WO2022144035A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO2022144035A1
WO2022144035A1 PCT/CN2022/075949 CN2022075949W WO2022144035A1 WO 2022144035 A1 WO2022144035 A1 WO 2022144035A1 CN 2022075949 W CN2022075949 W CN 2022075949W WO 2022144035 A1 WO2022144035 A1 WO 2022144035A1
Authority
WO
WIPO (PCT)
Prior art keywords
support frame
support
robot
frame
robot according
Prior art date
Application number
PCT/CN2022/075949
Other languages
English (en)
Chinese (zh)
Inventor
陈焕昌
崔建波
Original Assignee
深圳市普渡科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2022144035A1 publication Critical patent/WO2022144035A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

Definitions

  • the present application relates to the field of robotics, and in particular, to a robot.
  • 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.
  • the application also provides a robot, the robot includes a skeleton structure and a control screen, and the skeleton structure includes:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the robot further includes an information display screen 4
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the robot further includes a casing structure 6
  • 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;
  • 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
  • the chassis shell 62 further includes a first opening 622 that communicates with the first accommodating cavity 621
  • the fuselage shell 61 includes a first opening 622 that communicates with the second accommodating cavity 611 .
  • 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.
  • “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).
  • the robot further includes a control screen 7
  • 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
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un robot comprenant une structure d'ossature (1), une carte mère de commande (2) disposée sur la structure d'ossature (1), et un train de roues motrices (3). La structure d'ossature (1) comprend une ossature de couche supérieure (11), une plaque inférieure (12) et une première ossature de support (112) reliée entre l'ossature de couche supérieure (11) et la plaque inférieure (12). La carte mère de commande (2) est montée sur l'ossature de couche supérieure (11), et le train de roues motrices (3) est monté sur la plaque inférieure (12). Ledit robot a une structure simple et est facile à utiliser.
PCT/CN2022/075949 2020-12-31 2022-02-11 Robot WO2022144035A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202023306823.7 2020-12-31
CN202023306823 2020-12-31
CN202121317629.0 2021-06-11
CN202121317629.0U CN216372212U (zh) 2020-12-31 2021-06-11 机器人

Publications (1)

Publication Number Publication Date
WO2022144035A1 true WO2022144035A1 (fr) 2022-07-07

Family

ID=80402872

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/075949 WO2022144035A1 (fr) 2020-12-31 2022-02-11 Robot

Country Status (2)

Country Link
CN (8) CN218698842U (fr)
WO (1) WO2022144035A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190004959A (ko) * 2017-07-05 2019-01-15 엘지전자 주식회사 안내 로봇
CN209125860U (zh) * 2018-09-29 2019-07-19 炬星科技（深圳）有限公司 一种机器人托盘
CN110216691A (zh) * 2019-06-06 2019-09-10 深圳市普渡科技有限公司 具有头部组件的机器人
KR20190106907A (ko) * 2019-05-31 2019-09-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN210189804U (zh) * 2019-04-30 2020-03-27 北京云迹科技有限公司 送餐机器人餐盘托架快装结构
CN211220772U (zh) * 2019-08-13 2020-08-11 深圳市普渡科技有限公司 快拆托盘及机器人
CN211943569U (zh) * 2020-01-21 2020-11-17 达闼科技（北京）有限公司 一种机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190004959A (ko) * 2017-07-05 2019-01-15 엘지전자 주식회사 안내 로봇
CN209125860U (zh) * 2018-09-29 2019-07-19 炬星科技（深圳）有限公司 一种机器人托盘
CN210189804U (zh) * 2019-04-30 2020-03-27 北京云迹科技有限公司 送餐机器人餐盘托架快装结构
KR20190106907A (ko) * 2019-05-31 2019-09-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN110216691A (zh) * 2019-06-06 2019-09-10 深圳市普渡科技有限公司 具有头部组件的机器人
CN211220772U (zh) * 2019-08-13 2020-08-11 深圳市普渡科技有限公司 快拆托盘及机器人
CN211943569U (zh) * 2020-01-21 2020-11-17 达闼科技（北京）有限公司 一种机器人

Also Published As

Publication number Publication date
CN218614068U (zh) 2023-03-14
CN218614067U (zh) 2023-03-14
CN218698842U (zh) 2023-03-24
CN216067469U (zh) 2022-03-18
CN218614069U (zh) 2023-03-14
CN215920468U (zh) 2022-03-01
CN216372212U (zh) 2022-04-26
CN215920466U (zh) 2022-03-01

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