CN218614069U

CN218614069U - Robot

Info

Publication number: CN218614069U
Application number: CN202121321671.XU
Authority: CN
Inventors: 陈焕昌; 何源; 刘松
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: WO2022144035A1; CN215920468U; CN216067469U; CN218698842U; CN218614068U; CN216372212U; CN215920466U; CN218614067U

Abstract

The utility model provides a robot, be in including laser radar, chassis and setting robot on the chassis, robot is including being close to the lower end plate that the chassis set up, the chassis is including being close to the upper end plate that robot set up, lower end plate with be equipped with the holding recess between the upper end plate, laser radar installs on robot's the lower end plate, just laser radar is located in the holding recess. The utility model discloses in the holding recess with laser radar setting between lower end plate and upper end plate, and the robot installs on the lower end plate of robot, need not additionally to slot on the chassis and can install laser radar, strengthened the leakproofness on chassis for 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 chassis is directly provided with a groove, so that sundries (such as mice, dust and the like) can easily enter the chassis, and the entered sundries can easily cause the damage of components in the chassis and even possibly cause safety accidents; secondly, the deeper groove can make the die sinking of chassis difficult, reduces the die sinking quality of chassis, has promoted manufacturing cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses install the chassis die sinking difficulty that leads to on the chassis and the problem of easy entering debris with laser radar 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, be in including laser radar, chassis and setting robot on the chassis, robot includes being close to the lower end plate that the chassis set up, the chassis is including being close to the upper end plate that robot set up, the lower end plate with be equipped with the holding recess between the upper end plate, laser radar installs on robot's the lower end plate, just laser radar is located in the holding recess.

Optionally, a mounting groove is formed in the lower end plate of the robot, and the laser radar is mounted in the mounting groove.

Optionally, the lower end plate comprises a shell and a bearing plate arranged in the shell, a first through hole is formed in the shell, a second through hole is formed in the bearing plate, and the first through hole and the second through hole are oppositely arranged and form the mounting groove.

Optionally, the lidar is fixed to the carrier plate.

Optionally, the robot further comprises a control mainboard arranged on the bearing plate, and the laser radar is connected with the control mainboard.

Optionally, the upper end plate and the mounting groove are provided with an avoidance groove at a corresponding position, and the part of the laser radar is located in the avoidance groove.

Optionally, an anti-collision strip is convexly arranged on the periphery of the chassis.

Optionally, an information display screen is arranged on the robot body.

Optionally, a control screen is arranged at the top of the robot body, and the control screen and the horizontal plane are arranged at a preset inclination angle.

Optionally, a first opening is arranged on the chassis, and a second opening is arranged on the robot body; the robot further comprises a surrounding plate located between the chassis and the robot body, a first communicating through hole communicated with the first opening and the second opening is formed by the surrounding plate in a surrounding mode, and the accommodating groove is formed by the surrounding plate, the end face of the surrounding plate, which deviates from the first communicating through hole, the robot body and the chassis in a surrounding mode.

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.

The utility model provides a robot, be in including laser radar, chassis and setting robot on the chassis, robot includes and is close to the lower end plate that the chassis set up, the chassis is including being close to the upper end plate that robot set up, lower end plate with be equipped with the holding recess between the upper end plate, laser radar installs on robot's the lower end plate, just laser radar is located in the holding recess. 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 the lower end plate on the chassis and robot, therefore, set up laser radar in the holding recess between lower end plate and upper end plate, and robot installs on robot's lower end plate, need not additionally to slot and can install laser radar on the chassis, the leakproofness on chassis has been strengthened, make difficult entering debris in the chassis, the installation space of robot has also been saved simultaneously, the whole volume of robot has been reduced, and the cost is also saved.

Drawings

The present invention will be further described with reference to the accompanying 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 view of a partial structure of a robot according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a robot body of a robot according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a chassis and a coaming of a robot according to an embodiment of the present invention.

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

The reference numerals in the specification are as follows:

1. a laser radar; 2. a chassis; 21. an upper end plate; 211. an avoidance groove; 212. a base plate; 2121. a first panel; 2122. a first connecting plate; 2123. a second panel; 2124. a second connecting plate; 22. a first opening;

3. a robot body; 31. a lower end plate; 311. mounting grooves; 312. a housing; 313. a first through hole; 314. a carrier plate; 32. a second opening;

4. an accommodating groove; 5. an anti-collision strip; 6. an information display screen; 7. a control screen; 8. enclosing plates; 81. a first communicating through hole; 9. a support framework; 10. a second communication through hole.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects solved by 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 and 2, an implementation of the utility model provides a robot, the robot includes laser radar 1, chassis 2 and sets up robot 3 on chassis 2, robot 3 is including being close to lower end plate 31 that chassis 2 set up, chassis 2 is including being close to the upper end plate 21 that robot 3 set up, lower end plate 31 with be equipped with holding groove 4 between the upper end plate 21, laser radar 1 installs on robot 3's the lower end plate 31, just laser radar 1 is located in holding groove 4. Wherein, robot body 3 installs on chassis 2, and the mounting means between robot body 3 and the chassis 2 can be set for according to the demand, for example butt, joint, screw connection or welding etc. all can, as long as can realize stable connection can. Understandably, the shape of the robot body 3 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 into a curved surface, so that the appearance aesthetic degree of the robot body is improved, and the robot body can not be damaged when contacting with an external object or a person. Further, the laser radar 1 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.

The embodiment of the utility model provides an in, because chassis 2 and robot 3 in the robot both need independent die sinking, and after the robot equipment, there is the clearance between chassis 2 and the robot 3 already, therefore, set up laser radar 1 in the holding recess 4 that is located between the lower end plate 31 of robot 3 and the up end plate 21 of chassis 2, under the normal operating condition of robot, laser radar 1 will be hidden in the clearance between robot 3 and chassis 2 and difficult and other external members bump, and then obtain good protection, and simultaneously, when not influencing laser radar 1 and surveying the function of barrier, still promoted the aesthetic measure of appearance of robot, and, robot 3 installs on the lower end plate 31 of robot 3, be located also difficult deposition on the laser radar 1 on the lower end plate 31, and need not additionally to slot and can install laser radar 1 on chassis 2, the leakproofness of chassis 2 has been strengthened, make difficult installation space that gets into debris in chassis 2 has also saved the robot, the volume of the robot has been reduced, the whole cost of robot has also been practiced thrift.

In one embodiment, as shown in fig. 2 and 3, a mounting groove 311 is provided on the lower end plate 31 of the robot, and the laser radar 1 is mounted in the mounting groove 311. In this embodiment, the laser radar 1 is installed in the installation groove 311 of the lower end plate 31, the laser emitted by the laser radar 1 is emitted from the accommodating groove 4 to detect the obstacle, so that the obstacle detection function of the laser radar 1 is ensured, meanwhile, the installation groove 311 is located on the lower end surface, dust is not easy to enter from the installation groove 311, namely, the opening of the installation groove 311 faces downward, and the cleanliness of the laser radar 1 can be better ensured.

Alternatively, the mounting groove 311 may be a groove body having a groove bottom surface, or may be a through mounting through hole, which is not limited herein.

In an embodiment, as shown in fig. 2, 3 and 5, the lower end plate 31 includes a housing 312 and a bearing plate 314 disposed in the housing 312, a first through hole 313 is disposed on the housing 312, a second through hole (not shown) is disposed on the bearing plate 314, and the first through hole 313 and the second through hole are disposed opposite to each other and form the mounting groove 311. Further, the laser radar 1 is fixed on the bearing plate 314. In an alternative embodiment, the lidar 1 may be directly fixed on the bearing plate 314, and in another embodiment, a laser mounting plate covering the second through hole is further disposed on the bearing plate 314, and the lidar 1 is fixed on the laser mounting plate, which is not limited herein.

Laser radar 1 is including the laser instrument that generates and launch laser, a laser light path structure for inciting out the laser head of laser and connecting between laser head and laser instrument, when being used for surveying the barrier, only need the laser head be arranged in holding recess 4 with through its laser of ejaculating carry out the barrier survey can, therefore, in this embodiment, the great laser instrument of volume and at least partial light path structural mounting are on loading board 314, and the laser head pass the second through-hole and first through-hole 313 stretch into in holding recess 4 can, in order when guaranteeing laser radar 1's detection effect, still guarantee the stability of its installation.

In an embodiment, the robot further includes a control motherboard (not shown) disposed on the loading board 314, and the laser radar 1 is connected to the control motherboard. In this embodiment, laser radar 1 and control panel install jointly on loading board 314, and the line of walking of the laser radar 1 of being convenient for and control mainboard is connected, finally realizes the control operation of control panel to laser radar 1.

In an embodiment, as shown in fig. 4, an avoiding groove 211 is disposed at a position of the upper end plate 21 corresponding to the mounting groove 311, and a portion of the laser radar 1 is located in the avoiding groove 211. That is, in this embodiment, if the size of the laser radar 1 is large, at this time, the chassis 2 needs to be provided with the avoiding groove 211 corresponding to the mounting groove 311, so that the avoiding groove can be used for accommodating part of the laser radar 1, and further, the width of the accommodating groove 4 is reduced, where the width of the accommodating groove 4 refers to the length of the accommodating groove in the height direction of the robot. It should be understood that the robot height direction is a direction parallel to the plumb line when the robot is in the upright state, and the robot height direction may be not only directed from the robot body 3 to the chassis 2, but also may be considered as being directed from the chassis 2 to the robot body 3. In one embodiment, as shown in fig. 1 and 4, a bumper strip 5 is provided to protrude from the outer periphery of the chassis 2. The anti-collision strip 5 is arranged on the chassis 2 and can perform anti-collision protection on the chassis 2.

In one embodiment, as shown in fig. 1 and 2, the robot body 3 is provided with an information display screen 6. The information display screen 6 may be a planar liquid crystal screen, and is used for playing information to be displayed, such as advertisement information. Further, the setting angle of the information display screen 6 of the robot can be set according to requirements, for example, when the height of the information display screen 6 is substantially parallel to the observable viewing angle of the user, the information display screen 6 can be set perpendicular to the horizontal plane, so that the user can conveniently view the content displayed on the information display screen 6; relatively, when the information display screen 6 is arranged at a lower position, the information display screen 6 can also be inclined upwards by a certain angle; in addition, when the information display screen 6 is set at a high position, the information display screen 6 may be inclined downward by a certain angle, so long as the user can smoothly view the content displayed on the information display screen 6. In an embodiment, the robot body 3 is further provided with a transparent protective cover (not shown) covering the information display screen 6. Transparent safety cover not only can realize the protection to information display screen 6, can also make the information of treating that shows on information display screen 6 see through transparent safety cover normally shows.

In one embodiment, as shown in fig. 1, a control screen 7 is disposed on the top of the robot body 3, and the control screen 7 is disposed at a preset inclination angle with respect to the horizontal plane. Wherein the top refers to the top position of the robot when the robot is in the upright normal use state shown in fig. 1. The control panel 7 may be a planar liquid crystal panel, and a user may perform a control operation on the control panel 7 by touching or pressing the control panel. Further, the control screen 7 and the information display screen 6 are separately and independently arranged, so that when information to be displayed (for example, the information to be displayed can be advertisement information needing propaganda) is displayed on the information display screen 6, control operation can be synchronously performed, the information to be displayed and the advertisement information can not interfere with each other, control operation can be conveniently executed, and experience of a user watching the information to be displayed is improved.

In an embodiment, as shown in fig. 1 to 4, a first opening 22 is provided on the chassis 2, and a second opening 32 is provided on the robot body 3; the robot further comprises a surrounding plate 8 positioned between the chassis 2 and the robot body 3, the surrounding plate 8 is surrounded to form a first communicating through hole 81 communicated with the first opening 22 and the second opening 32, and the surrounding plate 8 deviates from the end face of the first communicating through hole 81, the robot body 3 and the chassis 2, and is surrounded to form the accommodating groove 4. Understandably, the shape and arrangement of the enclosing plate 8 can be set according to requirements, but in the above embodiment, the first communication through hole 81 formed by the enclosing plate 8 is communicated with the first opening 22 and the second opening 32, so that the first installation space (which can be used for installing a control main board and the like) of the robot body 3 is communicated with the second installation space (which can be used for installing a battery and the like) of the chassis 2, 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 to 5, the robot further includes a supporting skeleton 9, and the supporting skeleton 9 is located in the second communication through hole 10 formed by the first opening 22, the second opening 32 and the first communication through hole 81. In this embodiment, the first opening 22 and the second opening 32 are respectively disposed opposite to two ends of the first communicating through hole 81 and form the second communicating through hole 10, so that the upper end of the supporting framework 9 located in the second communicating through hole 10 passes through the first opening 22 to connect the supporting structure located in the first installation space, the lower end of the supporting framework 9 passes through the second opening 32 to connect the supporting structure located in the second installation space, and finally, the installation and the matching between the supporting structures in the robot body 3 and the chassis 2 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 one embodiment, as shown in fig. 4, the upper end plate 21 includes a bottom plate 212, and further, the enclosing plate 8 and the bottom plate 212 are integrally formed. The base plate 212 comprises a first panel 2121, a first connecting plate 2122, a second panel 2123 and a second connecting plate 2124 which are sequentially connected end to end in a ring shape, wherein the second panel 2123 is parallel to the first panel 2121, and the second panel 2123 is higher than the first panel 2121; the first panel 2121, the first connecting plate 2122, the second panel 2123 and the second connecting plate 2124 are all connected to the shroud 8; when the surrounding plate 8 abuts against the lower end plate 31 of the robot body 3, the first panel 2121, the first connecting plate 2122, the second connecting plate 2124, the surrounding plate 8 and the lower end plate 31 of the robot body 3 surround the accommodating groove 4. In the above embodiment, the first connecting plate 2122 and the second connecting plate 2124 may be curved as shown in fig. 4, or may be straight or have other irregular shapes, as long as the connection between the first panel 2121 and the second panel 2123 is stable and reliable, and interference with the laser radar 1 is minimized. The first panel 2121 and the second panel 2123 are not necessarily straight plates as shown in fig. 4, but may also be designed as other possible curved plates or irregular plate surfaces, as long as when the surrounding plate 8 abuts against the lower end plate 31, the accommodating groove 4 defined by the first panel 2121, the first connecting plate 2122, the second connecting plate 2124, the surrounding plate 8, and the lower end plate 31 can accommodate the laser radar 1, and at the same time, the effect of the laser radar 1 for accurately detecting obstacles can be ensured. Further, the first panel 2121 is disposed at the front of the robot, and the opposite second panel 2123 is disposed at the rear of the robot, so that the lidar 1 can detect an obstacle in front of the robot, thereby effectively protecting the robot to avoid collision with the obstacle.

The present invention is not limited to the above embodiments, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a robot, its characterized in that is in including laser radar, chassis and setting robot on the chassis, robot includes and is close to the lower end plate that the chassis set up, the chassis includes and is close to the upper end plate that robot set up, lower end plate with be equipped with the holding recess between the upper end plate, laser radar installs on robot's the lower end plate, just laser radar is located in the holding recess.

2. The robot of claim 1, wherein a mounting groove is provided on the lower end plate of the robot, and the laser radar is mounted in the mounting groove.

3. The robot of claim 2, wherein the lower end plate comprises a housing and a bearing plate disposed in the housing, the housing is provided with a first through hole, the bearing plate is provided with a second through hole, and the first through hole and the second through hole are disposed opposite to each other and form the mounting groove.

4. A robot according to claim 3, characterized in that the lidar is fixed to the carrier plate.

5. The robot of claim 4, further comprising a control motherboard disposed on the carrier plate, wherein the lidar is coupled to the control motherboard.

6. The robot of claim 2, wherein an avoidance groove is formed in a position of the upper end plate corresponding to the mounting groove, and a part of the laser radar is located in the avoidance groove.

7. The robot of claim 1, wherein a bumper strip is provided projecting from the periphery of the chassis.

8. The robot of claim 1, wherein the robot body is provided with an information display screen.

9. The robot of claim 1, wherein a control screen is arranged on the top of the robot body, and the control screen is arranged at a preset inclination angle with respect to a horizontal plane.

10. The robot of claim 1, wherein a first opening is provided on the chassis, and a second opening is provided on the robot body; the robot further comprises a surrounding plate located between the chassis and the robot body, a first communicating through hole communicated with the first opening and the second opening is formed by the surrounding plate in a surrounding mode, and the accommodating groove is formed by the surrounding plate, the end face of the surrounding plate, which deviates from the first communicating through hole, the robot body and the chassis in a surrounding mode.

11. The robot of claim 10, further comprising a support skeleton positioned in a second communication through hole formed by the first opening, the second opening, and the first communication through hole.