Lifting module and wheeled robot

Abstract

This application provides a lifting module and a wheeled robot, relating to the field of wheeled robots. The lifting module includes: a back plate shell; a cover shell, which is attached to the back plate shell, and the cover shell and the back plate shell enclose a mounting cavity; the back plate shell is a lightweight and flexible plate; the inner wall of the cover shell has a magnetic sensing part; the lifting module also includes a magnetic suction part positioned on the back plate shell; the magnetic suction part attracts the magnetic sensing part to apply a pulling force towards the back plate shell to the cover shell.

Description

Technical Field

[0001] This application relates to the field of wheeled robots, and more specifically, to a lifting module and a wheeled robot. Background Technology

[0002] In the current field of robotics, wheeled robots are a type of humanoid robot that coexists with bipedal robots, and wheeled robots are currently in the research and development and promotion stage.

[0003] A wheeled robot is a hybrid robot that combines the upper body of a humanoid robot with a wheeled mobile chassis. Wheeled robots are generally suitable for use on flat surfaces and can be used in various scenarios such as warehouses, factories, and restaurants.

[0004] A wheeled robot typically consists of a chassis, a lifting module mounted on the chassis, and a robot body mounted on the lifting module. The lifting module is used to adjust the working height of the robot body.

[0005] The lifting module typically has at least one connector extending from its interior to connect to the wheeled robot body. To allow this connector to extend smoothly from the inside of the lifting module to the outside, a clearance hole is provided on the cover shell for the connector to pass through. After the cover shell has this hole, it is more prone to deformation.

[0006] The cover shell is a thin-shell structure with a large span and is easily deformed. When the robot moves up and down, the back of the robot body rests against this cover shell. If the cover shell is uneven, especially if it protrudes outwards, the protruding cover shell may touch and scrape against the back of the robot body during movement. If the protrusion is severe enough, it may even cause serious wear and tear on the back of the robot body or even obstruct its up-and-down movement. Therefore, ensuring that the back shell is as flat as possible and avoiding unfavorable deformation such as outward protrusion directly affects the smooth up-and-down movement of the robot body, which is of great significance for ensuring the reliability and stability of the wheeled robot. Summary of the Invention

[0007] The purpose of this application is to provide a lifting module and a wheeled robot, wherein the back plate shell of the lifting module can maintain flatness to avoid the back plate shell touching or scraping the back of the robot body.

[0008] In a first aspect, embodiments of this application provide a lifting module applied to a wheeled robot, comprising: Backplate shell; A cover shell is attached to the back shell, and the cover shell and the back shell form an installation cavity; The backplate shell is a lightweight, flexible plate. The inner wall of the cover shell has a magnetic induction part; The lifting module also includes a magnetic suction part positioned on the back plate shell; the magnetic suction part attracts the magnetic sensing part to apply a pulling force toward the back plate shell to the cover shell.

[0009] In some embodiments, the magnetic attraction portion includes: A strut, positioned within the mounting cavity, and having opposing first and second ends, the first end of the strut being fixed to the backplate shell; and A magnet is positioned inside the mounting cavity and fixed to the second end of the support rod, and the magnet attracts the magnetic sensing part.

[0010] In a second aspect, embodiments of this application provide a wheeled robot, including the aforementioned lifting module. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the external structure of the lifting module provided in the embodiments of this application; Figure 2 for Figure 1 A schematic diagram of the structure of the lifting module after the cover plate has been removed; Figure 3 for Figure 1 A schematic diagram of the structure of the lifting module after the backplate shell has been removed; Figure 4 for Figure 3 A schematic diagram of the structure of the lifting module after the cover plate is removed; Figure 5 for Figure 1 A cross-sectional view of the lifting module, mainly used to show the cooperation relationship between the magnetic part and the back plate shell and the cover shell respectively; Figure 6 for Figure 5 A schematic diagram of the cross-sectional view shown (with the back panel shell removed) from the front view. Figure 7 This is a schematic diagram of the external structure of the magnetic suction part provided in an embodiment of this application.

[0013] Icons: 100-Lifting module; 11-Back plate shell; 12-Cover plate shell; 121-Leaning hole; 21-Slide rail; 22-Slider; 23-Nut; 24-Lead screw; 3-Connector; 31-First end of connector; 32-Second end of connector; 13-Partition; 25-Connecting plate; 26-Bearing; 27-Mounting base; 4-Motor; 41-Reducer; 42-Coupling; 50-Magnetic suction part; 5-Support rod; 51-First end of support rod; 52-Second end of support rod; 6-Magnet; 7-Magnetic induction part. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0015] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0016] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0017] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0018] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0019] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0020] Please refer to Figures 1 to 7 This embodiment provides a wheeled robot, including a chassis, a lifting module 100 mounted on the chassis, and a body of the wheeled robot connected to the lifting module 100. The chassis can be wheeled or tracked. The body includes the robot's main torso, a head connected to the main torso, and two arms. The chassis and body can refer to current mainstream designs.

[0021] The lifting module 100 includes an outer shell. In this embodiment, the outer shell includes a back plate shell 11 and a cover shell 12. The cover shell 12 is attached to the back plate shell 11. The back plate shell 11 and the cover shell 12 can be detachably connected, for example, by screws to form an integral enveloping shell.

[0022] The cover shell 12 and the back shell 11 enclose each other to form an installation cavity. The installation cavity is an empty cavity that can be used to accommodate components such as slide rail 21, slider 22, lead screw 24, and motor 4, thereby sealing these components inside the installation cavity and preventing them from coming into contact with dusty air. These components will be described below.

[0023] The lifting module 100 also includes a slide rail 21, a slider 22, a nut 23, and a lead screw 24.

[0024] The outer casing is vertical, and the slide rail 21 is positioned longitudinally within the mounting cavity. In this embodiment, there are two slide rails 21, which can be fixed side by side to the back plate shell 11 with screws.

[0025] Correspondingly, in this embodiment, there are also two sliders 22. The two sliders 22 are also positioned inside the mounting cavity and are slidably mounted on the two slide rails 21 respectively. The two sliders 22 can slide back and forth synchronously up and down on the two slide rails 21 respectively.

[0026] Nut 23 is fixed to slider 22. In this embodiment, nut 23 and the two sliders 22 can be indirectly fixed together by a connecting plate 25. For example, nut 23 and the two sliders 22 are fixed to connecting plate 25 by screws. In this way, nut 23 can move up and down synchronously with the two sliders 22.

[0027] The lead screw 24 is positioned longitudinally within the mounting cavity and is screwed onto the nut 23.

[0028] Specifically, the lead screw 24 passes through the nut 23 and is screwed into the nut 23. When the lead screw 24 rotates, it can drive the nut 23 to move up and down.

[0029] The lead screw 24 has two bearings connected to its two ends. The upper end of the lead screw 24 can be connected to a general ball bearing, while the lower end of the lead screw 24 can be connected to a thrust bearing. The thrust bearing can also bear the weight of the lead screw 24 along its longitudinal direction.

[0030] These two bearings can be respectively positioned and installed within two vertically distributed mounting seats 27, which can be fixed to the back plate housing 11. In this way, the lead screw 24 can rotate freely between these two bearings.

[0031] The lead screw 24 can be driven to rotate by a motor 4 located at the bottom of the housing. The motor 4 can also be placed inside the mounting cavity. The motor 4 can be indirectly connected to the lead screw 24 via a reducer 41, which can achieve the effect of speed reduction and torque increase. For example, the output shaft of the reducer 41 can be connected to the bottom end of the lead screw 24 via a coupling 42.

[0032] To further improve airtightness, in this embodiment, a partition 13 can be provided between the motor 4 and the lead screw 24. The partition 13 is used to isolate the motor 4 at the bottom of the mounting cavity. The partition 13 can be detachably positioned in the mounting cavity, for example, the partition 13 can be fixed to the back plate shell 11 with screws. The back plate shell 11 can also serve as a base for fixing the reducer 41. The reducer 41 can be fixed to the back plate shell 11 with screws. The back plate shell 11 can be reserved with a clearance hole for the output shaft of the reducer 41 to pass through. The partition 13 essentially separates the reducer 41 and the motor 4 at the bottom of the mounting cavity, and separates the lead screw 24 at the top of the mounting cavity.

[0033] When the motor 4 rotates, it can transmit power to the lead screw 24 through the speed reduction and torque amplification effect of the reducer 41, so as to drive the lead screw 24 to rotate. The rotation of the lead screw 24 drives the nut 23 to move up and down. The up and down movement of the nut 23 can drive the slider 22 fixed to the nut 23 to move up and down along the guide rail, and drive the connecting plate 25 to move up and down synchronously with the up and down movement of the nut 23.

[0034] The lifting module 100 also includes a connector 3. The first end 31 of the connector 3 is located within the mounting cavity, and the second end 32 extends out of the mounting cavity. The first end 31 of the connector 3 is fixedly connected to the slider 22. For example, the first end 31 of the connector 3 can be fixed to the connecting plate 25 with screws to achieve relative fixation with the slider 22. Of course, the connector 3 can also be directly fixed to the slider 22. In this embodiment, there are two connectors 3, which are identical in structure and size, and are respectively fixed to the two sliders 22.

[0035] The second end 32 of the connector 3 is designed to extend beyond the mounting cavity for connecting to the robot's body. In this embodiment, a clearance hole 121 can be formed longitudinally on the cover shell 12. The clearance hole 121 has a slot-shaped structure, and there can be two clearance holes 121 arranged opposite to each other and longitudinally on the cover shell 12.

[0036] The second ends 32 of the two connectors 3 extend out of the mounting cavity from the two clearance holes 121 respectively, and the second ends 32 of the two connectors 3 are used to connect to the robot body.

[0037] In this embodiment, the robot body is connected by the connector 3 extending out of the clearance hole 121. Due to the slotted configuration of the clearance hole 121, dust or foreign objects in the air can be prevented from entering the mounting cavity through the clearance hole 121 and contaminating the screw 24, slide rail 21, slider 22 and other components inside the mounting cavity, thereby improving the working reliability and service life of these components.

[0038] It should be emphasized that in this embodiment, the back plate shell 11 is a lightweight and flexible plate. For example, the back plate shell 11 can be made of plastic material. Although it is lighter than a metal casting or forging shell, the back plate shell 11 will also deform.

[0039] The inner wall of the cover shell 12 has a magnetic sensing part 7. The magnetic sensing part 7 can be, for example, a steel strip or iron sheet fixed to the inner wall of the cover shell 12. In this embodiment, the magnetic sensing part 7 is a steel strip as an example. In other embodiments, the magnetic sensing part 7 can also be a small disc-shaped magnet. For example, the magnetic attraction part 50 can be the N pole and the magnetic sensing part 7 can be the S pole. Magnetic attraction force can also be generated between the magnetic attraction part 50 and the magnetic sensing part 7.

[0040] In this embodiment, the lifting module 100 also includes a magnetic suction part 50, which can be positioned on the back plate shell 11, specifically fixed on the inner wall surface of the back plate shell 11.

[0041] The magnetic attraction part 50 attracts the magnetic induction part 7, allowing the cover shell 12 to apply a pulling force toward the back shell 11. This pulling force is a magnetic attraction force.

[0042] Specifically, in this embodiment, the magnetic suction part 50 includes a support rod 5 and a magnet 6, both positioned inside the mounting cavity.

[0043] The strut 5 has a first end 51 and a second end 52, the first end 51 of which is fixed to the back plate shell 11.

[0044] To increase the support strength, there can be multiple struts 5. In this embodiment, there are two struts 5.

[0045] For ease of installation and disassembly, the first end 51 of the support rod 5 can be screwed to the back plate housing 11. For example, an external thread can be provided on the first end 51 of the support rod 5, and correspondingly, a threaded hole can be provided on the back plate housing 11 for connection with the external thread of the first end 51 of the support rod 5. In other embodiments, an insertion hole can also be provided on the back plate housing 11, and the first end 51 of the support rod 5 can be directly and detachably inserted into the insertion hole for easy installation and disassembly.

[0046] Magnet 6 is fixedly connected to the second end 52 of the support rod 5. Magnet 6 can abut against the magnetic sensing part 7 (e.g., a steel bar), that is, magnet 6 and magnetic sensing part 7 are in close contact. Specifically, magnet 6 can be a countersunk magnet with a base. Magnet 6 is annular with a mounting hole in the center, and the mounting hole is fixedly fitted to the second end 52 of the support rod 5. In other embodiments, magnet 6 can also be glued to the second end 52 of the support rod 5.

[0047] In other embodiments, the magnet 6 and the magnetic sensing part 7 (e.g., a steel bar or the aforementioned disc-shaped small magnet) may not be in direct contact. An air gap may be reserved between the magnet 6 and the magnetic sensing part 7. Although an air gap is reserved, the magnetic attraction part 50 can still attract the magnetic sensing part 7, as long as the air gap is small.

[0048] In summary, because the magnetic suction part 50 attracts the magnetic induction part 7, it applies a pulling force to the cover shell 12 towards the back shell 11, causing the cover shell 12 to tend to be concave towards the back shell 11. This maintains the flatness of the cover shell 12 and effectively limits the undesirable outward deformation of the cover shell 12. Thus, when the robot moves up and down, the back shell 11 maintains its flatness, preventing it from touching or scraping against the back of the robot body, and it does not obstruct the robot's up and down movement. This effectively ensures the reliability and stability of the wheeled robot's operation.

[0049] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A lifting module (100) applied to a wheeled robot, characterized in that, include: Backplate shell (11); and A cover shell (12) is attached to the back shell (11), and the cover shell (12) and the back shell (11) form an installation cavity; The backplate shell (11) is a lightweight flexible plate; The inner wall of the cover shell (12) has a magnetic induction part (7). The lifting module (100) also includes a magnetic suction part (50) positioned on the back plate shell (11); the magnetic suction part (50) attracts the magnetic induction part (7) to apply a pulling force toward the back plate shell (11) to the cover shell (12).

2. The lifting module (100) according to claim 1, characterized in that, The magnetic attraction part (50) includes: A strut (5), positioned within the mounting cavity and having a first end (51) and a second end (52) opposite to each other, wherein the first end (51) of the strut (5) is fixed to the back plate shell (11); and A magnet (6) is positioned inside the mounting cavity and fixed to the second end (52) of the support rod (5). The magnet (6) attracts the magnetic induction part (7).

3. The lifting module (100) according to claim 2, characterized in that, The magnetic induction unit (7) includes a steel strip, which is fixed to the inner wall of the cover shell (12).

4. The lifting module (100) according to claim 2, characterized in that, The magnet (6) is in contact with the magnetic induction part (7).

5. The lifting module (100) according to claim 2, characterized in that, An air gap is reserved between the magnet (6) and the magnetic induction part (7).

6. The lifting module (100) according to claim 2, characterized in that, The first end (51) of the support rod (5) is screwed to the back plate shell (11).

7. The lifting module (100) according to claim 2, characterized in that, The magnet (6) is annular and has a mounting hole, which is fixedly sleeved on the second end (52) of the support rod (5).

8. The lifting module (100) according to claim 2, characterized in that, The number of the support rods (5) is at least two, and the number of magnets (6) is the same as the number of the support rods (5).

9. The lifting module (100) according to claim 1, characterized in that, The backplate shell (11) is made of plastic.

10. A wheeled robot, characterized in that, Includes the lifting module (100) as described in any one of claims 1-9.

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