Robot

Abstract

The utility model discloses a robot. The robot comprises a body; the wheels are connected to the bottom of the body; the air bag assembly is arranged on the body, the air bag assembly comprises a safety air bag and an air generator connected with the safety air bag, and the safety air bag is arranged around the body. According to the robot, damage to the robot body and equipment carried by the robot can be effectively reduced, safety of personnel carried by the robot is fully guaranteed, equipment loss is effectively reduced, and the safety sense of passengers is improved. And meanwhile, the movement space of the robot during equipment testing can be further expanded, so that the testing work efficiency is effectively improved.

Description

Technical Field

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

[0002] During the debugging or operation of a robot, there is a possibility that the robot may fall. The impact caused after the robot falls will cause damage to the robot's body, the equipment carried by the robot, and the personnel carried by the robot. In the prior art, when a robot is being debugged or operated, an anti-fall safety airbag is usually used to protect personnel, and a truss device is used to hoist and protect the robot's body and the equipment carried by the robot.

[0003] When using an anti-fall safety airbag to protect personnel, the impact force at the moment when the airbag expands may injure the personnel, posing a safety hazard. When using a truss device to hoist and protect the robot, the robot can only move within a specified activity area, affecting work efficiency. Summary of the Utility Model

[0004] The utility model aims to at least solve one of the technical problems existing in the prior art. For this reason, the utility model provides a robot, which can effectively reduce the damage to the robot's body and the equipment carried by the robot, fully ensure the safety of the personnel carried by the robot, and can further expand the activity space when the robot tests equipment, thereby effectively improving the test work efficiency.

[0005] The robot according to the utility model includes: a body; wheels connected to the bottom of the body; and an airbag assembly disposed on the body. The airbag assembly includes a safety airbag and a gas generator connected to the safety airbag, and the safety airbag surrounds the body.

[0006] For the robot according to the utility model, by arranging a surrounding safety airbag around the robot's body, when the robot falls during the debugging or operation process, it can effectively reduce the damage to the robot's body and the equipment carried by the robot, fully ensure the safety of the personnel carried by the robot, and further effectively reduce equipment losses and improve the sense of security of the occupants. At the same time, the safety airbag surrounding the robot's body is not restricted by hoisting equipment, and can further expand the activity space when the robot tests equipment, thereby effectively improving the test work efficiency.

[0007] In some embodiments, the safety airbag extends circumferentially along the body to form a ring.

[0008] In some embodiments, the airbag assembly further includes: a cover body. The airbag has an initial state and a protection state. In the initial state, the airbag is received in the cover body. In the protection state, the airbag is inflated and ejected to protect the body.

[0009] In some embodiments, the cover body extends circumferentially along the body to form a ring shape, and the cover body has an annular accommodation cavity. In the initial state, the airbag is received in the accommodation cavity.

[0010] In some embodiments, the airbag assembly is arranged at the top of the body. The airbag includes a first bag portion. In the protection state, the first bag portion is configured to be ejected downward to surround the body located above the wheel.

[0011] In some embodiments, the airbag further includes a second bag portion. The second bag portion is connected to the first bag portion. In the protection state, the second bag portion is configured to be ejected upward to protect the occupant.

[0012] In some embodiments, the robot further includes: a rollover sensor for detecting the rollover state of the robot; a controller, and the controller is electrically connected to the rollover sensor and the gas generator.

[0013] In some embodiments, the rollover sensor is a gyroscope, and / or the number of rollover sensors is multiple.

[0014] In some embodiments, the robot further includes: a power battery, and the power battery is arranged on the body to provide electrical energy for the robot.

[0015] In some embodiments, the airbag assembly is detachably connected to the body.

[0016] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. Description of the Drawings

[0017] Figure 1 is a schematic diagram of a robot according to an embodiment of the present utility model, in which the airbag is in the initial state;

[0018] Figure 2 is Figure 1 a schematic diagram of the gas generator shown in

[0019] Figure 3 is Figure 1Schematic diagram of the gas generator shown therein, wherein the gas generator is a cylindrical gas generator;

[0020] Figure 4 is Figure 1 Schematic diagram of the cover shown therein, wherein the airbag is received in the cover;

[0021] Figure 5 is Figure 1 Schematic diagram of the airbag shown therein, wherein the airbag is in a protected state;

[0022] Figure 6 Schematic diagram of the robot according to an embodiment of the present invention, wherein the airbag includes a first bladder portion and is in a protected state;

[0023] Figure 7 Schematic diagram of the robot according to an embodiment of the present invention, wherein the airbag includes a first bladder portion and a second bladder portion and is in a protected state;

[0024] Figure 8 Schematic diagram of the robot according to an embodiment of the present invention, wherein the airbag assembly has been disassembled.

[0025] Reference numerals:

[0026] 100, robot;

[0027] 1, body;

[0028] 2, wheel;

[0029] 3, airbag assembly; 31, airbag; 311, first bladder portion; 312, second bladder portion; 32, gas generator; 33, cover;

[0030] 4, rollover sensor;

[0031] 5, power battery. Detailed description of the specific implementation

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described by referring to the drawings below are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0033] Below, reference is made to Figures 1-8 to describe the robot 100 according to an embodiment of the present invention.

[0034] As Figures 1-3As shown in the figure, the robot 100 according to an embodiment of the present invention includes: a main body 1, wheels 2, and an airbag assembly 3. The wheels 2 are connected to the bottom of the main body 1; the airbag assembly 3 is provided on the main body 1. The airbag assembly 3 includes an airbag 31 and a gas generator 32 connected to the airbag 31. The airbag 31 surrounds the main body 1.

[0035] For example, the main body 1 of the robot 100 is disposed on the wheels 2, and the wheels 2 of the robot 100 are connected to the bottom position of the main body 1 of the robot 100. Further, the number of wheels 2 of the robot 100 can be four. Two of the wheels 2 are arranged on the front side of the bottom position of the main body 1 of the robot 100 to form front wheels, and the other two wheels 2 are arranged on the rear side of the bottom position of the main body 1 of the robot 100 to form rear wheels. The robot 100 can move through the wheels 2.

[0036] The airbag assembly 3 of the robot 100 is provided on the main body 1, and the airbag 31 of the airbag assembly 3 surrounds the main body 1 of the robot 100. For example, the airbag 31 can surround the main body 1 of the robot 100 in a circular ring shape. The airbag 31 can also have four parts, and the four parts are connected end to end to form a rectangular ring shape. The four parts are correspondingly arranged on the four sides of the main body 1 of the robot 100 to form a circular protection barrier for the main body 1 of the robot 100.

[0037] The airbag 31 of the airbag assembly 3 is connected to the gas generator 32, and the gas generator 32 is fixed to the main body 1 of the robot 100 by means of bolt connection or snap connection. The gas generator 32 is preferably a disc-shaped gas generator 32. The disc-shaped gas generator 32 has the advantages of simple structure, small size, safety and reliability, stable performance, low output gas temperature, and small smoke. When the disc-shaped gas generator 32 cannot meet the requirements, a cylindrical gas generator 32 can be selected. At the moment when the robot 100 topples over, the gas generator 32 inflates the airbag 31, and the airbag 31 pops up and surrounds the robot 100 after inflation to protect the robot 100.

[0038] It should be noted that in the prior art, when the robot is being debugged or operated, an anti-fall airbag is usually used to protect personnel, and a truss device is used to hoist and protect the main body of the robot and the equipment carried by the robot. When using an anti-fall airbag to protect personnel, the impact force at the moment when the airbag unfolds may injure the personnel, posing a safety hazard. When using a truss device to hoist and protect the robot, the robot can only move within a designated activity area, affecting work efficiency.

[0039] In this embodiment, when the robot 100 is about to topple during debugging or operation, the gas generator 32 of the airbag assembly 3 immediately generates gas, and the generated gas inflates the airbag 31. After the airbag 31 is inflated, it quickly pops out and surrounds the body 1 of the robot 100 before the robot 100 topples. After the robot 100 topples, the airbag 31 surrounding the robot 100 can absorb most of the impact force generated by the toppling collision, fully ensuring the safety of the body 1 of the robot 100, the equipment carried by the robot 100, and the personnel carried by the robot 100. At the same time, compared with the truss equipment using traditional hoisting protection, the movement range of the robot 100 is further expanded.

[0040] For the robot 100 according to the present utility model, by arranging the surrounding airbag 31 around the body 1 of the robot 100, when the robot 100 falls during debugging or operation, the damage to the body 1 of the robot 100 and the equipment carried by the robot 100 can be effectively reduced, the safety of the personnel carried by the robot 100 is fully ensured, and thus the equipment loss is effectively reduced and the sense of security of the occupants is improved. At the same time, the airbag 31 surrounding the body 1 of the robot 100 is not restricted by hoisting equipment and can further expand the movement space when the robot 100 tests equipment, thereby effectively improving the test work efficiency.

[0041] In an embodiment of the present utility model, as Figure 1 and Figure 5 shown, the airbag 31 extends circumferentially along the body 1 into a ring shape. For example, the airbag 31 is fixed to the body 1 of the robot 100 by means of bolt connection or snap connection. After the airbag 31 is inflated, it forms four parts, and the four parts are connected end to end to form a rectangular ring, and the four parts are correspondingly arranged on the four side surfaces of the body 1 of the robot 100, constituting a ring-shaped protection barrier for the body 1 of the robot 100. Further, the airbag 31 has a layered structure in the up and down directions.

[0042] Thus, when the robot 100 is about to topple during debugging or operation, after the airbag 31 is inflated, it can expand into a ring shape around the body 1 of the robot 100, comprehensively ensuring the safety of the body 1 of the robot 100, the equipment carried by the robot 100, and the personnel carried by the robot 100. In addition, setting the airbag 31 into a layered structure in the up and down directions not only facilitates the folding and storage of the airbag 31, but also enables the airbag 31 to quickly expand into a ring shape after being inflated.

[0043] In an embodiment of the present utility model, as Figure 1 and Figure 4As shown, the airbag assembly 3 further includes: a cover body 33. The airbag 31 has an initial state and a protection state. In the initial state, the airbag 31 is received within the cover body 33. In the protection state, the airbag 31 is inflated and ejected to protect the body 1.

[0044] When the airbag 31 is in the initial state, the airbag 31 is received within the cover body 33, and the cover body 33 can play a role in preventing dust from entering the airbag 31. When the airbag 31 is in the protection state, the airbag 31 is inflated, and after inflation, the airbag 31 rapidly expands within the cover body 33. Further, after being acted upon by the expansion of the airbag 31, the cover body 33 itself can directly fall off, and the airbag 31 quickly pops out and unfolds; after being acted upon by the expansion of the airbag 31, the outer side of the cover body 33 can be pushed open by the airbag 31, and the airbag 31 quickly pops out and unfolds. After the airbag 31 unfolds, an annular protection barrier is formed around the body 1 of the robot 100.

[0045] In this embodiment, by providing the cover body 33 of the airbag assembly 3 around the body 1 of the robot 100, the airbag 31 can be received within the cover body 33 in the initial state and prevent dust from falling in. At the same time, the cover body 33 cooperates with the fixing components of the airbag 31 to further fix the position of the airbag 31 in the initial state. In addition, when the airbag 31 is in the protection state, the airbag 31 is inflated and rapidly expands, and the airbag 31 can quickly pop out from the cover body 33, so as to ensure that the airbag 31 can quickly unfold into an annular shape, and further ensure the protective effect of the airbag 31.

[0046] In an embodiment of the present utility model, as Figure 1 and Figure 4 shown, the cover body 33 extends circumferentially along the body 1 into an annular shape, and the cover body 33 has an annular receiving cavity. In the initial state, the airbag 31 is received within the receiving cavity. Specifically, the cover body 33 is arranged in a strip-like structure form around the body 1 of the robot 100. Further, the cover body 33 can form a structure form with a rectangular frame around the body 1 of the robot 100. The cover body 33 has an annular receiving cavity, and when the airbag 31 is in the initial state, it can be received within the receiving cavity of the cover body 33.

[0047] Thus, by providing an annular receiving cavity within the cover body 33, the airbag 31 can be received within the receiving cavity in the initial state, thereby providing an installation space for the airbag 31 in the initial state. At the same time, the setting of the annular receiving cavity can effectively improve the aesthetics of the airbag assembly 3 installed on the body 1 of the robot 100.

[0048] In an embodiment of the present utility model, as Figure 1 and Figure 6As shown, the airbag assembly 3 is arranged at the top of the body 1. The airbag 31 includes a first bag portion 311. In the protection state, the first bag portion 311 is configured to pop downward to surround the body 1 located above the wheel 2.

[0049] For example, a ring-shaped cover 33 is provided at the top of the body 1 of the robot 100, and the cover 33 is arranged to surround the body 1 of the robot 100. The airbag 31 is located at the top of the body 1 of the robot 100 and is received in the cover 33 in the initial state. The gas generator 32 is provided at the top of the body 1 of the robot 100 and is connected to the airbag 31. The airbag 31 has a first bag portion 311, and after the first bag portion 311 is inflated, it can pop downward and surround the body 1 located above the wheel 2.

[0050] When the robot 100 is about to fall during debugging or operation, the gas generator 32 quickly inflates the first bag portion 311 of the airbag 31 at the top of the body 1 of the robot 100. The first bag portion 311 rapidly expands under the action of the gas. After the first bag portion 311 expands, it quickly pops downward and unfolds from the cover 33, and finally surrounds the body 1 of the robot 100 located above the wheel 2, absorbing the impact force generated by the robot 100 falling and colliding, and protecting the body 1 of the robot 100 and the equipment carried by the robot 100.

[0051] In this embodiment, by providing the airbag assembly 3 at the top of the body 1 of the robot 100 and providing the first bag portion 311 in the airbag 31, when the robot 100 is about to fall during debugging or operation, the first bag portion 311 of the airbag 31 can pop downward and surround the body 1 located above the wheel 2, thereby effectively protecting the body 1 of the robot 100 and the equipment carried by the robot 100.

[0052] In an embodiment of the present utility model, as Figure 1 and Figure 7 shown, the airbag 31 further includes a second bag portion 312. The second bag portion 312 is connected to the first bag portion 311. In the protection state, the second bag portion 312 is configured to pop upward to protect the occupant. Specifically, in the protection state, the second bag portion 312 of the airbag 31 is connected to the first bag portion 311, the second bag portion 312 is located above the first bag portion 311, and the second bag portion 312 can expand upward to extend above the head of the occupant.

[0053] In the protection state, the gas generator 32 quickly inflates the second bladder portion 312 of the airbag 31 at the top of the main body 1 of the robot 100. The second bladder portion 312 rapidly expands under the action of the gas. After the second bladder portion 312 expands, it quickly pops up and unfolds upward from the cover body 33. Finally, the second bladder portion 312 surrounds the occupant on the main body 1 of the robot 100, absorbs the impact force generated by the tipping and collision of the robot 100, and protects the personnel carried by the robot 100.

[0054] In this embodiment, by providing the second bladder portion 312 in the airbag 31, when the robot 100 is about to fall during the manned process, the second bladder portion 312 of the airbag 31 can pop up upward and surround the occupant on the main body 1 of the robot 100, thereby effectively protecting the personnel carried by the robot 100.

[0055] In an embodiment of the present utility model, as Figure 1 shown, the robot 100 further includes: a rollover sensor 4 and a controller. The rollover sensor 4 is used to detect the rollover state of the robot 100; the controller is electrically connected to the rollover sensor 4 and the gas generator 32.

[0056] Specifically, the rollover sensor 4 is disposed on the main body 1 of the robot 100. The rollover sensor 4 can sense the rollover signal and the ground clearance of the robot 100 and transmit the relevant information to the controller. The controller is electrically connected to the rollover sensor 4 and the gas generator 32. The controller can analyze the data collected by the rollover sensor 4 and compare it with the pre-calibrated data to confirm whether to activate the gas generator 32.

[0057] When the robot 100 is about to tip over, the rollover sensor 4 senses the tipping signal and transmits the relevant information to the controller. After calculation and analysis by the controller, the gas generator 32 is activated. The gas generator 32 inflates the airbag 31, and the airbag 31 rapidly expands. The airbag 31 quickly pops out and unfolds from the cover body 33, forming an annular protection barrier around the main body 1 of the robot 100, thereby playing a protective role.

[0058] Thus, by providing the rollover sensor 4 and the controller, the rollover signal and the ground clearance of the robot 100 during debugging or operation can be accurately collected and transmitted to the controller for calculation and analysis, so as to determine whether to activate the gas generator 32, and further decide whether to pop out the airbag 31, avoiding the situation where the airbag 31 does not pop out when the robot 100 tips over and the ineffective pop-out of the airbag 31 when the robot 100 does not tip over, and finally effectively realizing the protection function of the airbag 31.

[0059] In an embodiment of the present utility model, as Figure 1As shown, the rollover sensor 4 is a gyroscope, and / or the number of rollover sensors 4 is multiple. For example, the rollover sensor 4 can be selected as a gyroscope. A gyroscope is a device that senses the angular velocity of a housing relative to inertial space about one or two axes orthogonal to the axis of rotation of a high-speed rotating body. A gyroscope can provide accurate signals such as azimuth, level, position, speed, and acceleration. Further, the gyroscope of the robot 100 can be used as a sensor to sense the data information of the robot 100 during movement and transmit the data information to the controller for calculation and analysis.

[0060] The number of rollover sensors 4 can be two, three, four, five, six or more. For example, the number of rollover sensors 4 can be 2, and the two rollover sensors 4 are arranged symmetrically on the left and right of the body 1 of the robot 100 and fixed to the body 1 of the robot 100 through fixing components; another example is that the number of rollover sensors 4 can be 3, where 2 rollover sensors 4 are arranged symmetrically on the left and right of the body 1 of the robot 100, and the other 1 rollover sensor 4 is arranged above or below the aforementioned 2 rollover sensors 4 and fixed to the body 1 of the robot 100 through fixing components.

[0061] Therefore, by setting the gyroscope, it is possible to collect and transmit the data information of the robot 100 during movement, effectively ensuring the accuracy of the data, and thus being able to provide an accurate basis for judgment for the controller. At the same time, by setting multiple rollover sensors 4, it is possible to avoid the situation where the airbag 31 cannot be effectively ejected due to the damage of one rollover sensor 4, further improving safety.

[0062] In an embodiment of the present utility model, as Figure 1 shown, the robot 100 further includes a power battery 5, and the power battery 5 is arranged on the body 1 to provide electrical energy for the robot 100. For example, the power battery 5 is arranged at the top position of the body 1 of the robot 100. Further, the power battery 5 has a charge and discharge function, and the shape of the power battery 5 can be a cuboid. The power battery 5 can provide the necessary electrical energy for the movement of the robot 100. At the same time, the power battery 5 can also provide the required electrical energy for the airbag assembly 3, the rollover sensor 4, and the controller.

[0063] In this embodiment, by arranging the power battery 5 on the body 1 of the robot 100, the robot 100 can obtain continuous electrical energy during debugging or operation, thereby ensuring that the airbag assembly 3, the rollover sensor 4, and the controller can work normally and guaranteeing safety at any time.

[0064] In an embodiment of the present utility model, as Figure 8As shown in the figure, the airbag assembly 3 is detachably connected to the body 1. For example, the airbag 31 and the gas generator 32 are fixed at the upper position of the body 1 of the robot 100 by means of bolt connection or snap connection. When the gas generator 32 is damaged, the gas generator 32 can be detached from the body 1 of the robot 100 and a new gas generator 32 can be installed; when the airbag 31 is damaged, the airbag 31 can be detached from the body 1 of the robot 100 and a new airbag 31 can be installed. By the detachable connection between the airbag assembly 3 and the body 1 of the robot 100, the disassembly and installation work of the airbag assembly 3 can be carried out conveniently.

[0065] Thus, by setting the airbag assembly 3 and the body 1 in a detachable connection form, the assembly property of the airbag assembly 3 can be improved. At the same time, the convenience of replacing the airbag assembly 3 can be improved, thereby effectively reducing the cost of the robot 100.

[0066] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0067] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0068] In the present utility model, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0069] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0070] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that: include: ontology; A wheel connected to the bottom of the body; An airbag assembly is arranged on the body, the airbag assembly comprises a safety airbag and a gas generator connected to the safety airbag, and the safety airbag is arranged around the body.

2. The robot according to claim 1, characterized in that: The safety airbag extends in a ring shape along the circumference of the body.

3. The robot according to claim 1, characterized in that: The airbag assembly further includes a cover body, and the airbag has an initial state and a protection state. In the initial state, the airbag is accommodated in the cover body, and in the protection state, the airbag is inflated and popped out to protect the body.

4. The robot according to claim 3, characterized in that: The cover body extends in a ring shape along the circumferential direction of the main body, and has a ring-shaped accommodating cavity therein. In the initial state, the airbag is accommodated in the accommodating cavity.

5. The robot according to claim 3, characterized in that: The airbag assembly is arranged on the top of the body, and the safety airbag includes a first bag portion. In the protection state, the first bag portion is configured to pop up downward to surround the body located on the upper side of the wheel.

6. The robot according to claim 5, characterized in that: The airbag further includes a second bag portion connected to the first bag portion. In the protection state, the second bag portion is configured to pop up upward to protect the occupant.

7. The robot according to claim 1, characterized in that: Also includes: A rollover sensor, which is used to detect the rollover state of the robot; A controller is electrically connected to the rollover sensor and the gas generator.

8. The robot according to claim 7, characterized in that: The rollover sensor is a gyroscope, and / or the number of the rollover sensors is multiple.

9. The robot according to claim 1, characterized in that: It also includes a power battery, which is arranged on the body and is used to provide electrical energy for the robot.

10. The robot according to claim 1, characterized in that: The airbag assembly is detachably connected to the body.

Images