible pad is arranged on the inner wall of the clamping cavity of the clamping jaw structure. The flexible pad is, for example, a rubber pad, and the above problem can be effectively avoided by the direct contact between the rubber pad and the scanning radar 34.

Or, in this embodiment, the mounting mechanism may further include a card body and a card seat, any one of the card body and the card seat is installed on any one of the moving chassis 31 and the scanning radar 34, and the other one of the card body and the card seat is installed on the other one of the moving chassis 31 and the scanning radar 34, and the card body and the card seat are detachably fastened to be connected, so that the scanning radar 34 and the moving chassis 31 can be conveniently and firmly assembled and connected and then disassembled.

Of course, when the robot 100 works in a gentle field, the mounting mechanism may also be an adhesive member, so that the scanning radar 34 can be directly adhered and fixed on the moving chassis 31 by using an adhesive. Specifically, the adhesive member may be, but is not limited to, glue, double-sided tape, velcro tape, and the like.

Further, on the basis of any of the above embodiments, the camera head 10 is disposed at the top of the robot main body 20 or at a position close to the top, and the support member 32 is disposed as a shock absorber. Arranging the camera platform 10 at or near the top of the robot main body 20 may widen the view of the camera platform 10, which is beneficial to avoiding more potential obstacles, and make the robot 100 obtain a wider moving view.

However, in this case, if there is a hollow on the ground, the robot 100 is likely to vibrate, and the vibration is amplified many times at the top of the robot main body 20, so that the camera head 10 shakes sharply to cause the definition and quality of the photographed image, which seriously affects the normal operation of the robot 100.

In contrast, in the present embodiment, the support 32 is preferably a shock absorber, which not only can provide necessary support for the installation and fixation of the robot main body 20, but also can provide excellent damping performance to reduce the vibration of the robot 100 caused by uneven road surface, and further reduce the vibration interference to the camera head 10 at the top end.

Specifically, in some embodiments, the outer wall of the robot main body 20 is recessed with the recesses 21, the number and the positions of the supports 32 are adapted to those of the recesses 21, and the supports 32 are correspondingly disposed in the recesses 21.

For example, the number of the shock absorbers (i.e., the support members 32) is four, and the number of the recesses 21 is also four. Through installing four shock absorbers simultaneously, four shock absorbers can exert buffering damping effect in coordination, further guarantee the stationarity of robot main part 20 when passing through hollow uneven road surface, and then guarantee the reliable work of cloud platform 10 of making a video recording. And further choose to design and make the recess 21 on the robot body 20, and place the strutting piece 32 in the recess 21, then help further to reduce the volume of the robot 100, realize the miniaturized design, make the robot 100 possess the ability to pass through the narrow space, has promoted the performance of the robot 100.

Referring to fig. 5, in the above embodiment, the shock absorber includes a fixed seat 321, a movable element 322 and an elastic pressing element 323, the fixed seat 321 is rotatably disposed on the movable chassis 31, the movable element 322 is flexibly connected to the fixed seat 321, the movable element 322 is further connected to the robot main body 20, and the elastic pressing element 323 abuts between the fixed seat 321 and the movable element 322.

Alternatively, the elastic pressing member 323 is provided as a coil spring. When the coil spring is abutted between the fixed seat 321 and the movable member 322 and the robot 100 vibrates, the movable member 322 can move on the fixed seat 321 in a small-amplitude telescopic manner along with the cancellation of the vibration caused by the telescopic deformation of the coil spring, so that the shock absorber can exert the buffering and damping effects on the whole.

With reference to fig. 5, the robot 100 further includes a first hinge base 40, a first hinge shaft 50, a second hinge base 60 and a second hinge shaft 70, wherein the first hinge base 40 is disposed on the movable chassis 31, the first hinge shaft 50 is connected to the fixed base 321 and rotatably disposed on the first hinge base 40, the second hinge base 60 is disposed on the robot body 20, and the second hinge shaft 70 is disposed on the movable member 322 and rotatably disposed on the second hinge base 60. Thus, the fixed seat 321 can rotate relative to the mobile chassis 31, and the movable element 322 can rotate relative to the robot main body 20, so as to avoid interference caused by rigid connection.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to 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", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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 intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A walking device, characterized in that the walking device comprises:

moving the chassis;

2. The walking device of claim 1, wherein the support members are arranged in at least two, and at least two of the support members are arranged at circumferential intervals on the top surface of the moving chassis near the edge.

3. The walking device of claim 2, wherein the supports are four and distributed in a rectangular shape, and the scanning radar is arranged at or close to the geometric center of the four supports.

4. The walking device of any one of claims 1 to 3, wherein the walking device further comprises a mounting mechanism by which the scanning radar is disposed on the moving chassis.

5. A walking device according to any one of claims 1 to 3, wherein the mobile chassis is provided as a wheeled chassis; the scanning radar is set as a 3D laser radar.

6. A robot, comprising:

a camera shooting cloud deck;

the camera shooting platform is arranged on the robot main body; and

the walking device of any one of claims 1 to 5, wherein said robot body is connected to said support member.

7. A robot as claimed in claim 6, wherein the camera head is arranged at or near the top of the robot body, and the support member is arranged as a shock absorber.

8. The robot of claim 7, wherein the shock absorber includes a fixed seat, a movable member and an elastic pressing member, the fixed seat is rotatably disposed on the movable chassis, the movable member is flexibly connected to the fixed seat, the movable member is further connected to the robot body, and the elastic pressing member abuts between the fixed seat and the movable member.

9. The robot of claim 8, further comprising a first hinge base, a first hinge shaft, a second hinge base and a second hinge shaft, wherein the first hinge base is disposed on the moving chassis, the first hinge shaft is connected with the fixed base and rotatably disposed on the first hinge base, the second hinge base is disposed on the robot body, and the second hinge shaft is disposed on the movable member and rotatably disposed on the second hinge base.

10. A robot as claimed in any of claims 6 to 9, wherein the outer wall of the robot body is recessed with recesses, the number and positions of the supports and the recesses are adapted, and the supports are correspondingly disposed in the recesses.