CN217915395U

CN217915395U - Robot

Info

Publication number: CN217915395U
Application number: CN202220781075.8U
Authority: CN
Inventors: 刘欢; 谢艺宁; 王远志
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2022-11-29
Anticipated expiration: 2032-04-06

Abstract

The application provides a robot, including base, robot main part and elastic damping device. The robot main body is arranged above the base and is arranged opposite to the base at intervals; one end of the elastic damping device is hinged with the base, and the other end of the elastic damping device is hinged with the robot main body. Because the elastic damping device is respectively hinged with the base and the robot main body, the elastic damping device can rotate relative to the base and the robot main body, so that the forward-leaning and backward-leaning swing of the robot main body is converted into forward and backward movement along the movement direction. Compare in traditional robot, the robot of this application can utilize elastic damping device to reduce and conduct the vibrations in the main part of robot from the base, has better shock attenuation performance to utilize elastic damping device to articulate with base and main part of robot respectively, keep the main part of robot to remain vertical state throughout, ensure the steady of transporting the goods in the main part of robot.

Description

Robot

Technical Field

The application belongs to the technical field of intelligent transportation equipment, and more specifically relates to a robot.

Background

With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.

The existing mobile robot generally comprises two parts, namely: the robot body is used for delivering food and goods, and the base comprises a chassis, a control system, a power supply and other components. In order to ensure the connection stability between the robot body and the base, the robot body and the base are generally rigidly connected by bolts, welding, or the like. Although such a rigid connection can maintain a good connection rigidity between the robot main body and the base, it is easy to cause the following problems in the mobile robot: firstly, when the mobile robot runs on an uneven road surface, the base is easy to shake or vibrate, and the shake or vibration is transmitted to the robot main body through the rigid connection between the robot main body and the base, so that the running stability of the mobile robot and the safety of conveyed objects are influenced; secondly, when the mobile robot meets the conditions of quick start, sudden stop and obstacle avoidance, the mobile robot is influenced by self inertia force, large swing is easily generated, even the phenomenon of side turning of the mobile robot is caused in serious conditions, and the stable and safe operation of the mobile robot is greatly influenced.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a robot to solve the robot damping performance that exists among the prior art relatively poor, the robot is starting fast, produces wobbling technical problem easily when scram keeps away the circumstances such as barrier.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

provided is a robot including:

a base;

the robot main body is arranged above the base, and a spacing distance is arranged between the robot main body and the base;

and one end of the elastic damping device is hinged with the base, and the other end of the elastic damping device is hinged with the robot main body.

As a further improvement of the technical scheme:

optionally, the robot further includes a swing damping device, the swing damping device is located at the bottom of the robot main body, and the swing damping device is used for moving along a direction of reducing a movement tendency of the robot main body when the robot main body swings.

Optionally, the robot includes first installing support and second installing support, first installing support connect in the base, the second installing support connect in the robot main part, the one end of elastic damping device with first installing support is articulated, the other end with the second installing support is articulated.

Optionally, the robot includes a rotating shaft, and the first mounting bracket and the elastic damping device are sleeved on the rotating shaft.

Optionally, the elastic damping means comprises at least one of a spring or a telescopic damper.

Optionally, when the elastic damping device includes a spring and a telescopic damper, the spring is located on one side of the telescopic damper departing from the center of the robot main body.

Optionally, the elastic damping device at least includes a first elastic damping device and a second elastic damping device, the first elastic damping device is connected to one side of the robot, and the second elastic damping device is connected to the other side of the robot.

Optionally, the robot further includes a third mounting bracket, the third mounting bracket is connected to the second mounting bracket, and the swing damping device is detachably connected to the third mounting bracket.

Optionally, the swing damping device includes elastic component and weight, the one end of elastic component is connected on the third installing support, the other end with the weight is connected, the weight with between the base and the weight with all be equipped with the separation distance between the robot main part, the weight is used for along reducing during the robot main part swing the direction motion of the motion trend of robot main part.

Optionally, a spacing distance is provided between the elastic damping device and the swing damping device.

The application provides a robot's beneficial effect lies in:

the application provides a robot, including base, robot main part and elastic damping device. The robot main body is arranged above the base and is arranged opposite to the base at intervals; one end of the elastic damping device is hinged with the base, and the other end of the elastic damping device is hinged with the robot main body. Wherein, elastic damping device connects between robot main part and base, both plays the effect of connecting, supporting robot main part and base, again through its elastic damping effect, can play the shock attenuation, absorb the effect of vibrations energy to can attenuate the vibrations that the base transmitted to the robot main part, make the robot main part more steady. When the robot meets the conditions of quick start, emergency stop, obstacle avoidance and the like, because the elastic damping device is respectively hinged with the base and the robot main body, the elastic damping device can rotate relative to the base and the robot main body, so that the forward-leaning and backward-leaning swing of the robot main body is converted into forward and backward movement along the movement direction, the robot main body can be always kept in a vertical state, and the stability of goods conveyed in the robot main body is ensured.

Compare in traditional robot, the robot of this application can utilize elastic damping device to reduce and conduct the vibrations in the main part of robot from the base, has better shock attenuation performance to utilize elastic damping device to articulate with base and main part of robot respectively, keep the main part of robot to remain vertical state throughout, ensure the steady of transporting the goods in the main part of robot.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a first schematic view of a robot provided in the present application;

FIG. 2 is a partially enlarged schematic view of FIG. 1;

fig. 3 is a schematic front view structural diagram of a robot provided by the present application;

fig. 4 is a schematic front view of a robot according to the present application.

Wherein, in the figures, the respective reference numerals:

1. a base; 2. A robot main body;

3. an elastic damping device; 31. A spring;

32. a telescopic damper; 33. A first elastic damping device;

34. a second elastic damping device; 4. A swing damping device;

41. an elastic member; 42. A counterweight;

5. a first mounting bracket; 6. A second mounting bracket;

7. a rotating shaft; 8. And a third mounting bracket.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The existing mobile robot connects the robot main body and the base by a rigid connection mode, and although the connection mode can keep better connection rigidity between the robot main body and the base, the following problems are easy to occur in the mobile robot: firstly, when the mobile robot runs on an uneven road surface, the base is easy to shake or vibrate, and the shake or vibration is transmitted to the robot main body through the rigid connection between the robot main body and the base, so that the running stability of the mobile robot and the safety of conveyed objects are influenced; secondly, when the mobile robot meets the conditions of quick start, sudden stop and obstacle avoidance, the mobile robot is influenced by self inertia force, large swing is easily generated, even the phenomenon of side turning of the mobile robot is caused in serious conditions, and the stable and safe operation of the mobile robot is greatly influenced.

As shown in fig. 1 and 2, the present embodiment provides a robot including a base 1, a robot main body 2, and an elastic damping device 3. The robot main body 2 is arranged above the base 1 and is arranged opposite to the base 1 at intervals; one end of the elastic damping device 3 is hinged with the base 1, and the other end is hinged with the robot main body 2.

Wherein, elastic damping device 3 is connected between robot main part 2 and base 1, has both played the effect of connecting, supporting robot main part 2 and base 1, again through its elastic damping effect, can play the shock attenuation, absorb the effect of vibrations energy to can attenuate the vibrations that base 1 transmitted to robot main part 2, make robot main part 2 more steady.

As shown in fig. 3 and 4, when the robot encounters the conditions of rapid start, sudden stop, obstacle avoidance, etc., since the elastic damping device 3 is hinged to the base 1 and the robot main body 2, the elastic damping device 3 can rotate relative to the base 1 and the robot main body 2, so that the forward-leaning and backward-leaning swing of the robot main body 2 is converted into forward and backward movement along the movement direction, and the robot main body 2 can be kept in a vertical state all the time, thereby ensuring the stability of goods conveyed in the robot main body 2.

Compare in traditional robot, the robot of this application can utilize elastic damping device 3 to reduce and conduct the vibrations to robot main body 2 from base 1, has better shock attenuation performance to utilize elastic damping device 3 to articulate with base 1 and robot main body 2 respectively, keep robot main body 2 to remain vertical state throughout, ensure the steady of transporting the goods in the robot main body 2.

As shown in fig. 1 and 2, in one embodiment, the robot further includes a swing damping device 4, the swing damping device 4 is located at the bottom of the robot main body 2, and the swing damping device 4 is used for moving in a direction of reducing a moving tendency of the robot main body 2 when the robot main body 2 swings.

When the robot meets the conditions of quick start, sudden stop, obstacle avoidance and the like, the robot main body 2 swings under the influence of self inertia force. The oscillation damping device 4 is movable in a direction that reduces the tendency of the robot main body 2 to move, i.e., the oscillation damping device 4 is capable of generating a movement opposite to the direction of movement of the robot main body 2, so that the oscillation of the robot main body 2 is cancelled by the movement of the oscillation damping device 4, and the oscillation energy of the robot main body 2 is consumed by the movement of the oscillation damping device 4, thereby attenuating the oscillation amplitude of the robot main body 2.

Because the robot of this application has better shock resistance and less swing for this robot is particularly suitable for as mobile robot, food delivery robot, delivery robot etc.. When the robot is used, the robot main body 2 serves as a carrier for placing dishes or goods, the safety of the dishes or the goods conveyed in the robot main body 2 can be guaranteed, and the dishes in the robot main body 2 are prevented from being scattered or the goods are prevented from falling.

As shown in fig. 1, in one embodiment, the robot includes a first mounting bracket 5 and a second mounting bracket 6, the first mounting bracket 5 is connected to the base 1, the second mounting bracket 6 is connected to the robot main body 2, and one end of the elastic damping device 3 is hinged to the first mounting bracket 5, and the other end is hinged to the second mounting bracket 6. Realize the both ends of elastic damping device 3 through first installing support 5 and second installing support 6 and be connected with base 1 and robot main part 2's indirection respectively to make the elastic damping effort that elastic damping device 3 produced pass through on first installing support 5 and second installing support 6 transition base 1 and robot main part 2, prevent that the elastic damping effort is great time, produce the damage to base 1 and robot main part 2.

As shown in fig. 1 and 2, in one embodiment, the robot includes a rotating shaft 7, and the first mounting bracket 5 and the elastic damping device 3 are sleeved on the rotating shaft 7, so that the first mounting bracket 5 and the elastic damping device 3 can rotate relative to the rotating shaft 7, and the first mounting bracket 5 and the elastic damping device 3 are hinged. It will be appreciated that the second mounting bracket 6 and the elastic damping device 3 are also sleeved on the rotating shaft 7, so that the second mounting bracket 6 and the elastic damping device 3 can rotate relative to the rotating shaft 7, and the second mounting bracket 6 and the elastic damping device 3 are hinged.

In one embodiment, the articulation between the first mounting bracket 5 and the elastic damping device 3, or between the second mounting bracket 6 and the elastic damping device 3, can also be achieved by means of a universal joint, so that the first mounting bracket 5 and the elastic damping device 3, or the second mounting bracket 6 and the elastic damping device 3, can rotate in multiple directions.

As shown in fig. 1 and 2, in one embodiment, the elastic damping means 3 comprises at least one of a spring 31 or a telescopic damper 32.

Specifically, the elastic damping device 3 may include one of the spring 31 or the telescopic damper 32, or both the spring 31 and the telescopic damper 32. The spring 31 has better elasticity and flexibility, can obtain elastic potential energy through compression or bending, and is a flexible damping device. The telescopic damper 32 is a rigid damper device having a rigid housing capable of damping motion in a predetermined direction, and includes several types, such as a liquid damper, a gas damper, and an electromagnetic damper.

As shown in fig. 1, in one embodiment, when the elastic damping device 3 comprises a spring 31 and a telescopic damper 32, the spring 31 is located on a side of the telescopic damper 32 facing away from the center of the robot main body 2.

The center of the robot main body 2 specifically refers to a geometric symmetry line or a geometric center line of the robot main body 2. The spring 31 is farther from the geometric symmetry line or geometric center line of the robot main body 2 than the telescopic damper 32. When the robot main body 2 moves forward and backward in the movement direction by the hinge joint with the elastic damping device 3, both the spring 31 and the telescopic damper 32 are in a compressed state, and the spring 31 accumulates elastic potential energy. When the elastic potential energy of the spring 31 is released, the spring 31 can push the robot main body 2 back to the position right above the base 1. The spring 31 is located closer to the outer side of the robot main body 2 than the telescopic damper 32, and the arm of the elastic force of the spring 31 can be increased, which helps the spring 31 push the robot main body 2 back to the position right above the base 1.

As shown in fig. 1, in one embodiment the elastic damping means 3 comprises at least a first elastic damping means 33 and a second elastic damping means 34, the first elastic damping means 33 being attached to one side of the robot and the second elastic damping means 34 being attached to the other side of the robot.

Specifically, a first elastic damping device 33 is connected to the left side of the robot, and a second elastic damping device 34 is connected to the right side of the robot; alternatively, the first elastic damping device 33 is connected to the front side of the robot, and the second elastic damping device 34 is connected to the rear side of the robot. The first elastic damping device 33 and the second elastic damping device 34 respectively support and elastically act on two opposite sides of the robot, so that the stress on the two sides of the robot is balanced, and the robot main body 2 is prevented from falling to one side.

As shown in fig. 1, in one embodiment, the elastic damping means 3 is arranged in the height direction of the robot. Because the vibrations that base 1 produced are vertical vibrations, set up elastic damping device 3 along the direction of height of robot and can avoid elastic damping of elastic damping device 3 to produce horizontal component to make elastic damping of elastic damping device 3 all be applied to and resist vibrations. It should be noted that the elastic damping device 3 is arranged along the height direction of the robot, which is only one of the preferred embodiments of the present application, and in other embodiments, the elastic damping device 3 may be arranged at an angle to the height direction of the robot.

As shown in fig. 1, in one embodiment, the robot further comprises a third mounting bracket 8, the third mounting bracket 8 is connected to the second mounting bracket 6, and the swing damping device 4 is detachably connected to the third mounting bracket 8, so as to facilitate replacement and assembly and disassembly of the swing damping device 4. The swing damping device 4 indirectly acts on the robot main body 2 through the second mounting bracket 6 and the third mounting bracket 8, so that connecting parts on the robot main body 2 are reduced, and the robot main body 2 is convenient to assemble and disassemble with other parts. Wherein the third mounting bracket 8 can be a connecting rod, a mounting frame or a mounting plate, etc. In other embodiments, the third mounting bracket 8 may be attached to the bottom of the robot main body 2, or the oscillation damping device 4 may be detachably attached to the bottom of the robot main body 2.

As shown in fig. 1, in one embodiment, the swing damping device 4 includes an elastic member 41 and a weight member 42, one end of the elastic member 41 is connected to the third mounting bracket 8, the other end is connected to the weight member 42, a distance is provided between the weight member 42 and the base 1 and between the weight member 42 and the robot main body 2, and the weight member 42 is used for moving in a direction of reducing a moving tendency of the robot main body 2 when the robot main body 2 swings.

Wherein, the elastic member 41 is used for elastically connecting the weight member 42. The energy of the oscillation of the robot main body 2 is converted into the deformation energy of the elastic member 41 by the deformation of the elastic member 41 such as expansion and contraction or bending, and the oscillation energy of the robot main body 2 is absorbed and consumed, thereby attenuating the oscillation width of the robot main body 2. The elastic member 41 may be a spring, an elastic string, an elastic band, or the like.

When the mobile robot meets the conditions of quick start, sudden stop and obstacle avoidance, the robot main body 2 generates reciprocating swing under the influence of self inertia force. The weight member 42 is movable in a direction to reduce the tendency of the robot main body 2 to move, that is, the weight member 42 is movable in a direction opposite to the swinging direction of the robot main body 2. By the movement of the weight 42, the energy of the swing of the robot main body 2 can be consumed, thereby attenuating the swing amplitude of the robot main body 2. By the cooperation of the elastic member 41 and the weight member 42, the natural frequency of the robot main body 2 can be changed, and the resonance phenomenon generated by the robot main body 2 can be reduced. The swing damping device 4 has the advantages that the swing energy of the robot main body 2 is reduced, the swing amplitude and the swing time of the robot main body 2 are reduced, and the robot is guaranteed to stably and safely operate.

As shown in fig. 1, in one embodiment, the elastic damping device 3 is spaced from the oscillation damping device 4 to prevent the oscillation damping device 4 from colliding with the elastic damping device 3 during operation, and to maintain the oscillation damping device 4 in normal operation.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot, comprising:

a base;

the robot main body is arranged above the base, and a spacing distance is reserved between the robot main body and the base;

2. The robot of claim 1, further comprising a swing damping device located at a bottom of the robot body for moving in a direction that reduces a tendency of the robot body to move when the robot body swings.

3. The robot of claim 2, wherein said robot includes a first mounting bracket and a second mounting bracket, said first mounting bracket being connected to said base, said second mounting bracket being connected to said robot body, one end of said elastic damping device being hinged to said first mounting bracket and the other end being hinged to said second mounting bracket.

4. The robot as claimed in claim 3, wherein the robot includes a shaft, and the first mounting bracket and the elastic damping device are both sleeved on the shaft.

5. A robot as claimed in claim 2, wherein the resilient damping means comprises at least one of a spring or a telescopic damper.

6. A robot according to claim 5, characterized in that the elastic damping means comprise a spring and a telescopic damper, the spring being located on the side of the telescopic damper facing away from the centre of the robot body.

7. A robot as claimed in claim 2, wherein said elastic damping means comprises at least a first elastic damping means connected to one side of said robot and a second elastic damping means connected to the other side of said robot.

8. A robot as claimed in claim 3, further comprising a third mounting bracket, said third mounting bracket being attached to said second mounting bracket, said oscillation damping device being removably attached to said third mounting bracket.

9. A robot as claimed in claim 8, wherein the oscillation damping means comprises a resilient member and a weight member, one end of the resilient member is connected to the third mounting bracket, the other end of the resilient member is connected to the weight member, a spacing distance is provided between the weight member and the base and between the weight member and the robot body, and the weight member is used for moving in a direction of reducing a tendency of the robot body to move when the robot body oscillates.

10. A robot as claimed in any of claims 2 to 9, wherein a spacing distance is provided between the resilient damping means and the oscillation damping means.