WO2023088365A1 - 机器人 - Google Patents

机器人 Download PDF

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Publication number
WO2023088365A1
WO2023088365A1 PCT/CN2022/132564 CN2022132564W WO2023088365A1 WO 2023088365 A1 WO2023088365 A1 WO 2023088365A1 CN 2022132564 W CN2022132564 W CN 2022132564W WO 2023088365 A1 WO2023088365 A1 WO 2023088365A1
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WO
WIPO (PCT)
Prior art keywords
robot
follower
robot body
movable part
support position
Prior art date
Application number
PCT/CN2022/132564
Other languages
English (en)
French (fr)
Inventor
陈佳吉
胡学洪
Original Assignee
深圳市普渡科技有限公司
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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 WO2023088365A1 publication Critical patent/WO2023088365A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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

Definitions

  • the present application relates to the technical field of robots, in particular to a robot.
  • robots are increasingly used in people's lives, such as sweeping robots, detection robots, and handling robots.
  • some functional parts are usually set on the body of the robot, such as a display screen, a console, etc., but in some cases, the functional parts on the body may not be convenient for users to operate, for example, If the height of the robot is low, it will be inconvenient for the user to operate functional components such as a display screen or a console, thereby affecting the operator's experience of using the robot.
  • a robot is provided.
  • a robot comprising:
  • the movable part, the movable part is movably arranged on the robot body, the movable part is provided with a follower, and the follower can follow the movable part between the first support position away from the robot body and the second support position close to the robot body move;
  • the carrying platform is arranged on the robot body, and the carrying platform is used for carrying the follower when the follower is at the second support position.
  • the movable part is movably arranged on the robot body, the movable part is provided with a follower, and the follower can follow the movable part at the first support position away from the robot body and at the position close to the robot body. Move between the second support positions, so that when the user needs to operate the follower, the follower can be moved to the first support away from the robot body, and when the user's operation is completed, the follower can be moved to the second support position. A support position for the robot to walk. It can be seen that the robot provided by the present application is more convenient for the user to operate the follower and improves the user experience.
  • the robot body is provided with a bearing platform, when the follower is located at the second support position close to the robot body, the follower can be supported on the bearing platform, and the follower can be supported more stably and reliably through the bearing platform. On the robot body, the follower is not easy to shake during the moving operation of the robot, which further improves the user experience.
  • Fig. 1 is a schematic diagram of the overall structure of the robot according to an embodiment of the present application when the follower is at the second support position;
  • Fig. 2 is a schematic diagram of the overall structure of the robot shown in Fig. 1 when the follower is at the first support position;
  • Fig. 3 is a sectional view of the robot shown in Fig. 1 at an A-A perspective;
  • Fig. 4 is a partially enlarged view of part B of the robot shown in Fig. 3 .
  • Robot body 100. Robot body; 120. Shell; 200. Bearing platform; 210. Bearing surface; 300. Moving parts; 400. follower; 410. Supporting surface; 500. Detection device; 600. Start switch; 700. Installation platform ; 800, bristles; 900, storage tank.
  • the present application provides a robot, which enables users to operate the functional parts of the robot very conveniently, thereby improving the user's experience of using the robot.
  • the robot provided in the embodiment of the present application may be a sweeping robot, a cleaning robot, a detection robot, a distribution robot, a food delivery robot, etc., but is not limited thereto.
  • the robot provided by the embodiment of the present application includes a robot body 100, a movable part 300, and a carrying platform 200.
  • the movable part 300 is movably arranged on the robot body 100, and the movable part 300 is provided with a 400, the follower 400 can follow the movable part 300 to move between the first support position away from the robot body 100 and the second support position close to the robot body 100, the carrying platform 200 is protruded on the robot body 100, and the carrying platform 200 It is used for carrying the follower 400 when the follower 400 is in the second supporting position.
  • the movable part 300 may be a rod-shaped structure, a plate-shaped structure, a block-shaped structure, a frame structure, etc., but is not limited thereto.
  • the movable part 300 can be an armrest, so that the movable part 300 can not only support and drive the follower 400 to move, but also enable the user to carry out operations such as hand holding, which is convenient for the user to use and operate.
  • the movable part 300 can be set on the robot body 100 rotatably (for example, hinged), or can be slidably set on the robot body 100 , or the movable part 300 can be set on the robot body 100 in other movable ways.
  • the movable part can be hinged on the robot body 100 .
  • the movable part 300 is slidably arranged on the robot body 100, which can specifically be a conventional technical structure, such as the robot body 100 being provided with a chute, the movable part 300 being slidably arranged on the robot body 100, and can be Pulling relative to the robot body 100 makes the follower 400 move away from or close to the robot body 100 .
  • the specific structure for realizing the pull is a common technical means in the field, and will not be described here, such as the pull structure of the suitcase.
  • the indentation of the robot body 100 forms a bearing groove, specifically, the top of the robot body 100 is indented to form a bearing groove, and its bearing platform can be protruded on the bearing groove, or it can be the The bottom surface of the bearing groove forms the bearing platform, which is not limited here.
  • the robot body 100 is provided with a chute communicating with the bearing platform, the movable part 300 is slidably disposed on the robot body 100, and can be pulled relative to the robot body 100, so that its follower 400 is far away from or close to the robot body 100 .
  • the follower 400 is accommodated and supported on the carrying platform.
  • the specific structure for realizing the pull is a common technical means in the field, and will not be described here, such as the pull structure of the suitcase.
  • the movable part 300 may be arranged on the top of the robot body 100 , or may be arranged in the middle of the robot body 100 or other positions, and the present application does not limit the specific location of the movable part 300 .
  • the movable part 300 can be arranged on the top of the robot so that the user can move the follower 400 to the first support position higher than the top of the robot body 100 so that the user can operate or view the follower 400 .
  • the aforementioned follower 400 may be functional elements such as a display screen, a console, a switch, an interphone, a camera, etc., but is not limited thereto.
  • the follower 400 can be arranged at a middle position, a side position, etc. of the movable member 300 , and the present application does not limit the specific installation position of the follower 400 on the movable member 300 .
  • the carrying platform 200 may be a block structure, a column structure, a plate structure, a shell structure, etc., or a structure formed by a combination of various structures. It only needs that the carrying platform 200 can carry the follower 400 , and the application does not limit the specific structure of the carrying platform 200 .
  • the carrying platform 200 can be fixed on the robot body 100 by screw connection, welding, clamping, bonding and other connection methods, and can also be arranged on the robot body 100 by other connection methods.
  • the robot body 100 may include a housing 120 , and the bearing platform 200 may be disposed on the housing 120 , specifically, the bearing platform 200 may be disposed on the outer wall of the housing 120 .
  • the structure of the top surface of the robot body 100 can be made simpler, which is more convenient for the user to operate the robot, and can also make the overall structure of the robot more reasonable and compact.
  • the area of the top wall of the housing 120 is usually much smaller than the area of the side wall of the housing 120. Therefore, it is more convenient for the robot to arrange the carrying platform 200 on the outer wall of the housing 120. miniaturized design.
  • the carrying platform 200 When the carrying platform 200 is disposed on the outer wall of the casing 120 , the carrying platform 200 may be located near the top of the casing 120 , or may be located in the middle or near the bottom of the casing 120 .
  • the carrying platform 200 can also be arranged on the outer side wall of the casing 120 near the top, so that the follower 400 on the movable part 300 is supported on the carrying platform 200 .
  • the carrying platform 200 and the housing 120 may form an integral structure through an integral molding process.
  • the integral molding process may be injection molding, compression molding, forging, casting, etc., but is not limited thereto.
  • a mounting platform 700 may protrude from the top of the robot body 100 , and the movable part 300 may be connected to the mounting platform 700 .
  • a mounting groove may be provided on the top of the robot body 100, and the movable part 300 is connected in the mounting groove.
  • the movable part 300 can also be installed on the robot body 100 in other ways, and this application does not limit the specific installation method of the movable part 300 .
  • the follower 400 has a supporting surface 410 for supporting on the bearing platform 200, and the bearing platform 200 has a bearing surface 210 for supporting the supporting surface 410, and the supporting surface 410 is supported on On the carrying surface 210 , the carrying platform 200 carries the follower 400 .
  • the bearing surface 210 can be a plane, a curved surface, a wavy surface, etc., and the supporting surface 410 can match the shape of the bearing surface 210, for example, the supporting surface 410 and the bearing surface 210 are both planes, or the supporting surface 410 and the bearing surface 210 are respectively
  • the matching curved surface enables the supporting surface 410 to fit well with the carrying surface 210 after being supported on the carrying surface 210 , so that the follower 400 is supported on the carrying platform 200 more stably and reliably.
  • both the supporting surface 410 and the bearing surface 210 may be planes. In this way, the structure of the robot is simpler, and the production and processing are simpler, and the supporting surface 410 can be more stably supported on the bearing surface 210 , so that the movable part 300 can be more reliably supported on the robot body 100 .
  • the movable part 300 can be movably arranged on the robot body 100
  • the movable part 300 is provided with a follower 400
  • the follower 400 is suitable for following the movable part 300 at the first position away from the robot body 100. Move between the support position and the second support position close to the robot body 100, so that when the user needs to operate the follower 400, the follower 400 can be moved to the first support position away from the robot body 100, and when the user's operation is completed Finally, the follower 400 can be moved to the second support position to facilitate the walking of the robot. It can be seen that the robot provided by the present application is more convenient for the user to operate the follower 400 and improves the user experience.
  • the follower 400 can be supported on the bearing platform 200, so that the bearing platform 200 and the movable
  • the follower 400 is jointly supported by the parts 300, so that the follower 400 can be more stably and reliably supported on the robot body 100, so that the follower 400 is not easy to shake during the moving operation of the robot, which further improves the user's safety. Use experience.
  • the carrying surface 210 of the carrying platform 200 can be Slope outwards.
  • the carrying surface 210 of the carrying platform 200 is the outer surface of the carrying platform 200 facing the top side.
  • the follower 400 (such as a display screen, console, etc.)
  • the human face is more convenient for users to operate and improves the humanization of the design.
  • the height of the carrying platform 200 protruding from the outer wall of the housing 120 can also be reduced, and at the same time, the area of the carrying surface 210 can also be made larger to support the follower 400 more stably and reliably, thereby more stably and reliably
  • the movable part 300 is supported.
  • the support surface 410 of the follower 400 and the carrying surface 210 can be better fitted and supported, so as to carry the follower 400 smoothly.
  • the movable part 300 can be in the shape of a "U" as a whole, the open end of the movable part 300 is hinged on the robot body 100, and the follower 400 is arranged on the side of the movable part 300. outside of the closed end.
  • the two sides of the opening end of the movable member 300 may be respectively hinged on two opposite outer sidewalls of the installation platform 700 .
  • the follower 400 is arranged outside the closed end of the movable member 300 , that is, the follower 400 extends to the outside of the movable member 300 , and the outer side of the movable member 300 can be understood as the outer periphery of the “U” shape surrounded by the movable member 300 .
  • the follower 400 is arranged at the closed end of the movable part 300.
  • the follower 400 at the closed end can be supported on the robot body 100 through the carrying platform 200, because The opening end of the movable part 300 is hinged with the robot body 100, so the opening end of the movable part 300 can also be supported on the robot body 100, so the movable part 300 and the follower 400 can be reliably and stably supported on the robot body 100.
  • the movable part 300 when the follower 400 is at the second support position, can be located on the top of the robot body 100, and the movable part 300 and the robot body 100 There is a gap between the tops.
  • the movable part 300 can be installed on the above-mentioned installation platform 700 .
  • This embodiment can also be understood as, when the follower 400 is at the second support position, one end of the movable member 300 is connected to the robot body 100, and the other end of the movable member 300 is supported on the carrying platform 200 through the follower 400, The portion of the robot body 100 connected to the movable part 300 and the supporting platform 200 jointly support the movable part 300 , so that there is a gap between the movable part 300 and the top of the robot body 100 .
  • the gap between the movable part 300 and the top of the robot body 100 may range from 0.2 mm to 1 mm, and the gap may also be other smaller values.
  • the gap between the movable member 300 and the top of the robot body 100 should be set smaller, so as to make the structure of the robot more compact.
  • the movable part 300 when the follower 400 is at the second support position, since there is a gap between the movable part 300 and the top of the robot body 100, the movable part 300 is not likely to collide with the robot body 100 during the operation of the robot. , so as to reduce the noise when the robot is running and improve the user experience.
  • the follower 400 may be a display screen installed on the movable part 300, and when the follower 400 is in the second support position, the back of the display screen is supported on on the carrying platform 200 .
  • the above-mentioned display screen can be a touch display screen, and the above-mentioned display screen can be used to display virtual operation buttons, so that the user can perform related operations through the display screen, and the display screen can also be used to display device status, for example, battery status, fault status, etc. By setting the display screen, it is more convenient for users to operate.
  • the display surface of the display screen can face the outside of the robot, so that the user can view and operate the display screen.
  • the back of the display screen is the surface of the display screen opposite to the display surface.
  • the top of the robot body 100 may be provided with a receiving groove 900, and the receiving groove 900 is used to support the movable part 300 when the follower 400 is in the second support position. Contain.
  • the shape of the receiving groove 900 can match the shape of the movable part 300 so as to accommodate the movable part 300 and make the structure of the robot more reasonable.
  • the movable part 300 has a "U" shape as a whole
  • the receiving groove 900 can also be a "U" shape as a whole.
  • the receiving groove 900 can be used to place the movable part 300 , and the specific shape is not limited.
  • placing the movable part 300 in the receiving groove 900 can make the overall structure of the robot more compact and reasonable, and can also make the movable part 300 be placed more stably, making the robot move with less noise.
  • a detection piece (not shown in the figure) may be provided on the carrying platform 200, and the detection piece is used to detect whether the follower 400 is located at the second support position.
  • the detecting element may be a micro switch, a contact sensor, a photoelectric sensor, etc., but is not limited thereto.
  • the detection part can be arranged on the carrying surface 210 of the carrying platform 200 , or can be arranged at other positions of the carrying platform 200 .
  • the detection part is connected to the controller, and the detection part can send the detection result to the controller of the robot, and the controller controls whether the robot moves and runs according to the detection structure.
  • the robot can only move when the follower 400 is at the second support position, avoiding the phenomenon that the follower 400 starts to move without being closed, which affects the stability of operation. It is also possible to control the robot to stop running when the follower 400 is at the first support position, so as to ensure the safety of the user's operation.
  • a detection device 500 may also be provided on the robot body 100 , and an accommodation chamber is provided inside the carrying platform 200 , and the detection device 500 is installed in the accommodation chamber.
  • the above-mentioned detection device 500 may be a radar detector, a depth camera, an infrared detector, a photoelectric sensor, etc., or other detection devices 500 for detecting road conditions, obstacles, and the like.
  • the carrying platform 200 may be provided with a through hole, and the detection device 500 can transmit signals with the external environment through the through hole.
  • Functional components such as a start switch 600 may also be set on the carrying platform 200 .
  • the robot may further include bristles 800 arranged at the bottom of the robot body 100 , and the user may clean the bristles 800 during the movement of the robot.
  • the bottom of the robot body 100 is also provided with moving mechanisms such as rollers and crawlers for driving the robot to move.
  • the robot body 100 may also include components such as a motor, a reducer, and a battery disposed in the casing 120 for driving the moving mechanism to run.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本申请涉及一种机器人，包括：机器人本体；活动件，所述活动件可活动地设置在所述机器人本体上，所述活动件上设置有随动件，所述随动件能够跟随所述活动件在远离所述机器人本体的第一支撑位和靠近所述机器人本体的第二支撑位之间移动；以及承载台，所述承载台设于所述机器人本体上，所述承载台用于在所述随动件位于所述第二支撑位时对所述随动件进行承载。

Description

机器人
相关申请的交叉引用
本申请要求于2021年11月17日提交的中国专利局、申请号为202122827853.0、申请名称为“机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人技术领域，特别是涉及一种机器人。
背景技术
随着科技的快速发展，机器人越来越多地应用在人们的生活当中，例如，扫地机器人、探测机器人、搬运机器人等。为了实现人机交互，机器人的机身上会通常会设置一些功能部件，如显示屏、控制台等，但在有些情况下，设于机身上的功能部件可能不便于用户进行操作，例如，如果机器人高度较低，用户操作显示屏或者控制台等功能部件会不方便，从而影响了操作者对机器人的使用体验。
发明内容
根据本申请的各种实施例，提供一种机器人。
一种机器人，包括：
机器人本体；
活动件，活动件可活动地设置在机器人本体上，活动件上设置有随动件，随动件能够跟随活动件在远离机器人本体的第一支撑位和靠近机器人本体的第二支撑位之间移动；以及
承载台，承载台设于机器人本体上，承载台用于在随动件位于第二支撑位时对随动件进行承载。
本申请实施例提供的机器人，由于活动件可活动地设置在机器人本体上，活动件上设置有随动件，随动件能够跟随活动件在远离机器人本体的第一支撑位和靠近机器人本体的第二支撑位之间移动，这样，当用户需要操作随动件时，可以将随动件移动到远离机器人本体的第一支撑位，当用户操作完成后，可以将随动件移动到第二支撑位，以便于机器人行走。可见，本申请提供的机器人更便于用户对随动件进行操作，提高了用户的使用体验。
另外，由于机器人本体上设有承载台，当随动件位于靠近机器人本体的第二支撑位时，随动件能够支撑在承载台上，通过承载台能够使得随动件更平稳、可靠地支撑在机器人本体上，使得机器人在移动作业的过程中，随动件不容易发生晃动，进一步提高了用户的使用体验。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请一实施例的机器人当随动件位于第二支撑位时的整体结构示意图；
图2为图1所示的机器人当随动件位于第一支撑位时的整体结构示意图；
图3为图1所示的机器人在A-A视角的剖视图；
图4为图3所示的机器人在B部分的局部放大图。
100、机器人本体；120、壳体；200、承载台；210、承载面；300、活动件；400、随动件；410、支撑面；500、检测装置；600、启动开关；700、安装台；800、刷毛；900、收容槽。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请提供了一种机器人，能够使用户非常方便地对机器人的功能部件进行操作，从而提高了用户对机器人的使用体验。
本申请实施例提供的机器人可以是扫地机器人、清洁机器人、探测机器人、配送机器人、送餐机器人等，但不限于此。
如图1至图4所示，本申请实施例提供的机器人包括机器人本体100、活动件300和承载台200，活动件300可活动地设置在机器人本体100上，活动件300上设置有随动件400，随动件400能够跟随活动件300在远离机器人本体100的第一支撑位和靠近机器人本体100的第二支撑位之间移动，承载台200凸设于机器人本体100上，承载台200用于在随动件400位于第二支撑位时对随动件400进行承载。
上述活动件300可以是杆状结构、板状结构、块状结构、框架结构等，但不限于此。在一个具体实施例中，活动件300可以是扶手，这样，活动件300既可以支撑并带动随动件400活动，又可以使用户进行手扶等操作，方便了用户的使用和操作。
活动件300可以转动设置(例如铰接)在机器人本体100上，也可以滑动设置在机器人本体100上，或者活动件300通过其他的可活动的方式设置在机器人本体100上。为了便于用户移动活动件300，在本实施例中，活动件可以铰接在机器人本体100上。
在可选实施例中，活动件300滑动设置于机器人本体100上具体可以为常规的技术结构，如可以是机器人本体100设置有滑槽，该活动件300滑动设置于机器人本体100上，且可以相对机器人本体100进行抽拉，从而使得其随动件400远离或者靠近机器人本体100。其具体实现抽拉的结构为本领域惯用技术手段，这里不再赘述，例如行李箱抽拉结构等。
在另一可选实施例中，机器人本体100的内凹形成承载槽，具体地可以是机器人本体100的顶部内凹形成承载槽，其承载台可以凸设于该承载槽上，也可以是该承载槽的槽底面形成该承载台，这里不做限定。
该机器人本体100设置有与该承载台连通的滑槽，该活动件300滑动设置于机器人本体100上，且可以相对机器人本体100进行抽拉，从而使得其随动件400远离或者靠近机器人本体100。当活动件300靠近机器人本体100(即位于第二支撑位)时，该随动件400容纳支撑于承载台上。其具体实现抽拉的结构为本领域惯用技术手段，这里不再赘述，例如行李箱抽拉结构等。
本申请实施例中，活动件300可以设置在机器人本体100的顶部，也可以设置在机器人本体100的中部或者其他位置，本申请不限定活动件300的具体设置位置。
当机器人高度较低时，活动件300可以设置在机器人的顶部，以便于用户将随动件400移动到高于机器人本体100顶部的第一支撑位，以便于用户操作或查看随动件400。
上述随动件400可以是显示屏、控制台、开关、对讲机、摄像头等功能元件，但不限于此。随动件400可以设置在活动件300的中间位置、侧边位置等，本申请不限定随动件400在活动件300上的具体安装位置。
如图1所示，当随动件400位于靠近机器人本体100的第二支撑位时，随动件400与机器人本体100之间的距离较近，机器人整体的结构较紧凑；如图2所示，当随动件400位于远离机器人本体100的第一支撑位时，随动件400与机器人本体100之间的距离较远，随动件400位于便于用户操作的位置。
上述承载台200可以是块状结构、柱状结构、板状结构、壳体结构等，也可以是多种结构所组合形成的结构。承载台200能够承载随动件400即可，本申请不限定承载台200的具体结构。
承载台200可以通过螺纹连接、焊接、卡接、粘接等连接方式固定在机器人本体100上， 也可以通过其他连接方式设置在机器人本体100上。
本申请实施例中，机器人本体100可以包括壳体120，承载台200可以设置在壳体120上，具体的，承载台200可以设置在壳体120的外侧壁上。
当承载台200设置在壳体120的外侧壁上时，可以使机器人本体100顶面的结构更简洁，更便于用户操作机器人，也可以使机器人的整体结构更合理、紧凑。另外，为了更好地实现机器人的小型化，壳体120顶壁的面积相对于壳体120侧壁的面积通常小很多，所以，承载台200设置在壳体120的外侧壁上也更利于机器人的小型化设计。
当承载台200设置在壳体120的外侧壁上时，承载台200可以位于壳体120靠近顶部的位置，也可以位于壳体120的中部或者靠近底部的位置。
当活动件300设置在机器人本体100的顶部时，承载台200也可以设置在壳体120的外侧壁上靠近顶部的位置，以便于活动件300上的随动件400支撑在承载台200上。
在一种实施方式中，为了使机器人的安装工艺更简单，使机器人的结构更紧凑、可靠，承载台200可以与壳体120通过一体成型工艺形成一体结构。具体的，一体成型工艺可以是注塑成型、压塑成型、锻造、铸造等，但不限于此。
可选地，如图2所示，机器人本体100的顶部可以凸出设有安装台700，活动件300可以连接在该安装台700上。或者，机器人本体100的顶部可以设置安装槽，活动件300连接在该安装槽内。
活动件300也可以通过其他方式安装在机器人本体100上，本申请不限定活动件300的具体安装方式。
可以理解的是，本申请实施例中，随动件400具有用于支撑在承载台200上的支撑面410，承载台200具有用于支撑该支撑面410的承载面210，支撑面410支撑在承载面210上，实现承载台200对随动件400的承载。
承载面210可以为平面、曲面、波浪形面等，支撑面410可以与承载面210的形状相匹配，例如，支撑面410与承载面210均为平面，或者支撑面410与承载面210分别为相适配的曲面，以使得支撑面410支撑在承载面210上后，能够与承载面210较好地贴合，从而使得随动件400更平稳、可靠地支撑在承载台200上。
可选地，支撑面410与承载面210可以均为平面。这样，既可以使得机器人的结构更简单、生产加工也更简单，还可以使得支撑面410更平稳地支撑在承载面210上，从而使得活动件300更可靠地支撑在机器人本体100上。
本申请实施例提供的机器人，由于活动件300可活动设置在机器人本体100上，活动件300上设置有随动件400，随动件400适于跟随活动件300在远离机器人本体100的第一支撑位和靠近机器人本体100的第二支撑位之间移动，这样，当用户需要操作随动件400时，可以将随动件400移动到远离机器人本体100的第一支撑位，当用户操作完成后，可以将随动 件400移动到第二支撑位，以更便于机器人行走。可见，本申请提供的机器人更便于用户对随动件400进行操作，提高了用户的使用体验。
另外，由于机器人本体100上凸出设有承载台200，当随动件400位于靠近机器人本体100的第二支撑位时，随动件400能够支撑在承载台200上，使得承载台200与活动件300共同支撑随动件400，能够使得随动件400更平稳、可靠地支撑在机器人本体100上，使得机器人在移动作业的过程中，随动件400不容易发生晃动，进一步提高了用户的使用体验。
在一种实施方式中，如图3至图4所示，当承载台200设于壳体120的外侧壁上时，沿着机器人本体100顶部到底部的方向，承载台200的承载面210可以向外侧倾斜延伸。
承载台200的承载面210即承载台200朝向顶侧的外表面。
由于用户操作机器人时人脸通常位于机器人的斜上方，当承载面210向外侧倾斜延伸时，可以使得随动件400(例如显示屏、控制台等)在位于第一支撑位时能够斜向上朝向人脸，更便于用户操作，提高了设计的人性化。另外，还可以减小承载台200凸出于壳体120外侧壁的高度，同时，也可以使得承载面210的面积较大，以更平稳、可靠地支撑随动件400，从而更平稳可靠地支撑活动件300。
可选地，当随动件400位于第二支撑位时，随动件400的支撑面410与承载面210能够较好地贴合支撑，以将随动件400平稳承载。
在一种实施方式中，如图1、图2所示，活动件300可以整体呈“U”形，活动件300的开口端铰接在机器人本体100上，随动件400设于活动件300的闭口端的外侧。
具体的，活动件300的开口端的两侧可以分别铰接在上述安装台700的两个相对的外侧壁上。
随动件400设于活动件300的闭口端外侧，即随动件400向活动件300的外侧延伸，活动件300的外侧可以理解为活动件300所围成的“U”形结构的外周。
本实施方式中，将随动件400设在活动件300的闭口端，当随动件400位于第二支撑位时，闭口端的随动件400可以通过承载台200支撑在机器人本体100上，由于活动件300的开口端与机器人本体100铰接，所以活动件300的开口端也可以支撑在机器人本体100上，所以活动件300、随动件400均可以可靠、稳定地支撑在机器人本体100上。
在一种实施方式中，如图1、图3、图4所示，在随动件400位于第二支撑位时，活动件300可以位于机器人本体100的顶部，活动件300与机器人本体100的顶部之间存在间隙。
本实施方式中，活动件300可以安装在上述安装台700上。
本实施方式也可以理解为，当随动件400位于第二支撑位时，活动件300的一端连接在机器人本体100上，活动件300的另一端通过随动件400支撑在承载台200上，机器人本体100的与活动件300连接的部位、承载台200共同将活动件300支撑起来，使得活动件300与机器人本体100的顶部之间存在间隙。
在随动件400位于第二支撑位时，活动件300与机器人本体100的顶部之间存在的间隙范围可以为0.2毫米～1毫米，该间隙也可以为其他较小的值。
可以理解的是，在随动件400位于第二支撑位时，活动件300与机器人本体100的顶部之间存在的间隙应设置的较小，以使得机器人的结构更紧凑。
本实施方式当在随动件400位于第二支撑位时，由于活动件300与机器人本体100的顶部之间存在间隙，可以使得在机器人作业过程中，活动件300不容易与机器人本体100发生碰撞，从而可以减小机器人运行时的噪音，提高了用户体验。
在一种实施方式中，如图1、图2所示，随动件400可以为安装在活动件300上的显示屏，在随动件400位于第二支撑位时，显示屏的背面支撑在承载台200上。
上述显示屏可以为触摸显示屏，上述显示屏可以用于显示虚拟操作按键，以使得用户通过显示屏能够进行相关操作，显示屏还可以用于显示设备状态，例如，电池状态、故障状态等。通过设置显示屏，更便于用户操作。
本实施方式中，当显示屏位于第一支撑位时，显示屏的显示面能够朝向机器人的外侧，以便于用户观看、操作显示屏。
显示屏的背面即显示屏的与显示面背对的表面。
在一种实施方式中，如图1、图2所示，机器人本体100的顶部可以设有收容槽900，收容槽900用于在随动件400位于所述第二支撑位时对活动件300进行收容。
收容槽900的形状可以与活动件300的形状相匹配，以便于对活动件300进行收容，并且使机器人的结构更合理。例如，活动件300整体呈“U”形结构，收容槽900也可以为整体呈“U”形的槽。
收容槽900能够用于放置活动件300即可，具体形状不限定。
本实施方式将活动件300放置在收容槽900内，可以使得机器人的整体结构更紧凑、合理，也可以使得活动件300被更平稳放置，使得机器人移动时噪音更小。
在一种实施方式中，承载台200上可以设有检测件(图中未示出)，检测件用于检测随动件400是否位于所述第二支撑位。
检测件可以是微动开关、接触传感器、光电传感器等，但不限于此。检测件可以设置在承载台200的承载面210，也可以设置承载台200的其他位置。
本实施方式中，检测件与控制器连接，检测件可以将检测结果发送给机器人的控制器，控制器根据检测结构控制机器人是否移动运行。这样，可以在确保随动件400位于第二支撑位时机器人才能够移动，避免出现随动件400未闭合就开始移动的现象，影响运行的平稳性。还可以使得随动件400位于第一支撑位时控制机器人停止运行，保证用户操作的安全性。
在一种实施方式中，如图4所示，机器人本体100上还可以设有检测装置500，承载台200内部设有容纳腔，检测装置500安装在该容纳腔内。
上述检测装置500可以是雷达探测器、深度相机、红外探测器、光电传感器等，也可以是其他用于检测路况、障碍物等的检测装置500。
具体的，承载台200上可以设有通孔，检测装置500能够穿过该通孔与外界环境进行信号传输。
承载台200上还可以设置启动开关600等功能件。
在一种实施方式中，如图1所示，机器人还可以包括设置在机器人本体100底部的刷毛800，刷毛800用户在机器人移动的过程中进行清扫。
可选地，机器人本体100底部还设有滚轮、履带等移动机构，用于带动机器人移动。机器人本体100还可以包括设于壳体120内的电机、减速器、电池等用于驱动移动机构运行的部件。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种机器人，包括：
    机器人本体；
    活动件，所述活动件可活动地设置在所述机器人本体上，所述活动件上设置有随动件，所述随动件能够跟随所述活动件在远离所述机器人本体的第一支撑位和靠近所述机器人本体的第二支撑位之间移动；以及
    承载台，所述承载台设于所述机器人本体上，所述承载台用于在所述随动件位于所述第二支撑位时对所述随动件进行承载。
  2. 根据权利要求1所述的机器人，其特征在于，所述承载台凸设于所述机器人本体上。
  3. 根据权利要求1-2所述的机器人，其特征在于，所述机器人本体内凹形成承载槽，所述承载台设置于所述承载槽上。
  4. 根据权利要求1-3任一项所述的机器人，其中，所述活动件为扶手。
  5. 根据权利要求1-4任一项所述的机器人，其中，所述随动件为显示屏。
  6. 根据权利要求1-5任一项所述的机器人，其中，所述活动件转动或者滑动设置在所述机器人本体的顶部。
  7. 根据权利要求1-6任一项所述的机器人，其中，在所述随动件位于所述第二支撑位时，所述活动件位于所述机器人本体的顶部的上侧，且所述活动件与所述机器人本体的顶部之间存在间隙。
  8. 根据权利要求1-7任一项所述的机器人，其中，所述机器人本体的顶部开设有收容槽，所述收容槽用于在所述随动件位于所述第二支撑位时对所述活动件进行收容。
  9. 根据权利要求1-8任一项所述的机器人，其中，所述机器人本体包括壳体，所述承载台凸出设于所述壳体的外侧壁上。
  10. 根据权利要求1-9任一项所述的机器人，其中，所述承载台包括用于支撑所述随动件的承载面，在由所述机器人本体顶部指向底部的方向上，所述承载面向外侧倾斜延伸。
  11. 根据权利要求1-10任一项所述的机器人，其中，所述活动件整体呈“U”形，所述活动件的开口端铰接在所述机器人本体上，所述随动件设于所述活动件的闭口端的外侧。
  12. 根据权利要求1-11任一项所述的机器人，其中，所述承载台上设有检测件，所述检测件用于检测所述随动件是否位于所述第二支撑位。
  13. 根据权利要求1-12任一项所述的机器人，其中，所述机器人本体上设有检测装置，所述承载台内部设置有容纳腔，所述检测装置安装在所述容纳腔中。
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