Storage device, robot, and storage replacement system
By designing a storage device that includes a storage box and clamping components, the robot can replace the worn walking part by itself, solving the long-term unmanned operation and operation costs caused by manual replacement, and achieving efficient unmanned maintenance.
Patent Information
- Application Number
- CN202420794948.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-17
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-04-17
AI Technical Summary
In the prior art, the rubber at the foot of the robot needs to be manually replaced after wear, which affects long-term unmanned operations and increases operating costs.
A storage device is designed, including a storage box, a clamping part and a clamping assembly. By switching the clamping or opening state of the clamping part under the pressing action of the walking part, the robot can replace the worn walking part by itself.
The robot can replace the worn foot end by itself, reduce manual intervention, improve long-term unmanned operation capabilities and reduce operating costs.
Smart Images
Figure CN223132736U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of robots, and particularly to a storage device, a robot, and a storage replacement system. Background Art
[0002] In highly automated environments such as modern factories and power plants, robots are designed to continuously perform tasks and achieve a long-term unattended working mode. However, even in the most advanced robot systems, some components will gradually wear out over time. For example, the rubber material used at the robot's foot end. As a key component in contact with the ground, this rubber will inevitably show wear during walking, carrying loads, adapting to different terrains, and extreme weather conditions. The worn rubber foot end will not only weaken the walking stability of the robot, affect its shock absorption performance, but also may limit its passing ability on complex terrains and its anti-slip effect in rainy days.
[0003] Currently, the traditional solutions for such vulnerable parts mainly rely on regular manual inspections and replacements. Once it is detected that the rubber at the robot's foot end has worn to a certain extent, technicians need to suspend the robot's work process, disassemble it, and replace the worn rubber foot end component. This approach is not conducive to the long-term unmanned operation of the robot. Frequent manual intervention not only increases the operating costs but also interrupts the continuous production process.
[0004] Therefore, how to provide a storage device, a robot, and a storage replacement system that facilitate the robot to replace its foot end by itself is an urgent problem to be solved currently. Summary of the Utility Model
[0005] The purpose of the embodiments of this application is to provide a storage device, a robot, and a storage replacement system to solve the problem that when the robot's foot end wears out, it is necessary to manually disassemble the worn foot end and replace it manually, which is not conducive to the long-term unmanned operation of the robot and increases the operating costs.
[0006] To solve the above technical problems, the embodiments of this application provide the following technical solutions:
[0007] In the first aspect of this application, a storage device is provided. The storage device includes: a containing box, a clamping part, and a clamping assembly. An accommodation space is provided inside the containing box, and at least one placement opening communicating with the accommodation space is provided on the first surface of the containing box; at least two clamping parts are movably arranged in the accommodation space to form an accommodation groove for accommodating the walking part of the robot, and the opening of the accommodation groove corresponds to the placement opening; on the side of each clamping part facing away from the accommodation groove, at least one clamping assembly is provided, and the clamping assembly is used to switch the state of at least two clamping parts between clamping and opening under the pressing action of the walking part.
[0008] In some embodiments, the clamping assembly includes an elastic telescopic member and a limiting member. The elastic telescopic member is disposed within the accommodation space, the elastic telescopic member telescoping along a first direction and one end thereof being connected to the clamping portion; the limiting member is disposed within the accommodation space and is located at an end of the elastic telescopic member opposite to the clamping portion. The limiting member includes a limiting block and a sliding groove. The limiting block is provided with a limiting groove, the limiting groove being located on a side of the limiting block opposite to the elastic telescopic member and the limiting groove being recessed towards one end of the elastic telescopic member; the sliding groove surrounds the limiting block, and an inlet and outlet is provided on a side of the sliding groove close to the elastic telescopic member. The sliding groove is configured to restrict the hooking portion of the elastic telescopic member from sliding into the sliding groove through the inlet and outlet and sliding tightly around the periphery of the limiting block and then sliding out of the sliding groove through the inlet and outlet, so that the clamping portion can be switched between a clamped state and an open state; when the clamping portion is in the clamped state, the elastic telescopic member contracts and the hooking portion is away from the limiting groove; when the clamping portion is in the open state, the elastic telescopic member extends and the hooking portion is located in the limiting groove; the first direction is parallel to the first surface.
[0009] In some embodiments, one ends of at least two clamping portions facing away from the first surface are rotatably connected, and the rotation axis is perpendicular to the first direction and parallel to the first surface.
[0010] In some embodiments, the diameter dimension of the opening of the receiving groove is smaller than the diameter dimension of the outermost periphery of the traveling portion received in the receiving groove that fits the opening, so that the receiving groove and the traveling portion are in interference fit.
[0011] In some embodiments, the storage device further includes an electromagnetic structure and a microswitch. The electromagnetic structure is disposed within the receiving groove for cooperating with the magnetic metal structure on the traveling portion; the microswitch is in signal connection with the electromagnetic structure and the sensing end of the microswitch is connected to at least one clamping portion.
[0012] In some embodiments, a second concave-convex surface is provided on a surface of the clamping portion facing away from the clamping assembly for adapting to the first concave-convex surface formed by the outer surface of the traveling portion contracting cyclically in the longitudinal direction.
[0013] A second aspect of the present application provides a robot, including a robot body and a traveling portion; the traveling portion is detachably connected to the robot body, and the traveling portion is adapted to a receiving groove formed by at least two clamping portions movably disposed within the accommodation space of the accommodation box.
[0014] In some embodiments, the outer surface of the traveling portion contracts cyclically in the longitudinal direction to form a first concave-convex surface for adapting to the second concave-convex surface on a surface of the clamping portion facing away from the clamping assembly.
[0015] In some embodiments, the robot further includes a vision module and a control module. The vision module is disposed on the robot body and is used to obtain the first position information and the second position information of the walking part; the control module is used to receive the first position information and the second position information, and drive the robot body to complete the first action at the first position and the second action at the second position according to the first position information and the second position information.
[0016] The third aspect of the present application provides a storage replacement system, including the storage device as above and the robot as described above.
[0017] Compared with the prior art, a storage device provided by the present application includes: a storage box, a clamping part and a clamping assembly. An accommodation space is provided inside the storage box, and at least one placement opening communicating with the accommodation space is provided on the first surface of the storage box. When the robot needs to replace its worn walking part, the robot inserts the walking part to be replaced into the accommodation groove formed by the clamping part. A clamping assembly is provided on one side of each clamping part facing away from the accommodation groove, and the clamping part can be in a clamped or open state under the pressing action of the walking part. During the replacement process, the robot only needs to insert the walking part into the accommodation groove and apply pressure, and the clamping assembly will drive each clamping part to move closer to or away from the center of the accommodation groove respectively, switching between the clamped or open state. When the clamping part is in the clamped state, the clamping part can firmly clamp the walking part. At this time, the robot can withdraw the foot end, so that the walking part to be replaced stays firmly in the accommodation groove; on the contrary, when the clamping part is in the open state, no clamping force is generated on the walking part, and the robot foot end can easily take out the walking part. Therefore, through the cooperation of the clamping assembly and the clamping part, the storage device has the advantages of facilitating the robot to replace the foot end by itself, being beneficial to long-term unmanned operation, and can solve the problem that when the robot foot end is worn, it is necessary to manually disassemble the worn foot end and perform manual replacement, which is not conducive to the long-term unmanned operation of the robot and increases the operation cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:
[0019] Figure 1 Schematically shows a structural diagram of a storage device provided by the present application;
[0020] Figure 2 Schematically shows a structural diagram of another storage device provided by the present application;
[0021] Figure 3Schematically shows a structural diagram of a walking part of a robot provided by the present application;
[0022] Figure 4 Schematically shows a schematic diagram of the working state of a storage device provided by the present application.
[0023] Explanation of the reference numerals in the drawings:
[0024] 1. Accommodating box; 11. Accommodating space; 12. Placing opening; 13. First surface; 2. Clamping part; 21. Accommodating groove; 22. Second concave-convex surface; 3. Clamping assembly; 31. Elastic telescopic member; 311. Hooking part; 32. Limiting member; 321. Limiting block; 3211. Limiting groove; 322. Sliding groove; 4. Walking part; 41. First concave-convex surface; 5. Electromagnetic structure; 6. Magnetic metal structure; 7. Microswitch; 71. Inductive end; 8. Vision module; 9. Robot body; 10. Rotating shaft; 14. Rubber layer; A. First direction. Detailed implementation manners
[0025] Hereinafter, the exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.
[0026] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those skilled in the art to which the present application belongs.
[0027] After the foot end of the robot is worn, it will affect the walking stability and shock absorption of the robot. After the foot end of the robot is worn, it is necessary to manually replace the old foot end of the robot. In unmanned environments such as unmanned factories and power stations, there is no maintenance by humans. The inventor wants to design a storage device that can help the robot replace the old and worn foot ends during unmanned operations without manual replacement.
[0028] Embodiment 1
[0029] Refer to the attached Figure 1 - attached Figure 4, Embodiment 1 of the present utility model proposes a storage device, which includes: a receiving box 1, a clamping part 2 and a clamping assembly 3. An accommodation space 11 is provided inside the receiving box 1, and at least one placement opening 12 communicating with the accommodation space 11 is provided on the first surface 13 of the receiving box 1; at least two clamping parts 2 are movably arranged in the accommodation space 11 to form an accommodation groove 21 for accommodating the walking part 4 of the robot, and the opening of the accommodation groove 21 corresponds to the placement opening 12; on one side of each clamping part 2 facing away from the accommodation groove 21, at least one clamping assembly 3 is provided, and the clamping assembly 3 is used to switch the state of at least two clamping parts 2 being clamped or opened under the pressing action of the walking part 4.
[0030] Specifically, the receiving box 1 can be of any shape, such as: a cube, a cuboid or an irregular box, etc. The size of the receiving box 1 can be selected according to actual needs. Here, the size of the receiving box 1, the size of the accommodation space 11 of the receiving box 1 and the shape of the receiving box 1 are not specifically limited. The number of the placement openings 12 of the receiving box 1 can be set according to actual needs, such as: 4, 6 or 9, etc. The specific size of the placement opening 12 can be equal to or larger than the size of the walking part 4. Here, the number of the placement openings 12 and the size of the placement opening 12 are not specifically limited and can be set according to actual needs. The number of the clamping parts 2 corresponding to each placement opening 12 is at least 2. Here, the number of the clamping parts 2 corresponding to each placement opening 12 is not specifically limited, such as: the number of the clamping parts 2 in each placement opening is 2, 4 or 7, etc. The shape of the clamping part 2 can be of any shape. At least two clamping parts 2 are movably arranged in the accommodation space 11 to form the accommodation groove 21. The shape and size of the accommodation groove 21 and the shape and size of the clamping part 2 are respectively adapted to the shape and size of the walking part 4. Here, the shape and size of the clamping part 2 and the shape and size of the accommodation groove 21 are not specifically limited and can be set according to actual needs. For example, each placement opening 12 corresponds to two arc-shaped clamping parts 2, and the accommodation groove 21 formed by the two clamping parts 2 is a spherical groove. The clamping assembly 3 can specifically be an elastic component. Each clamping part 2 approaches or moves away from the center of the accommodation groove 21 relative to each other through the expansion and contraction of the corresponding elastic component to be in a clamped or opened state. The clamping assembly 3 can specifically also be a cylinder telescopic member. Each clamping part 2 approaches or moves away from the center of the accommodation groove 21 relative to each other through the expansion and contraction of the corresponding cylinder telescopic member to be in a clamped or opened state. Here, the clamping assembly 3 is not specifically limited, as long as it can make each clamping part 2 approach or move away from the center of the accommodation groove 21 under the pressing action of the walking part 4 so that the clamping part 2 is in a clamped or opened state.
[0031] A storage device provided by the present application includes: a receiving box 1, a clamping part 2, and a clamping assembly 3. An accommodation space 11 is provided inside the receiving box 1, and at least one placement opening 12 communicating with the accommodation space 11 is provided on a first surface 13 of the receiving box 1. When the robot needs to replace its worn walking part 4, the robot inserts the walking part 4 to be replaced into the accommodation groove 21 formed by the clamping part 2 through the placement opening 12. A clamping assembly 3 is provided on one side of each clamping part 2 facing away from the accommodation groove 21, and the clamping part 2 can be in a clamped or open state under the pressing action of the walking part 4. During the replacement process, the robot only needs to insert the walking part 4 into the accommodation groove 21 and apply pressure, and the clamping assembly 3 will drive each clamping part 2 to move closer to or away from the center of the accommodation groove 21 respectively, realizing the state conversion between clamping and opening. When the clamping part 2 is in the clamped state, it can firmly clamp the walking part 4. At this time, the robot can withdraw the foot end, so that the walking part 4 to be replaced stays firmly in the accommodation groove 21; on the contrary, when the clamping part 2 is in the open state, no clamping force is generated on the walking part 4, and the robot foot end can easily take out the walking part 4. Therefore, through the cooperation of the clamping assembly 3 and the clamping part 2, the storage device has the advantages of being convenient for the robot to replace the foot end by itself and being beneficial to long-term unmanned operation, and can solve the problem that when the robot foot end is worn, it is necessary to manually disassemble the worn foot end and replace it manually, which is not conducive to the long-term unmanned operation of the robot and increases the operation cost.
[0032] In some embodiments, the clamping assembly 3 includes an elastic telescopic member 31 and a limiting member 32. The elastic telescopic member 31 is disposed in the accommodation space 11, the elastic telescopic member 31 expands and contracts along a first direction A and one end thereof is connected to the clamping part 2; the limiting member 32 is disposed in the accommodation space 11 and is located at an end of the elastic telescopic member 31 opposite to the clamping part 2. The limiting member 32 includes a limiting block 321 and a sliding groove 322. The limiting block 321 is provided with a limiting groove 3211. The limiting groove 3211 is located on a side of the limiting block 321 opposite to the elastic telescopic member 31 and the limiting groove 3211 is recessed toward one end of the elastic telescopic member 31; the sliding groove 322 surrounds the limiting block 321. An inlet and outlet is provided on a side of the sliding groove 322 close to the elastic telescopic member 31. The sliding groove 322 is used to limit the hook portion 311 of the elastic telescopic member 31 to slide into the sliding groove 322 from the inlet and outlet, closely slide around the limiting block 321, and then slide out of the sliding groove 322 from the inlet and outlet, so that the clamping part 2 can be switched between the clamped and open states; when the clamping part 2 is in the clamped state, the elastic telescopic member 31 contracts and the hook portion 311 is away from the limiting groove 3211; when the clamping part 2 is in the open state, the elastic telescopic member 31 extends and the hook portion 311 is located in the limiting groove 3211; the first direction A is parallel to the first surface 13.
[0033] Specifically, as Figure 1 - Figure 2As shown, the elastic telescopic component 31 can specifically be composed of a pull rod and a tension spring. The length of the pull rod and the elastic coefficient of the spring can be set according to the specific requirements of the actual application scenario. The elastic telescopic component 31 is arranged in the accommodation space 11. One end of the elastic telescopic component 31 can be fixed to the side of the clamping part 2 away from the accommodation groove 21 through connection methods such as bolts or welding. Each clamping part 2 can correspond to one elastic telescopic component 31 or multiple elastic telescopic components 31. On the other side of the elastic telescopic component 31, there is a hanging part 311. The hanging part 311 is arranged on the side of the pull rod close to the limiting component 32 and the hanging part 311 is movably connected to the limiting component 32. The limiting component 32 includes a limiting block 321. The shape of the limiting block 321 can be any shape. One end of the limiting block 321 close to the pull rod is specially designed to be an acute angle shape. One of the acute angle sides is parallel to the preset first direction A, and the other acute angle side forms a certain angle with the first direction A. This structure has a guiding effect on the movement path of the hanging part 311. The groove width of the sliding groove 322 is adapted to the hanging part 311, and the depth of the sliding groove 322 is adapted to the hanging part 311 to limit the hanging part 311 to slide into the sliding groove 322 from the inlet and outlet, closely slide around the periphery of the limiting block 321, and then slide out of the sliding groove 322 from the inlet and outlet, so that the clamping part 2 can be switched between the clamping state and the opening state. In order to ensure that when the hanging part 311 slides to the end of the limiting block 321 away from the accommodation groove 21, the clamping part 2 can stably maintain the opening state, a limiting groove 3211 is provided on the other side of the limiting block 321 opposite to the elastic telescopic component 31. The limiting groove 3211 is recessed towards the elastic telescopic component 31. The recessed depth of the limiting groove 3211 can also be flexibly set according to the actual situation as long as it can limit the movement range of the hanging part 311 and ensure its stability in the opening state. Through the cooperation of the elastic telescopic component 31 and its cooperation with the limiting component 32, the solution of this embodiment can perform telescopic movement according to different working condition requirements, thereby driving the clamping part 2 to perform clamping or opening actions. This dynamic adjustment ability greatly improves the response speed and working efficiency of the equipment when dealing with various load changes.
[0034] In some embodiments, the ends of at least two clamping parts 2 away from the first surface 13 are rotatably connected, and the rotation axis 10 is perpendicular to the first direction A and parallel to the first surface 13.
[0035] Specifically, as Figure 1 - Figure 2 shown, in order for the clamping part 2 to maintain consistency and synchronism during the clamping or opening process, ensure uniform distribution of the clamping force, and avoid failure caused by unstable installation of the walking part 4 or uneven clamping force. The ends of the clamping parts 2 corresponding to each placement opening 12 away from the first surface 13 are rotatably connected, and the rotation axis 10 is perpendicular to the first direction A and parallel to the first surface 13. The rotatable connection here can specifically be through a hinge, a bearing, or a ball joint, etc.
[0036] In some embodiments, the diameter dimension of the opening of the receiving groove 21 is smaller than the diameter dimension of the outermost periphery of the walking part 4 received in the receiving groove 21 that fits the opening, so that the receiving groove 21 and the walking part 4 are in an interference fit.
[0037] Specifically, as Figure 1 - Figure 2 shown, in order to help the robot keep the walking part 4 in the receiving groove 21 after inserting the foot into the receiving groove 21, the opening diameter dimension of the receiving groove 21 is set to be smaller than the maximum diameter dimension of the part of the walking part 4 that contacts the opening to be received. In this way, an interference fit relationship is formed between the walking part 4 and the receiving groove 21, that is, after the walking part 4 is inserted into the receiving groove 21, due to the extrusion effect caused by the dimensional difference, it can be firmly stuck in the groove and is not easily pulled out of the receiving groove 21 together with the foot end as the foot is pulled out or slide out by itself. This interference fit design enables the robot to more stably keep the worn walking part in the receiving groove 21 when replacing the worn walking part 4, thus successfully completing the replacement task of the walking part 4, which is beneficial to the stable operation of long-term unmanned operation.
[0038] In some embodiments, the storage device further includes an electromagnetic structure 5 and a microswitch 7. The electromagnetic structure 5 is disposed in the receiving groove 21 for cooperating with the magnetic metal structure 6 on the walking part 4; the microswitch 7 is signal-connected to the electromagnetic structure 5 and the sensing end 71 of the microswitch 7 is connected to at least one clamping part 2.
[0039] Specifically, as Figure 1 - Figure 2 shown, the specific position of the microswitch 7 can be set according to actual needs. The microswitch 7 plays a key role in sensing and control. The microswitch 7 is signal-connected to the electromagnetic structure 5, and its sensing end 71 is connected to at least one clamping part 2. When the robot foot is inserted into the receiving groove 21, the sensing end 71 of the microswitch 7 is triggered by the external force sensed, and then the electromagnetic structure 5 is powered on, generating a magnetic field, which firmly adsorbs the magnetic metal structure 6 on the walking part 4, ensuring that the worn walking part 4 remains in the receiving groove 21 when the robot pulls out the foot and will not be pulled out together with the foot. When the robot needs to put on a new walking part 4, the foot is inserted into the receiving groove 21 with the new walking part 4. The microswitch 7 detects the external pressure during the insertion process, thereby turning off the power supply of the electromagnetic structure 5 and eliminating its magnetic field effect, so that the adsorption force between the electromagnetic structure 5 and the magnetic metal structure 6 on the walking part 4 disappears. At this time, when the robot pulls out the foot, the walking part 4 will not be affected by the electromagnetic adsorption force and can be easily separated from the receiving groove 21 as the foot moves. Through the intelligent linkage of the electromagnetic structure 5 and the microswitch 7, the storage device realizes the precise control of the replacement process of the robot walking part 4, ensuring the convenience, stability and safety of the replacement. This design effectively reduces manual intervention and improves the robot's autonomous maintenance ability and long-term operation efficiency.
[0040] In some embodiments, a second concave-convex surface 22 is provided on the side of the clamping portion 2 facing away from the clamping assembly 3, and is used to adapt to the first concave-convex surface 41 formed by the cyclic contraction of the outer surface of the walking portion 4 along the longitudinal direction.
[0041] Specifically, as Figure 2 - Figure 3 shown, the concavity and convexity of the first concave-convex surface 41 and the second concave-convex surface 22 can be set according to actual needs, and the concave-convex shapes of the first concave-convex surface 41 and the second concave-convex surface 22 are not specifically limited here. When the walking portion 4 is inserted into the receiving groove 21 where the clamping portion 2 is located, the second concave-convex surface 22 on the back of the clamping portion 2 will be engaged with the first concave-convex surface 41 of the walking portion 4. When the walking portion 4 is inserted into the receiving groove 21 and clamped by the clamping portion 2, the second concave-convex surface 22 and the first concave-convex surface 41 are tightly engaged, just like gear meshing, forming multiple contact points, increasing the contact area, thereby enhancing the friction force and fixing effect between the two, and improving the friction force and grasping strength between the two. During the process of the robot replacing the walking portion 4, whether it is carrying a load or transmitting power, it can ensure the stable and reliable connection between the walking portion 4 and the clamping portion 2, and reduce the looseness or slippage between the two.
[0042] In addition, in order to prevent rigid collision and wear when the walking portion 4 contacts the clamping portion 2, the storage device further includes a rubber layer 14, and the rubber layer 14 is provided and adapted to the side of the clamping portion 2 facing away from the clamping assembly 3. The thickness of the rubber layer 14 can be set according to actual needs, and the thickness of the rubber layer 14 is not specifically limited here.
[0043] When the walking portion 4 of the robot is worn, in order to enable the robot to replace the worn walking portion 4 in time, the storage device further includes a pressure sensor. The pressure sensor can be arranged on the walking portion 4 of the robot. The pressure sensor is installed on the walking portion 4 of the robot, and it can monitor the pressure changes received by the walking portion 4 during the working process in real time, including but not limited to the stress of the walking portion 4 in contact with the ground and the weakening of the bearing capacity caused by wear. The pressure sensor is signal-connected to the control module, and the signal connection here can specifically be a wired connection or a wireless connection. Once it detects that the pressure value exceeds the preset threshold or shows abnormal fluctuations, the pressure sensor will immediately send relevant data signals to the control module. After receiving the information transmitted by the pressure sensor, the control module will judge whether it is necessary to start the walking portion 4 replacement program. If it is determined that replacement is needed, the robot will reach the position of the storage device, remove the worn walking portion 4 from the robot body 9 through the clamping assembly 3, and replace it with a new walking portion 4, realizing full automation of the whole process, and significantly improving the self-repair and continuous operation capabilities of the robot.
[0044] In the robot system, in order to accurately detect and replace the wear condition of the walking part 4 in a timely manner, in addition to the above-mentioned pressure sensor, a six-axis sensor can also be equipped to further improve the detection accuracy and intelligence. The six-axis sensor is usually installed at each joint of the robot body 9, and can monitor and record the motion state of the robot joints in the three-dimensional space in real time. When the walking part 4 of the robot is worn out due to long-term use, its walking posture, force distribution and joint range of motion may change. At this time, the six-axis sensor can sensitively capture these subtle changes and transmit the collected posture, torque and position information to the control module through a signal connection. The signal connection here can be a wired connection or a wireless connection. After receiving the data provided by the six-axis sensor, the control module analyzes and determines whether the walking part 4 is worn, and decides whether the walking part 4 needs to be replaced according to the degree of wear. If it is confirmed that replacement is required, the control module will issue an instruction to instruct the robot to execute the corresponding replacement process, use the clamping assembly 3 to remove the worn walking part 4 from the robot body 9, extract the new walking part 4 from the storage device and install it. Through this design, the robot's self-maintenance ability and long-term operation efficiency under unattended conditions are greatly improved.
[0045] Embodiment 2
[0046] The second aspect of the present application provides a robot, including a robot body 9 and a walking part 4; the walking part 4 is detachably connected to the robot body 9, and the walking part 4 is adapted to a receiving groove 21 formed by at least two clamping parts 2 movably arranged in a receiving space 11 of a receiving box 1.
[0047] The present application provides a robot, comprising a robot body 9 and a walking part 4. Figure 3 As shown, in order to enable the robot to replace the worn walking part 4 by itself through the clamping or opening of the clamping assembly 3 in the storage device, the walking part 4 of the robot and the robot body 9 can be detachably connected to the robot body 9 through a mortise and tenon or undercut connection, so that the walking part 4 of the robot is clamped when the clamping part 2 is in a tensioned state, and the walking part 4 is separated from the robot body 9 and remains in the containing groove 21 when the foot end is pulled out of the containing groove 21. The mortise and tenon or undercut connection has the characteristics of simple and efficient disassembly and assembly. When the walking part 4 of the robot is worn and needs to be replaced, the worn walking part 4 is clamped by the clamping assembly 3, and the foot end is pulled out of the containing groove 21. Due to the design of the mortise and tenon or undercut structure, the walking part 4 can be quickly separated from the robot body 9, without complicated disassembly procedures, greatly shortening the replacement time and improving the robot maintenance efficiency. The robot can achieve a higher degree of autonomous maintenance, and can complete the replacement of the walking part 4 through the built-in clamping assembly 3 without human intervention, greatly improving the robot's intelligence level and long-term unmanned operation capability.
[0048] In some embodiments, the outer surface of the walking part 4 is cyclically contracted longitudinally to form a first concave-convex surface 41, which is used to fit the second concave-convex surface 22 on the side of the clamping part 2 facing away from the clamping assembly 3.
[0049] Specifically, as Figure 2 - Figure 3 shown, the outer surface of the walking part 4 is cyclically contracted longitudinally to form a first concave-convex surface 41, which is used to fit the second concave-convex surface 22 on the side of the clamping part 2 facing away from the clamping assembly 3. Here, the concave-convex shapes of the first concave-convex surface 41 and the second concave-convex surface 22 are not specifically limited. When the walking part 4 is inserted into the receiving groove 21 where the clamping part 2 is located, the second concave-convex surface 22 on the back of the clamping part 2 will be engaged with the first concave-convex surface 41 of the walking part 4. When the walking part 4 is inserted into the receiving groove 21 and clamped by the clamping part 2, the second concave-convex surface 22 and the first concave-convex surface 41 are tightly engaged, just like gear meshing, forming multiple contact points, increasing the contact area, thereby enhancing the frictional force and fixing effect between the two, and improving the frictional force and grasping strength between the two. During the process of the robot replacing the walking part 4, whether it is carrying a load or transmitting power, it can ensure the stable and reliable connection between the walking part 4 and the clamping part 2, and reduce the looseness or slippage between the two.
[0050] In some embodiments, the robot further includes a vision module 8 and a control module. The vision module 8 is disposed on the robot body 9 and is used to obtain the first position information and the second position information of the walking part 4; the control module is used to receive the first position information and the second position information, and drive the robot body 9 to complete a first action at the first position and a second action at the second position according to the first position information and the second position information.
[0051] Specifically, as Figure 4As shown in the figure, in order to achieve precise replacement of the walking part 4, a vision module 8 and a control module (not shown in the figure) are introduced. The vision module 8 is integrated within the robot body 9 and is mainly used to capture and analyze in real time whether there is a walking part 4 in the placement opening 12 of the storage device where the robot is currently located and the type of the walking part 4. Specifically, it includes but is not limited to two situations: The first position information refers to the position data when the receiving groove 21 is empty, that is, when there is no walking part 4. The second position information refers to the position information when a new walking part 4 is loaded in the receiving groove 21. The control module is responsible for receiving the first position information and the second position information collected and transmitted by the vision module 8. Based on these two types of position information, the control module can accurately judge the current position of the robot and accordingly issue corresponding action instructions. In the first position (i.e., the empty receiving groove 21), the control module commands the robot body 9 to execute the first action, that is, insert the foot into the receiving groove 21 and remove the worn walking part 4 by clamping with the clamping assembly. During this process, the robot separates the worn walking part 4 from the robot body 9 through the clamping assembly 3 and accurately places the foot end into the receiving groove 21 of the storage device under the guidance of the vision module 8. While in the second position (i.e., the receiving groove 21 containing the new walking part 4), the control module instructs the robot body 9 to execute the second action, that is, insert the foot into the receiving groove 21 and put on the new walking part 4 by clamping and opening the clamping assembly. Additionally, different two-dimensional codes can be set on the old and new walking parts. The robot distinguishes the worn old walking parts from the unused new walking parts by identifying different two-dimensional codes through the vision module, or the walking parts are set into different shapes, and the robot distinguishes the worn old walking parts from the unused new walking parts by identifying the walking parts of different shapes through the vision module. Through the close cooperation of the vision module 8 and the control module, the robot can autonomously identify and complete the replacement task of the walking part 4, greatly improving its self-maintenance and continuous operation capabilities and realizing a highly intelligent and automated work process.
[0052] Embodiment III
[0053] The third aspect of the present application provides a storage replacement system, including the storage device as above and the robot as described above.
[0054] A storage replacement system provided in this embodiment includes, but is not limited to, the storage device and the robot as described above. In this storage replacement system, the robot can replace the worn walking part 4 by the cooperation of the clamping assembly 3 and the clamping part 2. This storage replacement system has the advantages of facilitating the robot to replace the foot end by itself and being conducive to long-term unmanned operation, and can solve the problem that when the foot end of the robot is worn, it is necessary to manually disassemble the worn foot end and perform manual replacement, which is not conducive to the long-term unmanned operation of the robot and increases the operation cost.
[0055] It should be noted that in the description of this specification, the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It 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. Therefore, it should not be construed as a limitation to the present utility model; terms such as "connection", "installation", and "fixation" should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. 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.
[0056] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", and "specific embodiments" 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 expressions of the above terms do not necessarily refer 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.
[0057] As described above, the above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered by the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.
Claims
1. A storage device, characterized in that, Comprising: A storage box (1) with an internal storage space (11), and at least one placement opening (12) communicating with the storage space (11) is provided on the first surface (13) of the storage box (1); A clamping part (2), at least two of the clamping parts (2) are movably arranged in the storage space (11) to form a storage groove (21) for accommodating the walking part (4) of the robot, and the opening of the storage groove (21) corresponds to the placement opening (12); and A clamping assembly (3), at least one of the clamping assemblies (3) is provided on one side of each clamping part (2) facing away from the storage groove (21), and the clamping assembly (3) is used to switch the state of clamping or opening of the at least two clamping parts (2) under the pressing action of the walking part (4).
2. The storage device according to claim 1, characterized in that The clamping assembly (3) includes: An elastic telescopic member (31) arranged in the storage space (11), the elastic telescopic member (31) telescopically extends along a first direction (A) and one end thereof is connected to the clamping part (2); and A limiting member (32) arranged in the storage space (11) and located at the end of the elastic telescopic member (31) opposite to the clamping part (2), the limiting member (32) includes: A limiting block (321) provided with a limiting groove (3211), the limiting groove (3211) is located on the side of the limiting block (321) opposite to the elastic telescopic member (31) and the limiting groove (3211) is recessed towards one end of the elastic telescopic member (31); A sliding groove (322) surrounding the limiting block (321) on all sides, an inlet and outlet is provided on one side of the sliding groove (322) close to the elastic telescopic member (31), and the sliding groove (322) is used to limit the hook part (311) of the elastic telescopic member (31) to slide into the sliding groove (322) from the inlet and outlet, closely adhere to the periphery of the limiting block (321) and slide around for one week and then slide out of the sliding groove (322) from the inlet and outlet, so that the clamping part (2) switches between the clamping state and the opening state; When the clamping part (2) is in the clamping state, the elastic telescopic member (31) contracts and the hook part (311) is away from the limiting groove (3211); when the clamping part (2) is in the opening state, the elastic telescopic member (31) extends and the hook part (311) is located in the limiting groove (3211); The first direction (A) is parallel to the first surface (13).
3. The storage device according to claim 2, wherein One ends of the at least two clamping parts (2) facing away from the first surface (13) are rotatably connected, and the rotation axis (10) is perpendicular to the first direction (A) and parallel to the first surface (13).
4. The storage device according to claim 3, wherein The diameter dimension of the opening of the storage groove (21) is smaller than the diameter dimension of the outermost circumference of the walking part (4) accommodated in the storage groove (21) that fits with the opening, so that the storage groove (21) and the walking part (4) are in interference fit.
5. The storage device according to claim 1, wherein It further includes: An electromagnetic structure (5) is arranged in the accommodation groove (21) for cooperating with a magnetic metal structure (6) on the traveling part (4). A microswitch (7), the microswitch (7) is signal-connected to the electromagnetic structure (5), and an induction end (71) of the microswitch (7) is connected to at least one of the clamping parts (2).
6. The storage device according to claim 5, wherein A second concave-convex surface (22) is provided on a surface of the clamping part (2) facing away from the clamping assembly (3) for adapting to a first concave-convex surface (41) formed by cyclic contraction of an outer surface of the traveling part (4) in the longitudinal direction.
7. A robot, characterized in that, Comprising: A robot body (9); A traveling part (4), the traveling part (4) is detachably connected to the robot body (9), and the traveling part (4) is adapted to an accommodation groove (21) formed by at least two clamping parts (2) movably arranged in an accommodation space (11) of the accommodation box (1).
8. The robot according to claim 7, wherein The outer surface of the traveling part (4) cyclically contracts in the longitudinal direction to form a first concave-convex surface (41) for adapting to a second concave-convex surface (22) on a surface of the clamping part (2) facing away from the clamping assembly (3).
9. The robot according to claim 7 or 8, characterized in that, Further comprising: A vision module (8) arranged on the robot body (9) for obtaining first position information and second position information of the traveling part (4); A control module for receiving the first position information and the second position information and driving the robot body (9) to complete a first action at a first position and a second action at a second position according to the first position information and the second position information.
10. A storage replacement system, characterized in that, Comprising: The storage device according to any one of claims 1-6; The robot according to any one of claims 7-9.