WO2018113548A1 - 机器人 - Google Patents

机器人 Download PDF

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Publication number
WO2018113548A1
WO2018113548A1 PCT/CN2017/115489 CN2017115489W WO2018113548A1 WO 2018113548 A1 WO2018113548 A1 WO 2018113548A1 CN 2017115489 W CN2017115489 W CN 2017115489W WO 2018113548 A1 WO2018113548 A1 WO 2018113548A1
Authority
WO
WIPO (PCT)
Prior art keywords
disposed
robot
body structure
locking portion
connector
Prior art date
Application number
PCT/CN2017/115489
Other languages
English (en)
French (fr)
Inventor
张国鹏
蒲立
王野
Original Assignee
纳恩博（北京）科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2018113548A1 publication Critical patent/WO2018113548A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J27/00—Safety equipment
    • B62J27/30—Crash bars; Crash bungs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B25J19/065—Mechanical fuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Definitions

  • the application requires the application number as 201611208278.3, and the application date is December 23, 2016, and the invention is entitled to the priority of the Chinese patent application of the robot.
  • the present invention relates to the field of robots, and in particular to a robot.
  • the structural design of the robot needs to at least take into account the robustness of its structure and the various functional requirements of the robot. It is also very diverse in terms of functional requirements, such as anti-collision strength, obstacle avoidance function, follow function, navigation function, human-computer interaction function, etc. Etc; therefore, the structural design of the robot is a very complicated job.
  • the present invention is intended to provide a body structure of a robot that has a certain impact strength and that takes into account some specific functions.
  • the main object of the present invention is to provide a robot to solve the problem that the robot in the prior art is easily damaged after falling.
  • the present invention provides a robot comprising: a walking structure; a body structure, the body structure is disposed on the walking structure, and the walking structure has at least a forward direction and a first direction that drive the body structure to move in the first direction. a receding direction moving away from the direction; an anti-collision portion disposed on the walking structure, the anti-collision portion protruding from the walking structure; and/or the anti-collision portion being disposed on the body structure, the anti-collision portion protruding from the body structure.
  • the anti-collision portions are two, and the two anti-collision portions are respectively disposed on both sides of the body structure in the width direction.
  • the robot further includes a handle portion that is disposed on the body structure and protrudes from the body structure.
  • the anti-collision portion includes an anti-collision bar and a soft body structure wrapped around the outer periphery of the anti-collision bar, and the handle portion and the anti-collision portion are connected to the ground.
  • the body structure includes: a body structure; a head structure pivotally disposed on the body structure, the head structure having at least a first position and a second position pivoting on the body structure, the first position It is different from the second position.
  • the body structure includes a connected support beam, a body skeleton and a first motor, the support beam, the body frame and the first motor together enclose an accommodation space, wherein the first motor comprises a stator housing and a rotor, and the rotor is rotatably disposed Within the stator housing, at least a portion of the stator housing forms the stator of the motor, at least a portion of which forms the rotor of the motor.
  • the head structure includes a U-shaped bracket and a pitch portion pivotally disposed on the U-shaped bracket.
  • the robot further includes a computer operation panel and a power supply structure electrically connected to the computer operation panel, wherein the power supply structure is disposed in the accommodation space and connected to the first motor, and the computer operation panel is disposed on the tilting portion.
  • the robot further includes a connection assembly, the head structure and the body structure being connected by the connection assembly, the connection assembly comprising: a first connection member, an elastic buffer member and a second connection member, wherein the second connection member is nested in the first connection
  • the elastic buffering member is interposed between the first connecting member and the second connecting member, and the first connecting member, the elastic buffering member and the second connecting member are circumferentially rotationally connected, and the first connecting member is connected to the U-shaped bracket.
  • the second connector is coupled to the rotor.
  • the robot further includes: a first locking portion, the first locking portion is disposed on the head structure or the connecting component; the second locking portion is disposed on the body structure, the first locking portion And the second locking portion has a locking state when the head structure is defined in the first position, and the first locking portion and the second locking portion further have a head structure in the first position relative to the body structure Pivotable open state.
  • first locking portion is selectively disposed on the first connecting member or the second connecting member, and the second locking portion is pivotally disposed on the stator housing.
  • first locking portion is provided with a card slot
  • second locking portion is provided with a block that cooperates with the card slot; or the first locking portion is provided with a block, and the second locking portion is provided with A card slot that mates with the card block.
  • the body skeleton is covered with a part of the stator casing, and the stator casing is provided with a card slot structure protruding from the body frame.
  • the first end of the support beam is detachably inserted into the card slot structure, and the body structure further includes a support beam.
  • the support, the second end of the support beam is connected to the support beam support.
  • the robot further includes an obstacle detecting portion that is disposed on the body structure to detect an obstacle around the body structure.
  • the obstacle detecting portion is an ultrasonic detecting device and/or an infrared detecting device.
  • the robot further includes a speaker device, and the speaker device is disposed on the body structure.
  • the robot further includes a motor mounting shell, a second motor and a first circuit board, the motor mounting shell is disposed in the receiving space and connected to one end of the first motor away from the head structure, and the second motor is disposed in the motor mounting shell And driving the first circuit board to rotate.
  • the robot further includes a main control board disposed in the accommodating space and connected to the support beam.
  • the robot further includes a main connector structure, the main connector structure being coupled to the support beam and located on a side of the support beam facing away from the receiving space.
  • the robot further includes a lighting device rotatably disposed on the body structure.
  • the walking structure comprises a frame, a wheel and a middle compartment, the middle compartment is arranged on the frame, and the wheels are rotatably arranged on both sides of the frame.
  • the robot since the robot includes a walking structure, a body structure and an anti-collision portion, the body structure is disposed on the walking structure, and the walking structure has a traveling direction that drives the body structure to move in the first direction and deviates in the first direction. a recoil direction of the forward direction movement, the anti-collision portion is disposed on the walking structure, the anti-collision portion protrudes from the walking structure in the advancing direction; and/or the anti-collision portion is disposed on the body structure, and the anti-collision portion protrudes in the forward direction to the body structure Settings.
  • the anti-collision part will collide with the person or the obstacle before the walking structure or the body structure.
  • the anti-collision part will also precede the walking.
  • the structure or body structure collides with the ground, and the anti-collision part acts as a buffer for the collision contact process, thereby not only preventing the robot from being hit by a person, but also protecting the walking structure or the body structure. It avoids the damage of the walking structure or body structure and affects the normal operation of the robot.
  • the overall weight of the robot is evenly distributed, and the anti-collision portion can be selectively disposed on the walking structure or the body structure according to design requirements, and can also be on the walking structure and the body structure.
  • An anti-collision section is provided on both sides.
  • FIG. 1 shows a schematic structural view of a robot in a driving mode according to an alternative embodiment of the present invention
  • Figure 2 is a front elevational view showing the robot of Figure 1;
  • Figure 3 shows a right side view of the robot of Figure 2;
  • FIG. 4 is a schematic structural view of the robot of FIG. 1 in a robot mode
  • Figure 5 is a front elevational view showing the robot of Figure 4.
  • Figure 6 shows a right side view of the robot of Figure 5;
  • Figure 7 is a schematic view showing the structure of the body structure and the connecting assembly of the robot of Figure 1;
  • Figure 8 is a front elevational view showing the body structure and the connecting assembly of the robot of Figure 7;
  • Figure 9 is a front cross-sectional view showing the body structure and the connecting assembly of the robot of Figure 7;
  • Figure 10 is a left side view showing the body structure and the connecting assembly of the robot of Figure 7;
  • Figure 11 is a view showing the structure of the head structure and a part of the body structure of the robot of Figure 1;
  • Figure 12 is a front elevational view showing the head structure and a part of the body structure of the robot of Figure 11;
  • FIG. 13 is a schematic view showing a state in which the first locking portion and the second locking portion of the robot of FIG. 1 are in a locked state;
  • FIG. 14 is a schematic view showing a state in which the first locking portion and the second locking portion of the robot of FIG. 1 are in an open state;
  • Figure 15 is a schematic view showing the structure of the main connector structure of the robot of Figure 1 when it is not assembled;
  • Figure 16 is a schematic view showing the structure of the main connector structure of Figure 15 after assembly;
  • Figure 17 is a view showing the structure of the first fitting of the main connector structure of Figure 15;
  • Figure 18 is a block diagram showing the structure of the second fitting of the main connector structure of Figure 15.
  • orientations such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, for the convenience of describing the present invention and simplifying the description, and these orientation words are not described without the contrary. It is to be understood that the device or elements referred to have a particular orientation or are constructed and operated in a particular orientation, and therefore are not to be construed as limiting the scope of the invention; the orientations “inside and outside” refer to the contours of the components themselves. Inside and outside.
  • spatially relative terms such as “above”, “above”, “on top”, “above”, etc., may be used herein to describe as in the drawings.
  • the exemplary term “above” can include both “over” and "under”.
  • the device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.
  • the present invention provides a robot.
  • the robots of the embodiments of the present invention may be of different types, and the embodiments of the present invention are not limited.
  • the robots to which the body structures of the embodiments of the present invention are applied should all belong to the protection of the embodiments of the present invention. range.
  • the walking structure of the robot of the embodiment of the present invention may be a sports chassis of a balance vehicle, or even a flying wing or the like.
  • a normal robot working state may include a driving state (such as a riding state) and a non-driving state, and a robot in a non-driving state may move autonomously or be remotely controlled.
  • the robot of the present invention has a robot mode in a self-controlled state or a controlled state when the user is not standing, and a driving mode in which the robot acts as a means for the user to stand on the walking structure of the robot, and is in the driving mode.
  • the robot is used as a balance car.
  • the robot includes a walking structure 100, a body structure 200, and a collision avoidance portion 300.
  • the body structure 200 is disposed on the walking structure 100, and the walking structure 100 can drive the body structure 200 to advance or retreat in the first direction.
  • the collision avoiding portion 300 is disposed on the walking structure 100, the collision preventing portion 300 is protruded from the walking structure 100; and/or the collision preventing portion 300 is disposed on the body structure 200, and the collision preventing portion 300 is protruded from the body structure 200.
  • the robot includes the walking structure 100, the body structure 200, and the collision avoiding portion 300
  • the body structure 200 is disposed on the walking structure 100
  • the walking structure 100 can drive the body structure 200 to advance or retreat in the first direction
  • the collision preventing portion 300 is disposed in the walking structure.
  • the collision preventing portion 300 protrudes from the walking structure 100 in the advancing direction; and/or the collision preventing portion 300 is disposed on the body structure 200, and the collision preventing portion 300 protrudes from the body structure 200 in the advancing direction. In this way, regardless of whether the robot is working in the robot mode or in the driving mode, the collision avoidance portion 300 will collide with the person or the obstacle before the walking structure or the body structure.
  • the collision avoidance portion 300 when the robot falls, the collision avoidance portion 300 will also Before the walking structure 100 or the body structure 200 comes into collision with the ground, the collision avoiding portion 300 acts as a buffer for the collision contact process, thereby not only preventing the robot from colliding with the person, but also causing injury to the person while also functioning as the walking structure 100. Or the protection of the body structure 200 avoids damage to the walking structure 100 or the body structure 200 and affects the normal operation of the robot.
  • the overall weight of the robot is evenly distributed, and the collision avoiding portion 300 can be selectively disposed on the walking structure 100 or the body structure 200 according to design requirements, and can also be in the walking structure 100.
  • the collision preventing portion 300 is provided on both the upper body structure 200 and the body structure 200.
  • the collision preventing portion 300 is two, and the two collision preventing portions 300 are respectively disposed on both sides in the width direction of the body structure 200.
  • the anti-collision portion 300 simulates the human arms, effectively increasing the contact area of the collision avoidance portion 300 with the ground after the robot falls, improving the support function of the collision avoidance portion 300 to the robot, and avoiding the secondary collision between the robot and the ground. Further damage caused.
  • the robot in order to facilitate the user to pick up and drop the robot, the robot further includes a handle portion 400 , and the handle portion 400 is disposed on the body structure 200 and protrudes from the body structure 200 . .
  • the handle portion 400 can also act as a buffer for the collision contact process, thereby not only preventing the robot from being hit by a person, but also protecting the walking structure 100 or the body structure 200. The collision of the walking structure 100 or the body structure 200 is avoided and the normal operation of the robot is affected.
  • the anti-collision portion 300 includes an anti-collision bar and a soft body structure wrapped around the outer periphery of the anti-collision bar, and the handle portion 400 is connected to the anti-collision portion 300 to be grounded. Since the anti-collision portion 300 includes an anti-collision bar and a soft body structure wrapped around the outer periphery of the anti-collision bar, the anti-collision bar plays a supporting role for the soft body structure, and the soft body structure can prolong the time when the robot collides with an external object, and the pair The buffering effect of the collision process reduces the impact of the robot and protects the robot.
  • the handle portion 400 and the collision preventing portion 300 are connected to the ground, the handle portion 400 of the robot and the collision preventing portion 300 are more like the human arm, which not only improves the aesthetic appearance of the robot, but also facilitates the handle portion 400 and the collision avoidance.
  • the portion 300 is assembled to the walking structure 100 and/or the body structure 200.
  • the collision preventing portion 300 and the handle portion 400 are integrally formed.
  • the body structure 200 includes a body structure 210 and a head structure 220 that is pivotally disposed on the body structure 210, the head structure 220 having at least pivoting on the body structure 210
  • the first position and the second position are different positions of the first position and the second position.
  • the head structure 220 adaptively switches between the first position and the second position.
  • the body structure 210 includes a supporting beam 211, a body frame 212, and a first motor 213.
  • the support beam 211, the body frame 212, and the first motor 213 collectively enclose a receiving space 11 therein.
  • the first motor 213 includes a stator housing 2131 and a rotor 2132 rotatably disposed within the stator housing 2131. At least a portion of the stator housing 2131 constitutes a stator of the motor, and at least a portion of the rotor 2132 constitutes a rotor of the motor.
  • the rotor 2132 can be rotated relative to the stator housing 2131, and the rotation of the rotor 2132 can drive the head structure 220 to rotate, thereby switching the head structure 220 between the first position and the second position to accommodate the robot in the robot mode. Conversion between driving mode and driving mode.
  • the first motor 213 is a brushless motor.
  • the head structure 220 includes a U-shaped bracket 221 and a tilting portion 222 pivotally disposed on the U-shaped bracket 221.
  • the pitch portion 222 is coupled to the U-shaped bracket 221 via a pitch rotation axis.
  • the tilting portion 222 is provided with an image pickup device, and by the pitch of the tilting portion 222 with respect to the U-shaped frame 221, the image capturing device can acquire image information in a larger range in the space.
  • the robot further includes a computer operation panel 500 and a power supply structure 600 electrically connected to the computer operation panel 500, wherein the power supply structure 600 is disposed in the accommodation space 11 and is first The motor 213 is connected, and the computer operation panel 500 is disposed on the tilting portion 222.
  • the connection stability between the power supply structure 600 and the first motor 213 is improved and the volume of the accommodation space 11 is utilized reasonably.
  • the power supply structure 600 can also provide power to the computer operation panel 500.
  • the robot further includes a connection assembly 700, and the head structure 220 and the body structure 210 are connected.
  • the assembly 700 is connected.
  • the connecting assembly 700 includes a first connecting member 710, an elastic buffering member 720 and a second connecting member 730.
  • the second connecting member 730 is nested in the first connecting member 710, and the elastic buffering member 720 is interposed therebetween.
  • the elastic buffering member 720 and the second connecting member 730 are circumferentially connected to each other, and the first connecting member 710 is connected to the U-shaped bracket 221,
  • the two connectors 730 are coupled to the rotor 2132.
  • the elastic buffering member 720 functions to flexibly connect the first connecting member 710 and the second connecting member 730, and can effectively absorb the impact energy between the first connecting member 710 and the second connecting member 730, and simultaneously the U-shaped frame 221
  • the portion of the stator housing 2131 and the rotor 2132 and the body structure 210 connected to each other serves as a cushioning protection, and the deformation of the elastic buffer member 720 can increase the collision contact time between the first connecting member 710 and the second connecting member 730, and reduces
  • the contact impulse of the first connecting member 710 and the second connecting member 730 avoids the bump damage of the first connecting member 710 or the second connecting member 730, and also avoids the first connecting member 710 and the second after the robot is used for a long time.
  • the elastic buffer 720 is one of rubber, silica gel, foam or sponge.
  • the elastic cushioning member 720 is a vulcanized rubber.
  • the surface of the elastic buffer member 720 facing the first connecting member 710 has an uneven structure, and/or the surface of the elastic buffer member 720 facing the second connecting member 730 has a concave-convex structure.
  • the surface of the elastic buffer member 720 facing the first connecting member 710 has a concave-convex structure, the contact surface area of the elastic buffer member 720 and the first connecting member 710 is further increased, and the buffering effect on the movement of the first connecting member 710 is improved. .
  • the surface of the elastic buffer member 720 facing the second connecting member 730 has a concave-convex structure, the contact surface area between the elastic buffer member 720 and the second connecting member 730 can be further increased, and the first connecting member 710 is improved.
  • the cushioning action of the movement between the second connectors 730 serves to effectively protect the connection assembly 700.
  • the uneven structure is zigzag.
  • the robot further includes a first locking portion 800 and a second locking portion 900.
  • the first locking portion 800 is disposed on the head structure 220 or the connecting assembly 700, and the second locking portion
  • the stopper 900 is disposed on the body structure 210, and the first locking portion 800 and the second locking portion 900 have a locking state when the head structure 220 is defined at the first position, and the first locking portion 800 and the second portion
  • the locking portion 900 also has an open state that pivots the head structure 220 relative to the body structure 210 when in the first position.
  • the first locking portion 800 and the second locking portion 900 have a head structure 220 defined therein.
  • the locked state in the first position, and the first locking portion 800 and the second locking portion 900 have an open state in which the head structure 220 is pivotable relative to the body structure 210.
  • the body structure 210 and the head structure 220 are integrally restrained, thereby avoiding the head structure 220 relative to the body.
  • the structure 210 rotates, and only when the first locking portion 800 and the second locking portion 900 are switched to the open state, the head structure 220 of the robot can rotate, thereby ensuring the safety of the user when driving the robot, and improving The reliability of the robot itself.
  • the first locking portion 800 is disposed on the connecting component 700, which can also limit the position of the head structure 220, and can also improve the reliability of the robot itself.
  • the first locking portion 800 is selectively disposed on the rotor 2132 or on the first connector 710 or the second connector 730, and the second locking portion 900 is pivotally disposed on the stator housing 2131.
  • the designer can set the first locking portion 800 on the rotor 2132 or the first connecting member 710 or the second connecting member 730 according to the user's usage habit, the rotor 2132 and the first connecting member 710 and the second connection.
  • the member 730 is connected to the rotation stop. Therefore, when the second locking portion 900 is engaged with the first locking portion 800, the head structure 220 can be locked in the first position to facilitate the user to drive the robot.
  • the rotor 2132 is detachably connected to the second connecting member 730, and the rotor 2132 and the second connecting member 730 are circumferentially stopped, and the second connecting member 730 and the first connecting member 710 are detachably connected, and The two connecting members 730 and the first connecting member 710 are circumferentially stopped, the second connecting member 730 has a cylindrical shape, and a part of the first connecting member 710 is disposed in the mounting cavity of the tubular second connecting member 730, the first connection Another portion of the member 710 extends outwardly from the mounting cavity and is detachably coupled to the U-shaped bracket 221.
  • the rotor 2132 When the rotor 2132 rotates, the rotor 2132 drives the second connecting member 730, the first connecting member 710 and the U-shaped bracket 221 together. Rotation, thereby rotating the head structure 220 relative to the body structure 210 to accommodate the robot's transition between the robot mode and the driving mode.
  • the first locking portion 800 is provided with a card slot
  • the second locking portion 900 is provided with a card block that cooperates with the card slot; or the first locking portion 800 is provided with a card block.
  • the second locking portion 900 is provided with a card slot that cooperates with the block.
  • the first locking portion 800 is provided with a card slot
  • the second locking portion 900 is provided with a card block that cooperates with the card slot, so that when used When the robot is required to drive the robot, after the robot is switched to the driving mode, the second locking portion 900 is twisted, and the block of the second locking portion 900 is engaged in the card slot of the first locking portion 800, so the second The surface of the block of the locking portion 900 that engages with the card slot serves as a stop end face of the first locking portion 800.
  • the rotation of the rotor 2132 is effectively limited, and the head structure 220 is stably in the first position, so that the robot is in the driving mode, which is convenient for the user to drive, and reliably ensures the safety of the user, and avoids the user driving.
  • the head structure 220 suddenly rotates to collide with the user, causing the user to lose balance and the dangerous situation of dropping the robot occurs.
  • the first locking portion 800 is provided with a card block
  • the second locking portion 900 is provided with a card slot for engaging with the card block. It is also possible to effectively limit the rotation of the rotor 2132, ensuring that the head structure 220 is stably in the first position, so that the robot is stably in the driving mode.
  • a mounting gap 12 is formed between the second locking portion 900 and the body structure 210 .
  • the robot further includes a limiting elastic piece 1700 , and the limiting elastic piece 1700 is disposed at the mounting gap 12 .
  • the limiting elastic piece 1700 can provide an elastic supporting force to the second locking portion 900, stably restrain the second locking portion 900 in a state of being in contact with the first locking portion 800, or the second locking portion. The state of the 900 is limited to be separated from the first locking portion 800.
  • the second locking portion 900 can be deformed by pressing the limiting elastic piece 1700 to overcome The elastic supporting force of the limiting elastic piece 1700 is separated from the first locking portion 800, so that the first locking portion 800 and the second locking portion 900 are in an open state; likewise, only when the second locking portion 900 receives a thrust greater than When the thrust value is preset, the second locking portion 900 can be pressed to deform the limiting elastic piece 1700 to overcome the elastic supporting force of the limiting elastic piece 1700 from being moved from the separated state of the first locking portion 800 to the first locking portion 800.
  • the contact state is such that the first locking portion 800 and the second locking portion 900 are in a locked state.
  • the limiting elastic piece 1700 has a zigzag shape.
  • the convex portion of the limit-shaped elastic piece 1700 which is a figure-shaped type serves as a deformation portion of the limiting elastic piece 1700, and provides an elastic supporting force for the second locking portion 900, and when the second locking portion 900 is located at the convex portion On one side, the second locking portion 900 is in contact with the first locking portion 800, and when the second locking portion 900 is located on the other side of the convex portion, the second locking portion 900 is separated from the first locking portion 800. .
  • the user can manually rotate the second locking portion 900 relative to the body structure 210 according to the needs of use.
  • the robot further includes a drive system, and the drive system is drivingly coupled to the second lock portion 900, so that the rotation of the second lock portion 900 can be automatically performed.
  • Control further improves the automation of the robot and improves the ease of use of the robot.
  • the body frame 212 covers a part of the stator casing 2131.
  • the stator casing 2131 is provided with a card slot structure 2133 protruding from the body frame 212, and the first of the support beams 211. The end is detachably inserted into the card slot structure 2133.
  • the body structure 210 further includes a support beam support 214, and the second end of the support beam 211 is coupled to the support beam support 214.
  • the arrangement of the slot structure 2133 not only enables the first end of the support beam 211 to be stably connected with the stator housing 2131, but also allows the support beam 211 and the stator housing 2131 to be detachably arranged to facilitate the support beam 211 or the first motor 213. Repair and replacement.
  • the body structure 210 is pivotally connected to the walking structure 100 through the support beam support 214 , and the body structure 210 can be used as a leg lever when the robot is in the driving mode.
  • the user stands on the walking structure, and the user controls the robot to realize the steering function by controlling the size of the body structure 210 applied to the body structure, and the robot at this time is used as a balancing vehicle having a walking function.
  • the structure of the first motor 213 is reasonably configured, so that the first motor 213 has the mounting characteristics of the detachable assembly of the rotor 2132 and the stator housing 2131, and the card
  • the groove structure 2133 is a unitary structure with the stator casing 2131.
  • the robot further includes a magnetic element 1800 and a Hall element 1900 for use with the magnetic element 1800.
  • the magnetic element 1800 is disposed on the second locking portion 900, and the Hall element 1900
  • two Hall elements 1900 are disposed at a position of the stator housing 2131 opposite to the second locking portion 900, and when the second locking portion 900 is in the locked state, the second locking portion 900 is A Hall element 1900 corresponds to, when the second locking portion 900 is in an open state, the second locking portion 900 corresponds to another Hall element 1900; wherein the two Hall elements 1900 are electrically connected to the main control board of the robot .
  • the Hall element 1900 can sense the position of the second locking portion 900, thereby enabling the robot to automatically detect the position of the second locking portion 900.
  • the robot further includes an obstacle detecting portion 1000 that is disposed on the body structure 210 to detect an obstacle around the body structure 210.
  • the obstacle detecting portion 1000 is disposed on the body skeleton 212 of the body structure 210.
  • the obstacle detecting portion 1000 can effectively detect obstacles and potholes around the robot, thereby facilitating the robot to avoid obstacles. Objects or potholes improve the robot's motion reliability.
  • the obstacle detecting unit 1000 is the ultrasonic detecting device 1001 and/or the infrared detecting device 1002.
  • the ultrasonic detecting device 1001 can effectively detect a large obstacle located at a long distance in front of the robot, and reliably calculate the distance between the large obstacle and the robot. This gives the robot enough time to avoid large obstacle movements.
  • the mounting axis of the ultrasonic detecting device 1001 is disposed in a horizontal direction to detect an obstacle located in front of the body structure 210; or the mounting axis of the ultrasonic detecting device 1001 is at an angle to the horizontal direction (eg, 10 degrees, 15 degrees) , 20 degrees, 60 degrees, etc.) are set to detect obstacles located in front of the body structure 210.
  • the ultrasonic detecting device 1001 of the embodiment of the present invention can effectively emit ultrasonic waves with an oscillation frequency of 20 kHz, and the emitted ultrasonic waves have high frequency, short wavelength, small diffraction phenomenon, good directivity, and can become rays.
  • the wave is converted into an electrical signal and the electrical signal is analyzed to obtain information such as the specific position and size of the obstacle or the pit and the distance between the robot and the robot of the embodiment of the present invention, thereby facilitating the robot to react quickly in the shortest time.
  • the intelligent walking of the robot can be realized.
  • the mounting axis of the ultrasonic detecting device 1001 is disposed in the horizontal direction to detect an obstacle located in front of the body structure 210; thus, the ultrasonic wave emitted from the ultrasonic detecting device 1001 With the mounting axis as the center line, it continues to propagate into the space in front of the robot.
  • the mounting axis of the ultrasonic detecting device 1001 is disposed at an angle with the horizontal direction to detect the body structure.
  • the ultrasonic detecting device 1001 in order to improve the multi-aspect detection capability of the ultrasonic detecting device 1001, it is ensured that the ultrasonic detecting device 1001 can accurately detect obstacles at various positions in the environment in front of the movement of the robot. Or a pothole, the ultrasonic detecting device 1001 is rotatably disposed on the body skeleton 212. Preferably, the ultrasonic detecting device 1001 is hinged to the body skeleton 212.
  • the obstacle detecting portion 1000 includes the infrared detecting device 1002
  • the infrared detecting device 1002 can effectively detect small obstacles and potholes located under the robot foot (especially when the ground moving chassis is a walking structure, the infrared detecting device 1002 can effectively The obstacles and potholes in front of the wheel are detected, so that the robot can avoid running down accidents caused by small obstacles falling or falling into the potholes, so that the robot can select a flat path motion, thereby improving the stability of the robot movement. Sex.
  • the combination of the ultrasonic detecting device 1001 and the infrared detecting device 1002 can also reduce the overall cost of the robot by using the infrared detecting device 1002, which has the advantages of simple circuit structure, convenient processing and low cost, and improves the economical use of the robot.
  • the market competitiveness of robots can also reduce the overall cost of the robot by using the infrared detecting device 1002, which has the advantages of simple circuit structure, convenient processing and low cost, and improves the economical use of the robot. The market competitiveness of robots.
  • the mounting axis of the infrared detecting device 1002 is disposed obliquely downward to detect an obstacle located obliquely below the body structure 2.
  • the obstacle that is not detected near the oblique lower side of the robot due to the excessive movement of the robot is effectively avoided, thereby ensuring that the robot normally moves in the forward direction thereof, and also prevents the robot from standing in the driving mode.
  • the user on the walking structure of the robot falls from the robot and falls, thereby improving the safety of the use of the robot.
  • the infrared detecting device 1002 is at least two, at least two infrared detecting devices 1002 are disposed on both sides of the longitudinal axis of the ultrasonic detecting device 1001, and the height of the ultrasonic detecting device 1001 in the vertical direction from the ground is greater than the infrared detecting device. 1002 is the height in the direction perpendicular to the ground. In this way, the two infrared detecting devices 1002 respectively detect the obstacles on both sides of the robot foot, so that the robot realizes the full detection of the obliquely downward space in the forward direction, thereby further ensuring the stability of the robot motion.
  • the robot further includes a speaker device 1100, and the speaker device 1100 is disposed on the body structure 210.
  • the speaker device 1100 is two, and the two speaker devices 1100 are symmetrically disposed on both sides of the body frame 212.
  • the robot further includes a motor mounting case 1200, a second motor, and a first circuit board 1600.
  • the motor mounting case 1200 is disposed in the accommodating space 11 and away from the head structure 220 of the first motor 213. One end is connected, and the second motor is disposed in the motor mounting case 1200 and drives the first circuit board 1600 to rotate.
  • the first circuit board 1600 may be a circuit board based on remote sensing, that is, under external control, the first circuit board 1600 can be driven by the second motor.
  • the first circuit board 1600 may also be a circuit board based on wireless carrier communication.
  • the first circuit board 1600 may be a circuit board integrated with a UWB antenna, and the first circuit board 1600 can be implemented as an anchor node end of UWB communication.
  • the beacon end of the communication is tracked, so that the first circuit board 1600 can perform corresponding rotation angle adjustment based on the position change of the beacon end (the second motor drives the first circuit board 1600 to rotate), thereby realizing the robot to beacon Tracking,
  • the accommodating space 11 is not only rationally utilized, but the robot has a functional diversity and is reduced.
  • the overall size of the robot improves the user's ease of use, and increases the compactness of the robot's electrical components, enabling the modular design of the robot.
  • the first circuit board 1600 is used as the remote control sensing circuit board, since the second motor drives the first circuit board 1600 to rotate, the first circuit board 1600 is advantageously used to scan and track the remote controller located outside the robot in all directions. Go to the position of the remote control and quickly go to the position of the remote control, so that the user can control the motion of the robot or realize the automatic charging function of the robot through the remote controller.
  • the first circuit board is a remote control sensing circuit board.
  • the body structure 210 further includes a power structure 600 electrically connected to the computer operating panel of the robot.
  • the power structure 600 is disposed in the receiving space 11 and connected to the first motor 213.
  • the power supply structure 600 can also provide a stable energy output for the second motor to ensure the movement of the second motor.
  • the power structure 600 can also provide power to a computer operating panel located on the robot head structure.
  • the robot further includes a main control board 1300 disposed in the accommodating space 11 and connected to the support beam 211.
  • the setting of the main control board 1300 realizes the analysis and control of various functional actions of the robot, and realizes the intelligent work of the robot.
  • the heat generated at the main control board 1300 can be stably transmitted to the outside of the accommodating space 11 through the support beam 211, thereby improving the heat dissipation effect of the main control board 1300, and ensuring that the robot can work stably for a long time.
  • the robot further includes a main connector structure 1400 that is coupled to the support beam 211 and is located on a side of the support beam 211 that faces away from the receiving space 11.
  • the main connector structure 1400 can realize electrical connection or signal connection between the robot and an external structure (such as a robotic arm of the robot), facilitating data transmission, manipulating the robot arm or charging the robot.
  • the main connector structure 1400 includes a first fitting 10, a second fitting 20, a fixing portion 30, and a mounting portion 60.
  • a first connector 13 is disposed on the first assembly 10
  • a second connector 21 is provided on the second assembly 20 to be adapted to the first connector 13.
  • the fixing portion 30 is disposed between the first fitting 10 and the second fitting 20, and passes through the fixing portion 30 to detachably connect the first fitting 10 and the second fitting 20.
  • the first fitting 10 and the second fitting 20 can be connected by the fixing portion 30 while the first connector 13 and the second connector 21 are connected, which can increase the connection stability of the device.
  • first fitting 10 and/or the second fitting 20 are provided with a mounting portion 60, and the mounting of the mounting portion 60 facilitates the fixed mounting of the first fitting 10 or the second fitting 20, so that the first fitting is assembled.
  • the 10 or second fitting 20 can be mounted on other components.
  • the first connector 13 can be a male connector, and the second connector 21 can be a female connector.
  • the first connector 13 can also be a female connector, and the second connector 21 can be a male connector.
  • the fixing portion 30 may be a snap structure, a hoop structure, a plug structure, or the like, as long as the first assembly 10 and the second assembly 20 can be detachably connected.
  • the mounting portion 60 is disposed on the second assembly 20, and the second assembly 20 is mounted and fixed by the mounting portion 60.
  • the mounting portion 60 may be a mounting plate provided with a connecting hole. It can be other connection structures such as connecting rods.
  • the mounting portion 60 can be specifically positioned according to the position of the installation and the components, so that the mounting of the second fitting 20 can be facilitated.
  • the first device is implemented by the fixing portion 30.
  • the fixing portion 30 includes a connecting boss 31 and a connecting hole 32.
  • the connecting boss 31 and the connecting hole 32 are in an interference fit or a screw connection.
  • the connection boss 31 may be disposed on the first assembly 10
  • the connection hole 32 may be disposed on the second assembly 20. It is also possible to arrange the connecting boss 31 on the second fitting 20 and to provide the connecting hole 32 on the first fitting 10.
  • connection boss 31 is correspondingly inserted into the connecting hole 32. Since the connecting boss 31 and the connecting hole 32 are interference fit or screwed, The connection between the first fitting 10 and the second fitting 20 can be fixed by the connection boss 31 and the connecting hole 32, thereby improving the connection stability of the first connecting head 13 and the second connecting head 21.
  • the connecting boss 31 includes oppositely disposed fixed ends and free ends. Wherein the fixed end is used for connection with the first fitting 10 or the second fitting 20, and the connecting boss 31 is fixed on the first fitting 10 or the second fitting 20 through its fixed end, and then connected through the free end thereof
  • the holes 32 are mated to each other. Specifically, the cross-sectional area of the connecting boss 31 from the fixed end to the free end is gradually reduced, so that the connecting boss 31 is inserted into the connecting hole 32, and the structure of the connecting boss 31 can avoid processing errors.
  • the connection boss 31 and the connection hole 32 cannot be connected.
  • the connecting boss 31 can be configured as a prismatic structure or a cylindrical structure.
  • the connecting boss 31 is provided in a conical shape, so that the connecting boss 31 can be inserted into the connecting hole 32.
  • the diameter of the free end of the connecting boss 31 may be set smaller than the diameter of the connecting hole 32, and the diameter of the fixed end of the connecting boss 31 may be set larger than the diameter of the connecting hole 32.
  • the main connector structure 1400 further includes a limiting portion 40 disposed between the first assembly 10 and the second assembly 20 .
  • the limiting portion 40 is added between the first fitting 10 and the second fitting 20, and the stability of the connection between the first connecting head 13 and the second connecting head 21 can be further improved by the matching of the limiting portion 40 and the fixing portion 30.
  • the limiting portion 40 includes a hook 41 and a limiting slot 42.
  • the limiting slot 42 cooperates with the hook 41 to achieve the engagement of the first assembly 10 and the second assembly 20 .
  • the hook 41 and the limiting slot 42 are engaged to increase the connection reliability of the first connector 13 and the second connector 21.
  • the hook 41 is disposed on the first assembly 10, and the limiting slot 42 is disposed on the second assembly 20.
  • the first connector 13 is first aligned with the second connector 21, and then the hook 41 is hooked on the limiting slot 42, and then the connecting boss 31 and the connecting hole 32 are aligned and plugged.
  • the connection of the first connector 13 and the second connector 21 is realized, so that the connection and fixing of the entire circuit can be completed.
  • the limiting structure is added on the basis of the provision of the fixing portion 30, and the stability and reliability of the connection of the first connector 13 and the second connector 21 can be further improved to avoid the first connector 13 due to shaking or collision. Disengaged from the second connector 21.
  • the hook can also be arranged on the second connecting piece, and the limiting groove is arranged on the first connecting piece.
  • first align the first connector with the second connector then hook the hook to the limiting slot, and then align and connect the connecting boss and the connecting hole, while plugging,
  • the connection of the first connector and the second connector is realized, so that the connection and fixing of the entire circuit can be completed.
  • the limiting structure is added on the basis of the fixing portion, which can further improve the stability and reliability of the connection between the first connector and the second connector, and avoid the first connector and the second connector due to shaking or collision.
  • the head is disengaged.
  • the hook 41 can be disposed on the same side as the connecting hole 32, and the limiting slot 42 can be disposed on the same side as the connecting boss 31.
  • the hook 41 and the connecting hole 32 are disposed on the first assembly 10, and the limiting slot 42 and the connecting boss 31 are disposed on the second assembly 20 through the hook 41.
  • the fixing hole 32 cooperates with the connecting hole 32 to cooperate with the connecting boss 31 to realize the fixed connection of the first fitting 10 and the second fitting 20.
  • the hook 41 and the connecting hole 32 may be disposed on the second fitting 20, and the limiting groove 42 and the connecting boss 31 may be disposed in the first fitting. 10, the hook 41 is engaged with the limiting slot 42 and the connecting hole 32 is engaged with the connecting boss 31 to achieve a fixed connection between the first assembly 10 and the second assembly 20.
  • the hook may be disposed on the same side as the connecting boss, and the limiting slot is disposed on the same side as the connecting hole.
  • the hook and the connecting boss are disposed on the first connecting member, and the limiting slot and the connecting hole are disposed on the second connecting member, and the hook and the limiting slot are matched, and the connecting hole is matched with the connecting boss to realize the first A fixed connection of the connecting member to the second connecting member.
  • the hook and the connecting boss may be disposed on the second connecting member, and the limiting slot and the connecting hole are disposed on the first connecting member, and the hook and the limit are adopted.
  • the slot fitting and the connecting hole cooperate with the connecting boss to achieve a fixed connection between the first connecting member and the second connecting member.
  • the limiting portion 40 further includes a protrusion 43 and a receiving portion 44 .
  • the accommodating portion 44 is configured to receive the protrusion 43 , and the protrusion 43 cooperates with the accommodating portion 44 to achieve the engagement of the first assembly 10 and the second assembly 20 .
  • the first assembly 10 and the second assembly 20 are further restrained by the projections 43 engaging the receiving portion 44.
  • the bumps 43 may be disposed on the first fitting 10, and the receiving portion 44 may be disposed on the second fitting 20.
  • the bumps 43 can also be disposed on the second assembly 20, and the receiving portion 44 can be disposed on the first assembly 10, and the designer can select according to actual needs.
  • the bumps 43 are disposed on the first fitting 10, and the receiving portion 44 is disposed on the second fitting 20.
  • the bump 43 may be disposed at any position of the connection surface of the first assembly 10 that is connected to the second assembly 20, and the protrusion 43 may be disposed adjacent to the connection hole 32 or may be disposed at the first connection head 13.
  • One side is provided separately on both sides of the first connector 13 or on one side of the hook 41.
  • the bump 43 and the hook 41 are provided as an integrally formed structure.
  • the receiving portion 44 may be provided as a recess on the first fitting 10 or the second fitting 20, or may be provided in other configurations.
  • the receiving portions 44 are correspondingly disposed on the second fitting 20.
  • the limiting portion 40 includes two limiting slots 42 .
  • the two limiting slots 42 are spaced apart from each other, and the receiving portion 44 is formed between the two limiting slots 42 .
  • the accommodating portion 44 is formed by the space between the two limiting slots 42 to be coupled with the bumps 43. This simplifies the structure of the device, reduces the processing cost, and facilitates installation and connection by a worker.
  • the first connector 13 is disposed between the fixing portion 30 and the limiting portion 40, and the second connector 21 is disposed at the fixing portion 30 and the limit. Between the 40. In this way, when the first connector 13 is connected to the second connector 21, the two fixing portions 30 and the limiting portion 40 are coupled to each other to provide a guarantee for the connection between the first connector 13 and the second connector 21.
  • the main connector structure 1400 further includes a waterproof structure 50, wherein the waterproof structure 50 is disposed between the first assembly 10 and the second assembly 20, and is located at the first connector 13 and The connection where the second connector 21 is connected.
  • the waterproof structure 50 may be other structures such as a waterproof gasket, a waterproof rubber layer, and the like.
  • the waterproof structure 50 specifically adopts a waterproof ring, and the waterproof ring is disposed on the outer circumference of the second connector 21 .
  • a mounting groove may be provided on the outer circumference of the second connector 21 to fix the waterproof ring in the mounting groove.
  • the main connector structure 1400 provided by the above embodiment is configured to cooperate with the connecting hole 32 to realize the positioning of the first assembly 10 and the second assembly 20; and the hook 41 and the limiting slot 42 cooperate.
  • the first assembly 10 and the second assembly 20 are constrained in the up and down direction; the protrusions 43 are engaged with the receiving portion 44 to limit the first assembly 10 and the second assembly 20 in the left and right direction.
  • the mounting of the second fitting 20 can be facilitated by the mounting portion 60 provided on both sides of the second fitting 20.
  • the robot further includes a lighting device 1500 that is rotatably disposed on the body structure 200.
  • the illumination device 1500 is fixedly disposed on the body structure 200.
  • the walking structure 100 includes a frame 110, a wheel 120, and a middle compartment 130.
  • the middle compartment 130 is disposed on the frame 110, and the wheels 120 are rotatably disposed on both sides of the frame 110.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

一种机器人，包括：行走结构（100）；身体结构（200），身体结构（200）设置在行走结构（100）上，行走结构（100）至少具有带动身体结构（200）沿第一方向运动的前进方向和沿与第一方向背离方向运动的后退方向；防撞部（300），防撞部（300）设置在行走结构（100）上，防撞部（300）突出于行走结构（100）设置；和/或防撞部（300）设置在身体结构（200）上，防撞部（300）突出于身体结构（200）设置，解决了现有技术中的机器人跌倒后容易损坏的问题。

Description

机器人
本申请要求申请号为201611208278.3，申请日为2016年12月23日，发明创造名称为机器人的中国专利申请的优先权。
技术领域
本发明涉及机器人领域，具体而言，涉及一种机器人。
背景技术
机器人的结构设计需要至少兼顾其结构的牢固性和机器人的各种功能性需求，在功能性需求方面又十分多样，如抗碰撞强度、避障功能、跟随功能、导航功能、人机交互功能等等；因此，机器人的结构设计是非常复杂的工作。本发明期望提出一种具备一定抗碰撞强度、且兼顾一些特定功能的机器人的躯体结构。
发明内容
本发明的主要目的在于提供一种机器人，以解决现有技术中的机器人跌倒后容易损坏的问题。
为了实现上述目的，本发明提供了一种机器人，包括：行走结构；身体结构，身体结构设置在行走结构上，行走结构至少具有带动身体结构沿第一方向运动的前进方向和沿与第一方向背离方向运动的后退方向；防撞部，防撞部设置在行走结构上，防撞部突出于行走结构设置；和/或防撞部设置在身体结构上，防撞部突出于身体结构设置。
进一步地，防撞部为两个，两个防撞部分别设置在身体结构的沿宽度方向的两侧。
进一步地，机器人还包括把手部，把手部设置在身体结构上并突出于身体结构设置。
进一步地，防撞部包括防撞杆和包覆在防撞杆外周的软体结构，把手部与防撞部相连接地设置。
进一步地，身体结构包括：躯体结构；头部结构，头部结构可枢转地设置在躯体结构上，头部结构至少具有在躯体结构上枢转的第一位置和第二位置，第一位置与第二位置为不同位置。
进一步地，躯体结构包括相连接的支撑梁、躯体骨架和第一电机，支撑梁、躯体骨架和第一电机共同围成容纳空间，其中，第一电机包括定子外壳和转子，转子可旋转地设置在定子外壳内，定子外壳的至少一部分构成了电机的定子，转子的至少一部分构成了电机的转子。
进一步地，头部结构包括U型架和可枢转地设置在U型架上的俯仰部。
进一步地，机器人还包括电脑操作面板和与电脑操作面板电连接的电源结构，其中，电源结构设置在容纳空间内并与第一电机连接，电脑操作面板设置在俯仰部上。
进一步地，机器人还包括连接组件，头部结构和躯体结构通过连接组件连接，连接组件包括：第一连接件、弹性缓冲件和第二连接件，其中，第二连接件嵌套在第一连接件内，弹性缓冲件夹设在第一连接件和第二连接件之间，且第一连接件、弹性缓冲件和第二连接件周向止转连接，第一连接件与U型架连接，第二连接件与转子连接。
进一步地，机器人还包括：第一锁止部，第一锁止部设置在头部结构上或连接组件上；第二锁止部，第二锁止部设置在躯体结构上，第一锁止部与第二锁止部具有将头部结构限定在第一位置时的锁紧状态，以及第一锁止部与第二锁止部还具有使头部结构在第一位置时相对于躯体结构可枢转的打开状态。
进一步地，第一锁止部选择性地设置在转子上或第一连接件上或第二连接件上，第二锁止部可枢转地设置在定子外壳上。
进一步地，第一锁止部上设置有卡槽，第二锁止部上设置有与卡槽配合的卡块；或第一锁止部上设置有卡块，第二锁止部上设置有与卡块配合的卡槽。
进一步地，躯体骨架包覆一部分定子外壳的设置，定子外壳上设置有突出于躯体骨架的卡槽结构，支撑梁的第一端可拆卸地插接在卡槽结构内，躯体结构还包括支撑梁支座，支撑梁的第二端与支撑梁支座连接。
进一步地，机器人还包括障碍物探测部，障碍物探测部设置在躯体结构上以探测躯体结构的周围的障碍物。
进一步地，障碍物探测部为超声波探测装置和/或红外线探测装置。
进一步地，机器人还包括扬声装置，扬声装置设置在躯体结构上。
进一步地，机器人还包括电机安装壳、第二电机和第一电路板，电机安装壳设置在容纳空间内并与第一电机的远离头部结构的一端连接，第二电机设置在电机安装壳内并驱动第一电路板转动。
进一步地，机器人还包括主控板，主控板设置在容纳空间内并与支撑梁连接。
进一步地，机器人还包括主接插件结构，主接插件结构与支撑梁连接并位于支撑梁的背离容纳空间的一侧。
进一步地，机器人还包括照明装置，照明装置可旋转地设置在身体结构上。
进一步地，行走结构包括车架、车轮和中舱，中舱设置在车架上，车轮可旋转地设置在车架的两侧。
应用本发明的技术方案，由于机器人包括行走结构、身体结构和防撞部，身体结构设置在行走结构上，行走结构具有带动身体结构沿第一方向上运动的前进方向和沿第一方向背离 前进方向运动的后退方向，防撞部设置在行走结构上，防撞部沿前进方向突出于行走结构设置；和/或防撞部设置在身体结构上，防撞部沿前进方向突出于身体结构设置。这样，无论机器人处于机器人模式工作还是处于驾驶模式工作时，防撞部会先于行走结构或身体结构与人或障碍物发生碰撞接触，同样地，当机器人跌倒后，防撞部也会先于行走结构或身体结构与地面发生碰撞接触，防撞部起到了对碰撞接触过程的缓冲作用，从而不仅能够避免机器人撞人而造成人员受伤，同时还能起到对行走结构或身体结构的保护作用，避免了行走结构或身体结构磕碰受损而影响机器人的正常工作。
需要说明的是，为了保证机器人整体结构的合理性，使机器人整体重量均匀分配，防撞部能够根据设计需要选择性地设置在行走结构上或身体结构上，也能够在行走结构上和身体结构上均设置防撞部。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的一种可选实施例的机器人处于驾驶模式时的结构示意图；
图2示出了图1中的机器人的主视示意图；
图3示出了图2中的机器人的右视示意图；
图4示出了图1中的机器人处于机器人模式时的结构示意图；
图5示出了图4中的机器人的主视示意图；
图6示出了图5中的机器人的右视示意图；
图7示出了图1中的机器人的躯体结构和连接组件的结构示意图；
图8示出了图7中的机器人的躯体结构和连接组件的主视示意图；
图9示出了图7中的机器人的躯体结构和连接组件的主视剖视示意图；
图10示出了图7中的机器人的躯体结构和连接组件的左视示意图；
图11示出了图1中的机器人的头部结构和部分躯体结构的结构示意图；
图12示出了图11中的机器人的头部结构和部分躯体结构的主视示意图；
图13示出了图1中的机器人的第一锁止部和第二锁止部处于锁紧状态时的状态示意图；
图14示出了图1中的机器人的第一锁止部和第二锁止部处于打开状态时的状态示意图；
图15示出了图1中的机器人的主接插件结构未装配时的结构示意图；
图16示出了图15中的主接插件结构装配后的结构示意图；
图17示出了图15中的主接插件结构的第一装配件的结构示意图；
图18示出了图15中的主接插件结构的第二装配件的结构示意图。
其中，上述附图包括以下附图标记：
11、容纳空间；12、安装间隙；100、行走结构；110、车架；120、车轮；130、中舱；200、身体结构；210、躯体结构；211、支撑梁；212、躯体骨架；213、第一电机；2131、定子外壳；2132、转子；2133、卡槽结构；214、支撑梁支座；220、头部结构；221、U型架；222、俯仰部；300、防撞部；400、把手部；500、电脑操作面板；600、电源结构；700、连接组件；710、第一连接件；720、弹性缓冲件；730、第二连接件；800、第一锁止部；900、第二锁止部；1000、障碍物探测部；1001、超声波探测装置；1002、红外线探测装置；1100、扬声装置；1200、电机安装壳；1300、主控板；1400、主接插件结构；10、第一装配件；13、第一连接头；20、第二装配件；21、第二连接头；30、固定部；31、连接凸台；32、连接孔；40、限位部；41、卡勾；42、限位槽；43、凸块；44、容纳部；50、防水结构；60、安装部；1500、照明装置；1600、第一电路板；1700、限位弹片；1800、磁性元件；1900、霍尔元件。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不 指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
为了解决现有技术中的机器人跌倒后容易损坏的问题，本发明提供了一种机器人。
需要说明的是，本发明实施例的机器人可以有多种不同种类，本发明实施例不做限制，实际应用中凡适用本发明实施例所述躯体结构的机器人应当都属于本发明实施例的保护范围。例如：本发明实施例的机器人的行走结构可以为平衡车的运动底盘，甚至也可以是飞行翼等等。以地面移动的机器人为例，通常的机器人工作状态可以包括驾驶状态(如骑行状态)和非驾驶状态，处于非驾驶状态的机器人可以自主移动，也可以被遥控。
需要说明的是，本发明的机器人具有未站立使用者时，处于自控状态或被控状态的机器人模式，和机器人作为代步工具以使使用者站立在机器人的行走结构上的驾驶模式，处于驾驶模式的机器人作为平衡车使用。
如图1至图12所示，机器人包括行走结构100、身体结构200和防撞部300；身体结构200设置在行走结构100上，行走结构100能够带动身体结构200沿第一方向前进或后退，防撞部300设置在行走结构100上，防撞部300突出于行走结构100设置；和/或防撞部300设置在身体结构200上，防撞部300突出于身体结构200设置。
由于机器人包括行走结构100、身体结构200和防撞部300，身体结构200设置在行走结构100上，行走结构100能够带动身体结构200沿第一方向前进或后退，防撞部300设置在行走结构100上，防撞部300沿前进方向突出于行走结构100设置；和/或防撞部300设置在身体结构200上，防撞部300沿前进方向突出于身体结构200设置。这样，无论机器人处于机器人模式工作还是处于驾驶模式工作时，防撞部300会先于行走结构或身体结构与人或障碍物发生碰撞接触，同样地，当机器人跌倒后，防撞部300也会先于行走结构100或身体结构200与地面发生碰撞接触，防撞部300起到了对碰撞接触过程的缓冲作用，从而不仅能够避免机器人撞人而造成人员受伤，同时还能起到对行走结构100或身体结构200的保护作用，避免了行走结构100或身体结构200磕碰受损而影响机器人的正常工作。
需要说明的是，为了保证机器人整体结构的合理性，使机器人整体重量均匀分配，防撞部300能够根据设计需要选择性地设置在行走结构100上或身体结构200上，也能够在行走结构100上和身体结构200上均设置防撞部300。
如图1、图2、图4和图5所示，防撞部300为两个，两个防撞部300分别设置在身体结构200的沿宽度方向的两侧。这样，防撞部300模拟人的双臂，有效地增加了机器人跌倒后防撞部300与地面的接触面积，提高了防撞部300对机器人的支撑作用，避免机器人与地面发生二次磕碰而造成的进一步损伤。
如图1、图3、图4和图6所示，为了便于使用者对机器人进行提拿取放，机器人还包括把手部400，把手部400设置在身体结构200上并突出于身体结构200设置。这样，当机器人作为代步工具使用时，使用者遇到不便驾驶的路况，能够通过把手部400将机器人提运到便于驾驶的路面处，从而提高了机器人的操作便捷性，不仅如此，当机器人向其后退方向跌倒时，把手部400同样能够起到对碰撞接触过程的缓冲作用，从而不仅能够避免机器人撞人而造成人员受伤，同时还能起到对行走结构100或身体结构200的保护作用，避免了行走结构100或身体结构200磕碰受损而影响机器人的正常工作。
可选地，防撞部300包括防撞杆和包覆在防撞杆外周的软体结构，把手部400与防撞部300相连接地设置。由于防撞部300包括防撞杆和包覆在防撞杆外周的软体结构，防撞杆起到了对软体结构的支撑作用，软体结构能够延长机器人与外界物体发生碰撞时的时间，起到对碰撞过程的缓冲效果，从而减小了机器人受到的磕碰力，起到了保护机器人的作用。由于把手部400与防撞部300相连接地设置，这样，机器人的把手部400与防撞部300更像人的手臂，不仅提高了机器人的外观美感度，而且还便于将把手部400和防撞部300装配到行走结构100和/或身体结构200上。
可选地，为了更大限度地简化机器人的加工制造复杂程度，提高机器人的装配效率，防撞部300和把手部400为一体结构。
如图1至图12所示，身体结构200包括躯体结构210和头部结构220，头部结构220可枢转地设置在躯体结构210上，头部结构220至少具有在躯体结构210上枢转的第一位置和第二位置，第一位置与第二位置为不同位置。当机器人在机器人模式和驾驶模式之间切换时，头部结构220适配性地在第一位置和第二位置之间切换。
如图7至图10所示，躯体结构210包括相连接的支撑梁211、躯体骨架212和第一电机213，支撑梁211、躯体骨架212和第一电机213共同围成容纳空间11，其中，第一电机213包括定子外壳2131和转子2132，转子2132可旋转地设置在定子外壳2131内，定子外壳2131的至少一部分构成了电机的定子，转子2132的至少一部分构成了电机的转子。这样，转子2132能够相对于定子外壳2131发生转动，转子2132的转动能够带动头部结构220发生转动，从而使头部结构220在第一位置和第二位置之间切换，以适应机器人在机器人模式与驾驶模式之间的转换。
可选地，第一电机213为无刷电机。
如图1、图2、图6、图11和图12所示，头部结构220包括U型架221和可枢转地设置在U型架221上的俯仰部222。具体地，俯仰部222通过俯仰转轴与U型架221连接。可选地，俯仰部222设置有摄像装置，通过俯仰部222相对于U型架221的旋转俯仰，便能够使摄像装置获取空间内更大范围内的图像信息。
为了满足机器人的功能多样性并保证机器人结构的完整性，机器人还包括电脑操作面板500和与电脑操作面板500电连接的电源结构600，其中，电源结构600设置在容纳空间11内并与第一电机213连接，电脑操作面板500设置在俯仰部222上。这样，提高了电源结构600与第一电机213之间的连接稳定性并合理地利用了容纳空间11的容积，不仅如此，电源结构600还能够为电脑操作面板500提供电源。
如图2、图3、图5、图6、图7、图8、图9、图10、图11、图12所示，机器人还包括连接组件700，头部结构220和躯体结构210通过连接组件700连接，连接组件700包括：第一连接件710、弹性缓冲件720和第二连接件730，其中，第二连接件730嵌套在第一连接件710内，弹性缓冲件720夹设在第一连接件710和第二连接件730之间，且第一连接件710、弹性缓冲件720和第二连接件730周向止转连接，第一连接件710与U型架221连接，第二连接件730与转子2132连接。
由于弹性缓冲件720夹设在第一连接件710和第二连接件730之间，当头部结构220在受到外部载荷的情况下会带动第一连接件710与第二连接件730发生碰撞，弹性缓冲件720起到了使第一连接件710与第二连接件730柔性连接的作用，能够有效地吸收第一连接件710与第二连接件730之间的冲击能量，同时对U型架221、定子外壳2131和转子2132和躯体结构210等相连接的部分起到缓冲保护作用，弹性缓冲件720的变形能够增长第一连接件710与第二连接件730之间的磕碰接触时间，减小了第一连接件710与第二连接件730的接触冲量，避免了第一连接件710或第二连接件730发生磕碰损坏，也避免了机器人长时间使用后，第一连接件710与第二连接件730之间因摩擦碰撞而导致头部结构220和躯体结构210之间发生连接松动的现象发生。
可选地，弹性缓冲件720为橡胶、硅胶、泡沫或海绵体中的一种。
优选地，弹性缓冲件720为经过硫化的橡胶。
如图9所示，弹性缓冲件720的朝向第一连接件710的表面呈凹凸结构状，和/或弹性缓冲件720的朝向第二连接件730的表面呈凹凸结构状。
由于弹性缓冲件720的朝向第一连接件710的表面呈凹凸结构状，这样进一步增加了弹性缓冲件720与第一连接件710的接触表面积，提高了对第一连接件710的运动的缓冲效果。
同样地，由于弹性缓冲件720的朝向第二连接件730的表面呈凹凸结构状，能够进一步增加弹性缓冲件720与第二连接件730之间的接触表面积，提高了对第一连接件710与第二连接件730之间运动的缓冲作用，起到了对连接组件700的有效保护。
需要说明的是，为了提高弹性缓冲件720装配在第一连接件710与第二连接件730之间的装配紧密性，凹凸结构状为锯齿形。
如图11、图13和图14所示，机器人还包括第一锁止部800和第二锁止部900，第一锁止部800设置在头部结构220或连接组件700上，第二锁止部900设置在躯体结构210上，第一锁止部800与第二锁止部900具有将头部结构220限定在第一位置时的锁紧状态，以及第一锁止部800与第二锁止部900还具有使头部结构220在第一位置时相对于躯体结构210可枢转的打开状态。
通过在头部结构220上设置第一锁止部800，并在躯体结构210上设置第二锁止部900，第一锁止部800与第二锁止部900具有将头部结构220限定在第一位置时的锁紧状态，以及第一锁止部800与第二锁止部900具有使头部结构220相对于躯体结构210可枢转的打开状态。这样，通过第一锁止部800和第二锁止部900的配合作用，当机器人在驾驶模式工作时，躯体结构210与头部结构220被整体限位，避免了头部结构220相对于躯体结构210发生旋转，只有当将第一锁止部800与第二锁止部900切换至打开状态后，机器人的头部结构220才能发生旋转，因此保证了使用者驾驶机器人时的安全性，提高了机器人自身的使用可靠性。
当然，将第一锁止部800设置在连接组件700上，同样能起到对头部结构220的限位作用，同样能够提高机器人自身的使用可靠性。
可选地，第一锁止部800选择性地设置在转子2132上或第一连接件710或第二连接件730上，第二锁止部900可枢转地设置在定子外壳2131上。这样，设计人员可以根据使用者的使用习惯，将第一锁止部800设置在转子2132上或第一连接件710或第二连接件730上，转子2132和第一连接件710和第二连接件730之间止转连接，因此，当第二锁止部900与第一锁止部800配合情况下，均能够将头部结构220锁紧在第一位置，方便使用者对机器人进行驾驶。
需要说明的是，转子2132与第二连接件730可拆卸地连接，且转子2132与第二连接件730周向止转，第二连接件730和第一连接件710可拆卸地连接，且第二连接件730和第一连接件710周向止转，第二连接件730呈筒状，第一连接件710的一部分设置在呈筒状的第二连接件730的安装腔内，第一连接件710的另一部分由安装腔向外伸出并与U型架221可拆卸地连接，当转子2132转动时，转子2132会带动第二连接件730、第一连接件710和U型架221一同转动，从而使头部结构220相对于躯体结构210转动，以适应机器人在机器人模式与驾驶模式之间的转换。
如图13和图14所示，第一锁止部800上设置有卡槽，第二锁止部900上设置有与卡槽配合的卡块；或第一锁止部800上设置有卡块，第二锁止部900上设置有与卡块配合的卡槽。
在本发明图13和图14示出的可选实施例中，第一锁止部800上设置有卡槽，第二锁止部900上设置有与卡槽配合的卡块，这样，当使用者需要驾驶机器人时，将机器人切换至驾驶模式后，旋扭第二锁止部900，使第二锁止部900的卡块卡入到第一锁止部800的卡槽内，因此第二锁止部900的卡块的与卡槽配合的表面作为止挡第一锁止部800的止挡端面，从而 有效地限制了转子2132发生旋转，保证了头部结构220稳定地处于第一位置，进而使机器人处于驾驶模式，方便使用者驾驶，同时可靠地保证了使用者的安全，避免了使用者在驾驶机器人的过程中，头部结构220突然旋转而碰撞使用者，造成使用者失去平衡而跌落机器人的危险状况发生。
当然，在本发明的一个未图示的可选实施例中，第一锁止部800上设置有卡块，第二锁止部900上设置有与卡块配合的卡槽，这种结构设置同样能够有效地限制了转子2132发生旋转，保证头部结构220稳定地处于第一位置，使机器人稳定地处于驾驶模式。
如图13和图14所示，第二锁止部900与躯体结构210之间形成安装间隙12，机器人还包括限位弹片1700，限位弹片1700设置在安装间隙12处。限位弹片1700能够对第二锁止部900提供弹性支撑力的作用，稳定地将第二锁止部900限位在与第一锁止部800接触时的状态，或将第二锁止部900限位在与第一锁止部800分离时的状态，只有当第二锁止部900受到的拉力大于预设拉力值时，第二锁止部900才能压迫限位弹片1700发生形变而克服限位弹片1700的弹性支撑力与第一锁止部800分离，使第一锁止部800和第二锁止部900处于打开状态；同样地，只有当第二锁止部900受到的推力大于预设推力值时，第二锁止部900才能压迫限位弹片1700发生形变而克服限位弹片1700的弹性支撑力由与第一锁止部800的分离状态运动到与第一锁止部800接触状态以使第一锁止部800和第二锁止部900处于锁紧状态。
可选地，限位弹片1700呈几字型。这样，呈几字型的限位弹片1700的凸起部作为限位弹片1700的形变段，为第二锁止部900提供了弹性支撑力，且当第二锁止部900位于凸起部的一侧时，第二锁止部900与第一锁止部800接触，当第二锁止部900位于凸起部的另一侧时，第二锁止部900与第一锁止部800分离。
需要说明的是，使用者能够根据使用需要手动旋钮第二锁止部900相对于躯体结构210发生旋转。
当然，在本发明的一个未图示的可选实施例中，机器人还包括驱动***，驱动***与第二锁止部900驱动连接，这样便能够实现对第二锁止部900的旋转进行自动控制，进一步提高了机器人的自动化程度，提高了机器人的使用便捷性。
如图9、图12、图13和图14所示，躯体骨架212包覆一部分定子外壳2131的设置，定子外壳2131上设置有突出于躯体骨架212的卡槽结构2133，支撑梁211的第一端可拆卸地插接在卡槽结构2133内，躯体结构210还包括支撑梁支座214，支撑梁211的第二端与支撑梁支座214连接。卡槽结构2133的设置，不仅能够使支撑梁211的第一端与定子外壳2131稳定地连接，而且使支撑梁211与定子外壳2131可拆卸地设置，便于对支撑梁211或第一电机213进行维修更换。
需要说明的是，如图1至图6所示，躯体结构210通过支撑梁支座214与行走结构100可枢转的连接，当机器人处于驾驶模式时，躯体结构210能够作为腿控杆使用，具体地，使用者站立在行走结构上，使用者通过控制腿部施加给躯体结构210的大小而控制机器人实现转向功能，此时的机器人作为具有代步功能的平衡车使用。
可选地，为了进一步提高卡槽结构2133与定子外壳2131的连接稳定性，合理地设置第一电机213的结构，使第一电机213具有转子2132与定子外壳2131可拆卸拼装的安装特性，卡槽结构2133与定子外壳2131为一体结构。
需要说明的是，如图13和图14所示，机器人还包括磁性元件1800和与磁性元件1800配合使用的霍尔元件1900，磁性元件1800设置在第二锁止部900上，霍尔元件1900为两个，两个霍尔元件1900均设置在定子外壳2131的与第二锁止部900相对的位置处，且当第二锁止部900处于锁紧状态时，第二锁止部900与一个霍尔元件1900对应，当第二锁止部900处于打开状态时，第二锁止部900与另一个霍尔元件1900对应；其中两个霍尔元件1900均与机器人的主控板电连接。这样，霍尔元件1900能够感知第二锁止部900的位置，从而实现机器人对第二锁止部900的位置进行自动检测。
如图1至图10所示，机器人还包括障碍物探测部1000，障碍物探测部1000设置在躯体结构210上以探测躯体结构210的周围的障碍物。
通过在躯体结构210的躯体骨架212上设置障碍物探测部1000，这样，当躯体结构随机器人运动时，障碍物探测部1000能够有效地探测机器人周围的障碍物以及坑洞，便于机器人避让开障碍物或坑洞，提高了机器人的运动可靠性。
可选地，障碍物探测部1000为超声波探测装置1001和/或红外线探测装置1002。
由于障碍物探测部1000包括超声波探测装置1001，因此，超声波探测装置1001能够有效地探测出位于机器人前方较远距离处的大型障碍物，并可靠地计算出大型障碍物与机器人之间的距离，这样使机器人有足够的时间能够避让开大型障碍物运动。
可选地，超声波探测装置1001的安装轴线沿水平方向设置以探测位于躯体结构210的前方的障碍物；或超声波探测装置1001的安装轴线与水平方向呈一定夹角(如：10度、15度、20度、60度等等)设置以探测位于躯体结构210的前方的障碍物。
需要说明的是，本发明实施例的超声波探测装置1001能够有效地发射出振荡频率在20KHz的超声波，发射出的超声波具有频率高、波长短、绕射现象小、以及方向性好和能够成为射线而定向传播等特点，本发明实施例的超声波探测装置1001发出的超声波在遇到障碍物或者坑洞的洞壁后会立即产生回波，超声波探测装置1001接收到回波后能够迅速地将回波转换成电信号并对电信号进行分析以得到障碍物或者坑洞的具***置、大小以及与本发明实施例的机器人之间的距离等信息，从而便于机器人在最短的时间内迅速做出反应而躲避障碍物或坑洞，进而能够实现机器人的智能行走。
在本发明的图1至图4示出的可选实施例中，超声波探测装置1001的安装轴线沿水平方向设置以探测位于躯体结构210的前方的障碍物；这样，超声波探测装置1001发出的超声波以安装轴线为中心线，向机器人的前方的空间内持续传播。
当然，为了使机器人在特殊环境中工作时，保证机器人能够对与水平方向具有特定夹角的方向可靠地进行探测，超声波探测装置1001的安装轴线与水平方向呈一定夹角设置以探测位于躯体结构2的前方的障碍物。
在本发明的一个未图示的可选实施例中，为了提高超声波探测装置1001的多方位探测能力，保证超声波探测装置1001能够精确地探测到位于机器人运动前方的环境中各位置处的障碍物或坑洞，超声波探测装置1001可旋转地设置在躯体骨架212上。优选地，超声波探测装置1001与躯体骨架212铰接。
由于障碍物探测部1000包括红外线探测装置1002，红外线探测装置1002能够有效地探测出位于机器人脚下的小型障碍物和坑洞(尤其当以地面运动底盘为行走结构时，红外线探测装置1002能够有效地探测出车轮前方的障碍物和坑洞等)，从而使机器人避免压过小型障碍物跌倒或掉落坑洞而发生运行事故，从而使机器人能够选择平坦的路径运动，进而提高了机器人运动的稳定性。
使用超声波探测装置1001和红外线探测装置1002结合的形式，还能利用红外线探测装置1002的电路结构简单、便于加工制造和成本低的特点而降低机器人的整体成本，提高机器人的使用经济性，增强了机器人的市场竞争力。
可选地，在本发明的图1至图4示出的可选实施例中，红外线探测装置1002的安装轴线倾斜向下设置以探测位于躯体结构2的斜下方的障碍物。这样，有效地避免了因机器人运动过快而遗漏未探测到位于其斜下方附近的障碍物，从而保证了机器人在其前进方向上正常地运动，也防止了当机器人处于驾驶模式时，站立在机器人的行走结构上的使用者从机器人上跌落而摔伤，进而提高了机器人的使用安全性。
可选地，红外线探测装置1002为至少两个，至少两个红外线探测装置1002分设在超声波探测装置1001的纵向轴线的两侧，且超声波探测装置1001在与地面垂直方向上的高度大于红外线探测装置1002在与地面垂直方向上的高度。这样，两个红外线探测装置1002分别对机器人脚下两侧的障碍物进行探测，使机器人实现了对其前进方向上的斜下方空间充分探测，进一步保证了机器人运动的稳定性。
如图1至图9所示，机器人还包括扬声装置1100，扬声装置1100设置在躯体结构210上。
可选地，为了提高扬声装置1100发出声音以机器人为中心向空间各个方向有效地扩散传播，扬声装置1100为两个，两个扬声装置1100对称设置在躯体骨架212的两侧。
如图7至图9所示，机器人还包括电机安装壳1200、第二电机和第一电路板1600，电机安装壳1200设置在容纳空间11内并与第一电机213的远离头部结构220的一端连接，第二电机设置在电机安装壳1200内并驱动第一电路板1600转动。其中，第一电路板1600可以是基于遥控感应的电路板，即在有外部遥控下，第一电路板1600能在第二电机的驱动下转动。第一电路板1600还可以是基于无线载波通信的电路板，如第一电路板1600可以是集成了UWB天线的电路板，那么所述第一电路板1600作为UWB通信的锚节点端，能够实现对作为UWB 通信的信标(tag)端进行跟踪，从而第一电路板1600能够基于信标端的位置变化进行相应的转动角度调整(由第二电机驱动第一电路板1600转动)，从而实现机器人对信标端的跟踪，
由于第二电机设置在容纳空间11内并与第一电机213的远离头部结构220的一端连接，这样不仅合理地利用了容纳空间11，在满足机器人具有功能多样性的前提下，减小了机器人的整体体积，提高了使用者的使用便捷性，而且提高了机器人的电器部件的安装紧凑性，实现了机器人的模块化设计。
当第一电路板1600作为遥控器感应电路板时，由于第二电机驱动第一电路板1600转动，这样，有利于第一电路板1600全方位地对位于机器人外部的遥控器进行扫描追踪，寻找到遥控器的位置并迅速地前往遥控器的位置处，从而方便使用者通过遥控器实现对机器人的运动控制或实现机器人的自动充电功能。
可选地，第一电路板为遥控器感应电路板。
为了满足机器人的功能多样性并保证机器人结构的完整性，躯体结构210还包括与机器人的电脑操作面板电连接的电源结构600，电源结构600设置在容纳空间11内并与第一电机213连接。这样，而且提高了电源结构600与第一电机213之间的连接稳定性并合理地利用了容纳空间11的容积，电源结构600还能够为第二电机提供稳定的能源输出，保证第二电机运动的可靠性，同样地电源结构600还能够为位于机器人头部结构上的电脑操作面板提供电源。
如图7至图10所示，机器人还包括主控板1300，主控板1300设置在容纳空间11内并与支撑梁211连接。主控板1300的设置实现了对机器人的多种功能动作的分析和控制，实现了机器人的工作智能化。而且主控板1300处产生的热量还能够通过支撑梁211稳定地向容纳空间11外传递，提高了主控板1300的散热效果，保证了机器人能够长时间稳定地工作。
如图4、图6和图7至图10所示，机器人还包括主接插件结构1400，主接插件结构1400与支撑梁211连接并位于支撑梁211的背离容纳空间11的一侧。通过主接插件结构1400能够实现机器人与外部结构(如机器人的机械臂)的电连接或信号连接，方便数据的输送、操控机械臂或者对机器人进行充电。
如图15至图18所示，主接插件结构1400包括：第一装配件10、第二装配件20、固定部30以及安装部60。其中，在第一装配件10上设置有第一连接头13，在第二装配件20上设置有与第一连接头13相适配的第二连接头21。固定部30设置在第一装配件10和第二装配件20之间，通过固定部30以使第一装配件10与第二装配件20可拆卸连接。这样，可以在第一连接头13和第二连接头21连接的同时，将第一装配件10与第二装配件20通过固定部30连接，如此可增加装置连接稳定性。并且，在第一装配件10和/或第二装配件20上设置有安装部60，通过设置安装部60能够方便第一装配件10或第二装配件20的固定安装，使第一装配件10或第二装配件20能够安装在其它零部件上。
其中，第一连接头13可以为公连接头，第二连接头21可以为母连接头；也可将第一连接头13设置为母连接头，将第二连接头21设置为公连接头。
固定部30可以为卡扣结构、抱箍结构、插接结构等，只要能实现第一装配件10与第二装配件20可拆卸连接即可。
在本实施例中，将安装部60设置在第二装配件20上，通过安装部60对第二装配件20进行安装固定，具体的，安装部60可以为设置有连接孔的安装板，也可以为连接杆等其它连接结构。安装部60可根据安装的位置、部件的不同针对性设置，如此可便于第二装配件20的安装。
通过本实施例提供的主接插件结构1400，在将第一装配件10上的第一连接头13与第二装配件20上的第二连接头21连接时，通过固定部30实现第一装配件10与第二装配件20的可拆卸连接。通过上述结构，可以在方便第一连接头13与第二连接头21拆卸的同时，可以稳固第一连接头13与第二连接头21连接，提高第一连接头13与第二连接头21连接稳定性。
如图15、图17和图18所示，在本实施例中，该固定部30包括连接凸台31和连接孔32，连接凸台31与连接孔32为过盈配合或螺纹连接。其中，可以将连接凸台31设置在第一装配件10上，将连接孔32设置在第二装配件20上。也可以将连接凸台31设置在第二装配件20上，将连接孔32设置在第一装配件10上。
在将第一连接头13与第二连接头21对准连接时，将连接凸台31对应插接在连接孔32内，由于连接凸台31与连接孔32为过盈配合或螺纹连接，因此可通过连接凸台31和连接孔32配合，以固定第一装配件10和第二装配件20的连接，进而能够提高第一连接头13和第二连接头21连接稳定性。
如图15和图18所示，在本实施例中，该连接凸台31包括相对设置的固定端和自由端。其中，固定端用于与第一装配件10或第二装配件20连接，连接凸台31通过其固定端固定在第一装配件10或第二装配件20上，然后通过其自由端与连接孔32配合连接。具体的，该连接凸台31从固定端至自由端横截面积逐渐减小，如此便于连接凸台31与连接孔32插接，并且通过该连接凸台31的结构，能够避免由于加工误差导致连接凸台31与连接孔32无法连接的情况发生。
其中，连接凸台31可以设置为棱柱结构，也可设置为圆柱形结构，在本实施例中，将连接凸台31设置为圆锥形，如此可便于连接凸台31插接在连接孔32中。进一步的，可将连接凸台31的自由端的直径设置为小于该连接孔32的直径，将连接凸台31的固定端的直径设置为大于该连接孔32的直径。
如图15至图18所示，该主接插件结构1400还包括限位部40，限位部40设置在第一装配件10和第二装配件20之间。在第一装配件10和第二装配件20之间增加限位部40，通过限位部40和固定部30配合，能够进一步提高第一连接头13和第二连接头21连接的稳定性。
具体的，该限位部40包括卡勾41和限位槽42。其中，限位槽42与卡勾41配合以实现第一装配件10与第二装配件20的卡接。通过卡勾41和限位槽42配合，以增加第一连接头13和第二连接头21连接可靠性。
在本实施例中，将卡勾41设置在第一装配件10上，将限位槽42设置在第二装配件20上。连接时，先将第一连接头13与第二连接头21对准，然后将卡勾41钩在限位槽42上，然后，将连接凸台31和连接孔32对准并进行插接，在插接的同时，实现第一连接头13和第二连接头21的连接，如此可完成整体线路的连接和固定。通过上述结构，在设置固定部30的基础上增加限位结构，能够进一步提高第一连接头13和第二连接头21连接的稳定性和可靠性，避免由于晃动或碰撞导致第一连接头13和第二连接头21脱开。
在图中未示出的实施例中，也可将卡勾设置在第二连接件上，限位槽设置在第一连接件上。连接时，先将第一连接头与第二连接头对准，然后将卡勾钩在限位槽上，然后，将连接凸台和连接孔对准并进行插接，在插接的同时，实现第一连接头和第二连接头的连接，如此可完成整体线路的连接和固定。通过上述结构，在设置固定部的基础上增加限位结构，能够进一步提高第一连接头和第二连接头连接的稳定性和可靠性，避免由于晃动或碰撞导致第一连接头和第二连接头脱开。
如图17和图18所示，在本实施例中，可以将卡勾41与连接孔32同侧设置，将限位槽42与连接凸台31同侧设置。具体的，在本实施例中，可以将卡勾41和连接孔32设置在第一装配件10上，将限位槽42以及连接凸台31设置在第二装配件20上，通过卡勾41与限位槽42配合、连接孔32与连接凸台31配合，实现第一装配件10与第二装配件20的固定连接。
在图中未示出的又一实施例中，也可将可以将卡勾41和连接孔32设置在第二装配件20上，将限位槽42以及连接凸台31设置在第一装配件10上，通过卡勾41与限位槽42配合、连接孔32与连接凸台31配合，实现第一装配件10与第二装配件20的固定连接。
在图中未示出的又一实施例中，也可以将卡勾与连接凸台同侧设置，将限位槽与连接孔同侧设置。并将卡勾与连接凸台设置在第一连接件上，将限位槽与连接孔设置在第二连接件上，通过卡勾与限位槽配合、连接孔与连接凸台配合，实现第一连接件与第二连接件的固定连接。
在图中未示出的又一实施例中，也可以将卡勾与连接凸台设置在第二连接件上，将限位槽与连接孔设置在第一连接件上，通过卡勾与限位槽配合、连接孔与连接凸台配合，实现第一连接件与第二连接件的固定连接。
如图17和图18所示，其中，该限位部40还包括凸块43和容纳部44。其中，容纳部44用于容纳凸块43，凸块43与容纳部44配合以实现第一装配件10与第二装配件20的卡接。通过凸块43与容纳部44配合以对第一装配件10与第二装配件20进行进一步限位。
其中，可以将凸块43设置在第一装配件10上，将容纳部44设置在第二装配件20上。也可以将凸块43设置在第二装配件20上，将容纳部44设置在第一装配件10上，设计者可根据实际需要进行选择。在本实施例中，将凸块43设置在第一装配件10上，将容纳部44设置在第二装配件20上。
具体的，可以将凸块43设置在第一装配件10的与第二装配件20连接的连接面的任意位置，凸块43可以靠近连接孔32设置，也可设置在第一连接头13的一侧，或者在第一连接头13的两侧分别设置，也可设置在卡勾41的一侧。在本实施例中，为了简化装置结构，方便加工，提高连接便利性，将凸块43与卡勾41设置为一体成型结构。
其中，容纳部44可以设置为第一装配件10或第二装配件20上的凹部，也可设置为其它结构。在本实施例中，由于凸块43设置在第一装配件10上，则容纳部44对应设置在第二装配件20上。具体的，限位部40包括两个限位槽42，两个限位槽42间隔设置，两个限位槽42之间形成容纳部44。通过两个限位槽42之间的空间形成容纳部44以配合凸块43连接，如此可简化装置结构，降低加工成本，方便工作人员进行安装和连接。
如图15至图18所示，在本实施例中，将第一连接头13设置在固定部30和限位部40之间，并对应将第二连接头21设置在固定部30和限位部40之间。如此可保证第一连接头13在与第二连接头21连接时，通过两侧的固定部30和限位部40配合连接，以对第一连接头13与第二连接头21连接提供保障。
并且，在本实施例中，该主接插件结构1400还包括防水结构50，其中，该防水结构50设置在第一装配件10和第二装配件20之间，且位于第一连接头13和第二连接头21连接的连接处。通过设置防水结构50能够防止在连接使用时，有水或其它导电液体流到第一连接头13和第二连接头21连接的连接处，造成线路短路。具体地，防水结构50可以为防水垫圈、防水胶层等其它结构。在本实施例中，防水结构50具体采用防水圈，防水圈设置在第二连接头21的外周。为了便于安装防水圈，还可在第二连接头21的外周设置安装槽，将防水圈固定在安装槽内。
通过上述实施例提供的主接插件结构1400，通过连接凸台31与连接孔32配合，实现对于第一装配件10和第二装配件20的定位；通过卡勾41和限位槽42配合，实现第一装配件10与第二装配件20在上下方向上的限位；通过凸块43与容纳部44配合，实现第一装配件10与第二装配件20在左右方向上的限位。通过第二装配件20两侧设置的安装部60，可以方便第二装配件20的安装。通过上述结构的连接配合，使得第一连接头13在于第二连接头21连接能更加稳定、可靠，并且上述结构方便工作人员进行拆装，在提高连接头连接可靠性的同时能够保证连接效率，极大方便人员进行操作。
如图1至图7所示，机器人还包括照明装置1500，照明装置1500可旋转地设置在身体结构200上。当然，可选地，照明装置1500固定设置在身体结构200上。
如图1至图6所示，行走结构100包括车架110、车轮120和中舱130，中舱130设置在车架110上，车轮120可旋转地设置在车架110的两侧。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、工作、器件、组件和/或它们的组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式能够以除了在这里图示或描述的那些以外的顺序实施。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (22)

  1. 一种机器人，其特征在于，包括：
    行走结构(100)；
    身体结构(200)，所述身体结构(200)设置在所述行走结构(100)上，所述行走结构(100)至少具有带动所述身体结构(200)沿第一方向运动的前进方向和沿与所述第一方向背离方向运动的后退方向；
    防撞部(300)，所述防撞部(300)设置在所述行走结构(100)上，所述防撞部(300)突出于所述行走结构(100)设置；和/或所述防撞部(300)设置在所述身体结构(200)上，所述防撞部(300)突出于所述身体结构(200)设置。
  2. 根据权利要求1所述的机器人，其特征在于，所述防撞部(300)为两个，两个所述防撞部(300)分别设置在所述身体结构(200)的沿宽度方向的两侧。
  3. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括把手部(400)，所述把手部(400)设置在所述身体结构(200)上并突出于所述身体结构(200)设置。
  4. 根据权利要求3所述的机器人，其特征在于，所述防撞部(300)包括防撞杆和包覆在所述防撞杆外周的软体结构，所述把手部(400)与所述防撞部(300)相连接地设置。
  5. 根据权利要求1所述的机器人，其特征在于，所述身体结构(200)包括：
    躯体结构(210)；
    头部结构(220)，所述头部结构(220)可枢转地设置在所述躯体结构(210)上，所述头部结构(220)至少具有在所述躯体结构(210)上枢转的第一位置和第二位置，所述第一位置与所述第二位置为不同位置。
  6. 根据权利要求5所述的机器人，其特征在于，所述躯体结构(210)包括相连接的支撑梁(211)、躯体骨架(212)和第一电机(213)，所述支撑梁(211)、所述躯体骨架(212)和所述第一电机(213)共同围成容纳空间(11)，其中，所述第一电机(213)包括定子外壳(2131)和转子(2132)，所述转子(2132)可旋转地设置在所述定子外壳(2131)内，所述定子外壳(2131)的至少一部分构成了电机的定子，所述转子(2132)的至少一部分构成了所述电机的转子。
  7. 根据权利要求6所述的机器人，其特征在于，所述头部结构(220)包括U型架(221)和可枢转地设置在所述U型架(221)上的俯仰部(222)。
  8. 根据权利要求7所述的机器人，其特征在于，所述机器人还包括电脑操作面板(500)和与所述电脑操作面板(500)电连接的电源结构(600)，其中，所述电源结构(600)设置在所述容纳空间(11)内并与所述第一电机(213)连接，所述电脑操作面板(500)设置在所述俯仰部(222)上。
  9. 根据权利要求7所述的机器人，其特征在于，所述机器人还包括连接组件(700)，所述头部结构(220)和所述躯体结构(210)通过所述连接组件(700)连接，所述连接组件(700)包括：第一连接件(710)、弹性缓冲件(720)和第二连接件(730)，其中，所述第二连接件(730)嵌套在所述第一连接件(710)内，所述弹性缓冲件(720)夹设在所述第一连接件(710)和所述第二连接件(730)之间，且所述第一连接件(710)、弹性缓冲件(720)和第二连接件(730)周向止转连接，所述第一连接件(710)与所述U型架(221)连接，所述第二连接件(730)与所述转子(2132)连接。
  10. 根据权利要求9所述的机器人，其特征在于，所述机器人还包括：
    第一锁止部(800)，所述第一锁止部(800)设置在所述头部结构(220)上或所述连接组件(700)上；
    第二锁止部(900)，所述第二锁止部(900)设置在所述躯体结构(210)上，所述第一锁止部(800)与所述第二锁止部(900)具有将所述头部结构(220)限定在所述第一位置时的锁紧状态，以及所述第一锁止部(800)与所述第二锁止部(900)还具有使所述头部结构(220)在所述第一位置时相对于所述躯体结构(210)可枢转的打开状态。
  11. 根据权利要求10所述的机器人，其特征在于，所述第一锁止部(800)选择性地设置在所述转子(2132)上或所述第一连接件(710)上或所述第二连接件(730)上，所述第二锁止部(900)可枢转地设置在所述定子外壳(2131)上。
  12. 根据权利要求10所述的机器人，其特征在于，
    所述第一锁止部(800)上设置有卡槽，所述第二锁止部(900)上设置有与所述卡槽配合的卡块；或
    所述第一锁止部(800)上设置有卡块，所述第二锁止部(900)上设置有与所述卡块配合的卡槽。
  13. 根据权利要求6所述的机器人，其特征在于，所述躯体骨架(212)包覆一部分所述定子外壳(2131)的设置，所述定子外壳(2131)上设置有突出于所述躯体骨架(212)的卡槽结构(2133)，所述支撑梁(211)的第一端可拆卸地插接在所述卡槽结构(2133)内，所述躯体结构(210)还包括支撑梁支座(214)，所述支撑梁(211)的第二端与所述支撑梁支座(214)连接。
  14. 根据权利要求5所述的机器人，其特征在于，所述机器人还包括障碍物探测部(1000)，所述障碍物探测部(1000)设置在所述躯体结构(210)上以探测所述躯体结构(210)的周围的障碍物。
  15. 根据权利要求14所述的机器人，其特征在于，所述障碍物探测部(1000)为超声波探测装置(1001)和/或红外线探测装置(1002)。
  16. 根据权利要求5所述的机器人，其特征在于，所述机器人还包括扬声装置(1100)，所述扬声装置(1100)设置在所述躯体结构(210)上。
  17. 根据权利要求6所述的机器人，其特征在于，所述机器人还包括电机安装壳(1200)、第二电机和第一电路板(1600)，所述电机安装壳(1200)设置在所述容纳空间(11)内并与所述第一电机(213)的远离所述头部结构(220)的一端连接，所述第二电机设置在所述电机安装壳(1200)内并驱动所述第一电路板(1600)转动。
  18. 根据权利要求6所述的机器人，其特征在于，所述机器人还包括主控板(1300)，所述主控板(1300)设置在所述容纳空间(11)内并与所述支撑梁(211)连接。
  19. 根据权利要求6所述的机器人，其特征在于，所述机器人还包括主接插件结构(1400)，所述主接插件结构(1400)与所述支撑梁(211)连接并位于所述支撑梁(211)的背离所述容纳空间(11)的一侧。
  20. 根据权利要求1所述的机器人，其特征在于，所述机器人还包括照明装置(1500)，所述照明装置(1500)可旋转地设置在所述身体结构(200)上。
  21. 根据权利要求5所述的机器人，其特征在于，所述行走结构(100)包括车架(110)、车轮(120)和中舱(130)，所述中舱(130)设置在所述车架(110)上，所述车轮(120)可旋转地设置在所述车架(110)的两侧。
  22. 根据权利要求19所述的机器人，其特征在于，所述主接插件结构(1400)包括：第一装配件(10)、第二装配件(20)、固定部(30)以及安装部(60)，其中，在所述第一装配件(10)上设置有第一连接头(13)，在所述第二装配件(20)上设置有与所述第一连接头(13)相适配的第二连接头(21)，固定部(30)设置在所述第一装配件(10)和所述第二装配件(20)之间，通过所述固定部(30)以使所述第一装配件(10)与所述第二装配件(20)可拆卸连接。
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