CN218614067U

CN218614067U - Robot

Info

Publication number: CN218614067U
Application number: CN202121320495.8U
Authority: CN
Inventors: 何源; 张涛
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2021-06-11
Publication date: 2023-03-14
Anticipated expiration: 2031-06-11
Also published as: CN215920468U; WO2022144035A1; CN218614069U; CN218614068U; CN216372212U; CN216067469U; CN218698842U; CN215920466U

Abstract

The utility model belongs to the technical field of the robot, the utility model provides a robot, the robot includes chassis, robot, laser radar and is located the robot with connecting piece between the chassis, robot and the connecting piece forms the detection groove, laser radar installs in the detection groove. The utility model discloses in, install laser radar in the detection groove that robot, chassis and connecting piece formed, need not additionally to fluting on the robot chassis and can install laser radar, consequently difficult entering debris in the chassis have also saved the installation space of robot simultaneously, have reduced the whole volume of robot, have also practiced thrift the cost.

Description

Robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a robot.

Background

With the development of scientific technology, robots are more and more widely used in various fields. In the moving process of the robot, a laser radar is needed to detect obstacles and the like so as to automatically avoid the obstacles. In the prior art, the lidar of the robot is generally arranged on a chassis, so that a groove for accommodating the lidar needs to be formed on the chassis, and in order to achieve a higher detection range, the groove must have a deeper depth, and the defects of the scheme are as follows: firstly, the deeper groove can make the mold opening of the chassis difficult, reduce the mold opening quality of the chassis and improve the manufacturing cost; secondly, the chassis is directly provided with a groove, so that sundries (such as mice and the like) can easily enter the chassis, the entered sundries can easily cause the damage of components in the chassis, and even safety accidents can occur.

SUMMERY OF THE UTILITY MODEL

The utility model discloses install the problem of the easy entry debris that leads to and chassis die sinking difficulty with laser radar on the chassis to the robot among the prior art, provide a robot.

In view of above technical problem, the embodiment of the utility model provides a robot, include chassis, robot, laser radar and be located robot with connecting piece between the chassis, robot and the connecting piece forms the detection groove, laser radar installs in the detection groove.

Optionally, a first opening is formed in the chassis, a second opening is formed in the robot body, and a first communicating through hole for communicating the first opening with the second opening is formed in the connecting piece.

Optionally, the robot further comprises a support skeleton, wherein the support skeleton is located in a second communication through hole formed by the first opening, the second opening and the first communication through hole.

Optionally, the connecting member includes a surrounding plate connected to the chassis, and the first communicating through hole is surrounded by the surrounding plate.

Optionally, the chassis further includes a bottom plate, one end of the enclosing plate, which is far away from the robot body, is connected to the bottom plate, and the enclosing plate, the bottom plate and the robot body enclose the detection groove.

Optionally, the bottom plate comprises a first panel, a first connecting plate, a second panel and a second connecting plate which are sequentially connected end to end in an annular shape, the second panel is parallel to the first panel, and the second panel is higher than the first panel; the first panel, the first connecting plate, the second panel and the second connecting plate are all connected with the coamings; when the coaming is abutted against the lower end face of the robot body, the first panel, the first connecting plate, the second connecting plate, the coaming and the robot body are encircled to form the detection groove.

Optionally, the shroud and the base plate are of an integrally formed structure.

Optionally, an avoiding portion for avoiding laser emitted by the laser radar is arranged on the enclosing plate.

Optionally, the avoidance part includes a first avoidance surface and a second avoidance surface, and the laser radar is installed on an intersection line of the first avoidance surface and the second avoidance surface.

Optionally, the first avoidance surface and the second avoidance surface are symmetrically arranged relative to a preset reference surface, and the preset reference surface passes through the laser radar and the central line of the chassis.

Optionally, an included angle between the first avoidance surface and the second avoidance surface is 180 ° to 250 °.

The utility model discloses in, the robot includes chassis, robot, laser radar and is located the robot with connecting piece between the chassis, robot and the connecting piece forms the detection groove, laser radar installs in the detection groove. The utility model discloses in, because both need independent die sinking per se for chassis and robot, so after the robot equipment, there is the interval between chassis and the robot, consequently, install laser radar in the detection groove that robot, chassis and connecting piece formed, need not additionally to slot on the robot chassis and can install laser radar, consequently difficult entering debris in the chassis, the installation space of robot has also been saved simultaneously, the whole volume of robot has been reduced, the cost has also been practiced thrift.

Drawings

The present invention will be further explained with reference to the drawings and examples.

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

Fig. 2 is a schematic perspective view of a chassis and a connecting member of a robot according to an embodiment of the present invention.

Fig. 3 is a top view of a chassis and a connecting member of a robot according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a chassis; 11. a first opening; 12. a base plate; 121. a first panel; 122. a first connecting plate; 123. a second panel; 124. a second connecting plate; 2. a robot body; 3. a laser radar; 4. a connecting member; 41. a first communicating through hole; 42. enclosing plates; 43. an avoidance part; 431. a first avoidance surface; 432. a second avoidance surface; H. an intersecting line; F. presetting a reference surface; alpha, an included angle; 5. detecting a groove; 6. a second communication through hole.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.

As shown in fig. 1, an implementation of the utility model provides a robot, the robot includes chassis 1, robot 2, laser radar 3 and is located robot 2 with connecting piece 4 between the chassis 1, robot 2 and connecting piece 4 forms detection groove 5, laser radar 3 installs in detection groove 5. Wherein, the connecting piece 4 is arranged on the chassis 1, and the robot body 2 is arranged on the chassis 1 through the connecting piece 4; the mounting modes among the three can be set according to requirements, such as butt joint, clamping joint, screw connection or welding, and the like, as long as stable connection can be realized. Understandably, the shape of the robot body 2 can be set according to the requirement, for example, it can be a cylinder, and most of the outer surface of the support body of the cylinder is designed as a curved surface, so that the appearance aesthetic degree is improved, and when the robot body is contacted with an external object or a person, the robot body cannot be damaged. Further, the laser radar 3 may be configured to detect pose data of an obstacle or the like, and further may position or instruct the robot to avoid the obstacle according to the detected data.

Understandably, in the above embodiment, the laser radar 3 is disposed between the chassis 1 and the robot body 2, and the chassis 1 and the robot body 2 of the robot in this embodiment both need to be opened respectively, so that when the robot is assembled, a gap exists between the chassis 1 and the robot body 2, as in the robot shown in fig. 1, the connecting part 4 is disposed between the chassis 1 and the robot body 2, and the detection groove 5 for installing the laser radar 3 is formed in the gap that would otherwise exist between the chassis 1 and the robot body 2, so that there is no need to re-open the slot on the chassis 1 (and therefore there is no risk of entering sundries from the open slot on the chassis 1), that is, the detection groove 5 can be used to accommodate the laser radar 3, and the sealing performance of the chassis 1 is enhanced; meanwhile, under the normal working state of the robot, the laser radar is hidden in a gap between the robot body and the chassis and is not easy to collide with other external components, so that the robot is well protected; and, when not influencing the function that laser radar surveyed the barrier, form detection groove 5 in order to hold laser radar 3 through the interval that originally exists between chassis 1 and the robot body 2, also saved the internally mounted space of robot, reduced the whole volume of robot, also practiced thrift the cost.

In an embodiment, as shown in fig. 2, a first opening 11 is provided on the chassis 1, a second opening (not shown) is provided on the robot body 2, and a first communicating through hole 41 communicating the first opening 11 and the second opening is provided on the connecting member 4. Further, in fig. 2, the connecting member 4 includes a surrounding plate 42 connected to the chassis 1, and the first communicating through hole 41 is surrounded by the surrounding plate 42. Understandably, the shape and arrangement of the enclosing plate 42 can be set according to requirements, but in the above embodiment, the first communication through hole 41 formed by the enclosing plate 42 is communicated with the first opening 11 and the second opening, so that the first installation space (which can be used for installing a control main board and the like) of the robot body 2 is communicated with the second installation space (which can be used for installing a battery and the like) of the chassis 1, and the installation of a support structure and lines and the like in the robot is facilitated.

In an embodiment, as shown in fig. 1 and 2, the robot further comprises a support skeleton (not shown) located in the second communication through hole 6 formed by the first opening 11, the second opening and the first communication through hole 41. In this embodiment, the first opening 11 and the second opening are respectively disposed opposite to two ends of the first communicating through hole 41 and form the second communicating through hole 6, so that the upper end of the supporting framework located in the second communicating through hole 6 passes through the first opening 11 to connect the supporting structure located in the first installation space, the lower end of the supporting framework passes through the second opening to connect the supporting structure located in the second installation space, and finally, the installation and matching between the supporting structures in the robot body 2 and the chassis 1 are realized. In the present invention, "up" refers to the position above the robot (for example, the position above the robot shown in fig. 1) when the robot is in the upright normal working state; "lower" refers to a lower side (e.g., the lower side of the robot shown in fig. 1) corresponding to the robot in an upright normal working state.

In an embodiment, as shown in fig. 1 to 3, the chassis 1 further includes a bottom plate 12, an end of the enclosure 42 away from the robot body 2 is connected to the bottom plate 12, and the enclosure 42, the bottom plate 12 and the robot body 2 enclose the detection slot 5. Further, the shroud 42 and the base 12 are integrally formed. In the above embodiment, an arc-shaped detection groove 5 is defined between the bottom plate 12, the coaming 42 and the lower end surface of the robot body 2 close to the chassis 1, and the laser radar 3 has a larger laser opening angle in the detection groove 5, so that the effect of detecting the obstacle is better.

In an embodiment, as shown in fig. 2, the bottom plate 12 includes a first panel 121, a first connecting plate 122, a second panel 123 and a second connecting plate 124 sequentially connected end to end in a ring shape, the second panel 123 is parallel to the first panel 121, and the second panel 123 is higher than the first panel 121, where the second panel 123 is higher than the first panel 121 means that the second panel 123 is closer to the robot body 2 than the first panel 121. The first panel 121, the first connecting plate 122, the second panel 123 and the second connecting plate 124 are all connected to the enclosing plate 42; when the enclosing plate 42 abuts against the lower end surface of the robot body 2 (where the lower end surface is the end surface of the robot body 2 close to the chassis 1), the first panel 121, the first connecting plate 122, the second connecting plate 124, the enclosing plate 42, and the robot body 2 enclose the detection groove 5. Understandably, the first connecting plate 122 and the second connecting plate 124 may be curved as shown in fig. 2, or may be straight plates or other irregular shapes, as long as the connection between the first panel 121 and the second panel 123 is stable and reliable, and the interference to the laser radar 3 is minimized. The first panel 121 and the second panel 123 are not necessarily straight plates as shown in fig. 2, but may also be designed as other possible curved plates or irregular plate surfaces, as long as when the enclosing plate 42 abuts against the lower end surface of the robot body 2, the detection groove 5 enclosed between the first panel 121, the first connecting plate 122, the second connecting plate 124, the enclosing plate 42 and the lower end surface of the robot body 2 can accommodate the laser radar 3, and meanwhile, the effect of the laser radar 3 on accurately detecting obstacles can be ensured. Further, first panel 121 sets up in the front portion of robot, and is relative, and second panel 123 sets up at the rear portion of robot (in the utility model discloses in, the structure that sets up in one side in the direction of advance when the front portion indicates that the robot is in the normal forward when standing state, the rear portion indicates that the robot is in the normal structure that sets up in one side in the direction of retreat when retreating when standing state), so, lidar 3 can survey the barrier in robot the place ahead, and then effectively protect the robot to avoid colliding with the barrier.

Optionally, by disposing the second panel 123 closer to the robot body 2 than the first panel 121, the range of the distance between the chassis 1 and the robot body 2 can be effectively reduced, so that the stability of the chassis 1 and the robot body 2 can be improved. In one embodiment, as shown in fig. 2 and 3, the enclosing plate 42 is provided with an avoiding portion 43 for avoiding laser light emitted by the laser radar 3. This dodge portion 43 is used for dodging the laser that laser radar 3 sent to make the laser opening angle of the laser that is used for surveying the barrier bigger, make the barrier detection effect more accurate.

Further, as shown in fig. 2 and 3, the avoidance portion 43 includes a first avoidance surface 431 and a second avoidance surface 432, and the laser radar 3 is installed on an intersection line H of the first avoidance surface 431 and the second avoidance surface 432. The first panel 121 is shown in fig. 3 as a straight panel, and the intersection line H is perpendicular to the first panel 121 on the base 12, while the enclosure 42 is also perpendicular to the first panel 121. Laser radar 3 installs on intersecting line H, and when the laser that laser radar 3 transmitted was sent to around, can use first face 431 of dodging and second face 432 of dodging to form the angle of opening of laser as the boundary, and then, above-mentioned embodiment, can dodge the setting of face 432 through first face 431 of dodging and second, control the angle of opening of laser and keep in good angular range, and then guarantee laser radar 3's detection effect.

In one embodiment, as shown in fig. 2 and 3, the first avoidance surface 431 and the second avoidance surface 432 are symmetrically arranged with respect to a preset reference plane F, and the preset reference plane F passes through the laser radar 3 and the center line of the chassis 1. In fig. 3, the chassis 1 is circular, at this time, the central line of the chassis 1 is the central axis of the circular chassis 1, and when the chassis 1 is in different shapes such as an ellipse or a polygonal prism, the central line of the chassis 1 is the geometric central line of the chassis 1. Since the laser radar 3 is installed on the intersecting line H of the first avoidance surface 431 and the second avoidance surface 432, the intersecting line H in fig. 3 is also parallel to the central line of the chassis 1, and the preset reference plane F passes through the laser radar 3, the intersecting line H also coincides with the preset reference plane F. The laser radar 3 is located on the intersecting line H coinciding with the preset reference plane F, so that the detection viewing angle of the laser emitted by the laser radar 3 is better. Further, an included angle α between the first avoidance surface 431 and the second avoidance surface 432 is 180 ° to 250 °, the included angle α is a laser open angle formed by using the first avoidance surface 431 and the second avoidance surface 432 as a boundary, and an angle range of the laser open angle can ensure a good detection effect.

The present invention is not intended to be limited to the embodiments shown herein, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot is characterized by comprising a chassis, a robot body, a laser radar and a connecting piece positioned between the robot body and the chassis, wherein the chassis, the robot body and the connecting piece form a detection groove, and the laser radar is arranged in the detection groove; the robot comprises a base plate, a robot body and a connecting piece, wherein a first opening is formed in the base plate, a second opening is formed in the robot body, and a first communicating through hole communicated with the first opening and the second opening is formed in the connecting piece.

2. The robot of claim 1, further comprising a support skeleton positioned in a second communication via formed by the first opening, second opening, and first communication via.

3. A robot as claimed in claim 1, wherein the connection comprises a web to which the chassis is connected, the first communication through-hole being defined by the web.

4. The robot of claim 3, wherein the chassis further comprises a bottom plate, an end of the enclosure remote from the robot body is connected to the bottom plate, and the enclosure, the bottom plate and the robot body enclose the probe slot.

5. The robot of claim 4, wherein the bottom plate comprises a first panel, a first connecting plate, a second panel and a second connecting plate sequentially connected end to end in a circular shape, the second panel is parallel to the first panel, and the second panel is higher than the first panel; the first panel, the first connecting plate, the second panel and the second connecting plate are all connected with the coamings; when the coaming is abutted against the lower end face of the robot body, the first panel, the first connecting plate, the second connecting plate, the coaming and the robot body are encircled to form the detection groove.

6. A robot as claimed in claim 4, wherein the enclosure and the base are of integrally formed construction.

7. A robot according to claim 3, wherein the apron is provided with an avoidance portion for avoiding laser light emitted from the laser radar.

8. The robot according to claim 7, wherein the avoidance portion includes a first avoidance surface and a second avoidance surface, and the laser radar is installed on an intersection line of the first avoidance surface and the second avoidance surface.

9. The robot of claim 8, wherein the first avoidance surface and the second avoidance surface are symmetrically disposed with respect to a predetermined reference plane that passes through the lidar and the chassis centerline.

10. A robot as recited in claim 8, wherein an included angle between the first and second avoidance surfaces is from 180 ° to 250 °.