Mobile robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to a mobile robot. The mobile robot comprises a robot body, a walking assembly and a wire arranging device. The walking assembly can horizontally move along the machine body and is suitable for driving the machine body to ascend and descend, and a pipeline assembly is connected to the walking assembly. The wire arranging device is connected with the machine body and used for limiting the position of the pipeline assembly. According to the mobile robot, the wire arranging device is arranged on the robot body and used for arranging the pipeline assembly, so that when the walking assembly moves relative to the robot body, the pipeline assembly can be in a smooth state, winding of the pipeline assembly can be effectively prevented, and the walking flexibility of the mobile robot can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to a mobile robot. Background Art

[0002] Mobile robots can replace human labor to perform work in different environments. For example, cleaning robots can replace human labor to clean glass curtain walls of high-rise buildings; spray robots can spray paint or remove rust on the surface of ship hulls or metal tanks. Since each leg of this type of mobile robot moves independently and has electrical or gas equipment, it is necessary to provide power or gas sources for the legs. If the robot is directly connected to external pipes, the pipelines will be long and plumb, and the pipes and wires will easily get entangled, affecting the robot's walking. Therefore, it is necessary to solve the problem of the robot's pipeline layout. Utility Model Content

[0003] The utility model provides a mobile robot, which is used to solve the pipeline layout problem of the mobile robot in the prior art, and makes the pipeline components in a straightened state, thereby effectively preventing the pipeline components from being entangled.

[0004] The utility model provides a mobile robot, comprising:

[0005] body;

[0006] A walking assembly, the walking assembly can be translated along the fuselage, the walking assembly is suitable for driving the fuselage to rise and fall, and the walking assembly is connected to a pipeline assembly;

[0007] A wire management device is connected to the fuselage and is used to limit the position of the pipeline assembly.

[0008] According to the mobile robot provided by the utility model, the wire management device is a connecting rod assembly, one end of the connecting rod assembly is connected to the body, and the other end is connected to the walking assembly, and the pipeline assembly is connected to the connecting rod assembly.

[0009] According to the mobile robot provided by the utility model, the connecting rod assembly includes a plurality of connecting rods connected in sequence, any two adjacent connecting rods are hinged, and the plurality of connecting rods are suitable for folding or extending following the walking assembly.

[0010] According to the mobile robot provided by the utility model, the connecting rod has a hollow cavity, and the pipeline assembly is arranged in the hollow cavity;

[0011] Alternatively, a mounting groove is provided on the connecting rod, the opening of the mounting groove extends along the length direction of the connecting rod, and the pipeline assembly is arranged in the mounting groove;

[0012] Alternatively, the pipeline assembly is directly connected to the outer peripheral wall of the connecting rod.

[0013] According to the mobile robot provided by the utility model, an elastic member is provided between any two adjacent connecting rods.

[0014] According to the mobile robot provided by the utility model, the angle between any two adjacent connecting rods is less than 180°.

[0015] According to the mobile robot provided by the utility model, the cable management device includes a cable reel and a power member for driving the cable reel to rotate, and the cable reel is used to wind up or release the pipeline assembly.

[0016] According to the mobile robot provided by the utility model, the power component is a torsion spring or a motor.

[0017] According to the mobile robot provided by the utility model, the wire management device includes a power distribution rail and a sliding block, the power distribution rail is arranged on the fuselage, the sliding block is arranged on the walking component, and the sliding block is provided with a conductive contact, the conductive contact is electrically connected to the power distribution rail, and the conductive contact is suitable for moving along the power distribution rail.

[0018] According to the mobile robot provided by the utility model, the power distribution rail includes a main body and a conductive part, the conductive part extends along the moving direction of the sliding block, the conductive part is embedded in the main body, and the sliding block is wrapped around the outer periphery of the main body;

[0019] The main body has a first side wall, a second side wall, a third side wall and a fourth side wall connected in sequence end to end in the circumferential direction;

[0020] The first side wall is provided with two spaced apart conductive portions, and the third side wall is provided with two spaced apart conductive portions;

[0021] Alternatively, a conductive portion is provided on each of the first side wall to the fourth side wall.

[0022] According to the mobile robot of the embodiment of the utility model, a wire management device is arranged on the body to organize the pipeline components, so that when the walking component moves relative to the body, the pipeline components can be in a straightened state, thereby effectively preventing the pipeline components from being entangled, thereby improving the walking flexibility of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a top view of the mobile robot provided by the utility model.

[0025] Figure 2 It is a side view of the mobile robot provided by the utility model.

[0026] Figure 3 This is a top view of the mobile robot provided by the utility model.

[0027] Figure 4 It is a side view of the mobile robot provided by the utility model.

[0028] Figure 5 It is a structural schematic diagram of the mobile robot provided by the utility model, wherein the solid line represents the state that the walking component and the wire management device are in the first position, and the dotted line represents the state that the walking component and the wire management device are in the second position.

[0029] Figure 6 It is a cross-sectional view of the connecting rod provided by the utility model.

[0030] Figure 7 It is a cross-sectional view of the connecting rod provided by the utility model.

[0031] Figure 8 This is a top view of the mobile robot provided by the utility model.

[0032] Fig. 9 This is a top view of the mobile robot provided by the utility model.

[0033] Fig.10 It is a cross-sectional view of the power distribution rail and the sliding block provided by the utility model after being matched.

[0034] Fig.11 It is a cross-sectional view of the power distribution rail and the sliding block provided by the utility model after being matched.

[0035] Fig.12 It is a cross-sectional view of the power distribution rail and the sliding block provided by the utility model after being matched.

[0036] Reference numerals:

[0037] 100. Mobile robots;

[0038] 110, fuselage; 120, travel assembly; 130, cable management device;

[0039] 140, connecting rod assembly; 141, connecting rod; 142, hollow cavity; 143, mounting groove;

[0040] 151. Cable reel; 152. Power parts;

[0041] 161, power distribution rail; 164, main body; 165, conductive part; 162, sliding block; 163, conductive contact;

[0042] 170. Pipeline components. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] Combine the following Figure 1-Figure 12 The mobile robot 100 of the embodiment of the utility model is described. It is understandable that the mobile robot 100 can replace manual labor to perform operations in different environments. For example, the cleaning robot can replace manual labor to clean the glass curtain wall of a high-rise building, or the cleaning robot can be used to clean the surface of a photovoltaic panel; the spraying robot can spray paint or remove rust on the surface of a ship or a metal tank. The mobile robot 100 needs to have a high degree of automatic performance, which requires the mobile robot 100 to have a good ability to cross obstacles, such as crossing obstacles, depressions, and going up or down stairs on the moving plane.

[0045] See also Figure 1 and Figure 3 As shown, the mobile device according to the embodiment of the present utility model includes: a body 110 , a traveling component 120 and a wire management device 130 .

[0046] Specifically, the walking assembly 120 can be translated along the fuselage 110, and the walking assembly 120 is a multi-stage lifting structure. It can be understood that when the walking assembly 120 translates relative to the fuselage 110, the walking assembly 120 can drive the fuselage 110 to translate on the walking surface, so that the position of the fuselage 110 on the walking surface can be adjusted by using the walking assembly 120; when the walking assembly 120 is lifted and lowered, the walking assembly 120 can drive the fuselage 110 to move toward the walking surface or away from the walking surface, so that the height of the fuselage 110 relative to the walking surface can be adjusted.

[0047] In some embodiments, the walking assembly 120 may include a first suction cup assembly and a second suction cup assembly. The first suction cup assembly and the second suction cup assembly may be adsorbed on the walking surface by adsorption force, and both the first suction cup assembly and the second suction cup assembly may move along the fuselage 110 and relative to the fuselage 110. When the first suction cup assembly and the second suction cup assembly move alternately, the first suction cup assembly and the second suction cup assembly may drive the fuselage 110 to move.

[0048] Both the first suction cup assembly and the second suction cup assembly are multi-stage lifting assemblies. The multi-stage lifting structure may be a retractable electric push rod, or the multi-stage lifting structure may be a scissor structure. The multi-stage lifting structure may adjust the telescopic length of the corresponding first suction cup assembly or the second suction cup assembly to adjust the distance between the fuselage 110 and the walking surface, so that the mobile robot 100 can cross obstacles of different heights, cross depressions, go up stairs or down stairs; when moving on a walking surface with smaller surface undulations, the lifting or lowering stroke of the first suction cup assembly and the second suction cup assembly may be reduced to increase the walking speed. It should be noted that the length of the first suction cup assembly or the second suction cup assembly corresponding to each level of the multi-stage lifting structure may be a fixed value or a range value, and accordingly, the distance between the fuselage 110 and the walking surface corresponding to each level may be a fixed value or a range value.

[0049] The second suction cup assembly moves independently relative to the first suction cup assembly, and the second suction cup assembly is spaced apart from the first suction cup assembly, thereby avoiding movement jamming caused by mutual interference between the first suction cup assembly and the second suction cup assembly during walking.

[0050] See also Figure 1 As shown, the traveling assembly 120 is connected with a pipeline assembly 170, which can be a wire bundle composed of wires, or a pipe bundle composed of hoses for gas or liquid flow; of course, the pipeline assembly 170 can also be a wire harness assembly composed of wires and hoses. When the traveling assembly 120 moves along the fuselage 110, the position of the traveling assembly 120 relative to the fuselage 110 changes. In order to allow the traveling assembly 120 to move smoothly and prevent the pipeline assembly 170 from being entangled, a wire management device 130 is provided on the fuselage 110, and the wire management device 130 is used to limit the position of the pipeline assembly 170. Specifically, the wire management device 130 can be connected to the fuselage 110.

[0051] According to the mobile robot 100 of the embodiment of the utility model, a wire management device 130 is arranged on the fuselage 110 to organize the pipeline assembly 170. In this way, when the walking assembly 120 moves relative to the fuselage 110, the pipeline assembly 170 can be in a straightened state, thereby effectively preventing the pipeline assembly 170 from being entangled, thereby improving the walking flexibility of the mobile robot 100.

[0052] According to some embodiments of the present invention, see Figure 1 and Figure 3 As shown, the wire management device 130 can be a connecting rod assembly 140, one end of the connecting rod assembly 140 is connected to the fuselage 110, and the other end is connected to the traveling assembly 120, and the pipeline assembly 170 is connected to the connecting rod assembly 140. It should be noted here that the pipeline assembly 170 can be inserted into the connecting rod assembly 140, and the pipeline assembly 170 can also be fixed on the outer peripheral wall of the connecting rod assembly 140. When the traveling assembly 120 moves relative to the fuselage 110, the connecting rod assembly 140 can be folded or unfolded according to the position of the traveling assembly 120. When the state of the connecting rod assembly 140 changes, the pipeline assembly 170 can follow the movement of the connecting rod assembly 140, so that the pipeline assembly 170 can move according to a predetermined trajectory or switch according to a predetermined state, thereby avoiding the pipeline assembly 170 from getting entangled. For example, Figure 1 As shown, the link assembly 140 is in an expanded state; Figure 3 As shown, the linkage assembly 140 is in a retracted state.

[0053] According to some embodiments of the present invention, see Figure 2 and Figure 4 As shown, the connecting rod assembly 140 includes a plurality of connecting rods 141 connected in sequence, any two adjacent connecting rods 141 are hinged, and the plurality of connecting rods 141 are suitable for folding or extending along with the walking assembly 120. For example, see Figure 5 As shown, Figure 5 The connecting rod assembly 140 and the traveling assembly 120 in the solid line are in a first state, wherein the traveling assembly 120 is located in the middle of the fuselage 110 and the connecting rod assembly 140 is in a folded state; Figure 5 The connecting rod assembly 140 and the traveling assembly 120 in the middle dashed line are in the second state, wherein the traveling assembly 120 is located at the front end (or rear end) of the fuselage 110, and the connecting rod assembly 140 is in the unfolded state. In this way, when the traveling assembly 120 and the fuselage 110 move relative to each other, the pipeline assembly 170 is driven by the connecting rod assembly 140 to fold or stretch, thereby effectively preventing the pipeline assembly 170 from being entangled.

[0054] like Figure 7 As shown, according to some embodiments of the present invention, the connecting rod 141 has a hollow cavity 142, and the pipeline assembly 170 is arranged in the hollow cavity 142. It should be noted that the hollow cavity 142 in the connecting rod 141 can be used as a storage space for the pipeline assembly 170, and the surrounding wall of the hollow cavity 142 has a limiting effect on the pipeline assembly 170, thereby effectively limiting the state of the pipeline assembly 170, so that the pipeline assembly 170 can be smoothly switched between folding and stretching. In addition, the structure of the hollow cavity 142 can also reduce the weight of the connecting rod 141.

[0055] Of course, the structure of the connecting rod 141 is not limited thereto. For example, in some embodiments, Figure 6 As shown, the connecting rod 141 is provided with a mounting groove 143, the opening of the mounting groove 143 extends along the length direction of the connecting rod 141, and the pipeline assembly 170 is arranged in the mounting groove 143. The mounting groove 143 on the connecting rod 141 can be used as a storage space for the pipeline assembly 170, and the groove wall has a limiting effect on the pipeline assembly 170. In addition, in some embodiments, the pipeline assembly 170 is directly connected to the outer peripheral wall of the connecting rod 141, for example, the pipeline assembly 170 can be directly fixed to the outer peripheral wall of the connecting rod 141 by means of binding with a band, bonding, etc.

[0056] In order to allow the positions of two adjacent connecting rods 141 to be switched flexibly, in some embodiments, an elastic member is provided between any two adjacent connecting rods 141. In this way, when any two adjacent connecting rods 141 are switched between folding and unfolding, the elastic member has a boosting effect on the connecting rod 141, so that the connecting rod assembly 140 can flexibly follow the movement of the walking assembly 120. In some examples, the elastic member can be a tension spring or a torsion spring, and the elastic member can assist the folding and contraction of the connecting rod 141.

[0057] In order to expand the deployment range of the connecting rod assembly 140, in some embodiments, the angle between any two adjacent connecting rods 141 is less than 180°. In addition, this can also prevent the connecting rods 141 from folding and shrinking at a reverse angle.

[0058] See also Figure 8 As shown, according to some embodiments of the utility model, the cable management device 130 may include a cable reel 151 and a power member 152 for driving the cable reel 151 to rotate, and the cable reel 151 is used to wind or release the pipeline assembly 170. When the cable reel 151 winds the pipeline assembly 170, the cable reel 151 has the function of storing and arranging the pipeline assembly 170; when the cable reel 151 releases the pipeline assembly 170, the travel assembly 120 moves, and the pipeline assembly 170 can provide a sufficient length to prevent the travel assembly 120 from being hindered from moving due to the pipeline assembly 170 being too short.

[0059] In some examples, the power member 152 is a torsion spring or a motor. In order to optimize the structure of the mobile robot 100, in some examples, the cable reel 151 can be set at the bottom of the chassis of the fuselage 110. On the one hand, the shielding effect of the fuselage 110 can be used to protect the cable reel 151 and prevent other components from interfering with the cable reel 151; on the other hand, the bottom of the fuselage 110 has a large installation space, which can provide a large installation space for the cable reel 151 and facilitate the installation of the cable reel 151.

[0060] See also Figure 9-12As shown, according to some embodiments of the present invention, the wire management device 130 may include a power distribution rail 161 and a sliding block 162. Here, the pipeline assembly 170 may be a conductive wire, and the power distribution rail 161 may be a part of the pipeline assembly 170; or, both ends of the power distribution rail 161 are provided with the pipeline assembly 170, and both ends of the power distribution rail 161 are electrically connected to the pipeline assembly 170.

[0061] Specifically, the power distribution rail 161 is arranged on the fuselage 110, and the sliding block 162 is arranged on the running assembly 120. The extension form of the power distribution rail 161 can be the same as the motion trajectory of the running assembly 120. For example, when the running assembly 120 moves in a straight line in the front-back direction of the fuselage 110, the power distribution rail 161 can extend in a straight line. The sliding block 162 is provided with a conductive contact 163, which is electrically connected to the power distribution rail 161, and the conductive contact 163 is suitable for moving along the power distribution rail. It should be noted that when the running assembly 120 moves on the fuselage 110, the sliding block 162 can move along the power distribution rail 161, so that the sliding block 162 can maintain an electrically connected state with the power distribution rail 161 through the conductive contact 163. According to some embodiments of the utility model, the conductive contact 163 can be constructed as a rolling element, which can reduce the wear caused by sliding friction. The rolling element can be a ball or a roller.

[0062] According to some embodiments of the present invention, see Figure 10-12 As shown, the power distribution rail includes a main body 164 and a conductive part 165, and the conductive part 165 extends along the moving direction of the sliding block 162, so that when the sliding block 162 moves, the sliding block 162 and the conductive part 165 can maintain a contact state. Further, the conductive part 165 is embedded in the main body 164, and the sliding block 162 is wrapped around the outer periphery of the main body 164, so that the reliability of the sliding block 162 and the power distribution rail can be improved.

[0063] In some examples, there may be multiple conductive parts 165, which are respectively a positive conductive part 165 and a negative conductive part 165; there may be multiple conductive contacts 163, which are respectively a positive conductive contact 163 and a negative conductive contact 163; wherein the positive conductive contact 163 is electrically connected to the positive conductive part 165, and the negative conductive contact 163 is electrically connected to the negative conductive part 165.

[0064] The main body 164 has a first side wall, a second side wall, a third side wall and a fourth side wall connected in sequence in the circumferential direction. It should be noted that the main body 164 can be a quadrangular prism, and its circumferential wall surfaces are respectively the first side wall, the second side wall, the third side wall and the fourth side wall. Fig.10 and Fig.12As shown, two spaced apart conductive portions 165 are provided on the first side wall, and two spaced apart conductive portions 165 are provided on the third side wall. Of course, the distribution of the conductive portions 165 is not limited thereto. For example, in some examples, see Fig.11 As shown, a conductive portion 165 is provided on each of the first to fourth side walls.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A mobile robot (100), characterized in that: include: Body (110); A walking assembly (120), the walking assembly (120) being movable along the fuselage (110), the walking assembly (120) being adapted to drive the fuselage (110) to rise and fall, and the walking assembly (120) being connected to a pipeline assembly (170); A wire management device (130), the wire management device (130) is connected to the fuselage (110), and the wire management device (130) is used to limit the position of the pipeline assembly (170).

2. The mobile robot (100) according to claim 1, characterized in that: The wire management device (130) is a connecting rod assembly (140), one end of the connecting rod assembly (140) is connected to the fuselage (110), and the other end is connected to the traveling assembly (120), and the pipeline assembly (170) is connected to the connecting rod assembly (140).

3. The mobile robot (100) according to claim 2, characterized in that: The connecting rod assembly (140) comprises a plurality of connecting rods (141) connected in sequence, any two adjacent connecting rods (141) are hinged, and the plurality of connecting rods (141) are suitable for folding or extending following the walking assembly (120).

4. The mobile robot (100) according to claim 3, characterized in that: The connecting rod (141) has a hollow cavity (142), and the pipeline assembly (170) is arranged in the hollow cavity (142); Alternatively, the connecting rod (141) is provided with a mounting groove (143), the opening of the mounting groove (143) extends along the length direction of the connecting rod (141), and the pipeline assembly (170) is arranged in the mounting groove (143); Alternatively, the pipeline assembly (170) is directly connected to the outer peripheral wall of the connecting rod (141).

5. The mobile robot (100) according to claim 3, characterized in that: An elastic member is provided between any two adjacent connecting rods (141).

6. The mobile robot (100) according to claim 3, characterized in that: The angle between any two adjacent connecting rods (141) is less than 180°.

7. The mobile robot (100) according to claim 1, characterized in that: The cable management device (130) comprises a cable reel (151) and a power member (152) for driving the cable reel (151) to rotate, and the cable reel (151) is used to wind up or release the pipeline assembly (170).

8. The mobile robot (100) according to claim 7, characterized in that: The power member (152) is a torsion spring or a motor.

9. The mobile robot (100) according to claim 1, characterized in that: The cable management device (130) comprises a power distribution rail (161) and a sliding block (162); the power distribution rail (161) is arranged on the body (110); the sliding block (162) is arranged on the walking assembly (120); a conductive contact (163) is arranged on the sliding block (162); the conductive contact (163) is electrically connected to the power distribution rail (161), and the conductive contact (163) is suitable for moving along the power distribution rail.

10. The mobile robot (100) according to claim 9, characterized in that: The power distribution rail comprises a main body (164) and a conductive part (165), wherein the conductive part (165) extends along the moving direction of the sliding block (162), the conductive part (165) is embedded in the main body (164), and the sliding block (162) is wrapped around the outer periphery of the main body (164); The main body (164) has a first side wall, a second side wall, a third side wall and a fourth side wall which are connected end to end in sequence in the circumferential direction; The first side wall is provided with two spaced-apart conductive portions (165), and the third side wall is provided with two spaced-apart conductive portions (165); Alternatively, a conductive portion (165) is provided on each of the first side wall to the fourth side wall.

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