CN206485468U - Robot - Google Patents

Abstract

The utility model provides a kind of robot, including：Walking structure；Body structure, body structure is arranged on walking structure, and walking structure, which at least has, drives the direction of advance moved in the first direction of body structure and along the direction of retreat moved with first direction departing direction；Anticollision portion, anticollision portion is arranged on walking structure, and anticollision portion protrudes from walking structure setting；And/or anticollision portion is arranged on body structure, anticollision portion protrudes from body structure setting.The utility model solves the problem of being easily damaged after robot of the prior art falls.

Description

Robot

Technical field

The utility model is related to robot field, in particular to a kind of robot.

Background technology

The structure design of robot needs at least to take into account the fastness of its structure and the various functions demand of robot, It is again very various in terms of functional requirements, such as impact resistant intensity, barrier avoiding function, follow function, navigation feature, human-computer interaction function Etc.；Therefore, the structure design of robot is extremely complex work.The utility model is expected to propose that one kind possesses necessarily anti-touch Hit intensity and take into account the body structure of the robot of some specific functions.

Utility model content

Main purpose of the present utility model is to provide a kind of robot, to solve after robot tumble of the prior art The problem of being easily damaged.

To achieve these goals, the utility model provides a kind of robot, including：Walking structure；Body structure, body Body structure setting on walking structure, walking structure at least have drive the direction of advance moved in the first direction of body structure and Along the direction of retreat moved with first direction departing direction；Anticollision portion, anticollision portion is arranged on walking structure, and anticollision portion is protruded from Walking structure is set；And/or anticollision portion is arranged on body structure, anticollision portion protrudes from body structure setting.

Further, anticollision portion is two, and two anti-collision parts are not arranged on the both sides in the width direction of body structure.

Further, robot also includes handle portion, and handle portion is arranged on body structure and protrudes from body structure and sets Put.

Further, anticollision portion includes crash bar and is coated on the soft body structure of crash bar periphery, handle portion and anticollision portion The ground connection that is connected is set.

Further, body structure includes：Body structure；Head construction, head construction is pivotally disposed at body knot On structure, head construction at least has the first position and the second place pivoted in body structure, first position and the second place For diverse location.

Further, body structure includes support beam, body skeleton and the first motor being connected, support beam, body bone Frame and the first motor surround receiving space jointly, wherein, the first motor includes stator casing and rotor, and rotor is rotatably arranged In stator casing, at least a portion of stator casing constitutes the stator of motor, and at least a portion of rotor constitutes motor Rotor.

Further, head construction includes U-shaped frame and the pitching portion being pivotally disposed on U-shaped frame.

Further, robot also includes computation panel and the power supply architecture electrically connected with computation panel, its In, power supply architecture be arranged in receiving space and with the first motor connection, computation panel is arranged in pitching portion.

Further, robot also includes connection component, and head construction and body structure are connected by connection component, connects Component includes：First connector, resilient snubber and the second connector, wherein, the second connector is nested in the first connector, Resilient snubber is folded between the first connector and the second connector, and the first connector, resilient snubber and the second connection Part circumference rotation stop connection, the first connector is connected with U-shaped frame, and the second connector is connected with rotor.

Further, robot also includes：First lock part, the first lock part is arranged on head construction or connection component On；Second lock part, the second lock part is arranged in body structure, and the first lock part and the second lock part have head construction It is limited to locking state during first position, and the first lock part and the second lock part also have makes head construction at first Relative to the pivotable open mode of body structure when putting.

Further, the first lock part be selectively disposed on rotor or the first connector on or the second connector on, Second lock part is pivotally disposed on stator casing.

Further, the fixture block for being provided with and coordinating with neck on neck, the second lock part is provided with the first lock part；Or The neck for being provided with and coordinating with fixture block on fixture block, the second lock part is provided with first lock part.

Further, body skeleton, which coats to be provided with the setting of a part of stator casing, stator casing, protrudes from body The notch of skeleton, the first end of support beam is removably plugged in notch, and body structure also includes support beam branch Seat, the second end of support beam is connected with support beam support.

Further, robot also includes obstacle detection portions, and obstacle detection portions are arranged in body structure to detect Barrier around body structure.

Further, obstacle detection portions are supersonic sounding device and/or detective devices using infrared ray.

Further, robot also includes loudspeaker arrangement, and loudspeaker arrangement is arranged in body structure.

Further, robot also includes motor mounting shell, the second motor and first circuit board, and motor mounting shell is arranged on It is connected in receiving space and with one end of the remote head construction of the first motor, the second motor is arranged in motor mounting shell and driven Dynamic first circuit board is rotated.

Further, robot also includes master control borad, and master control borad is arranged in receiving space and is connected with support beam.

Further, robot also includes main connector structure, and main connector structure is connected with support beam and is located at support The side away from receiving space of beam.

Further, robot also includes lighting device, and lighting device can be rotatably set on body structure.

Further, walking structure includes vehicle frame, wheel and middle deck, and middle deck is arranged on vehicle frame, and wheel is rotatably set Put in the both sides of vehicle frame.

Using the technical solution of the utility model, because robot includes walking structure, body structure and anticollision portion, body Structure setting is on walking structure, and walking structure, which has, drives the body structure direction of advance of upper motion and along the in the first direction One direction deviates from the direction of retreat of forward direction motion, and anticollision portion is arranged on walking structure, and anticollision portion is protruded along direction of advance Set in walking structure；And/or anticollision portion is arranged on body structure, anticollision portion protrudes from body structure along direction of advance and set Put.So, no matter robot be in robot mode work be in driving model work when, anticollision portion can prior to walking knot Structure or body structure collide with people or barrier to be contacted, similarly, after robot falls, and anticollision portion also can be prior to walking Structure or body structure collide with ground to be contacted, anticollision portion serve to collide contact process cushioning effect, from without It can only avoid robot from thrusting into and cause injury to personnel, while the work of the protection to walking structure or body structure can also be played With, it is to avoid walking structure or body structure collide with impaired and influence the normal work of robot.

It should be noted that in order to ensure the integrally-built reasonability of robot, evenly distribute robot overall weight, Anticollision portion can need to be selectively disposed on walking structure or on body structure according to design, also can be on walking structure With anticollision portion is respectively provided with body structure.

Brief description of the drawings

The Figure of description for constituting the part of the application is used for providing further understanding to of the present utility model, this practicality New schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model. In the accompanying drawings：

Fig. 1 shows that structure when being in driving model according to a kind of robot of alternative embodiment of the present utility model is shown It is intended to；

Fig. 2 shows the schematic front view of the robot in Fig. 1；

Fig. 3 shows that the right side of the robot in Fig. 2 regards schematic diagram；

Fig. 4 shows structural representation when robot in Fig. 1 is in robot mode；

Fig. 5 shows the schematic front view of the robot in Fig. 4；

Fig. 6 shows that the right side of the robot in Fig. 5 regards schematic diagram；

Fig. 7 shows the body structure of the robot in Fig. 1 and the structural representation of connection component；

Fig. 8 shows the body structure of the robot in Fig. 7 and the schematic front view of connection component；

Fig. 9 shows the body structure of the robot in Fig. 7 and the main view schematic cross-sectional view of connection component；

Figure 10 shows the body structure of the robot in Fig. 7 and the left view schematic diagram of connection component；

Figure 11 shows the head construction of the robot in Fig. 1 and the structural representation of body part structure；

Figure 12 shows the head construction of the robot in Figure 11 and the schematic front view of body part structure；

Figure 13 shows that state when the first lock part and the second lock part of the robot in Fig. 1 are in locking state is shown It is intended to；

Figure 14 shows that state when the first lock part and the second lock part of the robot in Fig. 1 are in open mode is shown It is intended to；

Figure 15 shows structural representation when the main connector structure of the robot in Fig. 1 is unassembled；

Figure 16 shows the structural representation after the main connector structure assembling in Figure 15；

Figure 17 shows the structural representation of the first assembly parts of the main connector structure in Figure 15；

Figure 18 shows the structural representation of the second assembly parts of the main connector structure in Figure 15.

Wherein, above-mentioned accompanying drawing is marked including the following drawings：

11st, receiving space；The 12nd, gap is installed；100th, walking structure；110th, vehicle frame；120th, wheel；130th, middle deck；200、 Body structure；210th, body structure；211st, support beam；212nd, body skeleton；213rd, the first motor；2131st, stator casing； 2132nd, rotor；2133rd, notch；214th, beam support is supported；220th, head construction；221st, U-shaped frame；222nd, pitching portion；300、 Anticollision portion；400th, handle portion；500th, computation panel；600th, power supply architecture；700th, connection component；710th, the first connector； 720th, resilient snubber；730th, the second connector；800th, the first lock part；900th, the second lock part；1000th, obstacle detection Portion；1001st, supersonic sounding device；1002nd, detective devices using infrared ray；1100th, loudspeaker arrangement；1200th, motor mounting shell； 1300th, master control borad；1400th, main connector structure；10th, the first assembly parts；13rd, the first connector；20th, the second assembly parts；21st, Two connectors；30th, fixed part；31st, boss is connected；32nd, connecting hole；40th, limiting section；41st, snap fit；42nd, stopper slot；43rd, projection； 44th, receiving portion；50th, waterproof construction；60th, installation portion；1500th, lighting device；1600th, first circuit board；1700th, positive stop spring plate； 1800th, magnetic element；1900th, Hall element.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment.The description only actually at least one exemplary embodiment is illustrative below, never as to this practicality New and its application or any limitation used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of the utility model protection.

It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.

Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments Scope of the present utility model is not limited up to formula and numerical value.Simultaneously, it should be appreciated that each shown in accompanying drawing for the ease of description The size of individual part is not to be drawn according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant Art, method and apparatus may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as awarding Weigh a part for specification.In shown here and discussion all examples, any occurrence should be construed as merely example Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar Label and letter similar terms is represented in following accompanying drawing, therefore, once be defined in a certain Xiang Yi accompanying drawing, then with It need not be further discussed in accompanying drawing afterwards.

In description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal, Vertically, vertically, level " and " top, bottom " etc. indicated by orientation or position relationship be normally based on orientation shown in the drawings or position Relation is put, description the utility model is for only for ease of and simplifies description, in the case where not making opposite explanation, these nouns of locality Do not indicate that and imply that the device or element of meaning there must be specific orientation or with specific azimuth configuration and operation, because This is it is not intended that limitation to the utility model protection domain；The noun of locality " inside and outside " refers to the wheel relative to each part in itself Wide is inside and outside.

For the ease of description, space relative terms can be used herein, such as " ... on ", " ... top ", " ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure Outside different azimuth in use or operation.If for example, the device in accompanying drawing is squeezed, be described as " in other devices It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and And respective explanations are made to the relative description in space used herein above.

Furthermore, it is necessary to which explanation, limits parts, it is only for be easy to using the word such as " first ", " second " Corresponding parts are distinguished, such as without Stated otherwise, above-mentioned word does not have particular meaning, therefore it is not intended that to this The limitation of utility model protection scope.

The problem of in order to solve to be easily damaged after robot of the prior art falls, the utility model provides a kind of machine Device people.

It should be noted that the robot of the utility model embodiment can have a variety of variety classeses, the utility model is real Apply example not to be limited, all robots for being applicable body structure described in the utility model embodiment should belong to this in practical application The protection domain of utility model embodiment.For example：The walking structure of the robot of the utility model embodiment can be balance car Motion chassis, be possibly even flying wing etc..By taking the robot of ground moving as an example, common robot working condition Can include driving condition (such as riding condition) and non-driving condition, the robot in non-driving condition can with autonomous, It can also be remotely-controlled.

It should be noted that robot of the present utility model has when not standing user, in automatic control state or controlled The robot mode of state, and robot driving on the walking structure of robot so that user stands as walking-replacing tool Pattern, the robot in driving model is used as balance car.

As shown in Figures 1 to 12, robot includes walking structure 100, body structure 200 and anticollision portion 300；Body structure 200 are arranged on walking structure 100, and walking structure 100 can drive body structure 200 to advance or retreat in the first direction, prevent Hit portion 300 to be arranged on walking structure 100, anticollision portion 300 protrudes from walking structure 100 and set；And/or anticollision portion 300 is set On body structure 200, anticollision portion 300 protrudes from body structure 200 and set.

Because robot includes walking structure 100, body structure 200 and anticollision portion 300, body structure 200, which is set, is expert at Walk in structure 100, walking structure 100 can drive body structure 200 to advance or retreat in the first direction, and anticollision portion 300 is set On walking structure 100, anticollision portion 300 protrudes from walking structure 100 along direction of advance and set；And/or anticollision portion 300 is arranged on On body structure 200, anticollision portion 300 protrudes from body structure 200 along direction of advance and set.So, no matter robot is in machine When the work of device people pattern is in driving model work, anticollision portion 300 can be prior to walking structure or body structure and people or barrier Thing is hindered to collide contact, similarly, after robot falls, anticollision portion 300 also can be prior to walking structure 100 or body structure 200 collide with ground contacts, and anticollision portion 300 serves the cushioning effect to colliding contact process, so as to can not only keep away Exempt from robot to thrust into and cause injury to personnel, while the protective effect to walking structure 100 or body structure 200 can also be played, Avoid walking structure 100 or body structure 200 collides with impaired and influences the normal work of robot.

It should be noted that in order to ensure the integrally-built reasonability of robot, evenly distribute robot overall weight, Anticollision portion 300 can need to be selectively disposed on walking structure 100 or on body structure 200 according to design, also can be On walking structure 100 and it is respectively provided with anticollision portion 300 on body structure 200.

As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 5, anticollision portion 300 is two, and two anticollision portions 300 are separately positioned on body knot The both sides in the width direction of structure 200.So, the both arms of people are simulated in anticollision portion 300, effectively increase robot tumble rear defence The contact area in portion 300 and ground is hit, supporting role of the anticollision portion 300 to robot is improved, it is to avoid robot is sent out with ground The further damage given birth to secondary collide with and caused.

As shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 6, robot lift for the ease of user to pick and place, robot is also wrapped Handle portion 400 is included, handle portion 400 is arranged on body structure 200 and protrudes from body structure 200 and sets.So, robot is worked as As walking-replacing tool in use, user runs into the road conditions of inconvenience driving, robot can be carried by handle portion 400 and transported to just At the road surface of driving, so that the simple operation of robot is improved, moreover, when robot falls to its direction of retreat When, handle portion 400 can equally play to collide contact process cushioning effect so that robot can not only be avoided to thrust into and Injury to personnel is caused, while the protective effect to walking structure 100 or body structure 200 can also be played, it is to avoid walking structure 100 or body structure 200 collide with impaired and influence the normal work of robot.

Alternatively, anticollision portion 300 includes crash bar and is coated on the soft body structure of crash bar periphery, and handle portion 400 is with preventing The connected ground connection in portion 300 is hit to set.Because anticollision portion 300 includes crash bar and is coated on the soft body structure of crash bar periphery, anticollision Bar serves the supporting role to soft body structure, soft body structure can extend when robot collides with external object when Between, the buffering effect to collision process is played, so as to reduce the power of colliding with that robot is subject to, the work of protection robot is served With.Because the ground connection that is connected with anticollision portion 300 of handle portion 400 is set, so, the handle portion 400 of robot and anticollision portion 300 more like The arm of people, not only increases the aesthetic appearance degree of robot, and is also convenient for handle portion 400 and anticollision portion 300 being assembled to On walking structure 100 and/or body structure 200.

Alternatively, in order to a greater extent simplify robot processing and manufacturing complexity, improve robot assembling effect Rate, anticollision portion 300 and handle portion 400 are structure as a whole.

As shown in Figures 1 to 12, body structure 200 includes body structure 210 and head construction 220, and head construction 220 can Be pivotally arranged in body structure 210, head construction 220 at least have the first position that is pivoted in body structure 210 and The second place, first position is diverse location with the second place.When robot switches between robot mode and driving model When, switch between the first position and the second position to the suitability of head construction 220.

As shown in Figure 7 to 10, body structure 210 includes support beam 211, the electricity of body skeleton 212 and first being connected Machine 213, support beam 211, the motor 213 of body skeleton 212 and first surround receiving space 11 jointly, wherein, the first motor 213 is wrapped Stator casing 2131 and rotor 2132 are included, rotor 2132 can be rotatably set in stator casing 2131, stator casing 2131 At least a portion constitutes the stator of motor, and at least a portion of rotor 2132 constitutes the rotor of motor.So, rotor 2132 It can be rotated relative to stator casing 2131, the rotation of rotor 2132 can drive head construction 220 to rotate, so that Head construction 220 is set to switch between the first position and the second position, to adapt to robot in robot mode and driving model Between conversion.

Alternatively, the first motor 213 is brushless electric machine.

As shown in Figure 1, Figure 2, shown in Fig. 6, Figure 11 and Figure 12, head construction 220 includes U-shaped frame 221 and is pivotally disposed at U Pitching portion 222 in type frame 221.Specifically, pitching portion 222 is connected by pitching rotating shaft with U-shaped frame 221.Alternatively, pitching portion 222 are provided with camera device, the rotary luffing by pitching portion 222 relative to U-shaped frame 221, just can obtain camera device Image information in space in larger scope.

In order to meet the functional diversity of robot and ensure the integrality of robot architecture, robot also includes computer and grasped Make panel 500 and the power supply architecture 600 electrically connected with computation panel 500, wherein, it is empty that power supply architecture 600 is arranged on receiving Between be connected in 11 and with the first motor 213, computation panel 500 is arranged in pitching portion 222.So, power supply knot is improved Connective stability between the motor 213 of structure 600 and first and the volume that reasonably make use of receiving space 11, moreover, electricity Source structure 600 can also provide power supply for computation panel 500.

As shown in Fig. 2, Fig. 3, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, robot also includes connection component 700, head construction 220 and body structure 210 are connected by connection component 700, and connection component 700 includes：First connector 710th, the connector 730 of resilient snubber 720 and second, wherein, the second connector 730 is nested in the first connector 710, elasticity Bolster 720 is folded between the first connector 710 and the second connector 730, and the first connector 710, resilient snubber 720 With the circumferential rotation stop connection of the second connector 730, the first connector 710 is connected with U-shaped frame 221, the second connector 730 and rotor 2132 connections.

Because resilient snubber 720 is folded between the first connector 710 and the second connector 730, when head construction 220 The first connector 710 can be driven to be collided with the second connector 730 in the case of by external load, resilient snubber 720 serve the effect for being flexibly connected the first connector 710 and the second connector 730, can effectively absorb the first connection Impact energy between the connector 730 of part 710 and second, while to U-shaped frame 221, stator casing 2131 and rotor 2132 and body Buffer protection function is played in the part that body structure 210 etc. is connected, and the deformation of resilient snubber 720 can increase the first connector 710 and second the colliding with time of contact between connector 730, reduce the contact of the first connector 710 and the second connector 730 Momentum, it is to avoid the first connector 710 or second connector 730 collide with damage, it also avoid robot and use for a long time Afterwards, cause between the first connector 710 and the second connector 730 because of frictional impact head construction 220 and body structure 210 it Between occur connection loosen phenomenon occur.

Alternatively, resilient snubber 720 is one kind in rubber, silica gel, foam or cavernous body.

Preferably, resilient snubber 720 is the rubber through over cure.

As shown in figure 9, the surface of the first connector of direction 710 of resilient snubber 720 is in concaveconvex structure shape, and/or bullet Property bolster 720 the second connector of direction 730 surface be in concaveconvex structure shape.

Because the surface of the first connector of direction 710 of resilient snubber 720 is in concaveconvex structure shape, so further increase The contact surface area of the connector 710 of resilient snubber 720 and first, improves the buffering of the motion to the first connector 710 Effect.

Similarly, because the surface of the second connector of direction 730 of resilient snubber 720 is in concaveconvex structure shape, Neng Goujin Contact surface area between the one step increase connector 730 of resilient snubber 720 and second, improve to the first connector 710 with The cushioning effect moved between second connector 730, serves effective protection to connection component 700.

It should be noted that being assemblied in the first connector 710 and the second connector 730 to improve resilient snubber 720 Between fitting tight, concaveconvex structure shape be zigzag.

As shown in Figure 11, Figure 13 and Figure 14, robot also includes the first lock part 800 and the second lock part 900, the first lock Stop 800 is arranged on head construction 220 or connection component 700, and the second lock part 900 is arranged in body structure 210, and first The lock part 900 of lock part 800 and second has locking state when head construction 220 to be limited to first position, and first The lock part 900 of lock part 800 and second, which also has, makes head construction 220 can pivot relative to body structure 210 at first position The open mode turned.

By setting the first lock part 800 on head construction 220, and the second lock part is set in body structure 210 900, the first lock part 800 and the second lock part 900 have locking state when head construction 220 to be limited to first position, And first lock part 800 and the second lock part 900 have and make head construction 220 is pivotable relative to body structure 210 to beat Open state.So, by the mating reaction of the first lock part 800 and the second lock part 900, when robot works in driving model When, body structure 210 and head construction 220 be by overall spacing, it is to avoid head construction 220 occurs relative to body structure 210 Rotation, only after the first lock part 800 and the second lock part 900 are switched into open mode, the head construction 220 of robot Security when can just rotate, therefore ensure that user's drive robot, the use for improving robot itself is reliable Property.

Certainly, the first lock part 800 is arranged on connection component 700, can equally played to the spacing of head construction 220 Effect, can equally improve the use reliability of robot itself.

Alternatively, the first lock part 800 is selectively disposed on rotor 2132 or the first connector 710 or the second connection On part 730, the second lock part 900 is pivotally disposed on stator casing 2131.So, designer can be according to user Use habit, by the first lock part 800 be arranged on rotor 2132 or the first connector 710 or the second connector 730 on, turn Rotation stop is connected between the connector 710 of son 2132 and first and the second connector 730, therefore, when the second lock part 900 and the first lock Under the mated condition of stop 800, head construction 220 can be locked at first position, convenient use person drives to robot Sail.

It should be noted that rotor 2132 and the second connector 730 are detachably connected, and rotor 2132 is connected with second The circumferential rotation stop of part 730, the second connector 730 and the first connector 710 are detachably connected, and the second connector 730 and first The circumferential rotation stop of connector 710, the second connector 730 is cylindrical in shape, and a part for the first connector 710 is arranged on tubular second In the installation cavity of connector 730, another part of the first connector 710 is protruding and detachable with U-shaped frame 221 by installation cavity Ground is connected, and when rotor 2132 is rotated, rotor 2132 can drive the second connector 730, the first connector 710 and U-shaped frame 221 1 With rotating, so that head construction 220 is rotated relative to body structure 210, to adapt to robot in robot mode with driving Conversion between pattern.

As shown in Figure 13 and Figure 14, it is provided with the first lock part 800 on neck, the second lock part 900 and is provided with and blocks The fixture block that groove coordinates；Or first be provided with the card for being provided with and coordinating with fixture block on fixture block, the second lock part 900 on lock part 800 Groove.

In the alternative embodiment shown in the utility model Figure 13 and Figure 14, neck is provided with the first lock part 800, the The fixture block coordinated with neck is provided with two lock parts 900, so, when user needs drive robot, robot is cut Shift to after driving model, the second lock part of turn-knob 900, the fixture block of the second lock part 900 is snapped onto the card of the first lock part 800 In groove, thus the fixture block of the second lock part 900 with neck coordinate surface as the first lock part of backstop 800 stop end Face, is rotated so as to effectively limit rotor 2132, it is ensured that head construction 220 is stably in first position, and then Robot is set to be in driving model, convenient use person drives, and reliably simultaneously ensure that the safety of user, it is to avoid user During drive robot, head construction 220 rotates and collides user suddenly, causes user's disequilibrium and falls The unsafe condition of robot occurs.

Certainly, in an alternative embodiment (not shown) of the present utility model, card is provided with the first lock part 800 The neck coordinated with fixture block is provided with block, the second lock part 900, this structure setting can equally effectively limit rotor 2132 rotate, it is ensured that head construction 220 is stably in first position, make to be in driving model robot stabilizedly.

As shown in Figure 13 and Figure 14, formed between the second lock part 900 and body structure 210 and gap 12, robot are installed Also include positive stop spring plate 1700, positive stop spring plate 1700 is arranged at installation gap 12.Positive stop spring plate 1700 can be to the second locking Portion 900 provides the effect of elastic anchorage force, stably that second lock part 900 is spacing when being contacted with the first lock part 800 State, or by the spacing state when being separated with the first lock part 800 of the second lock part 900, only when the second lock part 900 by When the pulling force arrived is more than default value of thrust, the second lock part 900 could oppress positive stop spring plate 1700 and deform upon and overcome spacing The elastic anchorage force of shell fragment 1700 is separated with the first lock part 800, is in the first lock part 800 and the second lock part 900 and is beaten Open state；Similarly, only when the thrust that the second lock part 900 is subject to is more than default thrust magnitude, the ability of the second lock part 900 Compressing positive stop spring plate 1700 deforms upon and overcomes the elastic anchorage force of positive stop spring plate 1700 by the separation with the first lock part 800 State motion to the contact condition of the first lock part 800 so that the first lock part 800 and the second lock part 900 are in locking shape State.

Alternatively, positive stop spring plate 1700 is in several fonts.So, it is used as limit in the lug boss of the positive stop spring plate 1700 of several fonts The deformation section of position shell fragment 1700, is that the second lock part 900 provides elastic anchorage force, and when the second lock part 900 is located at projection During the side in portion, the second lock part 900 is contacted with the first lock part 800, when the second lock part 900 is located at the opposite side of lug boss When, the second lock part 900 is separated with the first lock part 800.

It should be noted that user can be according to using needing the second lock part of manual knob 900 relative to body knot Structure 210 is rotated.

Certainly, in an alternative embodiment (not shown) of the present utility model, robot also includes drive system, driving System and the drive connection of the second lock part 900, just can so realize that the rotation to the second lock part 900 is automatically controlled, The automaticity of robot is further increased, the property easy to use of robot is improved.

As shown in Fig. 9, Figure 12, Figure 13 and Figure 14, body skeleton 212 coats the setting of a part of stator casing 2131, fixed The notch 2133 for protruding from body skeleton 212 is provided with subshell 2131, the first end of support beam 211 is removably inserted It is connected in notch 2133, body structure 210 also includes support beam support 214, the second end and the support beam branch of support beam 211 Seat 214 is connected.The setting of notch 2133, can not only make the first end and stator casing 2131 of support beam 211 stably Connection, and support beam 211 is removably disposed with stator casing 2131, it is easy to enter the motor 213 of support beam 211 or first Row maintenance is changed.

It should be noted that as shown in Figures 1 to 6, body structure 210 is by supporting beam support 214 and walking structure 100 Pivotable connection, when robot is in driving model, body structure 210 can be used as leg control lever, specifically, be used Person stand on walking structure, user by control leg be applied to body structure 210 size and control machine people realize Turning function, robot now is used as the balance car with function of riding instead of walk.

Alternatively, in order to further improve the connective stability of notch 2133 and stator casing 2131, reasonably set The structure of the first motor 213 is put, makes the first motor 213 have rotor 2132 and the detachable assembled installation of stator casing 2131 special Property, notch 2133 is structure as a whole with stator casing 2131.

It should be noted that as shown in Figure 13 and Figure 14, robot also includes magnetic element 1800 and and magnetic element 1800 Hall elements 1900 used cooperatively, magnetic element 1800 is arranged on the second lock part 900, and Hall element 1900 is two Individual, two Hall elements 1900 are arranged at the position relative with the second lock part 900 of stator casing 2131, and when second When lock part 900 is in locking state, the second lock part 900 is corresponding with a Hall element 1900, at the second lock part 900 When open mode, the second lock part 900 is corresponding with another Hall element 1900；Two of which Hall element 1900 is and machine The master control borad electrical connection of device people.So, Hall element 1900 can perceive the position of the second lock part 900, so as to realize machine People carries out automatic detection to the position of the second lock part 900.

As shown in Figures 1 to 10, robot also includes obstacle detection portions 1000, and obstacle detection portions 1000 are arranged on body To detect the barrier around body structure 210 in body structure 210.

By thing probe portion 1000 of being placed obstacles on the body skeleton 212 of body structure 210, so, when body structure When random device people moves, barrier and pit-hole that obstacle detection portions 1000 can effectively around sniffing robot are easy to Robot avoids and opens barrier or pit-hole, improves the motion credibility of robot.

Alternatively, obstacle detection portions 1000 are supersonic sounding device 1001 and/or detective devices using infrared ray 1002.

Because obstacle detection portions 1000 include supersonic sounding device 1001, therefore, the energy of supersonic sounding device 1001 Enough large obstacles effectively detected in front of robot compared with distant location, and reliably calculate large obstacle with The distance between robot, so enables robot have time enough to avoid out large obstacle motion.

Alternatively, the mounting axis of supersonic sounding device 1001 is horizontally disposed is located at body structure to detect The barrier in 210 front；Or the mounting axis of supersonic sounding device 1001 and horizontal direction are in a certain angle (such as：10 degree, 15 degree, 20 degree, 60 degree etc.) set to detect the barrier in the front for being located at body structure 210.

It should be noted that the supersonic sounding device 1001 of the utility model embodiment can effectively launch vibration Frequency in 20KHz ultrasonic wave, the ultrasonic wave launched have frequency height, short wavelength, small diffraction phenomenon and good directionality and Ray can be turned into and the features such as direction propagation, the ultrasonic wave that the supersonic sounding device 1001 of the utility model embodiment is sent Echo can be produced immediately after the hole wall of barrier or pit-hole is run into, supersonic sounding device 1001 is received can after echo Echo promptly is converted into electric signal and electric signal is analyzed to obtain particular location, the size of barrier or pit-hole And with the information such as the distance between the robot of the utility model embodiment, consequently facilitating robot is fast within the most short time Speed is made a response and avoiding barrier or pit-hole, and then can realize the intelligent walking of robot.

In Fig. 1 of the present utility model into the alternative embodiment shown in Fig. 4, the mounting axis of supersonic sounding device 1001 The horizontally disposed barrier to detect positioned at the front of body structure 210；So, supersonic sounding device 1001 is sent Ultrasonic wave centered on mounting axis line, the steady spread into the space in the front of robot.

When certainly, in order that robot works in particular surroundings, it is ensured that robot can pair with horizontal direction have spy The direction at clamp angle is reliably detected, the mounting axis of supersonic sounding device 1001 with horizontal direction is in a certain angle sets Put to detect the barrier positioned at the front of body structure 2.

In an alternative embodiment (not shown) of the present utility model, in order to improve many of supersonic sounding device 1001 Position sensing capability, it is ensured that supersonic sounding device 1001 can be detected accurately in the environment in front of robot motion The barrier or pit-hole of position, supersonic sounding device 1001 can be rotatably set on body skeleton 212.Preferably, Supersonic sounding device 1001 is hinged with body skeleton 212.

Because obstacle detection portions 1000 include detective devices using infrared ray 1002, detective devices using infrared ray 1002 can be effective The small-scale obstacle thing and pit-hole that ground is detected under robot foot are (red especially when using ground motion chassis as walking structure Outside line detection device 1002 can effectively detect barrier and pit-hole in front of wheel etc.) so that robot avoids pressure Small-sized barrier is crossed to fall or drop pit-hole and occur interruption of service, so that allow the robot to select flat path motion, And then improve the stability of robot motion.

The form combined using supersonic sounding device 1001 and detective devices using infrared ray 1002, moreover it is possible to visited using infrared ray The circuit structure of surveying device 1002 is simple, is easy to the characteristics of processing and manufacturing and cost are low and reduces the holistic cost of robot, carries Its usage economy of high robot, enhances the market competitiveness of robot.

Alternatively, in Fig. 1 of the present utility model into the alternative embodiment shown in Fig. 4, detective devices using infrared ray 1002 Mounting axis sets to detect the barrier positioned at the obliquely downward of body structure 2 diagonally downward.So, it efficiently avoid because of machine Device people motion is too fast and omits the barrier not detected near its obliquely downward, so as to ensure that robot in its advance side Normally move, also prevent when robot is in driving model, the use on the walking structure of robot of standing upwards Person falls and tumble injury from robot, and then improves the safety in utilization of robot.

Alternatively, detective devices using infrared ray 1002 is at least two, and at least two detective devices using infrared rays 1002 set up separately The both sides of the longitudinal axis of supersonic sounding device 1001, and height of the supersonic sounding device 1001 on direction perpendicular to the ground Degree is more than height of the detective devices using infrared ray 1002 on direction perpendicular to the ground.So, two detective devices using infrared rays 1002 The barrier of both sides under robot foot is detected respectively, robot is realized to the obliquely downward space in its direction of advance Fully detection, further ensures the stability of robot motion.

As shown in Figures 1 to 9, robot also includes loudspeaker arrangement 1100, and loudspeaker arrangement 1100 is arranged on body structure 210 On.

Alternatively, in order to improve loudspeaker arrangement 1100 send sound centered on robot to space all directions effectively Diffusive transport, loudspeaker arrangement 1100 is two, and two loudspeaker arrangements 1100 are symmetricly set on the both sides of body skeleton 212.

As shown in Figure 7 to 9, robot also includes motor mounting shell 1200, the second motor and first circuit board 1600, electricity Machine mounting shell 1200 is arranged in receiving space 11 and is connected with one end of the remote head construction 220 of the first motor 213, second Motor is arranged in motor mounting shell 1200 and drives first circuit board 1600 to rotate.Wherein, first circuit board 1600 can be The circuit board sensed based on remote control, i.e., in the case where there is external remote control, first circuit board 1600 being rotated by the second motor. First circuit board 1600 can also be the circuit board communicated based on wireless carrier, and such as first circuit board 1600 can be integrated with The circuit board of UWB antennas, then the anchor node end that the first circuit board 1600 communicates as UWB, can be realized to as UWB Beacon (tag) end of communication is tracked, so that the change in location progress that first circuit board 1600 can be based on beacon end is corresponding Rotational angle adjustment (by the second motor driving first circuit board 1600 rotate) so that realize robot to beacon end with Track,

Due to the second motor be arranged in receiving space 11 and with one end of the remote head construction 220 of the first motor 213 Connection, so not only reasonably make use of receiving space 11, is meeting on the premise of robot has functional diversity, is reducing The overall volume of robot, improves the property easy to use of user, and it is tight to improve the installation of the electric component of robot Gathering property, realizes the modularized design of robot.

When first circuit board 1600 is as remote control sensor circuit plate, because the second motor drives first circuit board 1600 Rotate, so, the remote control for being conducive to first circuit board 1600 to be pointed in all directions outside robot is scanned tracking, seeks Find the position of remote control and promptly go at the position of remote control, so that convenient use person is realized to machine by remote control The motion control of people or the automatic charging function for realizing robot.

Alternatively, first circuit board is remote control sensor circuit plate.

In order to meet the functional diversity of robot and ensure the integrality of robot architecture, body structure 210 also includes The power supply architecture 600 electrically connected with the computation panel of robot, power supply architecture 600 is arranged in receiving space 11 and with the One motor 213 is connected.So, and the connective stability between the motor 213 of power supply architecture 600 and first and reasonably is improved The volume of receiving space 11 is make use of, power supply architecture 600 can also provide stable energy output for the second motor, it is ensured that second The reliability of motor movement, similarly power supply architecture 600 can also be the computation panel in robot head structure Power supply is provided.

As shown in Figure 7 to 10, robot also includes master control borad 1300, and master control borad 1300 is arranged in receiving space 11 simultaneously It is connected with support beam 211.The setting of master control borad 1300 realizes the analysis and control of a variety of function actions to robot, realizes The work of robot is intelligent.And the heat produced at master control borad 1300 can also be by support beam 211 stably to appearance Receive the outer transmission in space 11, improve the radiating effect of master control borad 1300, it is ensured that robot can work long-term and stably.

As shown in Fig. 4, Fig. 6 and Fig. 7 to Figure 10, robot also includes main connector structure 1400, main connector structure 1400 are connected with support beam 211 and positioned at the side away from receiving space 11 of support beam 211.Pass through main connector structure 1400 Can realize that electrical connection or signal of the robot with external structure (mechanical arm of such as robot) are connected, facilitate data conveying, Manipulation mechanical arm charges to robot.

As shown in FIG. 15 to 18, main connector structure 1400 includes：First assembly parts 10, the second assembly parts 20, fixation Portion 30 and installation portion 60.Wherein, the first connector 13 is provided with the first assembly parts 10, is set on the second assembly parts 20 There is the second connector 21 being adapted with the first connector 13.Fixed part 30 is arranged on the first assembly parts 10 and the second assembly parts 20 Between, by fixed part 30 so that the first assembly parts 10 are detachably connected with the second assembly parts 20.So, can be in the first connection First 13 and second connector 21 connect while, the first assembly parts 10 are connected with the second assembly parts 20 by fixed part 30, such as This can increase device connective stability.Also, installation portion 60 is provided with the first assembly parts 10 and/or the second assembly parts 20, By setting installation portion 60 to facilitate the fixed installation of the first assembly parts 10 or the second assembly parts 20, make the first assembly parts 10 or Second assembly parts 20 can be arranged on other parts.

Wherein, the first connector 13 can be public connector, and the second connector 21 can be female connector；Also can be by first Connector 13 is set to female connector, and the second connector 21 is set into public connector.

Fixed part 30 can be for buckle structure, hooping structure, connected structure etc., as long as the first assembly parts 10 and the can be realized Two assembly parts 20 are detachably connected.

In the present embodiment, installation portion 60 is arranged on the second assembly parts 20, passes through 60 pair of second assembly parts of installation portion 20 carry out installation fixation, specifically, installation portion 60 can be the installing plate for being provided with connecting hole, or connecting rod etc. is other Attachment structure.Installation portion 60 can be set according to the position of installation, the different specific aims of part, can so be easy to the second assembly parts 20 Installation.

The main connector structure 1400 provided by the present embodiment, by the first connector 13 on the first assembly parts 10 with When the second connector 21 on second assembly parts 20 is connected, the first assembly parts 10 and the second assembly parts 20 are realized by fixed part 30 Be detachably connected., can be while facilitating the first connector 13 and the second connector 21 to dismantle by said structure, can be with Firm first connector 13 is connected with the second connector 21, improves the first connector 13 and the connective stability of the second connector 21.

As shown in Figure 15, Figure 17 and Figure 18, in the present embodiment, the fixed part 30 includes connection boss 31 and connecting hole 32, connection boss 31 is interference fit with connecting hole 32 or is threadedly coupled.Wherein it is possible to which connection boss 31 is arranged on into the first dress On accessory 10, connecting hole 32 is arranged on the second assembly parts 20.Connection boss 31 can also be arranged on the second assembly parts 20 On, connecting hole 32 is arranged on the first assembly parts 10.

When first connector 13 is directed at into connection with the second connector 21, the connection correspondence of boss 31 is plugged on connecting hole In 32, due to connection boss 31 with connecting hole 32 to be interference fitted or being threadedly coupled, therefore can be by connecting boss 31 and connection Hole 32 coordinates, to fix the connection of the first assembly parts 10 and the second assembly parts 20, and then can improve the first connector 13 and The connective stability of two connector 21.

As shown in Figure 15 and Figure 18, in the present embodiment, the connection boss 31 includes the fixing end and freedom being oppositely arranged End.Wherein, fixing end is used to be connected with the first assembly parts 10 or the second assembly parts 20, and connection boss 31 is fixed by its fixing end On the first assembly parts 10 or the second assembly parts 20, then it is connected by its free end with connecting hole 32.Specifically, the company Connect boss 31 to be gradually reduced from fixing end to free end cross-sectional area, be so easy to connection boss 31 and the grafting of connecting hole 32, and And by the structure of the connection boss 31, can avoid because mismachining tolerance causes connection boss 31 can not be connected with connecting hole 32 Situation occur.

Wherein, connection boss 31 could be arranged to prism structure, may be alternatively provided as cylindrical structural, in the present embodiment, Connection boss 31 is set to cone, can so be easy to connection boss 31 to be plugged in connecting hole 32.Further, can be by even The diameter for connecing the free end of boss 31 is set smaller than the diameter of the connecting hole 32, and the diameter that will connect the fixing end of boss 31 is set It is set to the diameter more than the connecting hole 32.

As shown in FIG. 15 to 18, the main connector structure 1400 also includes limiting section 40, and limiting section 40 is arranged on first Between the assembly parts 20 of assembly parts 10 and second.Increase limiting section 40 between the first assembly parts 10 and the second assembly parts 20, pass through Limiting section 40 and fixed part 30 coordinate, and can further improve the stability of the first connector 13 and the connection of the second connector 21.

Specifically, the limiting section 40 includes snap fit 41 and stopper slot 42.Wherein, stopper slot 42 coordinates to realize with snap fit 41 The clamping of first assembly parts 10 and the second assembly parts 20.Coordinated by snap fit 41 and stopper slot 42, to increase by the first connector 13 With the connection reliability of the second connector 21.

In the present embodiment, snap fit 41 is arranged on the first assembly parts 10, stopper slot 42 is arranged on the second assembly parts On 20.During connection, first the first connector 13 is aligned with the second connector 21, then snap fit 41 is hooked on stopper slot 42, so Afterwards, connection boss 31 and connecting hole 32 are aligned and carry out grafting, while grafting, realize that the first connector 13 and second connects The connection of joint 21, can so complete the connection and fixation of overall circuit.By said structure, the basis of fixed part 30 is being set Upper increase position limiting structure, can further improve the stability and reliability of the first connector 13 and the connection of the second connector 21, Avoid causing the first connector 13 and the second connector 21 to disengage due to rocking or colliding.

In embodiment not shown in figure, snap fit can be also arranged on the second connector, stopper slot is arranged on first On connector.During connection, first the first connector is aligned with the second connector, then snap fit is hooked on stopper slot, then, will Connection boss and connecting hole are aligned and carry out grafting, while grafting, realize the connection of the first connector and the second connector, The connection and fixation of overall circuit can so be completed.By said structure, position limiting structure is increased on the basis of fixed part is set, The stability and reliability of the first connector and the connection of the second connector can further be improved, it is to avoid lead due to rocking or colliding The first connector and the second connector is caused to disengage.

As shown in Figure 17 and Figure 18, in the present embodiment, snap fit 41 and the homonymy of connecting hole 32 can be set, by stopper slot 42 are set with being connected the homonymy of boss 31.Specifically, in the present embodiment, snap fit 41 and connecting hole 32 can be arranged on into the first dress On accessory 10, stopper slot 42 and connection boss 31 are arranged on the second assembly parts 20, matched somebody with somebody by snap fit 41 with stopper slot 42 Close, connecting hole 32 coordinates with being connected boss 31, realize being fixedly connected for the first assembly parts 10 and the second assembly parts 20.

In another embodiment not shown in figure, also snap fit 41 and connecting hole 32 can will can be arranged on the second assembling On part 20, stopper slot 42 and connection boss 31 are arranged on the first assembly parts 10, coordinated by snap fit 41 and stopper slot 42, Connecting hole 32 coordinates with being connected boss 31, realizes being fixedly connected for the first assembly parts 10 and the second assembly parts 20.

In another embodiment not shown in figure, can also by snap fit be connected boss homonymy set, by stopper slot with Connecting hole homonymy is set.And be arranged on snap fit on the first connector with being connected boss, stopper slot and connecting hole are arranged on the On two connectors, coordinated by snap fit with stopper slot, connecting hole coordinates with being connected boss, realizes that the first connector is connected with second Part is fixedly connected.

In another embodiment not shown in figure, snap fit can also be arranged on the second connector with being connected boss, Stopper slot and connecting hole are arranged on the first connector, coordinated by snap fit with stopper slot, connecting hole coordinates with being connected boss, Realize being fixedly connected for the first connector and the second connector.

As shown in Figure 17 and Figure 18, wherein, the limiting section 40 also include projection 43 and receiving portion 44.Wherein, receiving portion 44 For accommodating projection 43, projection 43 coordinates to realize the clamping of the first assembly parts 10 and the second assembly parts 20 with receiving portion 44.It is logical Cross projection 43 and coordinate further spacing to be carried out to the first assembly parts 10 and the second assembly parts 20 with receiving portion 44.

Wherein it is possible to which projection 43 is arranged on the first assembly parts 10, receiving portion 44 is arranged on the second assembly parts 20. Projection 43 can also be arranged on the second assembly parts 20, receiving portion 44 is arranged on the first assembly parts 10, designer can root Selected according to being actually needed.In the present embodiment, projection 43 is arranged on the first assembly parts 10, receiving portion 44 is arranged on On second assembly parts 20.

Specifically, projection 43 can be arranged on to appointing for the joint face being connected with the second assembly parts 20 of the first assembly parts 10 Meaning position, projection 43 can be set close to connecting hole 32, may also be arranged on the side of the first connector 13, or in the first connection First 13 both sides are set respectively, may also be arranged on the side of snap fit 41.In the present embodiment, it is convenient in order to simplify apparatus structure Processing, improves connection convenience, projection 43 and snap fit 41 is set into integrated formed structure.

Wherein, receiving portion 44 could be arranged to the recess on the first assembly parts 10 or the second assembly parts 20, may be alternatively provided as Other structures.In the present embodiment, because projection 43 is arranged on the first assembly parts 10, then receiving portion 44 is correspondingly arranged at second On assembly parts 20.Specifically, limiting section 40 includes two stopper slots 42, two stopper slots 42 are arranged at intervals, two stopper slots 42 Between formed receiving portion 44.Receiving portion 44 is formed to coordinate projection 43 to connect by the space between two stopper slots 42, so It can simplify the device structure, reduce processing cost, facilitate staff to be installed and connected.

As shown in FIG. 15 to 18, in the present embodiment, the first connector 13 is arranged on fixed part 30 and limiting section 40 Between, and correspondingly the second connector 21 is arranged between fixed part 30 and limiting section 40.The first connector 13 can so be ensured When being connected with the second connector 21, it is connected by the fixed part 30 and limiting section 40 of both sides, with to the first connector 13 It is connected and provides safeguard with the second connector 21.

Also, in the present embodiment, the main connector structure 1400 also includes waterproof construction 50, wherein, the waterproof construction 50 are arranged between the first assembly parts 10 and the second assembly parts 20, and connected positioned at the first connector 13 and the second connector 21 Junction.By setting waterproof construction 50 to prevent in connection in use, thering is water or other conducting liquids to flow to the first connection First 13 and second connector 21 connect junction, cause line short.Specifically, waterproof construction 50 can for waterproof washer, The other structures such as Waterproof glue line.In the present embodiment, waterproof construction 50 specifically uses water proof ring, and water proof ring is arranged on the second connection First 21 periphery.For the ease of installing water proof ring, also mounting groove can be set in the periphery of the second connector 21, water proof ring is fixed In mounting groove.

The main connector structure 1400 provided by above-described embodiment, is coordinated by connecting boss 31 with connecting hole 32, real Referring now to the positioning of the first assembly parts 10 and the second assembly parts 20；Coordinated by snap fit 41 and stopper slot 42, realize the first assembling Part 10 and the second assembly parts 20 in the vertical direction spacing；Coordinated by projection 43 with receiving portion 44, realize the first assembly parts 10 with the second assembly parts 20 in the lateral direction spacing.The installation portion 60, Ke Yifang set by the both sides of the second assembly parts 20 Just the installation of the second assembly parts 20.Coordinated by the connection of said structure so that the first connector 13 is the second connector 21 Connection can more stablize, reliably, and said structure facilitates staff to be dismounted, and improve connector connection reliability Joint efficiency is ensure that simultaneously, greatly facilitates personnel to be operated.

As shown in Figures 1 to 7, robot also includes lighting device 1500, and lighting device 1500 can be rotatably set in body In body structure 200.Optionally, of course, lighting device 1500 is fixedly installed on body structure 200.

As shown in Figures 1 to 6, walking structure 100 includes vehicle frame 110, wheel 120 and middle deck 130, and middle deck 130 is arranged on On vehicle frame 110, wheel 120 can be rotatably set in the both sides of vehicle frame 110.

It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, work, device, component and/or combinations thereof.

It should be noted that term " first " in the description and claims of this application and above-mentioned accompanying drawing, " Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using Data can exchange in the appropriate case, so that presently filed embodiment described herein can be with except illustrating herein Or the order beyond those of description is implemented.

Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.

Claims (21)

1. a kind of robot, it is characterised in that including：

Walking structure (100)；

Body structure (200), the body structure (200) is arranged on the walking structure (100), the walking structure (100) at least have the direction of advance that drives the body structure (200) to move in the first direction and along with the first direction The direction of retreat of departing direction motion；

Anticollision portion (300), the anticollision portion (300) is arranged on the walking structure (100), and the anticollision portion (300) is prominent Set in the walking structure (100)；It is described anti-and/or the anticollision portion (300) is arranged on the body structure (200) Hit portion (300) and protrude from the body structure (200) setting.

2. robot according to claim 1, it is characterised in that the anticollision portion (300) is two, two anticollisions Portion (300) is separately positioned on the both sides in the width direction of the body structure (200).

3. robot according to claim 1, it is characterised in that the robot also includes handle portion (400), described Hand (400) is arranged on the body structure (200) and protrudes from the body structure (200) setting.

4. robot according to claim 3, it is characterised in that the anticollision portion (300) includes crash bar and is coated on The soft body structure of the crash bar periphery, the handle portion (400) is connected to be grounded with the anticollision portion (300) to be set.

5. robot according to claim 1, it is characterised in that the body structure (200) includes：

Body structure (210)；

Head construction (220), the head construction (220) is pivotally disposed on the body structure (210), the head Structure (220) at least has the first position and the second place that are pivoted on the body structure (210), the first position with The second place is diverse location.

6. robot according to claim 5, it is characterised in that the body structure (210) includes the support being connected Beam (211), body skeleton (212) and the first motor (213), the support beam (211), the body skeleton (212) and described First motor (213) surrounds receiving space (11) jointly, wherein, first motor (213) include stator casing (2131) and Rotor (2132), the rotor (2132) can be rotatably set in the stator casing (2131), the stator casing (2131) at least a portion constitutes the stator of motor, and at least a portion of the rotor (2132) constitutes the motor Rotor.

7. robot according to claim 6, it is characterised in that the head construction (220) include U-shaped frame (221) and It is pivotally disposed at the pitching portion (222) on the U-shaped frame (221).

8. robot according to claim 7, it is characterised in that the robot also includes computation panel (500) With the power supply architecture (600) electrically connected with the computation panel (500), wherein, the power supply architecture (600) is arranged on institute State in receiving space (11) and be connected with first motor (213), the computation panel (500) is arranged on the pitching In portion (222).

9. robot according to claim 7, it is characterised in that the robot also includes connection component (700), described Head construction (220) and the body structure (210) are connected by the connection component (700), connection component (700) bag Include：First connector (710), resilient snubber (720) and the second connector (730), wherein, second connector (730) It is nested in first connector (710), the resilient snubber (720) is folded in first connector (710) and institute State between the second connector (730), and first connector (710), resilient snubber (720) and the second connector (730) Circumferential rotation stop connection, first connector (710) is connected with the U-shaped frame (221), second connector (730) and institute State rotor (2132) connection.

10. robot according to claim 9, it is characterised in that the robot also includes：

First lock part (800), first lock part (800) is arranged on the head construction (220) or the connection group On part (700)；

Second lock part (900), second lock part (900) is arranged on the body structure (210), first locking Portion (800) has the locking when head construction (220) to be limited to the first position with second lock part (900) State, and first lock part (800) and second lock part (900) also have and the head construction (220) is existed Relative to the pivotable open mode of the body structure (210) during the first position.

11. robot according to claim 10, it is characterised in that first lock part (800) is optionally set On the rotor (2132) or on first connector (710) or on second connector (730), second locking Portion (900) is pivotally disposed on the stator casing (2131).

12. robot according to claim 10, it is characterised in that

It is provided with neck, second lock part (900) to be provided with first lock part (800) and coordinates with the neck Fixture block；Or

It is provided with fixture block, second lock part (900) to be provided with first lock part (800) and coordinates with the fixture block Neck.

13. robot according to claim 6, it is characterised in that body skeleton (212) cladding is a part of described fixed The neck knot for protruding from the body skeleton (212) is provided with the setting of subshell (2131), the stator casing (2131) Structure (2133), the first end of the support beam (211) is removably plugged in the notch (2133), the body knot Structure (210) also includes support beam support (214), and the second end of the support beam (211) connects with the support beam support (214) Connect.

14. robot according to claim 5, it is characterised in that the robot also includes obstacle detection portions (1000),

The obstacle detection portions (1000) are arranged on the body structure (210) to detect the body structure (210) The barrier of surrounding.

15. robot according to claim 14, it is characterised in that the obstacle detection portions (1000) are visited for ultrasonic wave Survey device (1001) and/or detective devices using infrared ray (1002).

16. robot according to claim 5, it is characterised in that the robot also includes loudspeaker arrangement (1100), institute Loudspeaker arrangement (1100) is stated to be arranged on the body structure (210).

17. robot according to claim 6, it is characterised in that the robot also include motor mounting shell (1200), Second motor and first circuit board (1600), the motor mounting shell (1200) be arranged in the receiving space (11) and with institute One end connection of the remote head construction (220) of the first motor (213) is stated, second motor is arranged on the motor peace Dress shell (1200) is interior and drives the first circuit board (1600) to rotate.

18. robot according to claim 6, it is characterised in that the robot also includes master control borad (1300), described Master control borad (1300) is arranged in the receiving space (11) and is connected with the support beam (211).

19. robot according to claim 6, it is characterised in that the robot also includes main connector structure (1400), the main connector structure (1400) is connected and deviating from positioned at the support beam (211) with the support beam (211) The side of the receiving space (11).

20. robot according to claim 1, it is characterised in that the robot also includes lighting device (1500), institute Lighting device (1500) is stated to can be rotatably set on the body structure (200).

21. robot according to claim 5, it is characterised in that the walking structure (100) includes vehicle frame (110), car (120) and middle deck (130) are taken turns, the middle deck (130) is arranged on the vehicle frame (110), and the wheel (120) rotatably sets Put the both sides in the vehicle frame (110).