CN210121862U

CN210121862U - Robot platform and robot

Info

Publication number: CN210121862U
Application number: CN201920863456.9U
Authority: CN
Inventors: 赵帆; 陆方迪; 刘奇
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2020-03-03
Anticipated expiration: 2029-06-10

Abstract

The utility model relates to the technical field of robot, a robot platform and robot is disclosed. The robot platform comprises a bottom plate and a top plate, and walking wheels are arranged on the bottom plate; a supporting assembly is connected between the top plate and the bottom plate, and the top plate is detachably connected with a functional upper assembling or developing plate assembly; and a laser radar sensor and an ultrasonic sensor are sequentially arranged between the top plate and the bottom plate from top to bottom. The utility model provides a robot includes foretell robot platform. The utility model provides a robot platform, the function is complete, and the split can be used alone, can install functional facial make-up or development board subassembly according to actual demand on robot platform.

Description

Robot platform and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot platform and robot.

Background

In the prior art, the robot platform can be divided into two types, namely a robot of an overall design type and a developer experiment platform type robot. The robot of global design formula comprises robot platform and functional facial make-up, and when functional facial make-up was dismantled from robot platform, functional facial make-up and robot platform can't the exclusive use. The development of experimental platform robots is usually used for developers to verify the functions and algorithms of the robots.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: 1) the integrated robot has the problems of poor universality, incapability of independently disassembling and using the robot platform and the functional upper garment and incapability of replacing the functional upper garment according to requirements; 2) development of a functional upper garment having practical use value is generally impossible with a development experiment platform type robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot platform, the function is complete, and the split can be used alone, can install functional facial make-up or development board subassembly according to actual demand on robot platform.

An object of the utility model is to provide a robot still lies in providing a functional facial make-up or development board subassembly can be changed according to the user demand, and the commonality of robot is better.

To achieve the purpose, the utility model adopts the following technical proposal:

a robotic platform comprising:

the bottom plate is provided with traveling wheels;

the top plate is used for detachably connecting a functional upper assembling or developing plate assembly, and a supporting assembly is connected between the top plate and the bottom plate;

the roof with be equipped with laser radar sensor and ultrasonic sensor from top to bottom in proper order between the bottom plate.

Optionally, the outside parcel of supporting component has the casing, the upper edge of casing with be equipped with the clearance between the roof, set up in the clearance the lidar sensor, just the casing with be equipped with the confession between the roof the scanning space of lidar sensor scanning.

Optionally, the support assembly includes a support arm and a plurality of support columns, and a plurality of support columns evenly distributed on the bottom plate, one end of the support column with the bottom plate is connected, the other end of the support column with one side of the support arm is connected, the other side of the support arm with the top plate is connected, encircles the support column parcel the casing.

Optionally, the lidar sensor is mounted on the support arm, and the support arm is provided with a scanning space for scanning the lidar sensor.

Optionally, the support arm includes the U type support frame that two intervals set up, two be connected with the mounting panel between the opening inner wall of support frame, set up on the mounting panel laser radar sensor.

Optionally, the front of the housing is provided with the ultrasonic sensors, and at least three groups of the ultrasonic sensors are provided, and two adjacent groups of the ultrasonic sensors are distributed at 45 ° intervals on the front of the housing.

Optionally, the lower edges of the front part and the rear part of the housing are provided with trigger units, each trigger unit comprises a touch panel and a touch component connected with the touch panel, and the touch components are used for recognizing collision.

Optionally, the touch assembly includes:

the limiting seat is provided with a sliding cavity;

one end of the telescopic sliding block is arranged in the sliding cavity, and the other end of the telescopic sliding block is connected with the touch plate;

the limiting tongue is arranged on the telescopic sliding block and extends along the telescopic direction vertical to the telescopic sliding block;

the trigger switch is arranged on the limiting seat and is configured to be triggered by the limiting tongue.

Optionally, a spring is arranged in the sliding cavity, one end of the spring is abutted to the telescopic sliding block, and the other end of the spring is abutted to the inner wall of the limiting seat.

Optionally, a limiting groove communicated with the sliding cavity is formed in the side wall of the limiting seat, and the limiting tongue is slidably arranged in the limiting groove.

A robot comprises the robot platform and further comprises a functional loading and/or developing plate assembly, wherein the functional loading or developing plate assembly is arranged on the top plate.

Optionally, the development board subassembly includes development board and camera support, the development board with the roof can be dismantled and be connected, camera support with the roof can be dismantled and be connected, be equipped with the vision camera on the camera support, just the height-adjustable of vision camera.

Above-mentioned the utility model provides an embodiment has following beneficial effect:

the robot platform has a basic operation function by arranging the travelling wheels on the bottom plate and arranging the laser radar sensor and the ultrasonic sensor between the top plate and the bottom plate, and can be used independently after being detached from the functional upper mounting or development plate assembly; can install functional facial make-up or develop the board subassembly according to the user demand on the roof, make the robot have better commonality.

Above-mentioned another embodiment in the utility model has following beneficial effect:

the robot can install functional upper assembling or develop the plate assembly according to the use requirement, not only can be used for functional verification and algorithm verification in a laboratory, but also can be used for commerce, and has better universality.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to a first embodiment of the present invention;

fig. 2 is a schematic view of a first viewing angle of an internal structure of a robot platform according to a second embodiment of the present invention;

fig. 3 is a schematic view of a first perspective of an external structure of a robot platform according to a second embodiment of the present invention;

fig. 4 is a schematic view of a second perspective of the external structure of the robot platform according to the second embodiment of the present invention;

fig. 5 is a schematic view of a second perspective of the internal structure of the robot platform according to the second embodiment of the present invention;

fig. 6 is a schematic overall three-dimensional structure of a touch assembly according to a second embodiment of the present invention;

fig. 7 is a schematic view of a connection structure between the telescopic slider and the base according to the second embodiment of the present invention;

fig. 8 is a top view of a touch assembly according to a second embodiment of the present invention.

In the figure:

1. developing a plate assembly; 11. developing a board; 12. a camera support; 13. a vision camera; 14. a support block; 15. an adjusting plate; 16. a chute;

2. a robot platform; 21. a base plate; 22. a universal wheel; 23. a drive wheel; 24. a suspension assembly; 25. a support frame; 26. a support pillar; 27. a top plate; 28. a touch component; 29. a touch panel; 210. a laser radar sensor; 211. mounting a plate; 212. a housing; 213. an ultrasonic sensor; 214. a scram switch; 215. a cabin door; 216. a charging interface;

281. a base; 282. an upper limiting seat; 283. a slide chamber; 284. a limiting groove; 285. a telescopic slide block; 286. a limiting tongue; 287. a trigger switch; 288. a spring.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example one

The embodiment provides a robot, as shown in fig. 1, the robot includes a robot platform 2, a functional loading or development board assembly 1 can be installed on the robot platform 2, the functional loading or development board assembly 1 and the robot platform 2 are detachably connected, and after being detached, the robot platform 2 can be used alone.

In this embodiment, the functional facial make-up can be the facial make-up such as food delivery, information screen, and the user can change different functional facial make-up according to the demand, and the commonality is good, has higher commercial value.

The development board assembly 1 is used for functional verification and algorithm verification by a developer. As shown in fig. 1, the development board assembly 1 includes a development board 11 and a camera support 12, the development board 11 is detachably connected to the robot platform 2, the camera support 12 is detachably connected to the robot platform 2, a vision camera 13 is disposed on the camera support 12, and the height of the vision camera 13 can be adjusted. The vision camera 13 can catch the positive image of driving direction, and the height of vision camera 13 can be adjusted according to the developer demand, uses the flexibility good.

In this embodiment, one end of the camera support 12 is connected to the robot platform 2. Specifically, the camera support 12 is a square pipe, two opposite sides of one end of the camera support 12 are respectively connected with a supporting block 14, and the supporting blocks 14 are connected with the robot platform 2 through screws, so that the camera support 12 is convenient to mount and dismount.

The other end of the camera support 12 is provided with an adjusting plate 15, the adjusting plate 15 is provided with two parallel sliding grooves 16, the sliding grooves 16 are provided with sliding blocks (not shown in the figure), the visual camera 13 is installed on the sliding blocks, the sliding blocks are shifted to adjust the position of the visual camera 13, and the adjusting range is 0-150 mm.

The robot is at the operation in-process, in order to improve the stability of robot operation, guarantees the validity of the image that vision camera 13 gathered, has adjusted vision camera 13's position after, need lock vision camera 13 on regulating plate 15, therefore still is equipped with the retaining member on the slider. The locking member may be a bolt, one end of which is threaded through the sliding slot 16 to engage with the slider, and the bolt is screwed to lock the slider to the adjusting plate 15. The locking member may also be of other configurations and will not be described in detail herein.

Example two

The embodiment provides a robot platform, as shown in fig. 2, the robot platform 2 includes a bottom plate 21, a traveling wheel is arranged on the bottom plate 21, the traveling wheel includes two universal wheels 22 and two driving wheels 23, so that the lowest part of the bottom plate 21 is at least 30mm away from the ground. With reference to the forward or backward direction of the robot platform 2, the two driving wheels 23 are disposed on two sides of the bottom plate 21, the two universal wheels 22 are disposed on the front and rear portions of the bottom plate 21, and the two driving wheels 23 and the two universal wheels 22 are distributed on the bottom plate 21 in a diamond shape.

The driving wheel 23 is connected with an in-wheel motor (not shown in the figure), the in-wheel motor is installed on the bottom plate 21, the in-wheel motor drives the driving wheel 23 to rotate, and the maneuvering characteristics of forward or backward linear running, pivot center steering, turning running with any radius and the like of the robot platform 2 can be realized. In the embodiment, the driving wheel 23 is further provided with a suspension assembly 24, which can realize a bounce-down function to adapt to an uneven road environment and ensure the driving force of the driving wheel 23.

A top plate 27 is arranged above the bottom plate 21, and the top plate 27 is connected with the bottom plate 21 through a supporting component. Supporting component's outside parcel has casing 212, is equipped with the clearance between the upper edge of casing 212 and the roof 27, sets up lidar sensor 210 in the clearance, is equipped with the scanning space that supplies lidar sensor 210 to scan between casing 212 and the roof 27, and does not have the structure of sheltering from in lidar sensor 210's scanning region, guarantees that the data that lidar sensor 210 gathered are complete.

Specifically, the support assembly includes a support arm and a plurality of support columns 26, one end of each support column 26 is connected to the base plate 21, the other end of each support column 26 is connected to one side of the support arm, and the other side of the support arm is connected to the top plate 27.

In this embodiment, four support columns 26 are provided, and the four support columns 26 are distributed on the bottom plate 21 in a square shape. The bottom plate 21 is provided with a mounting hole, the end part of the support column 26 is inserted in the mounting hole, and the support column 26 is fixedly mounted on the bottom plate 21 through a bolt and a nut, so that the connecting structure is simple and convenient to mount.

As shown in fig. 3, a housing 212 surrounds the four support columns 26 to form a circular platform for the robotic platform 2. The lower edge of the housing 212 is connected to the edge of the base plate 21, and the ultrasonic sensor 213 is provided on the front portion of the housing 212. The ultrasonic sensors 213 are provided with at least three sets, preferably three sets of ultrasonic sensors 213, and two adjacent sets of ultrasonic sensors 213 are distributed at 45 ° intervals in the front of the housing 212. The ultrasonic sensors 213 can identify an obstacle at a middle distance in front of the vehicle, and the two adjacent ultrasonic sensors 213 are distributed at an interval of 45 degrees, so that the obstacle in front of the vehicle can be effectively identified.

Referring to fig. 2 and 3, a lidar sensor 210 is mounted on the support arm, the lidar sensor 210 is used for detecting long-distance ground obstacles, and the lidar sensor 210 is preferably arranged at a position 210mm away from the ground.

Be equipped with the scanning space that supplies laser radar sensor 210 to scan on the support arm, in order to make laser radar sensor 210's scanning region not less than 270, and scanning region does not have the structure of sheltering from, the support arm includes the U type support frame 25 that two intervals set up, and one side of every support frame 25 is connected with two support columns 26 respectively. Specifically, the end of the supporting column 26 is provided with a threaded column, and the supporting column 26 is connected with a corresponding threaded hole on the lower surface of the supporting frame 25 through the threaded column. The opening of U type support frame 25 is connected with mounting panel 211 towards the direction that robot platform 2 gos forward between the opening inner wall of two support frames 25, and the mid-mounting laser radar sensor 210 of mounting panel 211, laser radar sensor 210 do not have the structure of sheltering from when the scanning, guarantee that the data that laser radar sensor 210 gathered are complete, have increased and have swept the region effectively.

The other side of the support frame 25 is connected with a top plate 27, a threaded hole is formed in the support frame 25, one end of a bolt penetrates through the top plate 27 and is screwed into the threaded hole, and the top plate 27 is installed on the support frame 25. The top plate 27 is used for detachably connecting the functional upper assembling or developing plate component 1, so that the robot has better universality. When the robot is used in a commercial environment, the functional upper part described in the first embodiment is mounted on the top plate 27. When the robot is used in a laboratory, the development board 11 and the vision camera 13 described in the first embodiment are mounted on the top board 27, so that a developer can perform functional verification and algorithm verification.

In addition, the robot platform 2 provided by the embodiment has the universal wheels 22 and the driving wheels 23, and the laser radar sensor 210 and the ultrasonic sensor 213 are arranged between the top plate 27 and the bottom plate 21, so that the robot platform 2 has basic operation functions and can be independently detached for use.

In the present embodiment, referring to fig. 4, a data connection interface and a charging interface 216 are provided at the rear portion of the housing 212, and the data connection interface and the charging interface 216 have versatility. Specifically, a hatch door 215 is disposed at a position corresponding to the data connection interface at the rear of the housing 212, and when the hatch door 215 is opened, the data connection interface and a main switch of the robot platform 2 can be exposed, and the disposed data connection interface can be quickly matched with various functional upper assemblies and is convenient to install. The charging interface 216 arranged below the cabin door 215 can be used with a self-service charger, and the robot platform 2 of a low-matching type can also use a manual charging interface to charge the robot.

With reference to fig. 3 and 4, the triggering units are disposed at the lower edges of the front and rear portions of the housing 212, and the triggering units are disposed to ensure that the parking signal is triggered by the triggering units contacting with the obstacle when the lidar sensor 210 and/or the ultrasonic sensor 213 sense failure, so as to ensure the driving safety of the robot platform 2.

In the embodiment, as shown in fig. 5, the triggering unit includes a touch panel 29 and a touch component 28 connected to the touch panel 29, the touch panel 29 is an arc-shaped panel, the arc degree of the touch panel 29 is the same as the arc degree of the housing 212, but the touch panel 29 and the housing 212 are spaced apart from each other, so that a moving space is provided for the robot platform 2 to collide with an obstacle and the touch panel 29 to generate a displacement. Further, with reference to the direction in which the robot platform 2 moves forward or backward, two sets of touch assemblies 28 are disposed at intervals on the front and rear portions of the base plate 21, and the two sets of touch assemblies 28 are connected to the touch panel 29.

In this embodiment, referring to fig. 6, the touch assembly 28 includes a position-limiting seat and a telescopic slider 285, the position-limiting seat includes a base 281 and an upper position-limiting seat 282, the base 281 is provided with an open slot, the upper position-limiting seat 282 is also provided with an open slot, the base 281 and the upper position-limiting seat 282 are connected by a bolt to form a sliding cavity 283, and one end of the telescopic slider 285 is disposed in the sliding cavity 283. The telescopic slider 285 is provided with a limit tongue 286, the upper surface of the upper limit seat 282 is provided with a limit groove 284, the limit groove 284 is communicated with the sliding cavity 283, and one end of the limit tongue 286 penetrates through the limit groove 284 and is arranged outside the sliding cavity 283. The telescopic slider 285 has two states of extension and compression, when the telescopic slider 285 moves, two opposite side walls of the opening are respectively limited by an extension limit and a retraction limit, and are used for limiting the maximum displacement of the extension of the limiting tongue 286 and the maximum displacement of the retraction, so that the bidirectional limiting effect is achieved, and the arrangement of the limiting groove 284 enables the telescopic slider 285 to have a longer mechanical buffer stroke.

As shown in fig. 7, one end of the telescopic slider 285 placed in the slide cavity 283 is provided with a compression-type spring 288, one end of the spring 288 is connected with the telescopic slider 285, and the other end of the spring 288 is clamped on the inner walls of the base 281 and the upper limit seat 282. The spring 288 is pre-compressed during assembly to urge the slider 285 to maintain the limit tab 286 at the limit of extension without being subjected to external impact pressure.

A trigger switch 287 is provided on the outer upper surface of the upper limit seat 282, and the trigger switch 287 is disposed near the retraction limit, and in this embodiment, the trigger switch 287 selects a micro switch having a contact arm that is a mechanical trigger structure of the micro switch itself. When the telescopic slider 285 is impacted from outside and moves into the slide cavity 283, the limit tongue 286 can gradually contact with the contact arm of the micro switch, so that the collapsing movement is converted into a position signal and output to the controller. Meanwhile, when the microswitch is ensured to have further compression allowance, the retraction limit stops the telescopic sliding block 285 from further moving backwards, so that the microswitch is effectively protected from being damaged

When the robot platform 2 collides with an obstacle, the obstacle presses the touch panel 29, the touch panel 29 generates displacement to press the telescopic slider 285, as shown in fig. 8, when the telescopic slider 285 is in a stroke section S1, the limit tongue 286 of the telescopic slider 285 is not in contact with the micro switch, the trigger unit only plays a role of collapsing and buffering, and the reset elastic force is increased along with the increase of the compression stroke. When the compression further enters a stroke section S2, the limit tongue 286 can gradually contact with a contact arm of the micro switch, the micro switch can trigger the switch to be closed at a certain point in the section S2 according to self parameters, meanwhile, the residual compressible quantity of the micro switch is H, the residual quantity of the compression of the stroke of the telescopic sliding block 285 is limited by the limit groove 284, the H is guaranteed to be more than H, and therefore the micro switch is prevented from being damaged. When the external shock is relieved, the telescopic slider 285 returns to the initial position under the force of the spring 288, ensuring that the next trigger is available.

The robot platform 2 is also provided with an emergency stop switch 214, and in an emergency, the emergency stop switch 214 is manually operated to ensure the safety of the robot.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robotic platform, comprising:

the walking device comprises a bottom plate (21), wherein walking wheels are arranged on the bottom plate (21);

a top plate (27) for detachably connecting a functional upper or development plate assembly (1), a support assembly being connected between the top plate (27) and the bottom plate (21);

roof (27) with be equipped with laser radar sensor (210) and ultrasonic sensor (213) from top to bottom in proper order between bottom plate (21).

2. The robot platform of claim 1, wherein a housing (212) is wrapped around the support assembly, a gap is provided between an upper edge of the housing (212) and the top plate (27), the lidar sensor (210) is disposed in the gap, and a scanning space for scanning by the lidar sensor (210) is provided between the housing (212) and the top plate (27).

3. The robot platform according to claim 2, characterized in that the support assembly comprises a support arm and a plurality of support columns (26), the plurality of support columns (26) are evenly distributed on the bottom plate (21), one end of the support column (26) is connected with the bottom plate (21), the other end of the support column (26) is connected with one side of the support arm, the other side of the support arm is connected with the top plate (27), and the housing (212) is wrapped around the support column (26).

4. The robotic platform of claim 3, wherein said lidar sensor (210) is mounted on said support arm, and wherein said scanning space is defined on said support arm for scanning by said lidar sensor (210).

5. The robot platform of claim 4, characterized in that the supporting arm comprises two spaced U-shaped supporting frames (25), a mounting plate (211) is connected between the inner walls of the openings of the two supporting frames (25), and the laser radar sensor (210) is arranged on the mounting plate (211).

6. The robotic platform of claim 2, wherein said ultrasonic sensors (213) are disposed at a front portion of said housing (212), said ultrasonic sensors (213) being disposed in at least three groups, two adjacent groups of said ultrasonic sensors (213) being spaced apart at 45 ° intervals at said front portion of said housing (212).

7. Robot platform according to claim 2, characterized in that the lower edges of the front and rear part of the housing (212) are provided with trigger units, which trigger units comprise a touch pad (29) and a touch assembly (28) connected to the touch pad (29), which touch assembly (28) is used for recognizing a collision.

8. The robotic platform of claim 7, wherein the touch assembly (28) comprises:

the limiting seat is provided with a sliding cavity (283);

one end of the telescopic slider (285) is arranged in the sliding cavity (283), and the other end of the telescopic slider (285) is connected with the touch plate (29);

the limiting tongue (286) is arranged on the telescopic sliding block (285) and extends along the telescopic direction perpendicular to the telescopic sliding block (285);

a trigger switch (287) disposed on the retention block and configured to be triggered by the retention tongue (286).

9. The robot platform of claim 8, wherein a spring (288) is disposed in the slide cavity (283), one end of the spring (288) abuts against the telescopic sliding block (285), and the other end abuts against an inner wall of the limit seat.

10. The robot platform as claimed in claim 8, wherein the side wall of the position limiting base is provided with a position limiting groove (284) communicated with the sliding cavity (283), and the position limiting tongue (286) is slidably arranged in the position limiting groove (284).

11. A robot, characterized in that it comprises a robot platform according to any of claims 1-10, further comprising a functional kit and/or development board assembly (1), said functional kit or said development board assembly (1) being arranged on said top plate (27).

12. The robot according to claim 11, wherein the development board assembly (1) comprises a development board (11) and a camera bracket (12), the development board (11) is detachably connected with the top board (27), the camera bracket (12) is detachably connected with the top board (27), a visual camera (13) is arranged on the camera bracket (12), and the height of the visual camera (13) is adjustable.