WO2022144035A1

WO2022144035A1 - Robot

Info

Publication number: WO2022144035A1
Application number: PCT/CN2022/075949
Authority: WO
Inventors: 陈焕昌; 崔建波
Original assignee: 深圳市普渡科技有限公司
Priority date: 2020-12-31
Filing date: 2022-02-11
Publication date: 2022-07-07
Also published as: CN218614069U; CN216067469U; CN218614068U; CN215920468U; CN218698842U; CN215920466U; CN216372212U; CN218614067U

Abstract

A robot, comprising a framework structure (1), a control mainboard (2) arranged on the framework structure (1), and a driving wheelset (3). The framework structure (1) comprises an upper-layer framework (11), a bottom plate (12), and a first support framework (112) connected between the upper-layer framework (11) and the bottom plate (12). The control mainboard (2) is mounted on the upper-layer framework (11), and the driving wheelset (3) is mounted on the bottom plate (12). The present robot has a simple structure and is easy to operate.

Description

robot

This application claims the priority of the Chinese patent application with the application number 2020233068237 and the application name "a delivery robot" filed with the China Patent Office on December 31, 2020, the entire contents of which are incorporated into this application by reference.

This application claims the priority of the Chinese patent application with the application number 2021213176290 and the application name "Robot" filed with the China Patent Office on June 11, 2021, the entire contents of which are incorporated into this application by reference.

technical field

The present application relates to the field of robotics, and in particular, to a robot.

Background technique

At present, with the development of science and technology, robots are more and more widely used in various fields, and as the application of robots is more and more widely, the market competition is gradually strengthened, how to ensure the performance of robots, but also improve the robot at the same time. The maintainability of the robot and the control of the cost of the robot, thereby improving the influence of the robot, have become a technical problem that needs to be solved urgently.

SUMMARY OF THE INVENTION

According to various embodiments of the present application, a robot is provided.

A robot, which comprises a skeleton structure, a control main board arranged on the skeleton structure, and a driving wheel group;

The frame structure includes an upper frame, a bottom plate and a first support frame connected between the upper frame and the bottom plate, the control main board is installed on the upper frame, and the driving wheel set is installed on the upper frame. on the bottom plate.

On the other hand, the application also provides a robot, the robot includes a skeleton structure and a control screen, and the skeleton structure includes:

an upper frame, the upper frame includes an upper flat plate and a second support frame, the second support frame is mounted on the upper flat plate;

The upper frame further includes a third support frame, the third support frame is connected to an end of the second support frame away from the upper flat plate, and the control screen is mounted on the third support frame.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the present application will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, the drawings of other embodiments can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a robot provided by an embodiment of the present application.

FIG. 2 is a schematic structural diagram of the robot skeleton structure shown in FIG. 1 .

FIG. 3 is a schematic diagram of an explosion structure of a robot provided by an embodiment of the present application.

FIG. 4 is a schematic view of the assembly structure of the robot shown in FIG. 3 .

FIG. 5 is a schematic view of the assembly structure of the robot shown in FIG. 3 from another perspective.

FIG. 6 is a schematic diagram of an assembly structure of a robot provided by another embodiment of the present application.

FIG. 7 is a schematic structural diagram of a chassis shell and a connecting enclosure of a robot according to an embodiment of the present application.

FIG. 8 is a partial structural schematic diagram of a robot provided by an embodiment of the present application.

FIG. 9 is a partial structural schematic diagram of a robot provided by an embodiment of the present application.

The reference numbers in the description are as follows:

1. Frame structure; 11. Upper frame; 111, Upper flat plate; 1111, Upper end face; 112, Second support frame; 1121, First support bar; 11211, Second fixed seat; 1122, Support beam; 113, Third Support frame; 1131, second support bar; 12, bottom plate; 13, first support frame; 131, support rod; 2, control main board; 3, drive wheel set; 4, information display screen; 5, tray part; 6, Shell structure; 61, fuselage shell; 611, second accommodating cavity; 612, second opening; 62, chassis shell; 621, first accommodating cavity; 622, first opening; 63, connecting enclosure; 631 64, the second communication through hole; 7, the control panel; 8, the counterweight; 9, the battery; 10, the battery cover.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the invention are for the purpose of describing particular embodiments only and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in FIG. 1 and FIG. 2 , an embodiment of the present application provides a robot, the robot includes a skeleton structure 1, a control main board 2 arranged on the skeleton structure 1, and a driving wheel set 3; wherein, the The skeleton structure 1 is used to support other components of the whole robot, the driving wheel group 3 is used to drive the robot to move, and the control board 2 is used to realize the connection and communication with the internal and external mechanisms and control the robot to perform different operations, such as controlling the driving wheel to drive the robot. Move or stop moving, etc. Wherein, the driving wheel set 3 may include one or more driving wheels, and may also include one or more universal wheels. In this application, the number and arrangement of the driving wheels and the universal wheels can be set as required, as long as It can achieve the purpose of driving the robot to move and rotate.

The frame structure 1 includes an upper frame 11, a bottom plate 12 and a first support frame 13 connected between the upper frame 11 and the bottom plate 12, and the control main board 2 is installed on the upper frame 11, The drive wheel set 3 is mounted on the bottom plate 12 . Among them, the connection mode between the upper frame 11, the bottom plate 12 and the first support frame 13 in the frame structure 1 can be set according to the requirements, including but not limited to screw connection, welding or riveting, etc.; the first support frame 13 uses It is used to stably support the upper frame 11 on the bottom plate 12 . In one embodiment, the bottom plate 12 is an aluminum die-casting part, and the driving wheel set 3 of the robot is suspended on the bottom plate 12 through the driving wheel set 3 .

The robot according to the above-mentioned embodiment of the application only needs to use the skeleton structure 1 with a simple structure to realize the stable support of the robot. At the same time, the robot can move through the driving wheel set 3 installed on the base plate 12, and the control board 2 is installed on the upper frame. 11 is also used to realize the intelligentization of the robot. The overall structure of the robot is simple and the maintenance is convenient. While ensuring the performance of the robot, the manufacturing and maintenance costs of the robot are reduced, and the maintainability of the robot is improved. Understandably, the robot in the present application is a welcome robot or a delivery robot, which has a wide range of applications and strong adaptability.

In one embodiment, as shown in FIG. 1 and FIG. 2 , the upper frame 11 includes an upper plate 111 connected to the first support frame 13 and an upper plate 111 installed on the side of the upper plate 111 away from the bottom plate 12 . The second support frame 112 on the end surface 1111, the control main board 2 is installed on the upper end surface 1111. Specifically, the second support frame 112 is used to support the robot components installed thereon; and a fixing groove may be provided on the upper flat plate 111 to stably install the control main board 2 in the fixing groove, so that when the robot moves or falls over , the control board 2 will not be disengaged from the fixing slot, so as to better protect the control board 2.

In a specific embodiment, as shown in FIG. 1 , FIG. 2 and FIG. 4 , the robot further includes an information display screen 4 , and the second support frame 112 includes at least two first support bars arranged in parallel and spaced apart. 1121, the first surface of the first support bar 1121 is provided with a first fixing seat (not shown), and the information display screen 4 is fixed on the first fixing seat. Specifically, the second support frame 112 shown in FIG. 2 is composed of two first support bars 1121, but in the present application, the number of the first support bars 1121 can be set according to requirements, that is, the second support frame 112 can also be composed of one or three or more first support bars 1121, and the shape and arrangement of the first support bars 1121 can also be set according to requirements. Further, the first surface of the first support bar 1121 (for example, the first surface may be the surface of the first support bar 1121 facing the front side of the robot, in this application, the front side refers to the surface where the robot normally moves forward when it is upright). One or more first fixing bases can be provided on the direction), the first fixing bases are used to stably install the information display screen 4, and the information display screen 4 is a flat liquid crystal screen for playing the information to be displayed, such as advertisements information.

In an optional embodiment, the robot further includes a display control board (not shown), the display control board is connected to the information display screen 4 and is located on the second surface of the first support bar 112, specifically on the first support bar 112 Close to one end of the upper plate 111 .

Further, the setting angle of the information display screen 4 of the robot can be set according to the requirements. For example, when the height of the information display screen 4 is substantially parallel to the user's observable viewing angle, the information display screen 4 can be set perpendicular to the horizontal plane, so that the user can view it more easily. The content displayed on the information display screen 4; relatively, when the information display screen 4 is set at a lower position, the information display screen 4 can also be inclined upward at a certain angle; in addition, when the information display screen 4 is set at a higher position, The information display screen 4 can be inclined downward at a certain angle, as long as the user can view the content displayed on the information display screen 4 smoothly. In one embodiment, the robot further includes a transparent protective cover (not shown) provided to cover the information display screen 4. The transparent protective cover can not only protect the information display screen 4, but also make the information display The information to be displayed displayed on the screen 4 can be displayed normally through the transparent protective cover.

In one embodiment, as shown in FIG. 1 , the robot further includes a tray member 5 , the second surface of the first support bar 1121 is provided with a second fixing seat 11211 for fixing the tray member 5 , the The second surface is disposed opposite the first surface. Further, the second surface of the first support bar 1121 (when the first surface is the surface of the first support bar 1121 that faces the front side of the robot, the second surface refers to the surface of the first support bar 1121 that faces the back side. In this application, the rear side refers to the direction that the robot points to when it is upright and normally retreats. One or more second fixing bases 11211 can be provided on it. Pallet piece 5 for delivery items. The tray member 5 is provided with a tray support member, and the tray support member is detachably connected to the second fixing seat 11211 , so that the tray member 5 can be quickly disassembled and assembled from the first support bar 1121 . Further, the surface of the tray member 5 is provided with a silicone pad, so that the surface hardness of the tray member 5 is low, so that the articles placed on the tray member 5 can be buffered and protected.

In one embodiment, as shown in FIG. 3 to FIG. 7 , the robot further includes a casing structure 6 , and the casing structure 6 includes a fuselage casing 61 , a chassis casing 62 , and a 61 and the connecting enclosure 63 between the chassis shell 62; wherein, the chassis shell 62 includes a first accommodating cavity 621 to accommodate the bottom plate 12, and the fuselage shell 61 includes a second accommodating cavity 611 To accommodate the upper frame 11 , the chassis shell 62 further includes a first opening 622 that communicates with the first accommodating cavity 621 , and the fuselage shell 61 includes a first opening 622 that communicates with the second accommodating cavity 611 . Two openings 612, the connecting enclosure plate 63 includes a first communication through hole 631 connecting the first opening 622 and the second opening 612; the first support frame 13 is located in the first opening 622, the second The opening 612 and the second communication through hole 64 formed by the first communication through hole 631 . That is, the housing structure 6 is used to protect the skeleton structure 1 and the control main board 2 installed on the skeleton structure 1, etc. The connecting enclosure 63 is composed of three parts, and the fuselage shell 61 is used for accommodating and protecting the upper frame 11 and the like through the second accommodating cavity 611 , and the chassis shell 62 is used for accommodating and protecting the bottom plate 12 and the like through the first accommodating cavity 621 . The first communication through hole 631 formed by the enclosure plate 63 is used for the first support frame 13 to pass through, so that the upper end of the first support frame 13 is connected to the upper frame 11 through the first opening 622, and the lower end of the first support frame 13 is passed through. The bottom plate 12 is connected through the second opening 612 , and finally the installation and cooperation between the skeleton structure 1 and the shell structure 6 are realized. In this application, "up" refers to the upper part of the robot in an upright normal working state (such as the upper part of the robot shown in Figure 5 or 6); "down" refers to the upright normal working state of the robot (for example, the lower part of the robot shown in Figure 5 or Figure 6).

In an embodiment, as shown in FIG. 2 to FIG. 4 , the robot further includes a control screen 7 , and the upper frame 11 further includes a third supporting frame 112 connected to one end of the second supporting frame 112 away from the upper plate 111 . A support frame 113 , the control panel 7 is mounted on the third support frame 113 . The second support frame 112 is used to support the control screen 7 , and the control screen 7 can be a flat liquid crystal screen. The user can perform control operations on the control screen 7 by touching or pressing operations. The control screen 7 and the information display screen 4 are set separately and independently. Therefore, when the information to be displayed is displayed on the information display screen 4 (for example, the information to be displayed may be advertisement information that needs to be promoted), the control operation can also be performed synchronously. They do not interfere with each other, which not only facilitates the execution of control operations, but also improves the experience of users viewing the information to be displayed.

In one embodiment, the robot further includes a connection cable (not shown) connecting the control panel 7 and the control motherboard 2 , and the connection cable is attached to the surface of the first support frame 112 . Specifically, the connection cable is attached to the second surface of the first support bar 1121 to realize signal transmission between the control panel 7 and the control motherboard 2. In one embodiment, as shown in FIG. 2 , the third support frame 113 includes at least two second support bars 1131 arranged in parallel and spaced apart, and each of the second support bars 1131 is connected to the second support frame. 112 is connected to one end away from the upper flat plate 111; the second support bar 1131 is provided with a mounting portion (not shown), and the control panel 7 is fixed on the mounting portion. Specifically, the third support frame 113 shown in FIG. 2 is composed of two second support bars 1131, but in the present application, the number of the second support bars 1131 can be set according to requirements, that is, the third support frame 113 can also be composed of one or three or more second support bars 1131, and the shape and arrangement of the second support bars 1131 can also be set according to requirements. Further, the control screen 7 of the robot is arranged obliquely upward at a preset inclination angle to the horizontal plane, which is beneficial for the user to perform control operations on the control screen 7; So that the display surface of the control screen 7 mounted on the second support bar 1131 through the mounting portion can be displayed obliquely upward, thereby facilitating the user to perform control operations. In the present application, one or more mounting parts may be provided on the second support body, so as to achieve the effect of stably mounting the control panel 7 on the second support body.

In one embodiment, as shown in FIG. 2 , the second support frame 112 is located at the front of the upper plate 111 , and the end of the second support bar 1131 away from the second support frame 112 faces the upper layer The rear of the plate 111 extends. Further, the second support frame 112 may further include a support beam 1122 connected between two adjacent first support bars 1121 , thereby enhancing the stability of the entire second support frame 112 . In the embodiment shown in FIG. 2 , one end of the second support bar 1131 is connected to the support beam 1122 located at the front of the upper plate 111 (the entire second support frame 112 is located at the front of the upper plate 111 ), and its The other end starts from this position and gradually extends toward the rear of the upper plate 111 . In this application, the front part of the upper plate 111 refers to the part of the upper plate 111 close to the front side of the robot, and the rear part of the upper plate 111 refers to the part of the upper plate 111 close to the rear side of the robot.

In an embodiment, as shown in FIG. 1 and FIG. 2 , the first support frame 13 includes at least two support rods 131 arranged in parallel and spaced apart. One end of the support rods 131 is connected to the upper frame 11 , so The other end of the support rod 131 is connected to the bottom plate 12 . Specifically, the number of the support rods 131 can be set according to requirements, that is, the first support frame 13 can include one, two or more than two support rods 131, as long as the overall structure of the robot can be guaranteed to be stable, Moreover, the shape and arrangement of the support rods 131 can also be set according to requirements.

In one embodiment, as shown in FIG. 1 and FIG. 8 , the robot further includes a counterweight 8 mounted on the bottom plate 12 . The counterweight 8 is installed on the bottom plate 12, which can lower the center of gravity of the robot, and at the same time, can adjust the center of gravity of the robot front and rear to increase the stability of the base.

In one embodiment, as shown in FIG. 3 , FIG. 8 and FIG. 9 , the bottom plate 12 is provided with a battery installation groove (not shown) with an opening facing downward, and the robot further includes a battery installation groove installed in the battery installation groove. The battery 9 and the battery cover 10 detachably connected to the opening. The battery 9 is fixedly installed in the battery installation groove on the bottom plate 12 through the battery cover 10 , so that the battery 9 can be easily removed from the bottom of the robot bottom plate 12 , so that the maintainability is high.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A robot, which comprises a skeleton structure, a control main board arranged on the skeleton structure, and a driving wheel group;

The frame structure includes an upper frame, a bottom plate and a first support frame connected between the upper frame and the bottom plate, the control main board is installed on the upper frame, and the driving wheel set is installed on the upper frame. on the bottom plate.
The robot according to claim 1, wherein the upper frame comprises an upper plate connected to the first support frame and a second support frame mounted on the upper end surface of the upper plate away from the bottom plate , the control board is installed on the upper end face.
The robot according to claim 2, wherein the robot further comprises an information display screen, the second support frame comprises at least two first support bars arranged in parallel and spaced apart, the first support bar of the first support bar A surface is provided with a first fixing seat, and the information display screen is fixed on the first fixing seat.
The robot according to claim 3, wherein the robot further comprises a tray member, a second fixing seat for fixing the tray member is provided on the second surface of the first support bar, and the second surface is provided with a second fixing seat for fixing the tray member. Opposite to the first surface.
The robot according to claim 2, characterized in that, the robot further comprises a casing structure, the casing structure comprises a body casing, a chassis casing, and a casing located between the body casing and the chassis casing connecting hoardings between;

Wherein, the chassis shell includes a first accommodating cavity to accommodate the bottom plate, the fuselage shell includes a second accommodating cavity to accommodate the upper frame, and the chassis shell further includes a connection with the first accommodating cavity a first opening in communication, the fuselage shell includes a second opening in communication with the second accommodating cavity, and the connecting enclosure plate includes a first communication through hole in communication with the first opening and the second opening ;

The first support frame is located in a second communication through hole formed by the first opening, the second opening and the first communication through hole.
The robot according to claim 2, wherein the robot further comprises a control screen, the upper frame further comprises a third support frame connected to an end of the second support frame away from the upper plate, the control panel The screen is mounted on the third support frame.
The robot according to claim 6, wherein the robot further comprises a connection cable connecting the control screen and the control main board, and the connection cable is attached to the surface of the first support frame.
The robot according to claim 6, wherein the third support frame comprises at least two second support bars arranged in parallel and spaced apart, and each of the second support bars is away from the second support frame. One end of the upper flat plate is connected; an installation part is provided on the second support bar, and the control panel is fixed on the installation part.
The robot according to claim 8, wherein the second support frame is located at the front of the upper plate, and an end of the second support bar away from the second support frame faces the rear of the upper plate Department extension.
The robot according to claim 1, wherein the first support frame comprises at least two support rods arranged in parallel and spaced apart, one end of the support rod is connected to the upper frame, and the other end of the support rod Connect the base plate.
The robot of claim 1, wherein the robot further comprises a counterweight mounted on the base plate.
The robot according to claim 1, wherein the bottom plate is provided with a battery installation slot with an opening facing downward, and the robot further comprises a battery installed in the battery installation slot and a battery detachably connected to the opening. battery cover.
A robot includes a skeleton structure and a control screen, wherein the skeleton structure includes:

an upper frame, the upper frame includes an upper flat plate and a second support frame, the second support frame is mounted on the upper flat plate;

The upper frame further includes a third support frame, the third support frame is connected to an end of the second support frame away from the upper flat plate, and the control screen is mounted on the third support frame.
The robot according to claim 13, wherein the skeleton structure further comprises a base plate and a first support frame, and the first support frame is connected between the upper frame and the base plate.
The robot according to claim 13, wherein the robot further comprises an information display screen, the second support frame comprises a first support bar, and the first surface of the first support bar is provided with a first fixing seat , the information display screen is fixed on the first fixing seat.
The robot according to claim 15, characterized in that, the robot further comprises a tray member, the second surface of the first support bar is provided with a second fixing seat for fixing the tray member, the second The surface is disposed opposite to the first surface.
The robot according to claim 13, wherein the robot further comprises a tray member, the second support frame is provided with a second fixing seat, and one side of the tray member is connected with the second fixing seat , the other side of the tray is suspended.
The robot according to claim 16 or 17, wherein a tray support member is provided on the tray member, and the tray support member is detachably connected to the second fixing base.
The robot according to claim 17, characterized in that, the robot further comprises a casing structure, the casing structure comprises a fuselage casing, a chassis casing, and a casing located between the fuselage casing and the chassis casing connecting hoardings between;

Wherein, the chassis shell includes a first accommodating cavity to accommodate the bottom plate, the fuselage shell includes a second accommodating cavity to accommodate the upper frame, and the chassis shell further includes a connection with the first accommodating cavity a first opening in communication, the fuselage shell includes a second opening in communication with the second accommodating cavity, and the connecting enclosure plate includes a first communication through hole in communication with the first opening and the second opening ;

The first support frame is located in a second communication through hole formed by the first opening, the second opening and the first communication through hole.
The robot according to claim 13, wherein the third support frame comprises second support bars arranged in parallel and spaced apart, and an end of the second support bar and the second support frame away from the upper flat plate connection; an installation part is provided on the second support bar, and the control panel is fixed on the installation part.
The robot according to claim 13, wherein the second support frame is located at the front of the upper flat plate, and an end of the third support frame away from the second support frame is located at the front of the upper flat plate. the same side of the second support frame.
The robot according to claim 14, wherein the first support frame comprises at least two support rods arranged in parallel and spaced apart, one end of the support rod is connected to the upper frame, and the other end of the support rod Connect the base plate.