Dual-rotating robot

Abstract

The application relates to the field of robots, and discloses a double-rotation robot which comprises a robot body and a protective outer ring, wherein the protective outer ring is rotatably held outside the robot body, and the robot body and the protective outer ring can rotate relative to each other. When the double-rotation robot is abutted and blocked by other robots, the double-rotation robot can still freely rotate and move to avoid the attack of the enemy robots, and has high flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a double-rotation robot. BACKGROUND

[0002] In a robot competition, each team operates its own robot to perform tactical confrontation in a designated competition field. Each robot in the competition is equipped with an official provided referee system, which records the blood value and attack situation of the robot in the competition, and transmits real-time information of the competition to corresponding computer terminals and service terminals, so as to determine the score or victory of the competition. For example, if the referee system of the robot is hit by the enemy robot, the blood value of the attacked robot will decrease, and when the blood value is 0, the robot may be powered off or returned to a designated place for replenishment. Therefore, the robot for competition needs to move flexibly to avoid the attack of the enemy robot in time.

[0003] A common robot for competition includes a robot frame, a main control console mounted on the robot frame, a set of wheels, a referee system armor module, and a launching mechanism. The main control console can receive control instructions issued by the operator, and control the moving speed, moving direction of the wheels and the working state of the launching mechanism when executing the control instructions. Most robots in the competition can perform basic attack and defense, but there are still many problems in actual combat.

[0004] For example, if the home robot is surrounded by multiple enemy robots, the robot frame is abutted on all sides, the wheels cannot move, and the home robot can only be trapped in place and forced to find a breakthrough opportunity by colliding with the enemy robots. However, the hard combat mode is difficult to escape from the siege, and when surrounded, the rotation angle of the wheels of the existing robot is limited, the flexibility is low, and the moving robot with a fixed position has a high probability of being hit.

[0005] Therefore, it is necessary to improve the mechanism of the existing robot to improve the flexibility of the robot. SUMMARY

[0006] An object of the present application is to provide a double-rotation robot, which can still rotate and move freely when abutted and blocked by other robots, and avoid the attack of the enemy robot in time, and has high flexibility.

[0007] Another object of the present application is to provide a double-rotation robot, which comprises a robot body and a protective outer ring rotatably mounted on the outside of the robot body, and an enemy robot can only block the double-rotation robot by abutting against the protective outer ring of the double-rotation robot, and the robot body can normally rotate and change the driving direction to avoid the attack of the enemy robot when the enemy robot abuts against the protective outer ring.

[0008] Another object of the present application is to provide a double-rotation robot, which can rotate in place and timely change the orientation of a referee system armor module mounted on the robot body to avoid the enemy robot from hitting the referee system armor module of the robot body when a plurality of enemy robots surround the double-rotation robot and hinder the double-rotation robot from advancing.

[0009] Another object of the present application is to provide a double-rotation robot, which comprises a protective outer ring capable of switching between a rotatable state and a locked state, the double-rotation robot and the robot body can relatively rotate in the rotatable state, and the double-rotation robot cannot relatively rotate with the robot body in the locked state. In this way, the double-rotation robot allows switching its state according to the actual combat situation and the requirements of the competition rules, and further improves the flexibility of the double-rotation robot.

[0010] Another object of the present application is to provide a double-rotation robot, which can be adjusted to the rotatable state to flexibly avoid the attack of other robots when the double-rotation robot is attacked by the enemy robot, and can be switched to the locked state to powerfully block and attack other robots when the double-rotation robot attacks other robots.

[0011] Another object of the present application is to provide a double-rotation robot, which comprises a braking mechanism movably arranged between the robot body and the protective outer ring, and the braking mechanism allows the double-rotation robot to switch between the rotatable state and the locked state.

[0012] Another object of the present application is to provide a double-rotation robot, which allows manual operation to switch between the rotatable state and the locked state.

[0013] Another object of the present application is to provide a double-rotation robot, which allows electrically switching between the rotatable state and the locked state.

[0014] Another object of the present application is to provide a dual-rotation robot, whose wheels can rotate 360° to attack or dodge attacks flexibly.

[0015] According to an aspect of the present application, the present application provides a dual-rotation robot, which comprises:

[0016] a robot body; and

[0017] a protective outer ring, wherein the protective outer ring is rotatably held outside the robot body, and the robot body and the protective outer ring can rotate relative to each other.

[0018] According to an embodiment of the present application, the dual-rotation robot further comprises at least one cantilever, which extends outward from the robot body, and the protective outer ring is rotatably mounted on the cantilever, and the protective outer ring is suspended outside the robot body.

[0019] According to an embodiment of the present application, the dual-rotation robot further comprises at least one set of rotating mechanisms, the cantilever comprises an upper cantilever and a lower cantilever, the rotating mechanisms are rotatably mounted between the upper cantilever and the lower cantilever of the cantilever, and the protective outer ring is rotatably held outside the robot body in a manner of being mounted on the rotating mechanisms.

[0020] According to an embodiment of the present application, the rotating mechanisms comprise an assembly shaft and a bearing, the assembly shaft extends from the upper cantilever to the lower cantilever, the protective outer ring has a cylindrical side rotating space, the inner ring of the bearing is mounted on the assembly shaft, and the outer ring of the bearing is embedded in the side rotating space of the protective outer ring.

[0021] According to an embodiment of the present application, the protective outer ring has a side rotating space, the rotating mechanisms comprise a ball, the upper cantilever has an upper movable groove, the lower cantilever has a lower movable groove, the upper movable groove of the upper cantilever and the lower movable groove of the lower cantilever are in position correspondence, the ball is rotatably held in the upper movable groove and the lower movable groove of the upper cantilever, and at least a part of the ball is movably embedded in the side rotating space of the protective outer ring.

[0022] According to an embodiment of the present application, the dual-rotation robot further comprises a braking mechanism, which is movably arranged on the cantilever and the protective outer ring, and the braking mechanism connects the cantilever and the protective outer ring, and is used for locking or unlocking the cantilever and the protective outer ring relative to each other.

[0023] According to one embodiment of the present application, the brake mechanism comprises a swing arm and a limiting member, the swing arm has a limiting through hole, the limiting member is movably held in the limiting through hole of the swing arm, the cantilever has a limiting channel, the swing arm is rotatably mounted on the protective outer ring, and the swing arm can be rotated above the limiting channel and the lower part of the limiting member is inserted into the limiting channel of the cantilever; or the brake mechanism comprises a swing arm and a limiting member, the swing arm has a limiting through hole, the limiting member is movably held in the limiting through hole of the swing arm, the protective outer ring has a limiting channel, the swing arm is rotatably mounted on the cantilever, and the swing arm can be rotated above the limiting channel and the lower part of the limiting member is inserted into the limiting channel of the protective outer ring.

[0024] According to one embodiment of the present application, the swing arm comprises a swing part and a limiting part, the swing part is rotatably mounted on the protective outer ring, the limiting part extends away from the swing part from the upper part of the swing part, and a reserved space is formed between the lower surface of the limiting part and the inner surface of the swing part, the limiting through hole is formed in the limiting part, the limiting through hole of the limiting part communicates with the reserved space, the limiting member comprises an upper limiting part, a brake part and a lower limiting part, the two ends of the brake part are connected with the upper limiting part and the lower limiting part, the sizes of the upper limiting part and the lower limiting part are greater than the size of the limiting through hole, the size of the brake part is smaller than the size of the limiting through hole, and the size of the limiting channel is greater than the size of the lower limiting part of the limiting member.

[0025] According to one embodiment of the present application, the brake mechanism comprises an assembly arm and an electromagnetic chuck, the assembly arm extends upwardly and obliquely from the cantilever, one end of the assembly arm is rotatably mounted on the cantilever, the electromagnetic chuck is mounted on the other end of the assembly arm in a manner of being held above the protective outer ring, the protective outer ring has magnetic conductivity, the electromagnetic chuck generates magnetic force when powered on and the magnetic force disappears when powered off; or the brake mechanism comprises an assembly arm and an electromagnetic chuck, the assembly arm extends upwardly and obliquely from the protective outer ring, one end of the assembly arm is rotatably mounted on the protective outer ring, the electromagnetic chuck is mounted on the other end of the assembly arm in a manner of being held above the cantilever, the cantilever has magnetic conductivity, the electromagnetic chuck generates magnetic force when powered on and the magnetic force disappears when powered off.

[0026] According to one embodiment of the present application, the braking mechanism further comprises a resilient return member, two ends of the resilient return member are connected to the cantilever and the assembly arm respectively, and the resilient return member is used for keeping the electromagnetic chuck spaced above the protective outer ring when the electromagnetic chuck is not powered; or the braking mechanism further comprises a resilient return member, two ends of the resilient return member are connected to the protective outer ring and the assembly arm respectively, and the resilient return member is used for keeping the electromagnetic chuck spaced above the cantilever when the electromagnetic chuck is not powered. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of a double rotary robot according to a preferred embodiment of the present application.

[0028] Figure 2 is an exploded view of the double rotary robot according to the preferred embodiment of the present application.

[0029] Figure 3 is an exploded view of a part of the structure of the double rotary robot according to the preferred embodiment of the present application.

[0030] Figure 4 is an exploded view of a part of the structure of the double rotary robot according to the preferred embodiment of the present application.

[0031] Figure 5 is Figure 4 is an enlarged view of the section A of FIG. 7.

[0032] Figure 6 is an exploded view of a part of the structure of the double rotary robot according to the preferred embodiment of the present application.

[0033] Figure 7A is an application view of the double rotary robot according to the preferred embodiment of the present application.

[0034] Figure 7B is an application view of the double rotary robot according to the preferred embodiment of the present application.

[0035] Figure 8A is a view of a part of the structure of the double rotary robot in a rotatable state according to the preferred embodiment of the present application.

[0036] Figure 8B is a view of a part of the structure of the double rotary robot in a braking state according to the preferred embodiment of the present application.

[0037] Figure 9Ais a schematic view of a partial structure of the dual-rotating robot in a rotatable state according to another preferred embodiment of the present application.

[0038] Figure 9B is a schematic view of a partial structure of the dual-rotating robot in a rotatable state according to the above preferred embodiment of the present application.

[0039] Figure 10 is a schematic view of a partial structure of the dual-rotating robot according to another preferred embodiment of the present application.

[0040] Figure 11 is a schematic view of a partial structure of the dual-rotating robot according to the above preferred embodiment of the present application. DETAILED DESCRIPTION

[0041] The following description is presented to enable any person skilled in the art to practice the present application as claimed. The preferred embodiments disclosed herein are only examples of the present application and alternative embodiments can be devised by those skilled in the art without departing from the spirit and scope of the present application. The present application is defined by the appended claims.

[0042] Those skilled in the art will understand that, in the disclosure of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above terms cannot be understood as a limitation of the present application.

[0043] It can be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of one element can be one, and in another embodiment, the number of the element can be multiple, and the term "one" cannot be understood as a limitation of the number.

[0044] Reference is made to the drawings accompanying Figures 1 to 8B A dual-rotating robot 100 according to a preferred embodiment of the present application will be described in the following description, wherein the dual-rotating robot 100 has high flexibility, that is, it can still freely rotate and move in time to avoid attacks by enemy robots 200 even when it is surrounded by the enemy robots 200.

[0045] Specifically, the double-rotation robot 100 comprises a robot body 10 and a protective outer ring 20, wherein the protective outer ring 20 is rotatably mounted on the outside of the robot body 10, and the robot body 10 and the protective outer ring 20 can rotate relative to each other, i.e. the robot body 10 can rotate freely relative to the protective outer ring 20, and the protective outer ring 20 can also rotate freely relative to the robot body 10. The outer ring 20 located on the outside of the robot body 10 can resist the collision of the enemy robot 200, and the enemy robot 200 can only prevent the movement of the double-rotation robot 100 by abutting against the protective outer ring 20. In other words, even if the double-rotation robot 100 is blocked all around by the protective outer ring 20 and is trapped in place, the robot body 10 can still rotate relative to the outer ring 20, not only avoiding the attack of the enemy robot 200, but also launching an attack on the enemy robot 200.

[0046] The double-rotation robot 100 further comprises at least one referee system armor module 30 and a blood volume display device 40, wherein the referee system armor module 30 and the blood volume display device 40 are mounted on the robot body 10, and the robot body 10 drives the referee system armor module 30 and the blood volume display device 40 to move. The referee system armor module 30 is communicatively connected to the blood volume display module 40, and when the referee system armor module 30 is hit, the referee system armor module 30 feeds back the situation of the robot being attacked in the competition and the blood volume value according to the competition rules, and the blood volume display device 40 displays the blood volume value of the double-rotation robot 100.

[0047] In this specific embodiment of the double-rotation robot 100 of the present application, the referee system armor module 30 is implemented as four, and the four referee system armor modules 30 are mounted around the robot body 10, and the protective outer ring 20 is located outside the referee system armor module 30, avoiding direct impact on the robot body 10 and the referee system armor module 30.

[0048] The robot body 10 comprises a frame 11, a main console 12, an attack device 13, a set of active wheels 14, a power supply device 15 and a shell 16. The attack device 13 is rotatably mounted on the frame 11, and the attack device 13 can attack the enemy robot 200 by firing bullets or the like. The active wheels 14 are movably mounted on the frame 11, and the active wheels 14 drive the frame 11 and other mechanisms mounted on the frame 11 to move. The main console 12 is mounted on the frame 11, and the main console 12 is communicatively connected to the attack device 13 and the active wheels 14, and the main console 12 can control the working state of the attack device 13 and the active wheels 14. The power supply device 15 is mounted on the frame 11, and the power supply device 15 is connected to the attack device 13 and the active wheels 14, and the power supply device 15 provides a power source for the attack device 13 and the active wheels 14. The shell 16 covers the frame 11, and the referee system armor module 30 is embedded in the shell 16 and exposes the outer surface according to the competition rules. The blood volume display module 40 is mounted on the top of the shell 16 in a display surface facing outward manner.

[0049] Preferably, the active wheels 14 of the robot body 10 are implemented as universal wheels, and the active wheels 14 allow the robot body 10 to rotate by 360°, thereby flexibly adjusting the movement direction, the orientation of the attack device 13, and the orientation of the referee system armor module 30, etc.

[0050] The double-rotation robot 100 further comprises at least one cantilever 50, wherein the cantilever 50 extends outward from the outside of the robot body 10, and the protective outer ring 20 is rotatably mounted on the cantilever 50. The protective outer ring 20 mounted on the cantilever 50 is suspended outside the robot body 10, which is conducive to reducing the frictional resistance of keeping the protective outer ring 20 rotating relative to the robot body 10.

[0051] In this specific embodiment of the present application, the cantilever 50 is implemented as four, and the four cantilevers 50 are evenly distributed in a circumferential direction on the outside of the robot body 10. The evenly distributed cantilevers 50 not only provide sufficient support for the protective outer ring 20, but also facilitate the lightweight of the double-rotation robot 100. It is worth mentioning that the shape and specific implementation of the cantilever 50 is not limited, and the cantilever 50 can also be implemented as a continuous and complete ring.

[0052] The double-rotation robot 100 further comprises at least one set of rotating mechanism 60, the cantilever 50 comprises an upper cantilever 51 and a lower cantilever 52, wherein the rotating mechanism 60 is rotatably mounted between the upper cantilever 51 and the lower cantilever 52 of the cantilever 50, the protective outer ring 20 is rotatably held outside the robot body 10 in a manner of being mounted on the rotating mechanism 60, that is, the protective outer ring 20 is rotatably mounted on the rotating mechanism 60, and the rotating mechanism 60 can make the protective outer ring 20 and the robot body 10 rotate more smoothly relative to each other.

[0053] The protective outer ring 20 has a cylindrical side rotation space 201, at least a part of the rotating mechanism 60 is rotatably embedded in the side rotation space 201 of the protective outer ring 20, and when the robot body 10 rotates relative to the protective outer ring 20, the rotating mechanism 60 moves circumferentially. For example, but not limited to, the protective outer ring 20 comprises two half-ring structures, the two half-ring structures are mounted on the rotating mechanism 60 in a manner that the side rotation space 201 corresponds to the rotating mechanism 60, and the two ends of the two half-ring structures are connected to each other to assemble the continuous and complete circular protective outer ring 20, at least a part of the rotating mechanism 60 is embedded in the side rotation space 201, and the rotating mechanism 60 can not only stably support the protective outer ring 20, but also rotate relative to the protective outer ring 20 and the cantilever 50.

[0054] Specifically, the protective outer ring 20 comprises an upper ring 21, a middle ring 22 and a lower ring 23, the middle ring 22 is arranged between the upper ring 21 and the lower ring 23, the side edges of the middle ring 22 are staggered with the side edges of the upper ring 21 and the lower ring 23, thereby forming the cylindrical side rotation space 201 between the upper ring 21, the middle ring 22 and the lower ring 23, so as to facilitate the rotatable mounting of the protective outer ring 20 on the rotating mechanism 60. The specific manner of the protective outer ring 20 is not limited, the upper ring 21, the middle ring 22 and the lower ring 23 can be integrally formed to obtain the protective outer ring 20, or the protective outer ring 20 can be formed by assembling.

[0055] In this embodiment of the present application, the rotating mechanism 60 comprises an assembly shaft 61 and a bearing 62, the assembly shaft 61 extends from the upper cantilever 51 to the lower cantilever 52, and the inner ring of the bearing 62 is mounted on the assembly shaft 61. The outer ring of the bearing 62 is embedded in the side rotating space 201 of the protective outer ring 20, and the inner surface of the middle ring 22 is attached to the outer surface of the bearing 62. When the protective outer ring 20 rotates relative to the robot body 10, the protective outer ring 20 drives the outer ring of the bearing 62 to rotate relative to the assembly shaft 61 and the cantilever 50. When the robot body 10 actively rotates relative to the protective outer ring 20, the bearing 62 is also driven to move circumferentially relative to the protective outer ring 20, and the bearing 62 can reduce the frictional resistance, so that the protective outer ring 20 and the robot body 10 rotate more smoothly relative to each other.

[0056] Preferably, a plurality of rotating mechanisms 60 are installed circumferentially between the upper cantilever 51 and the lower cantilever 52 of one of the cantilevers 50, which further facilitates the smooth relative rotation of the protective outer ring 20 and the robot body 10. It is worth mentioning that the number of rotating mechanisms 60 shown in the description and the drawings is only an example and cannot limit the content and scope of the double-rotating robot 100 of the present application.

[0057] For example, referring to Figure 7A and Figure 7B When a plurality of enemy robots 200 surround the double-rotating robot 100 and block the protective outer ring 20, hindering the double-rotating robot 100 from advancing, the robot body 10 of the double-rotating robot 100 can rotate in place and timely change the orientation of the referee system armor module 30 of the robot body 100 to avoid the enemy robots 200 from hitting the referee system armor module 30. Moreover, since the protective outer ring 20 can rotate relative to the robot body 10, and the protective outer ring 20 is a circular arc surface, once the enemy robots 200 collide with the protective outer ring 20, the protective outer ring 20 is easy to rotate relative to the robot body 10, increasing the difficulty for the enemy robots 200 to block the double-rotating robot 100.

[0058] Optionally, referring to Figure 10 and Figure 11In another specific embodiment of the present application, the rotating mechanism 60 is implemented as a ball 63, the upper suspension arm 51 has an upper movable slot 5102, the lower suspension arm 52 has a lower movable slot 5202, the upper movable slot 5102 of the upper suspension arm 51 and the lower movable slot 5202 of the lower suspension arm 52 are in corresponding positions, the ball 63 is rotatably held in the upper movable slot 5102 and the lower movable slot 5202 of the upper suspension arm 51, at least a part of the ball 63 is movably embedded in the side rotating space 201 of the protective outer ring 20, and the inner surface of the middle ring 22 is attached to the outer surface of the ball 63. The spherical ball 63 can smoothly roll in any direction in the upper movable slot 5102 and the lower movable slot 5202, and when the protective outer ring 20 is driven to rotate relative to the robot body 10, the protective outer ring 20 drives the ball 63 to rotate in the upper movable slot 5102 and the lower movable slot 5202. When the robot body 10 is actively rotated relative to the protective outer ring 20, the ball 63 is also driven to rotate in the upper movable slot 5102 and the lower movable slot 5202 and circumferentially moves, and the ball 63 can reduce the frictional resistance, so that the protective outer ring 20 and the robot body 10 can more smoothly rotate relative to each other.

[0059] In this specific embodiment of the present application, the double-rotating robot 100 can be switched between a rotatable state and a locked state, the protective outer ring 20 and the robot body 10 in the rotatable state can rotate relative to each other, and the protective outer ring 20 in the locked state cannot rotate relative to the robot body 10. In this way, the double-rotating robot 100 allows switching its state according to the actual combat situation and the competition rules and other needs, for example, when the double-rotating robot 100 is attacked by the enemy robot 200, the double-rotating robot 100 can be adjusted to the rotatable state to flexibly avoid the attack of the enemy robot 200; when the double-rotating robot 100 attacks the enemy robot 200, it can be switched to the locked state to effectively block and attack the enemy robot 200.

[0060] Specifically, the double-rotating robot 100 provides a locking mechanism 70, wherein the locking mechanism 70 is movably arranged between the suspension arm 50 and the protective outer ring 20, the locking mechanism 70 connects the suspension arm 50 and the protective outer ring 20, and is used for locking the suspension arm 50 and the protective outer ring 20 relative to each other or releasing the mutual locking between the suspension arm 50 and the protective outer ring 20, so as to allow the protective outer ring 20 of the double-rotating robot 100 to be switched between the rotatable state and the locked state.

[0061] More specifically, when the braking mechanism 70 is connected to the cantilever 50 and the protective outer ring 20, the braking mechanism 70 restricts relative rotation between the protective outer ring 20 and the robot body 10, and the protective outer ring 20 is in the braking state. When the braking mechanism 70 is separated from the protective outer ring 20 or the cantilever 50, the braking mechanism 70 and the robot body 10 are able to rotate relative to each other, and the dual-rotation robot 100 is in the rotatable state.

[0062] In a specific embodiment of the present invention, the braking mechanism 70 includes a swing arm 71 and a limiting member 72. The swing arm 71 includes a swing portion 711 and a limiting member 712. The swing portion 711 is rotatably mounted on the protective outer ring 20. The limiting member 712 extends from the upper portion of the swing portion 711 away from the swing portion 711 and forms a reserved space 7101 between the lower surface of the limiting member 712 and the inner surface of the swing portion 711. The limiting member 712 has a limiting through hole 7102, which communicates with the reserved space 7101. The limiting member 72 is movably retained in the limiting through hole 7102 of the limiting member 712 and the reserved space 7101.

[0063] The limiting member 72 includes an upper limiting portion 721, a braking portion 722 and a lower limiting portion 723. The two ends of the braking portion 722 are connected to the upper limiting portion 721 and the lower limiting portion 723 to form an "I"-shaped structure. In order to facilitate the installation of the limiting member 72 in the limiting through hole 7102, the upper limiting portion 721 and the braking portion 722 can adopt a split structure. After the braking portion 722 is inserted into the limiting through hole 7102, the upper limiting portion 721 is connected to the braking portion 722 by plugging or socketing. The diameters of the upper limit portion 721 and the lower limit portion 723 are larger than the diameter of the limit through hole 7102, the cross-sectional size of the braking portion 722 is smaller than the size of the limit through hole 7102, and the limit member 72 can be moved up and down to be retained in the limit through hole 7102 of the limit portion 712 of the swing arm 71, and the limit member 72 will not separate from the swing arm 71.

[0064] The swing part 711 of the swing arm 71 is rotatably mounted on the upper ring 21 of the outer protection ring 20. The upper cantilever 51 of the cantilever 50 has a limiting channel 5101. The swing arm 71 can be rotated above the limiting channel 5101, and the lower part of the limiting part 722 is inserted into the limiting channel 5101 of the cantilever 50. The size of the limiting channel 5101 is larger than that of the lower limiting part 723 of the limiting part 722. When the double-rotation robot 100 is in the rotatable state, the swing arm 71 is rotated to connect the limiting through hole 7102 on the limiting part 712 and the limiting channel 5101 on the upper cantilever 51. The limiting part 722 is automatically inserted into the limiting channel 5101 of the upper cantilever 51 of the cantilever 50, thereby limiting the relative rotation between the protection ring 20 and the robot body 10. At this time, the double-rotation robot 100 is switched from the rotatable state to the braking state.

[0065] After the limiting part 722 is manually moved upward and separated from the limiting channel 5101 of the upper cantilever 51, the swing arm 71 is rotated to make the limiting part 722 adhere to the upper surface of the upper ring 20. At this time, the double-rotation robot 100 is switched from the braking state to the rotatable state, and the protection ring 20 and the robot body 10 can be relatively rotated.

[0066] Preferably, the assembly shaft 61 of the rotating mechanism 60 has a locking channel 6101. The assembly shaft 61 is rotatably mounted on the upper cantilever 51 in a manner that the locking channel 6101 is connected to the limiting channel 5101 of the upper cantilever 51. The size of the locking channel 6101 is smaller than that of the lower limiting part 723 of the limiting part 722. The limiting part 722 can pass through the upper cantilever 51 and extend to the locking channel 6101 of the assembly shaft 61, which is beneficial to extend the limiting length of the limiting part 722, stably connect the robot body 10 and the protection ring 20, and avoid the separation of the limiting part 722 from the upper cantilever 51 when the protection ring 20 is collided.

[0067] In the attached Figures 1 to 8B In the embodiments, the braking mechanism 70 is movably mounted on the protection ring 20 and can move towards the cantilever 50, so that the double-rotation robot 100 can be switched between the rotatable state and the braking state.

[0068] Optionally, the brake mechanism 70 can also be movably mounted on the cantilever 50 and can move towards the protective outer ring 20 to enable the rotating robot 100 to switch between the rotatable state and the braking state. Specifically, the limiting channel 5101 is formed on the protective outer ring 20, and the swing arm 71 of the brake mechanism 70 is rotatably mounted on the cantilever 50. When the swing arm 71 moves to the position where the limiting member 72 corresponds to the limiting channel 5101 of the protective outer ring 20, the limiting member 72 is inserted into the limiting channel 5101 to limit the relative movement between the protective outer ring 20 and the robot body 10. When the limiting member 72 is separated from the protective outer ring 20, the protective outer ring 20 and the robot body 100 can rotate relative to each other, thereby enabling the double-rotating robot 100 to switch between the rotatable state and the braking state.

[0069] In the embodiments shown in the accompanying drawings, Figures 1 to 8B In the embodiments shown in the accompanying drawings, Figure 9A and Figure 9B In the embodiments shown in the accompanying drawings,

[0070] Specifically, referring to Figures 9A to 9B , the brake mechanism 70 includes an assembly arm 73, an electromagnetic chuck 74, and an elastic return member 75. The assembly arm 73 extends obliquely upward from the upper cantilever 51 of the cantilever 50, one end of the assembly arm 73 is rotatably mounted on the upper cantilever 51 of the cantilever 50, and the electromagnetic chuck 74 is mounted on the other end of the assembly arm 73 in a manner of being held above the protective outer ring 20. The elastic return member 75 is located between the cantilever 50 and the assembly arm 73, and both ends of the elastic return member 75 are connected to the assembly arm 71 and the upper cantilever 51 of the cantilever 50, respectively.

[0071] The protective outer ring 20 has magnetic conductivity, for example but not limited to the protective outer ring 20 is a metal member or the protective outer ring 20 is embedded with a metal member or a magnet, etc. The electromagnetic chuck 74 generates magnetism after being powered on and is magnetically attracted to the metal protective outer ring 20 to limit the relative rotation between the protective outer ring 20 and the robot body 10. When the electromagnetic chuck 74 is powered off, the magnetic force of the electromagnetic chuck 74 disappears, and the protective outer ring 20 and the robot body 10 can rotate relative to each other. The connection structure of the electromagnetic chuck 74 and the power supply is a prior art, which will not be described here.

[0072] When the electromagnetic chuck 74 is not powered, the elastic return member 75 is in the initial state, supporting the assembly arm 73 upwardly, and keeping the electromagnetic chuck 74 spaced above the upper ring 21 of the protective outer ring 20. That is, when the electromagnetic chuck 74 is not powered, there is a gap between the electromagnetic chuck 74 and the protective outer ring 20, avoiding the electromagnetic chuck 74 from affecting the smooth relative rotation of the robot body 10 and the protective outer ring 20. At this time, the dual-rotation robot 100 is in the rotatable state.

[0073] When the electromagnetic chuck 74 is powered, the electromagnetic chuck 74 moves toward the protective outer ring 20 and adsorbs the protective outer ring 20. The assembly arm 73 rotates clockwise relative to the upper cantilever 51 of the cantilever 50, the electromagnetic chuck 74 and the assembly arm 73 move downward, the assembly arm 73 presses the elastic return member 75, and the elastic return member 75 accumulates elastic potential energy. At this time, the dual-rotation robot 100 is in the braking state. When the electromagnetic chuck 74 is powered off, the magnetism of the electromagnetic chuck 74 disappears, the elastic return member 75 releases the accumulated elastic potential energy, returns to the initial position, and drives the assembly arm 73 to rotate counterclockwise relative to the upper cantilever 51 of the cantilever 50, the electromagnetic chuck 74 moves upward and away from the protective outer ring 20. At this time, the dual-rotation robot 100 returns to the rotatable state.

[0074] In Figure 9A and Figure 9B In the embodiment shown, the braking mechanism 70 is movably mounted on the cantilever 50 and can be electrically controlled to move relative to the protective outer ring 20, so that the dual-rotation robot 100 can be switched between the rotatable state and the braking state.

[0075] In other embodiments of the application, the braking mechanism 70 can also be movably mounted on the protective outer ring 20 and can be electrically controlled to move toward the cantilever 50, so that the dual-rotation robot 100 can be switched between the rotatable state and the braking state. Specifically, the assembly arm 73 of the braking mechanism 70 extends obliquely upward from the upper ring 21 of the protective outer ring 20, one end of the assembly arm 73 is rotatably mounted on the upper ring 21 of the protective outer ring 20, and the electromagnetic chuck 74 is mounted on the other end of the assembly arm 73 in a manner of being held above the upper cantilever 51 of the cantilever 50. The elastic return member 75 is located between the protective outer ring 20 and the assembly arm 73, and both ends of the elastic return member 75 are connected to the assembly arm 71 and the upper ring 21 of the protective outer ring 20, respectively. The cantilever 50 has magnetic conductivity, for example but not limited to, the cantilever 50 is a metal piece or the cantilever 50 is embedded with a metal piece or a magnet, etc.

[0076] When the electromagnetic chuck 74 is not powered, the elastic return member 75 is in the initial state, supporting the assembly arm 73 upward, and keeping the electromagnetic chuck 74 spaced above the cantilever 50. That is, when the electromagnetic chuck 74 is not powered, there is a gap between the electromagnetic chuck 74 and the cantilever 50, avoiding the electromagnetic chuck 74 affecting the robot body 10 and the protective outer ring 20 to rotate smoothly relative to each other. At this time, the dual-rotation robot 100 is in the rotatable state.

[0077] When the electromagnetic chuck 74 is powered, the electromagnetic chuck 74 moves towards the cantilever 50 and magnetically attracts the cantilever 50. The assembly arm 73 rotates counterclockwise relative to the upper ring 21 of the protective outer ring 20 of the cantilever 50, the electromagnetic chuck 74 and the assembly arm 73 move downward, the assembly arm 73 presses the elastic return member 75, and the elastic return member 75 accumulates elastic potential energy. At this time, the dual-rotation robot 100 is in the braking state. When the electromagnetic chuck 74 is powered off, the magnetism of the electromagnetic chuck 74 disappears, the elastic return member 75 releases the accumulated elastic potential energy, returns to the initial position, and drives the assembly arm 73 to rotate clockwise relative to the upper ring 21 of the protective outer ring 20, the electromagnetic chuck 74 moves upward and away from the cantilever 50. At this time, the dual-rotation robot 100 returns to the rotatable state.

[0078] The magnetic chuck 74 of the braking mechanism 70 implemented as an electric control is electrically connected to the energy supply device 15, which can provide electric energy for the magnetic chuck 74. The magnetic chuck 74 is communicatively connected to the main console 12, which adjusts the switching of the magnetic chuck 74 between power-off and power-on when receiving the control instructions issued by the operator, so as to switch the dual-rotation robot 100 between the rotatable state and the braking state.

[0079] It is worth mentioning that the specific implementation of the braking mechanism 70 is only an example and cannot limit the content and scope of the dual-rotation robot 100 according to the present application. Moreover, the specific number of the braking mechanism 70 is not limited, and the braking mechanism 70 can be implemented as one, two or more, preferably, two or more than two braking mechanisms 70 are uniformly arranged between the cantilever 50 and / or the protective outer ring 20.

[0080] Those skilled in the art can understand that the above embodiments are only examples, and the features of different embodiments can be combined with each other to obtain embodiments that are easily thought of according to the content disclosed in the present application but are not explicitly indicated in the drawings.

[0081] It is understood by those skilled in the art that the foregoing description and the embodiments of the application shown in the drawings are only by way of example and do not limit the application. The object of the application has been fully and effectively achieved. The functional and structural principles of the application have been shown and described in the embodiments, and the embodiments of the application can be modified or changed in any way without departing from the principles.

Claims

1. A pair of rotating robots, characterized in that, The double-rotation robot comprises: a robot body; and a protective outer ring rotatably held outside the robot body, the robot body and the protective outer ring being capable of relative rotation; at least one cantilever extending outward from the robot body, the protective outer ring being rotatably mounted on the cantilever, the protective outer ring being suspended outside the robot body; at least one set of rotation mechanisms, the cantilever comprising an upper cantilever and a lower cantilever, the rotation mechanisms being rotatably mounted between the upper cantilever and the lower cantilever of the cantilever, the protective outer ring being rotatably held outside the robot body in a manner of being mounted on the rotation mechanisms; the rotation mechanisms comprising an assembly shaft and a bearing, the assembly shaft extending from the upper cantilever to the lower cantilever, the protective outer ring having a cylindrical side rotation space, the inner ring of the bearing being mounted on the assembly shaft, the outer ring of the bearing being embedded in the side rotation space of the protective outer ring; the protective outer ring having a side rotation space, the rotation mechanisms comprising a ball, the upper cantilever having an upper movable slot, the lower cantilever having a lower movable slot, the upper movable slot of the upper cantilever and the lower movable slot of the lower cantilever being in position correspondence, the ball being rotatably held in the upper movable slot and the lower movable slot of the upper cantilever, at least a part of the ball being movably embedded in the side rotation space of the protective outer ring.

2. The dual-rotary robot of claim 1, wherein The double-rotation robot further comprises a braking mechanism movably arranged on the cantilever and the protective outer ring, the braking mechanism connecting the cantilever and the protective outer ring and being used for locking or unlocking the cantilever and the protective outer ring relative to each other.

3. The dual-rotary robot of claim 2, wherein The braking mechanism comprises a swing arm and a limiting piece, the swing arm having a limiting through hole, the limiting piece being movably held in the limiting through hole of the swing arm, the cantilever having a limiting channel, the swing arm being rotatably mounted on the protective outer ring, the swing arm being capable of being rotated above the limiting channel relative to the protective outer ring and enabling the lower part of the limiting piece to be inserted into the limiting channel of the cantilever; or the braking mechanism comprises a swing arm and a limiting piece, the swing arm having a limiting through hole, the limiting piece being movably held in the limiting through hole of the swing arm, the protective outer ring having a limiting channel, the swing arm being rotatably mounted on the cantilever, the swing arm being capable of being rotated above the limiting channel relative to the cantilever and enabling the lower part of the limiting piece to be inserted into the limiting channel of the protective outer ring.

4. The dual-rotary robot of claim 3, wherein The swing arm comprises a swing part and a limiting part, the swing part is rotatably installed on the protective outer ring, the limiting part extends from the upper part of the swing part away from the swing part, and a reserved space is formed between the lower surface of the limiting part and the inner surface of the swing part, the limiting through hole is formed in the limiting part, the limiting through hole of the limiting part communicates with the reserved space, the limiting part comprises an upper limiting part, a braking part and a lower limiting part, the two ends of the braking part are connected with the upper limiting part and the lower limiting part, the sizes of the upper limiting part and the lower limiting part are greater than the size of the limiting through hole, the size of the braking part is smaller than the size of the limiting through hole, and the size of the limiting channel is greater than the size of the lower limiting part of the limiting part.

5. The dual-rotary robot of claim 2, wherein The braking mechanism comprises an assembly arm and an electromagnetic chuck, the assembly arm extends upwardly and obliquely from the cantilever arm, one end of the assembly arm is rotatably installed on the cantilever arm, the electromagnetic chuck is installed on the other end of the assembly arm in a manner of being kept above the protective outer ring, the protective outer ring has magnetic conductivity, the electromagnetic chuck generates magnetic force when powered on, and the magnetic force disappears when powered off; or the braking mechanism comprises an assembly arm and an electromagnetic chuck, the assembly arm extends upwardly and obliquely from the protective outer ring, one end of the assembly arm is rotatably installed on the protective outer ring, the electromagnetic chuck is installed on the other end of the assembly arm in a manner of being kept above the cantilever arm, the cantilever arm has magnetic conductivity, the electromagnetic chuck generates magnetic force when powered on, and the magnetic force disappears when powered off.

6. The dual-rotary robot of claim 5, wherein The braking mechanism further comprises a resilient reset part, the two ends of the resilient reset part are connected with the cantilever arm and the assembly arm respectively, and the resilient reset part is used for keeping the electromagnetic chuck spaced above the protective outer ring when the electromagnetic chuck is not powered on; or the braking mechanism further comprises a resilient reset part, the two ends of the resilient reset part are connected with the protective outer ring and the assembly arm respectively, and the resilient reset part is used for keeping the electromagnetic chuck spaced above the cantilever arm when the electromagnetic chuck is not powered on.

Images