WO2023103857A1 - 机器人 - Google Patents

机器人 Download PDF

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Publication number
WO2023103857A1
WO2023103857A1 PCT/CN2022/135484 CN2022135484W WO2023103857A1 WO 2023103857 A1 WO2023103857 A1 WO 2023103857A1 CN 2022135484 W CN2022135484 W CN 2022135484W WO 2023103857 A1 WO2023103857 A1 WO 2023103857A1
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WO
WIPO (PCT)
Prior art keywords
crank
hatch
connecting rod
robot
main body
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Application number
PCT/CN2022/135484
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English (en)
French (fr)
Inventor
柳云飞
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北京有竹居网络技术有限公司
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Application filed by 北京有竹居网络技术有限公司 filed Critical 北京有竹居网络技术有限公司
Publication of WO2023103857A1 publication Critical patent/WO2023103857A1/zh

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    • 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

Definitions

  • the present application relates to the field of robots, for example, to a robot.
  • the delivery robot is equipped with multiple item compartments with hatches, and each item compartment is equipped with a hatch door that is rotatably connected to the main body of the robot.
  • the motor is connected to the hatch door through transmission devices such as timing belts and gears, and the hatch door is driven by the motor. Rotate the main body of the robot to open and close the hatch.
  • the hatch door Due to the small torque of the motor set on the delivery robot, the hatch door will be opened when the hatch door is pulled externally.
  • an additional locking device will be provided for the hatch door so that the hatch door has a locking function.
  • additionally adding a locking device will increase the number of parts of the intelligent robot, increase the volume of the intelligent robot, and increase the cost.
  • the present application provides a robot, which can solve the problems that the intelligent robot has a large number of parts, a large volume, and a high cost when additionally equipped with a locking device for the cabin door.
  • the application provides a robot, including:
  • the main body of the robot is provided with a cargo compartment and a hatch for items to enter and exit the cargo compartment;
  • a hatch rotatably connected to the main body of the robot
  • the connecting rod structure includes a crank, a rocker and a connecting rod that rotatably connects the crank and the rocker, and the rocker is fixedly connected to the hatch;
  • the drive assembly is configured to drive the crank to swing back and forth, so that the crank swings from the first position to the second position in a preset direction, and from the second position to the second position in the opposite direction to the preset direction. a position; when the crank is in the first position, the hatch opens the hatch; when the crank is in the second position, the hatch closes the hatch;
  • Fig. 1 is a schematic diagram of the state of the connecting rod structure when the crank provided by Embodiment 1 of the present application is in the second position;
  • Fig. 2 is a schematic diagram of the state of the connecting rod structure when the crank provided by the second embodiment of the present application is in the second position;
  • Fig. 3 is a schematic diagram of a robot provided in an embodiment of the present application when the hatch door is opened;
  • Fig. 4 is a schematic diagram of a robot provided in an embodiment of the present application when the hatch door is closed.
  • the present embodiment provides a kind of robot, comprises robot main body 10, cabin door 4, connecting rod structure 8 and driving assembly 5, wherein, robot main body 10 is provided with cargo compartment 6 and for goods to enter and exit cargo compartment 6 Hatch 7 ; wherein, the hatch 4 is rotatably connected to the robot main body 10 , and the drive assembly 5 drives the hatch 4 to rotate relative to the robot main body 10 through a connecting rod structure to open and close the hatch 7 .
  • the intelligent robot includes a robot main body 10, which is provided with a cargo compartment 6 and a hatch 7 for entering and exiting the cargo compartment 6; the hatch 4 is rotatably connected to the robot main body 10; 3 and the connecting rod 2 connecting the crank 1 and the rocker 3 by rotation, the rocker 3 is fixedly connected with the hatch 4; the drive assembly 5 is configured to drive the crank 1 to swing back and forth, so that the crank 1 swings from the first position along a preset direction to the second position, and swing from the second position to the first position in the opposite direction of the preset direction; when the crank 1 is in the first position, the hatch 4 opens the hatch 7; when the crank 1 is in the second position, the hatch 4 Close the hatch 7; wherein, when the external force of opening the hatch 4 acts on the closed hatch 4, the crank 1 is subjected to the force of swinging from the second position along the preset direction; the crank 1 is in the second position, and the connecting rod 2 and the driving The assembly 5 interferes to limit the swing of the crank 1 in a pre
  • This embodiment takes a delivery robot for delivering items as an example.
  • the hatch 4 is arranged on the front side of the robot main body 10, and there are multiple cargo compartments 6, one hatch 4 may correspond to one cargo compartment 6, or multiple hatches 4 may correspond to one cargo compartment 6.
  • the hatch 4 may be the vertical hatch 4 in Fig. 1 and Fig. 2, or may not be vertical, and is not limited to the structure in Fig. 1 and Fig. 2 .
  • the connecting rod structure 8 includes a crank 1 , a rocking bar 3 and a connecting rod 2 that rotatably connects the crank 1 and the rocking bar 3 , and the rocking bar 3 is fixedly connected with the cabin door 4 .
  • the crank 1, the connecting rod 2, the rocker 3 and the robot body 10 constitute a four-link structure, wherein the crank 1 is the active part, the rocker 3 is the passive part, and the rocker 3 can be within a certain angle range. Swing, to drive hatch 4 open and close.
  • the swivel connection mentioned above may be a hinge.
  • the driving assembly 5 can be a motor, for example, the motor is a servo motor, and the output shaft of the motor is directly connected to the crank 1 to drive the crank 1 to swing back and forth, and the crank 1 drives the connecting rod 2 and the rocker 3 for linkage.
  • the output shaft of the motor can also be connected to the crank 1 through a transmission unit, and the transmission unit can be a multi-link mechanism.
  • the motor can drive the crank 1 to swing from the first position to the second position in the preset direction, and from the second position to the first position in the opposite direction of the preset direction; when the crank 1 is in the first position, the hatch 4 opens the compartment Hatch 7; when the crank 1 is in the second position, the hatch 4 closes the hatch 7.
  • the preset direction is clockwise
  • the direction opposite to the preset direction is counterclockwise.
  • the rocker 3 drives the hatch door 4 to swing at an angle of 0° to 120°, which is not only convenient for the user to pick and place items in the cargo compartment 6 after the hatch door 4 is opened, but also enables the hatch door 4 to be opened without any problems during and after opening. would take up too much space.
  • the angle at which the rocker 3 drives the hatch 4 to swing can be 0° to 100°.
  • the so-called intelligent robot is a robot that can only realize the opening and closing of the hatch 4 through the forward and reverse rotation of the motor, so as to avoid opening the hatch 4 artificially, so that the articles in the cargo compartment 6 are taken away by others.
  • the first position and the second position are arranged on both sides of the dead point position of the connecting rod structure 8 in this embodiment, so that when the external force of opening the hatch 4 acts on the closed hatch 4, the crank 1 is subjected to An active force for swinging in a predetermined direction from the second position; the crank 1 is in the second position, and the connecting rod 2 interferes with the driving assembly 5 to limit the swinging of the crank 1 in a preset direction.
  • the dead point position of the connecting rod structure 8 refers to the position when the rotational point of the connecting rod 2 and the rocker 3 is in line with the crank 1, and the connecting rod structure 8 in this embodiment has two dead point positions.
  • the dead point position of the connecting rod structure 8 that the crank 1 passes through during the swinging process from the first position to the second position along the preset direction is taken as the target dead point position.
  • the connecting rod 2 is a bent structure, and the connecting rod 2 includes a first rod 21 that is rotatably connected to the crank 1 at one end, and One end is rotatably connected to the second rod 22 of the rocker 3, and the other end of the first rod 21 and the other end of the second rod 22 are fixedly connected and arranged at an included angle; when the crank 1 is in the second position, the second rod 22 abuts against The part where the crank 1 is connected to the drive assembly 5.
  • crank 1 is splined to the output shaft of the motor.
  • the crank 1 When the crank 1 is in the second position, the second rod 22 abuts against the part of the crank 1 sleeved outside the output shaft of the motor.
  • the crank 1 and the output shaft of the motor can also be connected by interference fit or other methods, which will not be described here.
  • the connecting rod 2 can also adopt a straight rod structure.
  • an interference part on the connecting rod 2 such as a limit cylinder protruding from the connecting rod 2
  • the interference The part abuts against the part of the crank 1 sleeved outside the output shaft of the motor, and interferes with the rotation of the connecting rod 2, so as to limit the continuous rotation of the connecting rod 2 in a preset direction.
  • the output shaft of the motor is set vertically, compared with the output shaft of the motor set horizontally, it can reduce the impact of the gravity of the hatch 4 and the connecting rod structure 8 on the output shaft of the motor, and prolong the service life of the motor.
  • the crank 1 when the connecting rod structure is at the target dead point position is less than 5°.
  • the above included angle may be any value among 0.5°, 1°, 1.5°, 2°, 2.5°, 3°, 3.5°, 4° and 4.5°.
  • the smaller the included angle the smaller the shaking of the hatch door 4 during the opening and closing process of the hatch door 4, the above-mentioned included angle can be 1°, so as to reduce the shaking of the hatch door during the opening and closing process of the hatch door as much as possible by reducing the included angle .
  • the above-mentioned intelligent robot also includes an anti-sway structure, which is set to prevent shaking when the connecting rod structure 8 crosses the target dead point position during the opening and closing of the hatch door 4.
  • the anti-swaying structure includes a tension spring, one end of which is connected to the crank 1 and the other end is connected to the main body 10 of the robot, so that the crank 1 in the second position has a tendency to swing in a preset direction.
  • one end of the extension spring can also be connected to the connecting rod 2 and the other end to the robot main body 10, and the connecting rod 2 pushes the crank 1 so that the crank 1 has a tendency to swing in a preset direction.
  • the above-mentioned anti-sloshing structure can also adopt other structures, such as setting a magnetic piece on one of the hatch 4 and the robot main body 10, and a magnetic suction piece on the other.
  • the magnetic member may be an electromagnet, a permanent magnet, etc.
  • the magnetic member may be a ferromagnetic material.
  • a hatch 4 made of magnetic material can be used or a magnetic piece made of magnetic material can be installed on the hatch 4 , and a magnetic attraction piece can be installed on the robot main body 10 .
  • the connecting rod structure 8 When the crank 1 is in the second position, the connecting rod structure 8 is at the dead point; the crank 1 or the connecting rod 2 is connected to the robot main body 10 through a tension spring, or, one of the hatch 4 and the robot main body 10 is provided with a magnetic piece, The other one is provided with a magnetic attraction piece, and when the crank 1 is in the second position, the magnetic piece and the magnetic attraction piece are magnetically adsorbed.
  • Embodiment 1 The difference between this embodiment and Embodiment 1 is that, as shown in Figure 2, when the crank 1 is in the second position, the connecting rod structure is in the dead point position, and when the external force for opening the hatch 4 acts on the closed hatch 4, The crank 1 may swing from the second position in a preset direction, or from the second position in an opposite direction to the preset direction.
  • the crank 1 In order to make the external force of opening the hatch 4 act on the closed hatch 4, the crank 1 is subjected to the force of swinging in the preset direction from the second position, and the crank 1 is connected to the robot main body 10 by a tension spring, so that the crank 1 has The tendency of the second position to swing along the preset direction is to restrict the crank 1 at the second position from swinging along the preset direction through the interference of the connecting rod 2 and the drive assembly 5 .
  • the connecting rod 2 can also be connected to the robot main body 10 through a tension spring, and a magnetic piece can also be set on one of the hatch 4 and the robot main body 10, and a magnetic suction piece can be set on the other, and the crank 1 When in the second position, the magnetic part and the magnetic attraction part are magnetically attracted.
  • the magnetic element may be an electromagnet, a permanent magnet, etc., and the magnetic element may be a ferromagnetic material, or the like.
  • a hatch 4 made of magnetic material can be used or a magnetic piece made of magnetic material can be installed on the hatch 4 , and a magnetic attraction piece can be installed on the robot main body 10 .
  • Fig. 3 is a schematic diagram of a robot provided in an embodiment of the present application when the hatch 4 is opened.
  • Fig. 4 is a schematic diagram of a robot provided in an embodiment of the present application when the hatch 4 is closed.
  • Fig. 3 represents that the crank 1 is in the first position (corresponding to the state of opening the door), and
  • Fig. 4 represents that the crank 1 is in the second position (corresponding to the state of closing the door).
  • the connecting rod 2 of FIGS. 3 and 4 is shorter than the connecting rod 2 of FIGS. 1 and 2 .
  • the drive assembly 5 drives the crank 1 to move in the direction of the arrow in Figure 3, and the rocking bar 3 (wherein the rocking bar 3 is marked with a dotted line) moves in the direction of the arrow, Then the connecting rod 2 and the crank 1 are twisted in a straight line (as shown in Figure 4), the three points of DEF are in a straight line, and the crank 1 is stuck by the applied pulling force and cannot continue to swing, thereby realizing the self-locking of the hatch 4.
  • the link structure 8 of the present application may be a four-link structure, and the automatic locking of the cabin door 4 is realized by using the self-locking of the four links.
  • the motor drives the crank 1 to rotate (when the crank 1 is positioned at the position of FIG. 3 ), the hatch 4 can be opened, thereby ensuring the safety of the transported items.
  • the crank 1 is in the second position, and the connecting rod 2 interferes with the drive assembly 5 to limit the swing of the crank 1 in a preset direction, so that when the external force for opening the hatch 4 acts on the closed hatch 4, the crank 1 Even if it is subjected to the force of swinging in the preset direction from the second position, the crank 1 cannot continue to swing in the preset direction due to the interference of the connecting rod 2 and the driving assembly 5 , thereby realizing the locking of the hatch 4 .
  • the intelligent robot provided by this application does not need to make substantial changes to the structure of the intelligent robot compared to adding an additional locking device. The structure is simple, the cost is low, and the volume of the intelligent robot will not increase basically.
  • the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer”, etc. indicate orientation or position The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore It should not be construed as a limitation of the application.
  • the terms “first” and “second” are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Wherein, the terms “first position” and “second position” are two different positions.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components.
  • installation can be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

一种机器人，包括：机器人主体(10)，设有货舱(6)及供物品进出货舱的舱口(7)；舱门(4)，转动连接于机器人主体；连杆结构(8)，包括曲柄(1)、摇杆(3)及转动连接曲柄和摇杆的连杆(2)，摇杆与舱门固定连接；驱动组件(5)，设置为驱动曲柄往复摆动。在打开舱门的外力作用于闭合的舱门时，曲柄受到由第二位置沿预设方向摆动的作用力，但由于连杆和驱动组件的干涉，曲柄无法继续沿预设方向摆动。该机器人能够避免人为开启舱门。

Description

机器人
本申请要求在2021年12月08日提交中国专利局、申请号为202111493425.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人领域，例如涉及一种机器人。
背景技术
递送机器人设有多个具有舱口的物品舱，每个物品舱配合一个转动连接于机器人主体的舱门，电机通过传动装置如同步带、以及齿轮等与舱门相连，通过电机驱动舱门相对于机器人主体转动以启闭舱口。
由于递送机器人上设置的电机的力矩较小，人为外部用力拉动舱门时舱门会被开启，为了解决该技术问题，会为舱门额外配设锁定装置，以使舱门具有锁定功能。但额外增设锁定装置会增加智能机器人的零部件数量，增大智能机器人的体积，提高成本。
发明内容
本申请提供一种机器人，能够解决为舱门额外配设锁定装置会使智能机器人的零部件数量多、体积大及成本高的问题。
本申请提供一种机器人，包括：
机器人主体，设有货舱及供物品进出所述货舱的舱口；
舱门，转动连接于所述机器人主体；
连杆结构，包括曲柄、摇杆及转动连接所述曲柄和所述摇杆的连杆，所述摇杆与所述舱门固定连接；
驱动组件，设置为驱动所述曲柄往复摆动，以使所述曲柄沿预设方向由第一位置摆动至第二位置，及沿所述预设方向的反方向由所述第二位置摆动至第一位置；所述曲柄处于第一位置时，所述舱门开启所述舱口；所述曲柄处于第二位置时，所述舱门闭合所述舱口；
在打开舱门的外力作用于闭合的所述舱门时，所述曲柄受到由第二位置沿所述预设方向摆动的作用力；所述曲柄处于第二位置，所述连杆与所述驱动组件干涉以限制所述曲柄沿所述预设方向摆动。
附图说明
图1是本申请实施例一提供的曲柄处于第二位置时连杆结构的状态示意图；
图2是本申请实施例二提供的曲柄处于第二位置时连杆结构的状态示意图；
图3是本申请实施例提供的一种舱门在打开状态下机器人的示意图；
图4是本申请实施例提供的一种舱门在关闭状态下机器人的示意图。
图中：
1、曲柄；2、连杆；21、第一杆；22、第二杆；3、摇杆；10、机器人主体；4、舱门；5、驱动组件；6、货舱；7、舱口；8、连杆结构。
具体实施方式
下面结合附图并通过实施方式来说明本申请的技术方案。此处所描述的实施例仅仅用于解释本申请，而非对本申请的限定。为了便于描述，附图中仅示出了与本申请相关的部分而非全部。
实施例一
如图1所示，本实施例提供了一种机器人，包括机器人主体10、舱门4、连杆结构8和驱动组件5，其中，机器人主体10上设有货舱6及供物品进出货舱6的舱口7；其中，舱门4转动连接于机器人主体10，驱动组件5通过连杆结构带动舱门4相对于机器人主体10转动以启闭舱口7。
本实施例提供的智能机器人，包括机器人主体10，设有货舱6及供物品进出货舱6的舱口7；舱门4，转动连接于机器人主体10；连杆结构8，包括曲柄1、摇杆3及转动连接曲柄1和摇杆3的连杆2，摇杆3与舱门4固定连接；驱动组件5，设置为驱动曲柄1往复摆动，以使曲柄1沿预设方向由第一位置摆动至第二位置，及沿预设方向的反方向由第二位置摆动至第一位置；曲柄1处于第一位置时，舱门4开启舱口7；曲柄1处于第二位置时，舱门4闭合舱口7；其中，打开舱门4的外力作用于闭合的舱门4时，曲柄1受到由第二位置沿预设方向摆动的作用力；曲柄1处于第二位置，连杆2与驱动组件5干涉以限制曲柄1沿预设方向摆动。
由于智能机器人多种多样，不同使用场景的智能机器人的结构不同，本实施例以用于递送物品的递送机器人为例。舱门4设于机器人主体10的前侧，货舱6设有多个，可以一个舱门4对应一个货舱6，也可以多个舱门4对应一个货舱6。其中，舱门4可以为图1和图2中的竖直的舱门4，也可以不是竖直的，不限于图1和图2中的结构。
上述连杆结构8包括曲柄1、摇杆3及转动连接曲柄1和摇杆3的连杆2，摇杆3与舱门4固定连接。本实施例中，曲柄1、连杆2、摇杆3和机器人主体10构成了四连杆结构，其中，曲柄1为主动件，摇杆3为被动件，摇杆3可以在一定角度范围内摆动，以带动舱门4启闭。前文中的转动连接可以为铰接。
驱动组件5可以为电机，示例性地，电机为伺服电机，电机的输出轴与曲柄1直接相连，以驱动曲柄1往复摆动，利用曲柄1带动连杆2和摇杆3联动。于其他实施例中，还可以将电机的输出轴通过传动单元与曲柄1相连，传动单元可以为多连杆机构。
电机可以驱动曲柄1沿预设方向由第一位置摆动至第二位置，及沿预设方向的反方向由第二位置摆动至第一位置；曲柄1处于第一位置时，舱门4开启舱口7；曲柄1处于第二位置时，舱门4闭合舱口7。示例性地，预设方向为顺时针方向，预设方向的反方向为逆时针方向。
可选地，摇杆3带动舱门4摆动的角度为0°～120°，不仅方便用户在舱门4开启后取放物品于货舱6，还可以使舱门4开启过程中及开启后不会占用太大的空间。摇杆3带动舱门4摆动的角度可以为0°～100°。所谓智能机器人是一种只能通过电机正反转实现舱门4启闭的机器人，以避免人为开启舱门4，以致货舱6内的物品被他人取走。为了解决该技术问题，本实施例将第一位置和第二位置设置于连杆结构8的死点位置的两侧，使打开舱门4的外力作用于闭合的舱门4时，曲柄1受到由第二位置沿预设方向摆动的作用力；曲柄1处于第二位置，连杆2与驱动组件5干涉以限制曲柄1沿预设方向摆动。
连杆结构8的死点位置指的是连杆2和摇杆3转动连接的转动点与曲柄1共线时的位置，本实施例中的连杆结构8具有两个死点位置。本实施例将曲柄1沿预设方向由第一位置摆动至第二位置的过程中经过的连杆结构8的死点位置作为目标死点位置。
在关闭舱门4时，曲柄1沿预设方向由第一位置越过目标死点位置摆动至第二位置；在开启舱门4时，曲柄1沿预设方向的反方向由第二位置越过目标死点位置摆动至第一位置。
在人为打开舱门4时，打开舱门4的外力作用于闭合的舱门4时，曲柄1和摇杆3切换，主动件为摇杆3，被动件变换为曲柄1，曲柄1受到由第二位置沿预设方向摆动的作用力。为了防止舱门4被人为开启，本实施例对连杆2的结构进行限定，使处于第二位置的曲柄1与连杆2抵接，以限制处于第二位置的曲柄1沿预设方向摆动。
连杆2的两自由端分别记为主动端和被动端，由于安装限制，曲柄1与主 动端平行，摇杆3和被动端平行。为了使连杆2能够限制处于第二位置的曲柄1沿预设方向摆动，本实施例中，连杆2为弯折结构，连杆2包括一端转动连接于曲柄1的第一杆21，及一端转动连接于摇杆3的第二杆22，第一杆21的另一端和第二杆22的另一端固定连接且呈夹角设置；曲柄1处于第二位置时，第二杆22抵接于曲柄1连接于驱动组件5的部位。本实施例中，曲柄1与电机的输出轴花键连接，曲柄1处于第二位置时，第二杆22抵接于曲柄1套设于电机的输出轴外的部位。于其他实施例中，曲柄1和电机的输出轴还可以采用过盈配合或其他方式连接，在此不再一一说明。
于其他实施例中，连杆2还可以采用直杆结构，通过在连杆2上设置干涉部，如凸设于连杆2上的限位圆柱等，使曲柄1处于第二位置时，干涉部与曲柄1套设于电机的输出轴外的部位抵接，对连杆2的转动进行干涉，以限制连杆2继续沿预设方向转动。
电机的输出轴竖直设置，相比电机的输出轴水平设置而言，能够减小舱门4和连杆结构8的重力对电机的输出轴的影响，延长电机的使用寿命。
由于启闭舱门4的过程中，越过目标死点位置时，舱门4存在晃动，为了减小舱门4的晃动程度，本实施例中，连杆结构处于目标死点位置时的曲柄1与处于第二位置的曲柄1之间的夹角小于5°。可选地，上述夹角可以为0.5°、1°、1.5°、2°、2.5°、3°、3.5°、4°和4.5°中的任一值。夹角越小，启闭舱门4过程中，舱门4的晃动越小，上述夹角可以为1°，以尽可能地通过减小夹角减小启闭舱门过程中舱门的晃动。
为了减小启闭舱门4过程中舱门4的晃动，上述智能机器人还包括防止晃动结构，设置为防止启闭舱门4过程中连杆结构8越过目标死点位置时发生晃动。
本实施例中，防止晃动结构包括拉簧，拉簧的一端连接于曲柄1，另一端连接于机器人主体10，使处于第二位置的曲柄1具有沿预设方向摆动的趋势。
于其他实施例中，还可以将拉簧的一端连接于连杆2，另一端连接于机器人主体10，通过连杆2推动曲柄1使曲柄1具有沿预设方向摆动的趋势。上述防止晃动结构还可以采用其他结构，如在舱门4和机器人主体10的其中一个上设置磁性件，另一个上设置磁吸件，曲柄1处于第二位置时，磁性件和磁吸件磁性吸附。示例性地，磁吸件可以为电磁铁、以及永磁铁等，磁性件可以为铁磁材料等。可以采用磁性材料制成的舱门4或者在舱门4上安装磁性材料制成的磁性件，在机器人主体10上安装磁吸件。
实施例二
曲柄1处于第二位置时，连杆结构8处于死点位置；曲柄1或连杆2通过拉簧连接于机器人主体10，或者，舱门4和机器人主体10的其中一个上设有磁性件，另一个上设有磁吸件，曲柄1处于第二位置时，磁性件和磁吸件磁性吸附。
本实施例与实施例一的区别在于，如图2所示，曲柄1处于第二位置时，连杆结构处于死点位置，此时打开舱门4的外力作用于闭合的舱门4时，曲柄1可能会由第二位置沿预设方向摆动，也可能会由第二位置沿预设方向的反方向摆动。
为了使打开舱门4的外力作用于闭合的舱门4时，曲柄1受到由第二位置沿预设方向摆动的作用力，通过拉簧将曲柄1连接于机器人主体10，使曲柄1具有由第二位置沿预设方向摆动的趋势，通过连杆2和驱动组件5干涉，以限制处于第二位置的曲柄1沿预设方向摆动。
于其他实施例中，还可以通过拉簧将连杆2连接于机器人主体10，还可以在舱门4和机器人主体10的其中一个上设置磁性件，另一个上设置磁吸件，在曲柄1处于第二位置时，磁性件和磁吸件磁性吸附。示例性地，磁吸件可以为电磁铁、永磁铁等，磁性件可以为铁磁材料等。可以采用磁性材料制成的舱门4或者在舱门4上安装磁性材料制成的磁性件，在机器人主体10上安装磁吸件。
当舱门4受到沿箭头方向的外力时(即打开舱门4的外力)，ABC三点成直线以限制舱门4的打开，实现舱门4的自锁。另外，实际在使用时ABC并不需要严格共线(接近共线，即可提供自锁效果)。
实施例三
图3是本申请实施例提供的一种舱门4在打开状态下机器人的示意图。图4是本申请实施例提供的一种舱门4在关闭状态下机器人的示意图。图3代表曲柄1处于第一位置(对应开门状态)，图4代表曲柄1处于第二位置(对应关门)。
图3和图4的连杆2相比于图1和图2的连杆2更短。当打开舱门4的外力作用于闭合的舱门4时，驱动组件5驱动曲柄1沿图3中箭头方向运动，摇杆3(其中摇杆3采用虚线标记出了位置)往箭头方向运动，然后连杆2和曲柄1绞在一条直线(如图4所示)，DEF三点成一条直线，曲柄1被施加的拉力卡住，无法继续摆动，从而实现舱门4的自锁。本申请的连杆结构8可以为四连杆结构，利用四连杆的自锁实现舱门4的自动锁定。需要开门时，通过电机驱动曲柄1旋转(使曲柄1位于图3的位置时)，能使舱门4打开，从而能够保证运送物品的安全性。
本申请提供的智能机器人，曲柄1处于第二位置，连杆2与驱动组件5干涉以限制曲柄1沿预设方向摆动，使打开舱门4的外力作用于闭合的舱门4时，曲柄1即使受到由第二位置沿预设方向摆动的作用力，但由于连杆2和驱动组件5的干涉，使曲柄1无法继续沿预设方向摆动，从而实现舱门4的锁定。本申请提供的智能机器人，相比额外增设锁定装置而言，无需对智能机器人的结构做大幅度改动，结构简单，成本低，基本不会造成智能机器人体积增大。
在本申请的描述中，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、仅用于描述目的，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本申请的描述中，除非另有规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。可以根据实际情况理解上述术语在本申请中的含义。

Claims (10)

  1. 一种机器人，包括：
    机器人主体(10)，设有货舱(6)及供物品进出所述货舱(6)的舱口(7)；
    舱门(4)，转动连接于所述机器人主体(10)；
    连杆结构(8)，包括曲柄(1)、摇杆(3)及转动连接所述曲柄(1)和所述摇杆(3)的连杆(2)，所述摇杆(3)与所述舱门(4)固定连接；
    驱动组件(5)，设置为驱动所述曲柄(1)往复摆动，以使所述曲柄(1)沿预设方向由第一位置摆动至第二位置，及沿所述预设方向的反方向由所述第二位置摆动至所述第一位置；在所述曲柄(1)处于所述第一位置的情况下，所述舱门(4)开启所述舱口(7)；在所述曲柄(1)处于所述第二位置的情况下，所述舱门(4)闭合所述舱口(7)；
    其中，在打开所述舱门(4)的外力作用于闭合的所述舱门(4)的情况下，所述曲柄(1)受到由所述第二位置沿所述预设方向摆动的作用力，所述曲柄(1)处于第二位置，所述连杆(2)与所述驱动组件(5)干涉以限制所述曲柄(1)沿所述预设方向摆动。
  2. 根据权利要求1所述的机器人，其中，所述第一位置和所述第二位置位于所述连杆结构(8)的死点位置的两侧。
  3. 根据权利要求2所述的机器人，其中，所述曲柄(1)沿所述预设方向由所述第一位置摆动至所述第二位置的过程中经过的所述连杆结构(8)的死点位置为目标死点位置；
    在所述连杆结构(8)处于所述目标死点位置的情况下的所述曲柄(1)与处于所述第二位置的所述曲柄(1)之间的夹角小于5°。
  4. 根据权利要求3所述的机器人，还包括：
    防止晃动结构，设置为防止启闭舱门(4)过程中所述连杆结构(8)在越过所述目标死点位置的情况下发生晃动。
  5. 根据权利要求4所述的机器人，其中，所述防止晃动结构包括：
    拉簧，所述拉簧的一端连接于所述曲柄(1)或所述连杆(2)，所述拉簧的另一端连接于所述机器人主体(10)，使处于所述第二位置的所述曲柄(1)具有沿所述预设方向摆动的趋势。
  6. 根据权利要求4所述的机器人，其中，所述防止晃动结构包括：
    磁性件和磁吸件，所述舱门(4)和所述机器人主体(10)的其中一个上设有所述磁性件，另一个上设有所述磁吸件，在所述曲柄(1)处于所述第二位置 的情况下，所述磁性件和所述磁吸件磁性吸附。
  7. 根据权利要求1所述的机器人，其中，在所述曲柄(1)处于所述第二位置的情况下，所述连杆结构(8)处于死点位置；
    所述曲柄(1)或所述连杆(2)通过拉簧连接于所述机器人主体(10)，或者，所述舱门(4)和所述机器人主体(10)的其中一个上设有磁性件，另一个上设有磁吸件，在所述曲柄(1)处于所述第二位置的情况下，所述磁性件和所述磁吸件磁性吸附。
  8. 根据权利要求1至7中任一项所述的机器人，其中，所述连杆(2)包括一端转动连接于所述曲柄(1)的第一杆(21)，及一端转动连接于所述摇杆(3)的第二杆(22)，所述第一杆(21)的另一端和所述第二杆(22)的另一端固定连接且呈夹角设置；
    在所述曲柄(1)处于所述第二位置的情况下，所述第二杆(22)抵接于所述曲柄(1)连接于所述驱动组件(5)的部位。
  9. 根据权利要求1至7中任一项所述的机器人，其中，所述驱动组件(5)为电机，所述电机的输出轴与所述曲柄(1)直接连接，或所述电机的输出轴通过传动单元与所述曲柄(1)相连。
  10. 根据权利要求9所述的机器人，其中，所述电机的输出轴竖直设置。
PCT/CN2022/135484 2021-12-08 2022-11-30 机器人 WO2023103857A1 (zh)

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CN203410705U (zh) * 2013-07-30 2014-01-29 东莞市胜蓝电子有限公司 自锁式摆动装置
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