CN115284313A - Robot with external operation function - Google Patents

Abstract

The invention discloses a robot with an external operation function, which comprises a shell, a stander and a mechanical arm, wherein the shell comprises a first shell and a second shell, the shell has a first state and a second state, the first shell and the second shell are separated to be suitable for double-wheel travel of the robot in the first state, and the first shell and the second shell are closed to be suitable for rolling travel of the robot in the second state; the shell is provided with a through hole, the rack is rotatably matched in the through hole, and part of the rack extends out of the through hole of the shell to form an extension section; the mechanical arm is arranged on the extension section, the mechanical arm is provided with an operation shape and a contraction shape, and in the contraction shape, the mechanical arm contracts and is symmetrically arranged along the width direction of the rack. The robot with the function of operating the outside has the advantage of being capable of operating the outside while moving.

Description

Robot with external operation function

Technical Field

The invention relates to the technical field of robots, in particular to a robot with an external operation function.

Background

The spherical shell 1 of the spherical robot can enable the spherical shell to rapidly and stably move when not overturning in the task execution process, the spherical closed space can protect an internal mechanism from being damaged by interference of various complex terrains and road conditions, and the spherical robot is in point contact with the ground in the movement process and has small movement resistance. The robot in the related art can not move and operate outwards, and the working efficiency is not high.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an embodiment of the present invention provides a robot having a function of operating outside, which has an advantage of being able to operate outside while moving.

The robot with the external operation function of the embodiment of the invention comprises a shell, wherein the shell comprises a first shell and a second shell, and the shell has a first state and a second state, wherein the first shell and the second shell are separated to be suitable for the double-wheel travel of the robot, and the first shell and the second shell are closed to be suitable for the rolling travel of the robot; a housing provided with a through hole, the housing being rotatably fitted in the through hole, and a part of the housing projecting from the through hole of the housing and forming an extension section, the housing being rotatable relative to the housing about a first direction, at least one of the first shell and the second shell being movable relative to the housing in the first direction to switch the housing between the first configuration and the second configuration; the mechanical arm is arranged on the extension section and has an operation shape and a contraction shape, the mechanical arm is suitable for being stretched to execute operation in the operation shape, and the mechanical arm is contracted in the contraction shape and is symmetrically arranged along the width direction of the rack.

The robot with the function of operating the outside has the advantage of being capable of operating the outside while moving.

In some embodiments, the rack comprises a main frame, a screw assembly, a telescopic motor, a first pushing frame and a second pushing frame, the main frame extends along the length direction of the rack, the first pushing frame is connected with the first driving motor and is assembled on the main frame along the length direction of the rack in a guiding manner, the second pushing frame is connected with the second driving motor and is assembled on the main frame along the length direction of the rack in a guiding manner, the telescopic motor is connected with the screw assembly to drive the screw assembly to rotate, and the screw assembly extends along the length direction of the rack and is connected with the first pushing frame and the second pushing frame to drive the first pushing frame and the second pushing frame to move relative to the main frame.

In some embodiments, there are two of the robot arms, and the two robot arms are a first robot arm and a second robot arm, respectively, and the first robot arm and the second robot arm are symmetrically arranged in the left-right direction.

In some embodiments, the mechanical arm includes a first arm and a second arm, one end of the first arm is rotatably connected to the extension section with a first set interval therebetween, the other end of the first arm is rotatably connected to one end of the second arm, in the contracted configuration, at least a portion of the second arm is received in the first set interval, and the second arm extends along the length direction of the first arm to reduce the profile size of the spherical robot with the external operation function.

In some embodiments, the robot arm includes a first joint drive, a second joint drive, a third joint drive, and a turret, the first joint drive is connected between the turret and the extension section to drive the turret to rotate, the second joint drive is connected between the turret and the first arm to drive the first arm to rotate, and the third joint drive is disposed between the first arm and the second arm to drive the second arm to rotate.

In some embodiments, the first joint driven shaft extends along a length of the frame, the second joint driven shaft extends in a radial direction of the first joint drive, and the third joint driven shaft extends in a radial direction of the second joint drive.

In some embodiments, the second arms are symmetrically arranged along a radial direction of the third joint drive, and in the retracted configuration, the second arms are arranged perpendicular to the gantry axis;

the first arms are symmetrically arranged along the radial direction of the second joint drive, and the length of the first arms is adjustable to adjust the distance between the second joint drive and the third joint drive.

In some embodiments, the robot with the external operation function comprises a pendulum assembly, the pendulum assembly is arranged on the rack, and the pendulum assembly can translate relative to the rack along the vertical direction so as to be suitable for adjusting the gravity center of the robot.

In some embodiments, the pendulum assembly includes an adjustment assembly and a counterweight, one end of the adjustment assembly is connected to the frame, the counterweight is disposed at the other end of the adjustment assembly, and the adjustment assembly is adapted to drive the counterweight to translate to adjust a distance between the counterweight and the frame.

In some embodiments, the robot with the external operation function comprises a driving motor, the driving motor comprises a first driving motor and a second driving motor, the first driving motor is connected between the first shell and the rack, the first driving motor is suitable for driving the first shell to rotate around the rack, the second driving motor is connected between the second shell and the rack, and the second driving motor is suitable for driving the second shell to rotate around the rack.

Drawings

Fig. 1 is a schematic structural diagram of a robot having an external operation function according to an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of a robot having a function of external operation according to an embodiment of the present invention.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a schematic view of a robot arm of a robot having a function of operating outside in a contracted state according to an embodiment of the present invention.

Fig. 5 is a schematic view of a robot arm having a function of external manipulation according to an embodiment of the present invention in a deployed state.

Fig. 6 is a schematic view of a frame of a robot with a foreign operation function according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a pendulum assembly of a robot having a function of external operation according to an embodiment of the present invention.

Fig. 8 is a schematic cross-sectional view of a pendulum assembly of a robot having a function of external operation according to an embodiment of the present invention.

Reference numerals:

a housing 1; afirst shell 11; asecond shell 12;

aframe 2; alead screw assembly 21; abidirectional screw 211; afirst nut portion 212; asecond nut portion 213; atelescopic motor 22; afirst push frame 23; afirst push rod 231; asecond push rod 232; afirst push plate 233; asecond push frame 24; athird push rod 241; afourth push rod 242; thesecond push plate 243; amain frame 25; a connectingshaft 26;

a mechanical arm 3; afirst robot arm 301; a secondmechanical arm 302; a firstjoint drive 31; arotating frame 32; a secondjoint drive 33; afirst arm 34; afixed section 341; afree section 342; aslide bar 343; afirst slide bar 3431; asecond slide bar 3432; acarriage 344; afirst carriage 3441; asecond carriage 3442; a thirdjoint drive 35; asecond arm 36; afirst plate 361; asecond plate 362; theclamping jaws 37;

a pendulum assembly 4; anadjustment assembly 41; an adjustment motor 411; anadjustment screw 412; afirst guide rod 413; asecond guide rod 414; acounterweight 42; anavoidance slot 421; anend plate 43;

adrive motor 5; afirst drive motor 501; asecond drive motor 502.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A robot having a function of external operation according to an embodiment of the present invention is described below with reference to fig. 1 to 8.

The robot with the external operation function comprises a shell 1, arack 2 and a mechanical arm 3.

The housing 1 comprises afirst shell 11 and asecond shell 12, the housing 1 having a first configuration in which thefirst shell 11 and thesecond shell 12 are separated for two-wheel travel of the robot and a second configuration in which thefirst shell 11 and thesecond shell 12 are closed for rolling travel of the robot.

Specifically, casing 1 has the inner chamber therein, andframe 2 is located the inner chamber, andfirst shell 11 andsecond shell 12 are the hemisphere type, andfirst shell 11 andsecond shell 12 are along left right direction symmetrical arrangement, thereby the left end offirst shell 11 and the right-hand member ofsecond shell 12 can the amalgamation makefirst shell 11 andsecond shell 12 amalgamation be casing 1.

In the second state, thefirst shell 11 and thesecond shell 12 are combined to form the housing 1, so that the robot with the external operation function of the embodiment of the present invention can roll on the ground, and in the first state, thefirst shell 11 and thesecond shell 12 are separated to communicate the inner cavity of the housing 1 with the outside, so that thefirst shell 11 and thesecond shell 12 are respectively in contact with the ground, and the distance between the contact points of the robot with the external operation function of the embodiment of the present invention and the ground is increased, thereby improving the rolling stability of the spherical robot.

The housing 1 is provided with a through hole, theframe 2 is rotatably fitted in the through hole, and a part of theframe 2 protrudes from the through hole of the housing 1 and forms an extension section, the housing 1 is rotatable relative to theframe 2 about a first direction, and at least one of thefirst shell 11 and thesecond shell 12 is movable relative to theframe 2 along the first direction to switch the housing 1 between the first configuration and the second configuration.

Specifically, the through hole extends in the left-right direction and penetrates through the housing 1, the housing 1 can rotate along the geometric central axis of the through hole so as to roll and move in the front-back direction, therack 2 extends in the left-right direction, a part of the extending section is fitted in the through hole, at least a part of the extending section is located on one side of the through hole, which is far away from the inner cavity of the housing 1, and the housing 1 can rotate relative to the extending section so as to enable the robot with the external operation function to roll and move.

The robot arm 3 is provided in the extension section, and the robot arm 3 has an operation form in which the robot arm 3 is extended to be suitable for performing work and a retracted form in which the robot arm 3 is retracted and the robot arm 3 is symmetrically arranged with respect to the width direction of therack 2.

Specifically, one end of the robot arm 3 is connected to the extension section, the other end of the robot arm 3 is swingable relative to the extension section, in the operating configuration, the robot arm 3 has a large profile size, the other end of the robot arm 3 is swingable relative to the extension section, and is moved to the outside of the housing 1 to perform an external operation, and in the retracted configuration, the robot arm 3 has a minimum profile size, and the robot arms 3 are symmetrically arranged in the front-rear direction

The mechanical arm 3 of the robot with the external operation function is directly connected with therack 2, the shell 1 is rotatably connected with therack 2, and therefore when the shell 1 rotates to drive therack 2 to rotate, the mechanical arm 3 does not rotate along with the rotation of the shell 1, and when the robot with the external operation function moves, only the shell 1 rolls, the mass distribution of the rotating part of the spherical robot with the external operation function is uniform, the dynamic balance effect is good, and the stability of the robot with the external operation function in the embodiment of the invention in moving is improved.

When the robot with the external operation function of the embodiment of the invention advances, the mechanical arm 3 is in a contracted state, and the mechanical arm 3 is symmetrically arranged along the front-back direction, so that the mass of the robot with the external operation function of the embodiment of the invention is uniformly distributed along the front-back direction, and the postures of therack 2 and the mechanical arm 3 are kept stable when the shell 1 rolls, so that the robot with the external operation function of the embodiment of the invention has the advantages of good motion adaptability and high motion stability of the mechanical arm 3.

In some embodiments, therack 2 includes amain frame 25, alead screw assembly 21, atelescopic motor 22, afirst push frame 23 and asecond push frame 24, themain frame 25 extends along a length direction of therack 2, thefirst push frame 23 is connected with the first driving motor 201 and is assembled to themain frame 25 along the length direction of therack 2 in a guiding manner, thesecond push frame 24 is connected with thesecond driving motor 502 and is assembled to themain frame 25 along the length direction of therack 2 in a guiding manner, thetelescopic motor 22 is connected with thelead screw assembly 21 to drive thelead screw assembly 21 to rotate, and thelead screw assembly 21 extends along the length direction of therack 2 and is connected with thefirst push frame 23 and thesecond push frame 24 to drive thefirst push frame 23 and thesecond push frame 24 to move relative to themain frame 25.

Specifically, as shown in fig. 6, an outer circumferential side of thetelescopic motor 22 is fixedly connected to theframe 2, a rotating portion of thetelescopic motor 22 is connected to thelead screw assembly 21 to drive the first andsecond push brackets 23 and 24 to move toward or away from each other in the left-right direction, and the first andsecond cases 11 and 12 are made symmetrical in the left-right direction while changing the interval between the first andsecond driving motors 201 and 502, thereby adjusting the interval between the first andsecond cases 11 and 12.

Thelead screw assembly 21 comprises abidirectional lead screw 211, afirst nut part 212 and asecond nut part 213, thefirst nut part 212 and thesecond nut part 213 are in threaded assembly with thebidirectional lead screw 211, the rotating direction of the matching part of thebidirectional lead screw 211 and thefirst nut part 212 is opposite to that of the matching part of thebidirectional lead screw 211 and thesecond nut part 213, thefirst nut part 212 is connected with thefirst push frame 23 to drive thefirst push frame 23, and thesecond nut part 213 is connected with thesecond push frame 24 to drive thesecond push frame 24.

Therefore, when thetelescopic motor 22 drives thebidirectional screw 211 to rotate, thefirst nut portion 212 and thesecond nut portion 213 move along the axial direction of thebidirectional screw 211 to drive the first pushingframe 23 and the second pushingframe 24 to move in the left-right direction, so as to drive the first driving motor 201 and thesecond driving motor 502 to move left and right relative to theframe 2, and to cause thefirst shell 11 and thesecond shell 12 to move left and right relative to theframe 2 to open and close the housing 1.

The first pushingframe 23 includes afirst pushing rod 231, asecond pushing rod 232 and afirst pushing plate 233, thefirst pushing plate 233 is connected to thefirst nut portion 212, thefirst pushing rod 231 and thesecond pushing rod 232 are arranged in parallel and spaced apart, the first pushingrod 231 and the second pushingrod 232 extend along the length direction of therack 2 and are assembled with therack 2 in a guiding manner, one ends of thefirst pushing rod 231 and thesecond pushing rod 232 extending out of therack 2 are connected to the first driving motor 201, and one ends of thefirst pushing rod 231 and thesecond pushing rod 232 extending into therack 2 are connected to thefirst pushing plate 233.

The second pushingframe 24 includes athird pushing rod 241, afourth pushing rod 242 and asecond pushing plate 243, thesecond pushing plate 243 is connected to thesecond nut portion 213, thethird pushing rod 241 and thefourth pushing rod 242 are arranged in parallel and at a distance, thethird pushing rod 241 and thefourth pushing rod 242 extend along the length direction of theframe 2 and are assembled with theframe 2 in a guiding manner, one end of thethird pushing rod 241 and thefourth pushing rod 242 extending out of theframe 2 is connected to thesecond driving motor 502, and one end of thethird pushing rod 241 and thefourth pushing rod 242 extending into theframe 2 is connected to thesecond pushing plate 243.

Therefore, when the two-way screw 211 is driven to rotate by thetelescopic motor 22, thefirst nut portion 212 and thesecond nut portion 213 move along the axial direction of the two-way screw 211 to drive thefirst push plate 233 and thesecond push plate 243 to move in the left-right direction, thefirst push rod 231 and thesecond push rod 232 are connected between thefirst push plate 233 and the first driving motor 201, thethird push rod 241 and thefourth push rod 242 are connected between thesecond push plate 243 and thesecond driving motor 502, so that the first driving motor 201 and thesecond driving motor 502 are driven to move left and right relative to therack 2, and thefirst shell 11 and thesecond shell 12 move left and right relative to therack 2 to open and close the shell 1.

In some embodiments, there are two robot arms 3, and the two robot arms 3 are afirst robot arm 301 and asecond robot arm 302, and thefirst robot arm 301 and thesecond robot arm 302 are symmetrically arranged in the left-right direction.

Specifically, thefirst robot arm 301 is located on the right side of the housing 1, and thefirst robot arm 301 is connected to the right end of therack 2, and thesecond robot arm 302 is located on the left side of the housing 1, and thesecond robot arm 302 is connected to the left end of therack 2.

Therefore, on one hand, the two-hand clamping operation can be realized through the firstmechanical arm 301 and the secondmechanical arm 302, and on the other hand, the firstmechanical arm 301 and the secondmechanical arm 302 are symmetrically arranged along the left-right direction, so that the mass distribution of the robot with the external operation function in the embodiment of the invention along the left-right direction is uniform, and the stability of the spherical robot with the external operation function in the embodiment of the invention in motion is improved.

In some embodiments, the mechanical arm 3 includes afirst arm 34 and asecond arm 36, one end of thefirst arm 34 is rotatably connected to the extending section with a first set interval therebetween, the other end of thefirst arm 34 is rotatably connected to one end of thesecond arm 36, in the contracted configuration, at least a part of thesecond arm 36 is received in the first set interval, and thesecond arm 36 extends along the length direction of thefirst arm 34 to reduce the overall size of the spherical robot with the external operation function.

Specifically, thefirst arm 34 extends along the radial direction of theframe 2, one end of thefirst arm 34 is rotatably connected to the extending section, thefirst arm 34 rotates around the extending direction of theframe 2, the other end of thefirst arm 34 is rotatably connected to one end of thesecond arm 36, and thesecond arm 36 rotates relative to thefirst arm 34, so that the other end of thesecond arm 36 can rotate relative to thefirst arm 34, and the free end of the robot arm 3 can extend to a set position.

In the contracted configuration, thefirst arm 34 extends in the vertical up-down direction, thesecond arm 36 extends in the vertical up-down direction, one end of thefirst arm 34 is connected to the extension section, the other end of thefirst arm 34 extends in the vertical down direction, thesecond arm 36 is located between thefirst arm 34 and the extension section, and the projection of thesecond arm 36 in the left-right direction coincides with the projection of thefirst arm 34 in the left-right direction.

Therefore, in the contracted state, on one hand, thesecond arm 36 is accommodated in the first set interval between thefirst arm 34 and the extension section, so that the outline dimension of the mechanical arm 3 in the left-right direction in the contracted state is reduced, on the other hand, the projections of thefirst arm 34 and thesecond arm 36 in the left-right direction are approximately overlapped, so that the outline dimension of the mechanical arm 3 in the vertical direction in the contracted state is reduced, the mass distribution of the mechanical arm 3 in the contracted state is more concentrated, and the stability of the spherical robot with the external operation function in the embodiment of the invention in the motion is improved.

In some embodiments, the robotic arm 3 includes a firstjoint drive 31, a secondjoint drive 33, a thirdjoint drive 35, and aturret 32, the firstjoint drive 31 being coupled between theturret 32 and the extension to drive rotation of theturret 32, the secondjoint drive 33 being coupled between theturret 32 and thefirst arm 34 to drive rotation of thefirst arm 34, and the thirdjoint drive 35 being disposed between thefirst arm 34 and thesecond arm 36 to drive rotation of thesecond arm 36.

Specifically, the robot arm 3 includes a firstjoint driver 31, a rotatingframe 32, a secondjoint driver 33, afirst arm 34, a thirdjoint driver 35 and asecond arm 36, which are connected in sequence, one end of the firstjoint driver 31 is connected to the connectingshaft 26, a rotating shaft of the firstjoint driver 31 extends along a length direction of the telescopic mechanism, the other end of the firstjoint driver 31 is connected to therotating frame 32 to drive the rotatingframe 32 to rotate, the secondjoint driver 33 is connected between therotating frame 32 and thefirst arm 34 and is adapted to drive thefirst arm 34 to swing, the thirdjoint driver 35 is connected between thefirst arm 34 and thesecond arm 36 and is adapted to drive thesecond arm 36 to swing, a length of thefirst arm 34 is adjustable to adjust a distance between the secondjoint driver 33 and the thirdjoint driver 35, and the robot arm is disposed at a free end of thesecond arm 36.

The stator of the firstjoint driver 31 is connected with the extension section through a fastener, the rotor of the firstjoint driver 31 is connected with therotating frame 32, the stator of the firstjoint driver 31 is in rotating fit with the rotor of the firstjoint driver 31 and rotates relative to the rotating shaft of the firstjoint driver 31, so that therotating frame 32 is driven to rotate around the rotating shaft of the firstjoint driver 31, and the rotating shaft of the firstjoint driver 31 extends along the length direction of therack 2.

Therefore, the rotating shaft of the thirdjoint drive 35 extends along the radial direction of the secondjoint drive 33, when the secondjoint drive 33 rotates, the rotating shaft of the thirdjoint drive 35 is adjusted accordingly, so that the direction of the swing of thesecond arm 36 is adjusted, and one end of thesecond arm 36 is connected with the thirdjoint drive 35. Thereby, the degree of freedom of the free end of thesecond arm 36 is improved, and the free end of thesecond arm 36 is convenient to operate to the outside.

In some embodiments, the shaft of the firstjoint drive 31 extends along the length of thehousing 2, the shaft of the secondjoint drive 33 extends in a radial direction of the firstjoint drive 31, and the shaft of the thirdjoint drive 35 extends in a radial direction of the secondjoint drive 33.

Specifically, the rotating shaft of the firstjoint drive 31 extends in the left-right direction, the stator portion of the secondjoint drive 33 is connected to the rotor portion of the firstjoint drive 31, the rotating shaft of the stator portion of the secondjoint drive 33, which rotates relative to the rotor portion of the secondjoint drive 33, extends in the radial direction of the firstjoint drive 31, and thefirst arm 34 is connected to the rotor portion of the secondjoint drive 33, so that thefirst arm 34 is driven to rotate on the axis of the secondjoint drive 33 while rotating circumferentially in the circumferential direction of the firstjoint drive 31.

The axis of the thirdjoint drive 35 extends in the radial direction of thefirst arm 34, that is, the stator part of the thirdjoint drive 35 is connected to thefirst arm 34, the rotor part of the thirdjoint drive 35 is connected to thesecond arm 36, and the rotating shaft of the rotor part of the thirdjoint drive 35 relative to the stator part of the thirdjoint drive 35 extends in the radial direction of thefirst arm 34, so that the thirdjoint drive 35 drives thesecond arm 36 to rotate relative to the free end of thefirst arm 34, thereby increasing the swing range of the free end of the mechanical arm 3, that is, increasing the working range of the mechanical arm 3.

In some embodiments, the robot arm 3 includes a clampingjaw 37, the clampingjaw 37 is rotatably connected to the other end of thesecond arm 36, and a rotation shaft of the clampingjaw 37 relative to the rotation of thesecond arm 36 extends in the axial direction of the thirdjoint drive 35.

Specifically, thejaw 37 is provided at the free end of thesecond arm 36, thejaw 37 rotates relative to the free end of thesecond arm 36, and the extending direction of the rotating shaft of thejaw 37 rotating relative to thesecond arm 36 is the same as the extending direction of the rotating shaft of the thirdjoint drive 35.

Thereby, thejaw 37 is rotatable relative to thesecond arm 36, and thejaw 37 can perform an outward operation work, so that when the free end of thesecond arm 36 swings relative to theframe 2, thejaw 37 extends to a set position to perform the outward operation with the swing of thesecond arm 36.

In some embodiments, thesecond arms 36 are arranged symmetrically along the radial direction of thethird articulation 35, in the contracted configuration, thesecond arms 36 are arranged perpendicular to the axis of thegantry 2;

specifically, thesecond arm 36 includes afirst plate 361 and asecond plate 362, thefirst plate 361 is coupled to thethird articulation drive 35, thesecond plate 362 is positioned on a side of thefirst plate 361 adjacent thefirst arm 34, and thesecond plate 362 is spaced from thefirst plate 361 by a second set distance, and in the retracted configuration, thejaw 37 is positioned within the second set distance to clear thefirst articulation drive 31.

Thefirst plate 361 and thesecond plate 362 are arranged at a distance, and thesecond plate 362 is located on the side of thefirst plate 361 close to thefirst arm 34, so that the thickness dimension of thesecond arm 36 is coincident with the axial dimension of the thirdjoint drive 35, thereby, part of thesecond arm 36 is located on the outer periphery side of the thirdjoint drive 35, thereby reducing the thickness of the combination of the thirdjoint drive 35 and thesecond arm 36, and facilitating thesecond arm 36 to be accommodated in the first set distance.

Thesecond plate 362 is located on a side of thefirst plate 361 facing the thirdjoint drive 35, thesecond plate 362 and thefirst plate 361 are arranged in parallel and spaced apart along an axial direction of the thirdjoint drive 35, a second set interval is provided between thesecond plate 362 and thefirst plate 361, when the robot arm 3 is switched from the operating configuration to the contracted configuration, thejaw 37 rotates relative to thesecond arm 36 into the second set interval, so that thejaw 37 is accommodated between thefirst plate 361 and thesecond plate 362, and in the contracted configuration, thejaw 37 is arranged symmetrically in the front-rear direction.

Therefore, in the contracted state, the clampingjaw 37 is accommodated in the second set interval, so that the length of the combined body of thesecond arm 36 and the clampingjaw 37 is reduced, the combined body of thesecond arm 36 and the clampingjaw 37 is conveniently accommodated in the first set interval, and the mass distribution of the clampingjaw 37 and thesecond arm 36 is more concentrated, thereby improving the stability of the spherical robot with the external operation function in motion.

Thefirst arms 34 are symmetrically arranged in the radial direction of thesecond articulation 33 and the length of thefirst arms 34 is adjustable to adjust the spacing of thesecond articulation 33 and thethird articulation 35.

Specifically, the rotatingframe 32 is connected to the secondjoint drive 33, the rotating shaft of the secondjoint drive 33 extends in the radial direction of the firstjoint drive 31, so as to drive thefirst arm 34 to rotate around the rotating shaft of the secondjoint drive 33, thefirst arm 34 includes a fixedsection 341 and a free section, the free section of thefirst arm 34 is connected with the fixedsection 341 of thefirst arm 34 in a sliding fit manner, one end of the fixedsection 341 of thefirst arm 34 is connected to the secondjoint drive 33, the other end of the fixedsection 341 of thefirst arm 34 is connected to one end of the free section of thefirst arm 34 in a sliding fit manner, the other end of the free section of thefirst arm 34 is connected to the thirdjoint drive 35, the positions of the fixedsection 341 of thefirst arm 34 and the free section of thefirst arm 34 are adjustable, so that the length of thefirst arm 34 is adjustable, and the distance between the secondjoint drive 33 and the thirdjoint drive 35 is changed along with the change of the length of thefirst arm 34, so as to adjust the length of the mechanical arm 3.

Therefore, the length of thefirst arm 34 is adjustable, and the maximum distance between the free end of thesecond arm 36 and the extension section can be adjusted by adjusting the length of thefirst arm 34 in the operation state, so that the robot with the external operation function has a larger external operation working range.

In some embodiments, thefirst arm 34 includes a fixedsection 341, afree section 342, aslide bar 343, and acarriage 344, thefree section 342 being guided in engagement with the fixedsection 341, thecarriage 344 being connected to thefree section 342, theslide bar 343 being connected to the fixedsection 341, and theslide bar 343 being guided in engagement with thecarriage 344.

Specifically, theslide bar 343 includes afirst slide bar 3431 and asecond slide bar 3432, thefirst carriage 3441 includes afirst carriage 3441 and asecond carriage 3442, one end of the fixedsection 341 is connected to a rotor portion of the secondjoint drive 33, one end of thefree section 342 is connected to a stator portion of the thirdjoint drive 35, the other end of thefree section 342 is guide-fitted to the other end of the fixedsection 341, thefirst slide bar 3431 and thesecond slide bar 3432 are connected to a rotor portion of the secondjoint drive 33, thefirst carriage 3441 and thesecond carriage 3442 are connected to a stator portion of the thirdjoint drive 35, thefirst slide bar 3431 is guide-fitted to thefirst carriage 3441, thesecond slide bar 3432 is guide-fitted to thesecond carriage 3442, thefirst slide bar 3431 and thesecond slide bar 3432 are symmetrically arranged in a width direction of thefirst arm 34, and thefirst carriage 3441 and thesecond carriage 3442 are symmetrically arranged in a width direction of thefirst arm 34.

Thereby, on the one hand, the guide portion is in guiding engagement with the fixedsection 341 and the guide portion is slidable relative to the fixedsection 341 along the length direction of thefirst arm 34, so as to adjust the length dimension of thefirst arm 34, increasing the swing range of the robot arm 3, and on the other hand, theslide bar 343 and thecarriage 344 are engaged to improve the radial bearing capacity of thefirst arm 34 while improving the guidance of thefree section 342 sliding relative to the fixedsection 341. In addition, the first andsecond slides 3431 and 3432 are symmetrically arranged in the width direction of thefirst arm 34, and the first andsecond carriages 3441 and 3442 are symmetrically arranged in the width direction of thefirst arm 34 so that the mass of thefirst arm 34 is symmetrically arranged in the width direction of thefirst arm 34.

In some embodiments, the robot with the external-operation function comprises a pendulum assembly 4, the pendulum assembly 4 is arranged on themachine frame 2, and the pendulum assembly 4 can translate relative to themachine frame 2 along the vertical direction to be suitable for adjusting the gravity center of the robot.

As shown in fig. 1, when the robot with the operation-outside function according to the embodiment of the present invention rolls in the second state, the pendulum assembly 4 can keep the center of gravity of the robot with the operation-outside function according to the embodiment of the present invention at the lower side of therack 2, so that the posture of therack 2 is kept stable during the rolling travel of the robot with the operation-outside function according to the embodiment of the present invention.

In some embodiments, the pendulum assembly 4 includes anadjustment assembly 41 and acounterweight 42, one end of theadjustment assembly 41 is connected to theframe 2, thecounterweight 42 is disposed at the other end of theadjustment assembly 41, and theadjustment assembly 41 is adapted to drive thecounterweight 42 to translate to adjust the distance between thecounterweight 42 and theframe 2.

Specifically, the adjustingassembly 41 is arranged along a vertical direction, the upper end of the adjustingassembly 41 is connected to theframe 2, thecounterweight 42 is located at the lower end of the adjustingassembly 41, and the adjustingassembly 41 drives thecounterweight 42 to move along the extending direction of the adjustingassembly 41 so as to adjust the distance between thecounterweight 42 and theframe 2, thereby adjusting the position of the center of gravity of the robot with the external operation function according to the embodiment of the present invention.

Therefore, when the robot with the external operation function according to the embodiment of the present invention travels in a spherical rolling manner, the adjustingunit 41 adjusts the position of thecounterweight 42 in the vertical direction, so as to adjust the swing amplitude of the center of gravity of the robot, and thereby adjust the sensitivity of the pendulum unit 4 in controlling the robot to roll.

In some embodiments, the adjustingassembly 41 includes an adjusting motor 411, an adjustingscrew 412, afirst guide rod 413 and asecond guide rod 414, the adjusting motor 411 is fixedly connected to theframe 2, the adjusting motor 411 is connected to the adjustingscrew 412 to drive the adjustingscrew 412 to rotate, thefirst guide rod 413 and thesecond guide rod 414 are arranged in parallel and spaced with the adjustingscrew 412, the adjustingscrew 412 is located between thefirst guide rod 413 and thesecond guide rod 414, thecounterweight 42 is in sliding fit with thefirst guide rod 413 and thesecond guide rod 414, and the adjustingscrew 412 is in threaded fit with thecounterweight 42 to drive thecounterweight 42 to move along thebidirectional screw 211.

Specifically, as shown in fig. 7 and 8, the adjustment motor 411 is connected to theframe 2, theadjustment screw 412 extends in a vertical direction, thefirst guide rod 413 and thesecond guide rod 414 are arranged in parallel to theadjustment screw 412 at an interval, and the adjustment motor 411 is connected to theadjustment screw 412 to drive theadjustment screw 412 to rotate in a circumferential direction of theadjustment screw 412.

When the adjustingscrew 412 rotates, thecounterweight 42 moves along the axial direction of the adjustingscrew 412 to adjust the distance between thecounterweight 42 and therack 2, so that the mass distribution of the robot with the external operation function in the embodiment of the present invention is closer to therack 2, and when thecounterweight 42 is adjusted by the balance weight assembly 4 in the left-right direction, the torsional moment applied by thecounterweight 42 to the robot is smaller, thereby improving the stability of the robot with the external operation function in the embodiment of the present invention.

In some embodiments, the adjustment motor 411 includes a rotor portion and a stator portion, the stator portion of the adjustment motor 411 is connected to theframe 2, the rotor portion of the adjustment motor 411 is sleeved on the outer periphery of the lead screw and connected to the lead screw, the rotor portion of the adjustment motor 411 is rotationally coupled to the stator portion of the adjustment motor 411 to drive the lead screw to rotate, and the lead screw is connected to thecounterweight 42 in a threaded manner to drive thecounterweight 42 to move along thebidirectional lead screw 211.

Specifically, the rotating shaft of the adjustment motor 411 extends in the up-down direction, the upper end of the stator portion of the adjustment motor 411 is connected with the lower end of theframe 2, the rotor portion of the adjustment motor 411 is rotatably assembled in the stator portion of the adjustment motor 411, and the lead screw is assembled in the rotor portion of the adjustment motor 411 and connected with the rotor portion of the adjustment motor 411.

Thecounter weight 42 is provided with a threaded hole and two guide holes, the threaded hole extends along the vertical direction and penetrates through thecounter weight 42, the extending direction of the guide holes is the same as the extending direction of the threaded hole and penetrates through thecounter weight 42, and the screw rod is assembled in the threaded hole in a threaded mode.

Thus, when the rotor portion of the adjustment motor 411 rotates relative to the stator portion of the adjustment motor 411, the lead screw is driven to rotate in the circumferential direction of the adjustment motor 411, and thecounterweight 42 is translated in the axial direction of the lead screw to change the distance between thecounterweight 42 and the swing frame.

The upper end of the screw rod extends out of the rotor part of the adjustment motor 411 and forms an extension, which is rotatably mounted to theframe 2 via a bearing. Thus, when the lead screw is subjected to a torsional moment rotating relative to theframe 2, the bearing between the extension and the connection part is subjected to a radial moment of the lead screw, thereby reducing the radial moment to which the adjustment motor 411 is subjected.

In some embodiments, the pendulum device comprises anend plate 43, one end of a lead screw is rotationally coupled to the connection portion, the other end of the lead screw is rotationally coupled to theend plate 43, and afirst guide rod 413 and asecond guide rod 414 are connected between theend plate 43 and the connection portion.

Thus, theend plate 43 connects the lower ends of thefirst guide rod 413 and thesecond guide rod 414 to the lower end of the screw, which improves the structural strength of the combination of thefirst guide rod 413, thesecond guide rod 414, the screw and thecounterweight 42, and improves the guiding accuracy of thecounterweight 42 by thefirst guide rod 413 and thesecond guide rod 414 when thecounterweight 42 is translated in the axial direction of thefirst guide rod 413 and thesecond guide rod 414.

In some embodiments, thecounterweight 42 is provided with an avoidinggroove 421, the avoidinggroove 421 extends along the length direction of the screw rod, and the avoidinggroove 421 is suitable for avoiding theend plate 43.

Specifically, the avoidinggroove 421 is located on the lower side of thecounterweight 42 and extends in the left-right direction, the width of the avoidinggroove 421 is larger than that of theend plate 43, the lower end of the threaded hole of thecounterweight 42 is communicated with the avoidinggroove 421, and the lower end of the guide hole of thecounterweight 42 is communicated with the avoidinggroove 421.

Thus, at least part of the lead screw and at least part of the first andsecond guide rods 413 and 414 are located in theescape groove 421, and when thecounterweight 42 is translated downward, theend plate 43 can move into theescape groove 421, thereby increasing the stroke of thecounterweight 42 in the axial direction of the lead screw.

In some embodiments, theweight 42 has an interior cavity adapted to receive theweight 42. Specifically, theweight 42 is a hollow structure. Therefore, components with a large density, such as batteries, of the robot with the external-operation function in the embodiment of the invention can be arranged in thecounterweight 42, on one hand, thecounterweight 42 has a large mass, so that the gravity center position of the robot with the external-operation function in the embodiment of the invention can be adjusted, and on the other hand, the components, such as the batteries, are arranged in the inner cavity, so that the volume of the robot with the external-operation function in the embodiment of the invention can be reduced.

In some embodiments, the robot having the function of operating outside includes a drivingmotor 5, the drivingmotor 5 includes a first driving motor 201 and asecond driving motor 502, the first driving motor 201 is connected between thefirst shell 11 and therack 2, the first driving motor 201 is adapted to drive thefirst shell 11 to rotate around therack 2, thesecond driving motor 502 is connected between thesecond shell 12 and therack 2, and thesecond driving motor 502 is adapted to drive thesecond shell 12 to rotate around therack 2.

Specifically, the rotating shafts of the first driving motor 201 and thesecond driving motor 502 extend in the left-right direction, one end of the first driving motor 201 is connected to thefirst housing 11, the other end of the first driving motor 201 is connected to theframe 2, one end of thesecond driving motor 502 is connected to thesecond housing 12, and the other end of thesecond driving motor 502 is connected to theframe 2.

Thereby, the first driving motor 201 can drive thefirst housing 11 to rotate relative to theframe 2, and thesecond driving motor 502 can drive thesecond housing 12 to rotate relative to theframe 2, so that in the second configuration, thefirst housing 11 and thesecond housing 12 rotate relative to theframe 2 to drive the robot rolling motion with the external operation function according to the embodiment of the present invention.

In some embodiments, the drivingmotor 5 includes a rotor portion and a stator portion, the rotor portion of the drivingmotor 5 is rotatably coupled to the stator portion of the drivingmotor 5, the stator portion of the drivingmotor 5 is connected to theframe 2, the rotor portion of the drivingmotor 5 is connected to the housing 1, the rotor portion of the drivingmotor 5 is rotatable relative to the stator portion of the drivingmotor 5 to drive the housing 1 to rotate relative to theframe 2, theframe 2 includes acoupling shaft 26, the rotor portion is rotatably mounted on an outer circumferential side of thecoupling shaft 26, and one end of thecoupling shaft 26 extends to an outside of thefirst housing 11 and is connected to the robot arm 3.

Specifically, as shown in fig. 3, one end of the stator portion of the drivingmotor 5 is connected to theframe 2, the right half portion of the rotor portion of the drivingmotor 5 is rotatably fitted into the stator portion of the drivingmotor 5, the rotating shaft of the rotor portion of the drivingmotor 5 extends in the left-right direction, and the right end of the rotor portion of the drivingmotor 5 is provided with a bearing seat connected to the left end of thefirst housing 11.

The rotor part is provided with a through hole, the connectingshaft 26 is matched in the through hole, one end of the connectingshaft 26 is connected with the left end of theframe 2, the right end of the connectingshaft 26 extends to the left end face of the bearing seat, and a bearing is arranged between the connectingshaft 26 and the bearing seat to support the bearing seat.

Therefore, when the drivingmotor 5 drives the shell 1 to rotate, the connectingshaft 26 and the mechanical arm 3 do not rotate along with the shell 1, so that when the robot with the external operation function moves, the work of the mechanical arm 3 is not influenced, the mechanical arm 3 is connected with therack 2 through the connectingshaft 26, and the radial bearing capacity of the joint of therack 2 and the mechanical arm 3 is improved.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the above embodiments have been shown and described, it should be understood that they are exemplary and not intended to limit the invention, and that various changes, modifications, substitutions and alterations can be made herein by those skilled in the art without departing from the scope of the invention.

Claims (10)

1. A robot having a function of operating outside, comprising:

a housing including a first shell and a second shell, the housing having a first configuration in which the first shell and the second shell are separated for robot two-wheel travel and a second configuration in which the first shell and the second shell are closed for robot rolling travel;

a housing having a through hole, the housing being rotatably fitted in the through hole and a portion of the housing extending from the through hole of the housing and forming an extension, the housing being rotatable relative to the housing about a first direction, at least one of the first and second shells being movable relative to the housing in the first direction to switch the housing between the first and second configurations;

the mechanical arm is arranged on the extension section and has an operation shape and a contraction shape, the mechanical arm is suitable for executing operation when being extended, and the mechanical arm is contracted and symmetrically arranged along the width direction of the rack when being contracted.

2. The robot with the external operation function according to claim 1, wherein the frame includes a main frame, a screw assembly, a telescopic motor, a first pushing frame and a second pushing frame, the main frame extends along a length direction of the frame, the first pushing frame is connected to the first driving motor and is assembled to the main frame along the length direction of the frame in a guiding manner, the second pushing frame is connected to the second driving motor and is assembled to the main frame along the length direction of the frame in a guiding manner, the telescopic motor is connected to the screw assembly to drive the screw assembly to rotate, the screw assembly extends along the length direction of the frame and is connected to the first pushing frame and the second pushing frame to drive the first pushing frame and the second pushing frame to move relative to the main frame.

3. The robot with the external operation function according to claim 1, wherein the number of the robot arms is two, the two robot arms are a first robot arm and a second robot arm, and the first robot arm and the second robot arm are symmetrically arranged in a left-right direction.

4. The robot with the external operation function according to claim 3, wherein the robot arm includes a first arm and a second arm, one end of the first arm is rotatably connected to the extension section with a first set interval therebetween, the other end of the first arm is rotatably connected to one end of the second arm, in the contracted configuration, at least a part of the second arm is received in the first set interval, and the second arm extends along a length direction of the first arm to reduce a profile size of the spherical robot with the external operation function.

5. The robot with the external operation function according to claim 4, wherein the mechanical arm comprises a first joint drive, a second joint drive, a third joint drive and a rotating frame, the first joint drive is connected between the rotating frame and the extension section to drive the rotating frame to rotate, the second joint drive is connected between the rotating frame and the first arm to drive the first arm to rotate, and the third joint drive is arranged between the first arm and the second arm to drive the second arm to rotate.

6. The robot with the external-operation function according to claim 5, wherein the first joint-driven rotating shaft extends in a longitudinal direction of the frame, the second joint-driven rotating shaft extends in a radial direction of the first joint drive, and the third joint-driven rotating shaft extends in a radial direction of the second joint drive.

7. The robot with the external operation function according to claim 6, wherein the second arms are symmetrically arranged in a radial direction of the third joint drive, and in the contracted configuration, the second arms are arranged perpendicular to the rack axis;

the first arms are symmetrically arranged along the radial direction of the second joint drive, and the length of the first arms is adjustable to adjust the distance between the second joint drive and the third joint drive.

8. A robot with external-working function according to any of claims 1-7, characterized by comprising a pendulum assembly, wherein the pendulum assembly is arranged on the frame, and the pendulum assembly can translate along the vertical direction relative to the frame to adjust the gravity center of the robot.

9. The robot with the external operation function according to claim 8, wherein the pendulum assembly comprises an adjusting assembly and a counterweight, one end of the adjusting assembly is connected to the frame, the counterweight is disposed at the other end of the adjusting assembly, and the adjusting assembly is adapted to drive the counterweight to translate to adjust a distance between the counterweight and the frame.

10. A robot having a function of operating outside according to any one of claims 1 to 9, comprising a driving motor including a first driving motor and a second driving motor, wherein the first driving motor is connected between the first shell and the rack, the first driving motor is adapted to drive the first shell to rotate around the rack, the second driving motor is connected between the second shell and the rack, and the second driving motor is adapted to drive the second shell to rotate around the rack.

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