Robot

Abstract

The utility model relates to a robot. Comprising a moving seat; the body is movably connected with the movable seat; the manipulator is movably connected with the body; and the functional parts are detachably connected with the mechanical arm and used for executing tasks, and different functional parts can be matched with the mechanical arm to execute different tasks. As the functional part is detachably connected with the wrist, the functional part can be replaced relative to the wrist, and when a new task in other working scenes needs to be executed, the functional part matched with the new task can be replaced on the wrist. Therefore, only by replacing different types of functional parts on the wrist, the different types of functional parts can have different operation functions and can execute different operation tasks, the robot can meet related requirements of different working scenes, and finally the applicability of the robot to the different working scenes is improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a robot. Background Art

[0002] Robots are used for home services. They can perform various functional tasks in the home, such as cleaning, repairing, transporting, cooking, laundry, and shopping. Home service robots can achieve human-robot interaction through video or visual interaction methods, making the interaction between users and robots more natural and convenient. However, for traditional robots, they can usually only complete a specific task and are unable to handle other tasks, which will affect the applicability of the robots to different working scenarios. Summary of the Utility Model

[0003] One technical problem solved by this application is how to improve the applicability of robots to different working scenarios.

[0004] A robot includes:

[0005] A moving base;

[0006] A body, the body is movably connected to the moving base;

[0007] A manipulator, the manipulator is movably connected to the body; and

[0008] Functional components, the functional components are detachably connected to the manipulator and are used to perform tasks, and different functional components can be matched with the manipulator to perform different tasks.

[0009] In one embodiment, the manipulator includes a connecting component and a wrist. One end of the connecting component is movably connected to the body, the other end of the connecting component is movably connected to the wrist, and the functional component is arranged at the end of the wrist far from the connecting component.

[0010] In one embodiment, the functional component is rotatably connected to the wrist, and the functional component can rotate around a rotating shaft extending along the length direction of the wrist.

[0011] In one embodiment, the connecting component includes a shoulder and an arm. The shoulder is movably connected to the body, one end of the arm is movably connected to the shoulder, and the other end of the arm is movably connected to the wrist.

[0012] In one embodiment, the arm is rotatably connected to both the arm and the wrist simultaneously. One end of the arm can rotate relative to the wrist about a rotation axis that is perpendicular to the lengths of both the arm and the wrist. The other end of the arm can rotate relative to the shoulder about a rotation axis that is parallel to the length of the arm.

[0013] In one embodiment, the shoulder includes a first shoulder portion and a second shoulder portion. The second shoulder portion is located between the first shoulder portion and the arm. The first shoulder portion is rotatably connected to the body, and the second shoulder portion is rotatably connected to both the first shoulder portion and the arm.

[0014] In one embodiment, the first shoulder portion rotates relative to the body about a first rotation axis, the second shoulder portion rotates relative to the first shoulder portion about a second rotation axis, and the arm rotates relative to the second shoulder portion about a third rotation axis. The first rotation axis, the second rotation axis, and the third rotation axis are pairwise arranged at an angle.

[0015] In one embodiment, it further includes at least one of the following solutions:

[0016] The robotic hand further includes a flexible shell that covers the connection assembly and / or the wrist.

[0017] A receiving space is recessed on the outer surface of the connection assembly, and the wrist can move relative to the connection assembly and be received into the receiving space.

[0018] The connection assembly is detachably connected to the body.

[0019] In one embodiment, a receiving space is recessed on the outer surface of the body, and the robotic hand can be received in the receiving space.

[0020] In one embodiment, the body includes a waist portion and a body part. The robotic hand is connected to the body part. One end of the waist portion is rotatably connected to the body part, and the other end of the waist portion is rotatably connected to the moving base. The axes about which the waist portion rotates relative to the body part and the moving base are parallel to each other, so that the waist portion can be stacked between the moving base and the body part.

[0021] In one embodiment, a sunk groove is formed on the outer surface of the moving base and / or the body part, and the waist portion can be received in the sunk groove.

[0022] One technical effect of an embodiment of the present application is that since the functional component is detachably connected to the wrist, the functional component can be replaced relative to the wrist. When a new task in another working scenario needs to be performed, a functional component matching the new task can be replaced on the wrist. Therefore, by simply replacing different types of functional components on the wrist, different types of functional components can have different operating functions and be able to perform different operating tasks, enabling the robot to meet the relevant requirements of different working scenarios, and ultimately improving the applicability of the robot to different working scenarios. Moreover, the work tasks corresponding to different working scenarios can be completed by the same robot, thus reducing the number of robots used and the usage cost, and thereby reducing the service cost of the robot. Description of the Drawings

[0023] Figure 1 Schematic three-dimensional structure diagram of the robot provided for an embodiment.

[0024] Figure 2 For Figure 1 Schematic diagram of the first exemplary exploded structure of the shown robot.

[0025] Figure 3 For Figure 1 Schematic plan view of the shown robot.

[0026] Figure 4 For Figure 1 Schematic diagram of the second exemplary exploded structure of the shown robot.

[0027] Figure 5 For Figure 1 Schematic three-dimensional structure diagram of the manipulator in the shown robot.

[0028] Figure 6 Schematic diagram of the robot working outside the cabinet.

[0029] Figure 7 Schematic diagram of the robot in a fully folded state being housed in the cabinet.

[0030] Reference numerals: robot 10, first rotating shaft 11, second rotating shaft 12, third rotating shaft 13, fourth rotating shaft 14, fifth rotating shaft 15, cabinet 20, moving base 100, support wheel 110, body 200, waist 210, body part 220, accommodation space 221, sink 222, manipulator 300, shoulder 310, first shoulder 311, second shoulder 312, arm 320, accommodation space 321, wrist 330, functional component 400. Detailed Embodiment

[0031] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0032] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 on the present application.

[0033] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0034] In the present application, unless otherwise clearly specified and limited, if terms such as "install", "connect", "couple", "fix", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0035] In this application, unless otherwise clearly specified and defined, when a first feature is described as being "on" or "under" a second feature or the like, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" or "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" or "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely means that the first feature has a lower horizontal height than the second feature.

[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0037] Refer to Figure 1 、 Figure 2 and Figure 3 Referring to

[0038] Refer to Figure 1 、 Figure 2 and Figure 5, in some embodiments, the robotic arm 300 includes a connecting component and a wrist 330. One end of the connecting component is movably connected to the body 200, and the other end of the connecting component is movably connected to the wrist 330. For example, the connecting component may include a shoulder 310 and an arm 320. The shoulder 310 is movably connected to the body 200. One end of the arm 320 is movably connected to the shoulder 310, and the other end of the arm 320 is movably connected to the wrist 330. The number of robotic arms 300 may be two or more. The shoulder 310 includes a first shoulder portion 311 and a second shoulder portion 312. The second shoulder portion 312 is located between the first shoulder portion 311 and the arm 320. The first shoulder portion 311 is rotatably connected to the body 200, and the second shoulder portion 312 is rotatably connected to both the first shoulder portion 311 and the arm 320. The first shoulder portion 311 can rotate relative to the body 200 about a first rotation axis 11. The second shoulder portion 312 can rotate relative to the first shoulder portion 311 about a second rotation axis 12. The arm 320 can rotate relative to the second shoulder portion 312 about a third rotation axis 13. The first rotation axis 11, the second rotation axis 12, and the third rotation axis 13 can be arranged at an angle to each other in pairs. The third rotation axis 13 can extend along the length direction of the arm 320. The wrist 330 is rotatably connected to the end of the arm 320 away from the shoulder 310. The wrist 330 can rotate relative to the arm 320 about a fourth rotation axis 14. The fourth rotation axis 14 can be perpendicular to the length direction of the arm 320. In other embodiments, the connecting component is integrally formed.

[0039] Refer to Figure 1 , Figure 2 and Figure 5 , in some embodiments, a receiving space 321 is recessed on the outer surface of the connecting component. For example, the receiving space 321 can be provided on the arm 320. The wrist 330 can rotate relative to the arm 320 by a certain angle, so that the wrist 330 is received in the receiving space 321, enabling the arm 320 and the wrist 330 to be stacked on top of each other along the thickness direction of the wrist 330. In this way, the robotic arm 300 can be folded, thereby reducing the occupied space of the robotic arm 300 and the entire robot 10. By folding the robotic arm 300, the volume of the robot 10 is reduced, thereby improving the convenience of the robot 10 during handling and storage.

[0040] In some embodiments, the robotic arm 300 may further include a flexible shell, which covers the connecting component and / or the wrist 330. For example, only the arm 320 of the connecting component can be covered with the flexible shell, or only the wrist 330 can be covered with the flexible shell, or both the arm 320 of the connecting component and the wrist 330 are covered with the flexible shell at the same time. The flexible shell can be made of silicone material, so that the flexible shell has reasonable elasticity. Under the action of external impact, the flexible shell can effectively absorb the impact energy, thereby preventing household items or the robotic arm 300 from being damaged due to mutual impact, thus improving the safety of using the robot 10.

[0041] In some embodiments, the connecting component is detachably connected to the body 200. For example, the first shoulder 311 of the connecting component is detachably connected to the body 200, so that the connecting component and the entire manipulator 300 can be detachably connected to the body 200. By detachably connecting the manipulator 300 to the body 200, the convenience of maintaining the manipulator 300 and the entire robot 10 can be improved.

[0042] In some embodiments, the functional component 400 is disposed at one end of the wrist 330 away from the arm 320, and the functional component 400 is detachably connected to the wrist 330. The functional component 400 can also rotate relative to the wrist 330, that is, the functional component 400 is rotatably connected to the wrist 330. The functional component 400 can rotate relative to the wrist 330 about the fifth rotation axis 15, and the fifth rotation axis 15 can extend along the length direction of the wrist 330. The functional component 400 can be a gripper, and the gripper can be used to grip and carry objects. The functional component 400 can also be a dust suction component, and the dust suction component can clean objects such as tables and chairs. The functional component 400 can also be a maintenance device. When some parts of the robot 10 are damaged, a functional component 400 with a maintenance function can be installed on the wrist 330, so as to quickly maintain the damaged parts of the robot 10 through the functional component 400 with the maintenance function. In short, the functional component 400 can also be various other devices that can complete household service work. The functional component 400 can have multiple models and categories. By replacing different models and categories of the functional component 400, the functional component 400 can have different operating functions and be able to perform different operating tasks. Obviously, the number of the functional components 400 is multiple, and different functional components 400 can be installed on the wrist 330 according to the needs of the task category.

[0043] In view of the fact that there are a total of five rotation axes, namely the first rotation axis 11, the second rotation axis 12, the third rotation axis 13, the fourth rotation axis 14 and the fifth rotation axis 15 on the manipulator 300, when the functional component 400 is installed on the wrist 330, the wrist 330 can have five degrees of freedom of movement, so that the manipulator 300 can drive the functional component 400 to move in the up and down direction, left and right direction, and front and back direction, thereby improving the movement accuracy of the functional component 400, ensuring that the manipulator 300 drives the functional component 400 to move to a specified position in the three-dimensional space, and enabling the functional component 400 to accurately complete the specified task at the specified position.

[0044] If the functional component 400 and the wrist 330 are fixedly connected in a non-detachable manner, the robot 10 can only have the functional component 400 with a single function. Therefore, the functional component 400 can only perform a single task, which makes the robot 10 can only perform a single task. When the task category changes, the robot 10 will not be able to perform the new task after the category change. Thus, the robot 10 can only perform tasks of a single category and is not competent for tasks of different categories, which makes the robot 10 unable to handle the work tasks in different working scenarios and ultimately affects the applicability of the robot 10 to different working scenarios. At the same time, considering that a single robot 10 can only perform a single task to meet a single working scenario, when multiple tasks need to be performed to meet more working scenarios, multiple robots 10 are required, which will increase the number and usage cost of the robots 10, thereby increasing the home service cost of the robots 10.

[0045] For the robot 10 in the above embodiment, since the functional component 400 and the wrist 330 are detachably connected, the functional component 400 can be replaced relative to the wrist 330. When a new task in other working scenarios needs to be performed, the functional component 400 matching the new task can be replaced on the wrist 330. Therefore, by simply replacing different types of functional components 400 on the wrist 330, different types of functional components 400 can have different operating functions and be able to perform different operating tasks, enabling the robot 10 to meet the relevant requirements of different working scenarios and ultimately improving the applicability of the robot 10 to different working scenarios. Moreover, the work tasks corresponding to different working scenarios can be completed by the same robot 10, which can reduce the number and usage cost of the robots 10, thereby reducing the home service cost of the robots 10.

[0046] Refer to Figure 1 、 Figure 2 and Figure 4, in some embodiments, the body 200 includes a waist portion 210 and a body portion 220. The manipulator 300 is connected to the body portion 220, that is, the first shoulder 311 is rotatably connected to the body portion 220. The waist portion 210 can be generally in the shape of a plate structure. One end of the waist portion 210 is rotatably connected to the body portion 220, and the other end of the waist portion 210 is rotatably connected to the moving base 100. The axes around which the waist portion 210 rotates relative to the body portion 220 and the moving base 100 are parallel to each other, so that the moving base 100, the waist portion 210, and the body portion 220 can be stacked on top of each other along the thickness direction of the waist portion 210. The waist portion 210 is located between the moving base 100 and the body portion 220, such that the waist portion 210 is stacked between the moving base 100 and the body portion 220. Therefore, when the robot 10 is in use, the waist portion 210 can be rotated by a certain angle relative to the body portion 220 and the moving base 100, so that the body portion 220 drives the manipulator 300 to perform a pitching motion, ensuring that the manipulator 300 drives the functional member 400 to have a variety of different motion postures. When the robot 10 is in the storage and handling state, the waist portion 210 can be rotated relative to the body portion 220 and the moving base 100, and the waist portion 210 is stacked between the moving base 100 and the body portion 220, so that the robot 10 can be in a folded state, thereby reducing the occupied space of the robot 10 and improving the convenience of storing and handling the robot 10.

[0047] In other embodiments, one end of the waist portion 210 is rotatably connected to one of the body portion 220 and the moving base 100 and the other end is fixedly connected to the other, and the waist portion 210 includes a first part and a second part that are rotatably connected, whereby the waist portion 210 can also be stacked between the moving base 100 and the body portion 220. Therefore, when the first part and the second part of the waist portion 210 rotate, and the waist portion 210 rotates relative to the body portion 220 or the moving base 100, the manipulator 300 can perform a pitching motion. When in the idle state, the waist portion 210 can also be stacked between the moving base 100 and the body portion 220, thereby reducing the occupied space of the robot 10.

[0048] Refer to Figure 4, in some embodiments, a sunk groove 222 is formed on the outer surface of the moving base 100 and / or the body portion 220. For example, the sunk groove 222 is formed only on the moving base 100, or only on the body portion 220, or the sunk groove 222 is formed on both the moving base 100 and the body portion 220. When the waist portion 210 is stacked between the moving base 100 and the body portion 220, the waist portion 210 will be received in the sunk groove 222, preventing the waist portion 210 from occupying the aperture outside the sunk groove 222, thereby further reducing the volume of the robot 10 in the folded state and further improving the convenience of storing and transporting the robot 10. For example, the sunk groove 222 provided on the moving base may be a blind groove, that is, the sunk groove 222 does not penetrate the moving base 100 along the recessed direction of the sunk groove 222. Alternatively, the sunk groove 222 provided on the moving base may be a through groove, that is, the sunk groove 222 penetrates the moving base 100 along the recessed direction of the sunk groove 222.

[0049] Refer to Figure 1 , Figure 2 and Figure 4 , in some embodiments, a receiving space 221 is provided on the body portion 220, and the receiving space 221 is formed by the depression of the outer surface of the body portion 220. After the manipulator 300 is folded by receiving the wrist 330 in the receiving space 321 of the arm 320, the folded manipulator 300 can be received in the receiving space 221 by rotating the hand shoulder 310 relative to the body portion 220. In this way, the manipulator 300 and the body portion 220 can be stacked on each other, thereby reducing the occupied space of the manipulator 300 and the entire robot 10, that is, reducing the volume of the robot 10, and thus improving the convenience of the robot 10 during handling and storage.

[0050] Refer to Figure 1 , Figure 4 and Figure 7 , therefore, when the robot 10 is in an idle state of stopped working, the wrist 330 can be received in the receiving space 321 of the arm 320 to fold the manipulator 300, and then the folded manipulator 300 can be received in the receiving space 221 to achieve the mutual stacking of the manipulator 300 and the body portion 220. Finally, the waist portion 210 is rotated relative to the body portion 220 and the moving base 100, so that the waist portion 210 is stacked between the body portion 220 and the moving base 100 and received in the sunk groove 222. In this way, the entire robot 10 can be completely folded. At this time, the entire robot 10 will be in a completely folded state. Therefore, putting the idle robot 10 in a completely folded state can minimize the volume and occupied space of the robot 10, thereby improving the convenience of the robot 10 during handling and storage. Moreover, the robot 10 in the completely folded state can be generally in the shape of a cuboid.

[0051] Refer to Figure 6 andFigure 7 In some embodiments, the robot 10 can also be used in conjunction with the cabinet 20. Different types and categories of functional components 400 can be accommodated in the cabinet 20, and different categories of functional components 400 are located at different positions in the cabinet 20. When the robot 10 needs to replace the functional component 400, the previous functional component 400 can be unloaded from the wrist 330 and accommodated at a designated position in the cabinet 20, and then the subsequent functional component 400 can be taken out from the designated position in the cabinet 20 and installed on the wrist 330, thus realizing the replacement of different functional components 400. Therefore, the cabinet 20 can play a role in collecting and protecting the functional component 400, preventing the loss of the functional component 400, and enabling the robot 10 to quickly and accurately find the required functional component 400, thereby improving the convenience of replacing the functional component 400. At the same time, when the robot 10 is in an idle state, the robot 10 can be fully folded, and then the fully folded robot 10 can be accommodated at a designated position in the cabinet 20, so that the cabinet 20 can protect and collect the fully folded robot 10.

[0052] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0053] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A robot, characterized in that: include: Mobile seat; A body, the body being movably connected to the movable seat; A manipulator, the manipulator being movably connected to the body; and A functional part is detachably connected to the manipulator and is used to perform tasks. Different functional parts can be matched with the manipulator to perform different tasks.

2. The robot according to claim 1, characterized in that: The manipulator comprises a connecting component and a wrist, one end of the connecting component is movably connected to the body, the other end of the connecting component is movably connected to the wrist, and the functional part is arranged at an end of the wrist away from the connecting component.

3. The robot according to claim 2, characterized in that: The functional part is rotatably connected to the wrist, and the functional part can rotate around a rotation axis extending along the length direction of the wrist.

4. The robot according to claim 2, characterized in that: The connection component includes a hand shoulder and an arm, the hand shoulder is movably connected to the body, one end of the arm is movably connected to the hand shoulder, and the other end of the arm is movably connected to the wrist.

5. The robot according to claim 4, characterized in that: The arm is rotatably connected to the shoulder and the wrist at the same time, one end of the arm can rotate relative to the wrist around a rotation axis extending perpendicular to the length direction of the arm and the wrist, and the other end of the arm can rotate relative to the shoulder around a rotation axis extending parallel to the length direction of the arm.

6. The robot according to claim 4, characterized in that: The hand shoulder includes a first shoulder and a second shoulder, the second shoulder is located between the first shoulder and the arm, the first shoulder is rotationally connected to the body, and the second shoulder is rotationally connected to both the first shoulder and the arm.

7. The robot according to claim 6, characterized in that: The first shoulder rotates relative to the body around a first rotation axis, the second shoulder rotates relative to the first shoulder around a second rotation axis, the arm rotates relative to the second shoulder around a third rotation axis, and the first rotation axis, the second rotation axis and the third rotation axis are arranged at an angle to each other.

8. The robot according to claim 2, characterized in that: Also includes at least one of the following options: The manipulator further comprises a flexible shell, wherein the flexible shell is coated on the connection component and / or the wrist; The outer surface of the connecting component is concave to form a receiving space, and the wrist can move relative to the connecting component and be received in the receiving space; The connecting component is detachably connected to the body.

9. The robot according to claim 1, characterized in that: An accommodating space is formed on the outer surface of the body, and the robot can be accommodated in the accommodating space.

10. The robot according to claim 1, characterized in that: The torso includes a waist and a body, the manipulator is connected to the body, one end of the waist is rotatably connected to the body, the other end of the waist is rotatably connected to the movable seat, and the axes around which the waist rotates relative to the body and the movable seat are parallel to each other, so that the waist can be stacked between the movable seat and the body.

11. The robot according to claim 10, characterized in that: A sinking groove is provided on the outer surface of the movable seat and / or the body, and the waist can be accommodated in the sinking groove.

Images