A protective structure and a robot

Abstract

This application provides a protective structure for a robot's optical instrument and a robot, relating to the field of protective structure technology. The protective structure includes at least two supports connected together, each including an adjacent first support and a second support. The first support includes a first and a third blocking rib bent and connected; the second support includes a second and a fourth blocking rib bent and connected; one of the first and third blocking ribs is in surface contact with and fixedly connected to one of the second and fourth blocking ribs; the other blocking rib is spaced apart from the other blocking rib; the first, third, second, and fourth blocking ribs together form a protective frame covering the optical instrument. This protective structure helps reduce manufacturing difficulty and has good strength.

Description

Technical Field

[0001] This application relates to the field of protective structure technology, specifically a protective structure for optical instruments and a robot. Background Technology

[0002] Currently, quadruped robots need to identify and collect images of obstacles in their path during movement. The mainstream image acquisition methods basically use various optical instruments such as depth cameras, spherical lasers, and cameras to collect image data of the surrounding environment during the robot's movement.

[0003] Generally, the aforementioned optical instruments are installed at the front and rear ends and on the back of the quadruped robot for easy data collection. However, since the tasks that quadruped robots are involved in often involve complex environments (such as participating in fire rescue and field patrols), and the robots are prone to collisions, tipping over, and collisions with foreign objects, protective structures are usually added to the optical instruments to prevent damage to them.

[0004] In related technologies, for example, CN220903381U discloses a protective structure for LiDAR, which is an integral bracket, typically machined from a single piece of aluminum alloy using CNC machining, resulting in a relatively high cost. Other related patents disclose protective structures that are either structurally complex or lack sufficient strength. Therefore, it is necessary to provide a protective structure that is simple to manufacture and possesses high strength. Utility Model Content

[0005] This application provides a protective structure and a robot to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, a protective structure is provided according to a first aspect of this application for protecting optical instruments. The protective structure includes a protective bracket, which includes at least two brackets connected together. The at least two brackets include a first bracket and a second bracket arranged adjacent to each other.

[0007] The first support includes a first blocking rib and a third blocking rib that are bent and connected.

[0008] The second support includes a second blocking rib and a fourth blocking rib that are bent and connected.

[0009] Wherein, one of the first and third blocking ribs is in surface contact with and fixedly connected to one of the second and fourth blocking ribs; the other of the first and third blocking ribs is spaced apart from the other of the second and fourth blocking ribs; the first, third, second, and fourth blocking ribs together form a protective frame covering the optical instrument.

[0010] The protective bracket in this embodiment can be formed by splicing at least two brackets, which helps to reduce the difficulty of manufacturing the protective structure and avoids the problem of high cost caused by one-piece CNC machining of aluminum alloy, thereby reducing the manufacturing cost. At the same time, the adjacent blocking ribs in two adjacent brackets in the protective structure are in surface contact and fixedly connected, which increases the connection area between two adjacent brackets and helps to increase the strength of the protective structure.

[0011] In some embodiments of this application, the included angle between the first blocking rib and the third blocking rib is less than or equal to 120°;

[0012] And / or, the included angle between the second blocking rib and the fourth blocking rib is less than or equal to 120°;

[0013] And / or, the first bracket is formed by bending a strip of metal;

[0014] And / or, the second bracket is formed by bending a strip of metal;

[0015] And / or, the first support and the second support are symmetrical in structure.

[0016] In some embodiments of this application, the first blocking rib includes a first surface contact portion, the second blocking rib includes a second surface contact portion, and the first surface contact portion and the second surface contact portion are in surface-to-surface contact.

[0017] In some embodiments of this application, at least a portion of the first blocking rib is bent to form a first clearance portion; the first clearance portion and the second blocking rib enclose to form a first clearance hole.

[0018] In some embodiments of this application, at least a portion of the second blocking rib is bent to form a second clearance portion; the bending directions of the first clearance portion and the second clearance portion are opposite, and the first clearance portion and the second clearance portion enclose each other to form the first clearance hole.

[0019] In some embodiments of this application, the first bracket further includes a first bottom connecting portion, and the first blocking rib and the third blocking rib are disposed at both ends of the first bottom connecting portion;

[0020] And / or, the second bracket further includes a second bottom connecting portion, wherein the second blocking rib and the fourth blocking rib are disposed at both ends of the second bottom connecting portion;

[0021] And / or, the first blocking rib, the third blocking rib, the second blocking rib, and the fourth blocking rib are arc-shaped.

[0022] In some embodiments of this application, the first blocking rib includes a first surface contact portion and a first clearance portion fixedly connected. The first surface contact portion is bent and connected to one end of the third blocking rib, the first bottom connecting portion is bent and connected to the other end of the third blocking rib, and the first clearance portion is bent and connected to the end of the first bottom connecting portion away from the third blocking rib.

[0023] And / or, the second blocking rib includes a second surface contact portion and a second clearance portion that are fixedly connected, the second surface contact portion being bent and connected to one end of the fourth blocking rib, the second bottom connecting portion being bent and connected to the other end of the fourth blocking rib, and the second clearance portion being bent and connected to one end of the second bottom connecting portion that is away from the fourth blocking rib.

[0024] In some embodiments of this application, the first surface contact portion is provided with a first locking hole, the first clearance portion is provided with a second locking hole, the second surface contact portion is provided with a third locking hole, and the second clearance portion is provided with a fourth locking hole. The first locking hole, the second locking hole, the third locking hole, and the fourth locking hole are coaxially arranged.

[0025] In some embodiments of this application, the protective structure further includes a support base, on which an installation area for the optical instrument is provided, and the first bracket and the second bracket are respectively fixedly connected to the support base;

[0026] And / or, the optical instrument includes at least one of lidar, spherical camera, and depth camera.

[0027] In some embodiments of this application, the support base is provided with a flange;

[0028] And / or, the support base is provided with weight reduction holes;

[0029] And / or, the protective structure further includes a protective cover, the protective cover having a receiving cavity, the protective cover having a third clearance hole communicating with the receiving cavity and a plurality of second clearance holes, the plurality of second clearance holes being spaced apart around the third clearance hole in the circumferential direction, the first blocking rib, the third blocking rib, the second blocking rib and the fourth blocking rib being exposed outside the protective cover through the corresponding second clearance holes, and the optical instrument being exposed outside the protective cover through the third clearance hole.

[0030] In some embodiments of this application, the sides of the protective cover are tilted downwards.

[0031] In some embodiments of this application, the protective cover includes a front side and a rear side disposed opposite to each other, and the first blocking rib, the third blocking rib, the second blocking rib and the fourth blocking rib having face-to-face contact blocking ribs disposed on the side of the optical instrument facing the rear side.

[0032] A second aspect of this application provides a robot, the robot including a body, optical instruments, and the protective structure. Exemplarily, the optical instruments and the protective structure are disposed on the body.

[0033] The robot provided in this application embodiment includes the aforementioned protective structure. The protective support of this structure comprises at least two supports connected together, including a first support and a second support arranged adjacent to each other. The first support includes a first blocking rib and a third blocking rib connected by bending. The second support includes a second blocking rib and a fourth blocking rib connected by bending. One of the first and third blocking ribs is in surface contact with and fixedly connected to one of the second and fourth blocking ribs. The other blocking rib is spaced apart from the other blocking rib. The first, third, second, and fourth blocking ribs together form a protective frame covering the optical instrument. The protective structure in this application embodiment can be formed by splicing at least two supports, which helps reduce the difficulty of manufacturing the protective structure and avoids the high cost caused by using integrated aluminum alloy CNC machining, thereby reducing manufacturing costs. Simultaneously, the adjacent blocking ribs in the two adjacent supports of the protective structure are in surface contact and fixedly connected, increasing the connection area between the two adjacent supports, which helps increase the strength of the protective structure, thereby increasing the structural strength and service life of the robot.

[0034] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0037] Figure 1This is a schematic diagram of the protective structure provided in an exemplary embodiment of this disclosure;

[0038] Figure 2 This is a schematic diagram of the structure of the protective bracket provided in an exemplary embodiment of this disclosure;

[0039] Figure 3 yes Figure 2 The diagram shows the structure of the protective bracket from another perspective.

[0040] Figure 4 This is a schematic diagram of the structure of the support base provided in an exemplary embodiment of this disclosure.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Protective structure; 10. First bracket; 11. First blocking rib; 111. First surface contact part; 112. First clearance part; 1121. First extension section; 1122. Second extension section; 1123. First locking section; 12. Third blocking rib; 123. Fourth locking hole; 13. First bottom connecting part; 14. First clearance hole; 20. Second bracket; 21. Second blocking rib; 211. Second surface contact part; 212. Second clearance part; 22. Fourth blocking rib; 23. Second bottom connecting part; 30. Support base; 31. Weight reduction hole; 32. Flanged edge; 33. Installation area; 40. Protective cover; 41. Third clearance hole; 42. Second clearance hole; 43. Front side; 44. Rear side. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0044] Currently, quadruped robots need to identify and collect images of obstacles in their path during movement. The mainstream image acquisition methods basically use various optical instruments such as depth cameras, spherical lasers, and cameras to collect image data of the surrounding environment during the robot's movement.

[0045] Generally, the aforementioned optical instruments are installed at the front and rear ends and on the back of the quadruped robot for easy data collection. However, since the tasks that quadruped robots are involved in often involve complex environments (such as participating in fire rescue and field patrols), and the robots are prone to collisions, tipping over, and collisions with foreign objects, protective structures are usually added to the optical instruments to prevent damage to them.

[0046] In related technologies, for example, CN220903381U discloses a protective structure for LiDAR, which is an integral bracket, typically machined from a single piece of aluminum alloy using CNC machining, resulting in a relatively high cost. Other related patents disclose protective structures that are either structurally complex or lack sufficient strength. Therefore, it is necessary to provide a protective structure that is simple to manufacture and possesses high strength.

[0047] Therefore, this application provides a protective structure for a robot optical instrument. This protective structure includes at least two interconnected supports. The protective structure can be formed by splicing at least two supports, and the first and second supports are both integrally formed by bending. Compared to CNC integral manufacturing processes, this reduces the difficulty of fabricating the protective structure, improves production efficiency, and lowers manufacturing costs. Furthermore, in the protective structure, the adjacent blocking ribs of two adjacent supports are in surface contact, increasing the connection area between adjacent supports and thus enhancing the strength of the protective structure.

[0048] Please see Figures 1 to 4 This application provides a protective structure 1 suitable for optical instruments. The optical instruments include those for collecting environmental information. Exemplarily, the optical instruments include at least one of a spherical lidar, a spherical camera, and a depth camera. It should be noted that the optical instruments are not a major improvement of this application, and can adopt structures already disclosed in the prior art; therefore, no limitation is made here.

[0049] In some embodiments of this application, the protective structure 1 includes a protective bracket, which comprises at least two brackets connected together. These at least two brackets include a first bracket 10 and a second bracket 20 arranged adjacent to each other. It should be noted that the connection method between the multiple brackets in this application can be welding or threaded connection, and is not limited here. Furthermore, to further improve the rigidity of the protective structure 1, both the first bracket 10 and the second bracket 20 are metal structural components. The number of brackets included in the protective structure 1 can be two, three, or more, and is not limited here. The following description uses a protective structure 1 comprising two brackets as an example.

[0050] In some embodiments of this application, the first support 10 includes a first blocking rib 11 and a third blocking rib 12 that are bent and connected. This helps to reduce the processing difficulty of the first support 10.

[0051] In some embodiments of this application, the second support 20 includes a second blocking rib 21 and a fourth blocking rib 22 that are bent and connected. This helps to reduce the processing difficulty of the second support 20.

[0052] In some embodiments of this application, one of the first blocking rib 11 and the third blocking rib 12 is in surface contact with and fixedly connected to one of the second blocking rib 21 and the fourth blocking rib 22. The other blocking rib of the first blocking rib 11 and the third blocking rib 12 is spaced apart from the other blocking rib of the second blocking rib 21 and the fourth blocking rib 22. The first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 together form a protective frame covering the optical instrument. This can also be understood as the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 together forming a protective frame, protective surface, or protective layer covering the optical instrument. In this embodiment, one blocking rib of the first support 10 is in surface contact with and fixedly connected to one blocking rib of the second support 20. Furthermore, both the first and second supports are integrally formed by bending, which helps to increase the contact area and connection strength between the first support 10 and the second support 20, thereby improving the strength of the protective structure 1 and production efficiency.

[0053] Exemplarily, the first blocking rib 11 and the second blocking rib 21 are arranged adjacent to each other, with their surfaces in contact and fixedly connected; the third blocking rib 12 is disposed on the side of the first blocking rib 11 opposite to the second blocking rib 21, and the fourth blocking rib 22 is disposed on the side of the second blocking rib 21 opposite to the first blocking rib 11. The third blocking rib 12 is spaced apart from the first blocking rib 11 and the fourth blocking rib 22. Of course, in other embodiments of this application, the first blocking rib 11 and the fourth blocking rib 22 may also be in contact and fixedly connected, with the first blocking rib 11, the second blocking rib 21, and the third blocking rib 12 spaced apart from each other; this is not limited here. Unless otherwise specified, the following description uses the example of the first blocking rib 11 and the second blocking rib 21 being in contact and fixedly connected.

[0054] Specifically, the side surface of the first blocking rib 11 is a plane, and the side surface of the second blocking rib 21 is a plane. It should be noted that the side surface of the first blocking rib 11 refers to the side perpendicular to the thickness direction of the first blocking rib 11, for example, the side of the first blocking rib 11 facing the third blocking rib 12. This helps to further increase the connection area between the first blocking rib 11 and the second blocking rib 21, and thus increases the strength of the protective structure 1.

[0055] In some embodiments of this application, the protective structure 1 includes at least two supports connected together, the at least two supports including a first support 10 and a second support 20 arranged adjacent to each other; the first support 10 includes a first blocking rib 11 and a third blocking rib 12 bent together; the second support 20 includes a second blocking rib 21 and a fourth blocking rib 22 bent together; wherein, one of the first blocking rib 11 and the third blocking rib 12 is in surface contact with and fixedly connected to one of the second blocking rib 21 and the fourth blocking rib 22; the other blocking rib of the first blocking rib 11 and the third blocking rib 12 is spaced apart from the other blocking rib of the second blocking rib 21 and the fourth blocking rib 22; the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 enclose and form a protective frame covering the optical instrument. The protective structure 1 in the embodiments of this application can be formed by splicing at least two supports, which helps to reduce the difficulty of the manufacturing process of the protective structure 1, avoids the problems of high process precision and high cost caused by using one-piece CNC machining of aluminum alloy, thereby reducing the manufacturing cost of the protective structure. Meanwhile, the two adjacent supports in the protective structure 1 can be integral structures formed by bending metal parts, and the adjacent blocking ribs in the two supports are in surface contact and fixedly connected, which increases the connection area between the two adjacent supports and helps to increase the strength of the protective structure 1.

[0056] In some embodiments, the angle between the first blocking rib 11 and the third blocking rib 12 is the same as or approximately the same as the angle between the second blocking rib 21 and the fourth blocking rib 22, and the angle between the third blocking rib 12 and the fourth blocking rib 22. This is beneficial for improving the structural stability of the protective structure 1.

[0057] In some embodiments, the included angle between the first blocking rib 11 and the third blocking rib 12 is less than or equal to 120°. It should be noted that the included angle between the first blocking rib 11 and the third blocking rib 12 in this application can also be understood as the angle at the bend of the first blocking rib 11 and the third blocking rib 12. For example, the included angle between the first blocking rib 11 and the third blocking rib 12 is approximately 120°. This allows the first support 10 to have higher strength and avoids the blocking ribs being too densely packed, resulting in a large obstruction area.

[0058] In some embodiments, the included angle between the second blocking rib 21 and the fourth blocking rib 22 is less than or equal to 120°. It should be noted that the included angle between the second blocking rib 21 and the fourth blocking rib 22 in this application can also be understood as the angle at the bend of the second blocking rib 21 and the fourth blocking rib 22. For example, the included angle between the second blocking rib 21 and the fourth blocking rib 22 is approximately 120°. This allows the first support 10 to have higher strength and avoids the blocking ribs being too densely packed, resulting in a large obstruction area.

[0059] In some embodiments, the first blocking rib 11 is a narrow strip, which can also be understood as the first blocking rib 11 being thinner or the side of the first blocking rib 11 facing the optical instrument being narrower, thereby helping to reduce the obstruction of the optical instrument by the first blocking rib 11. Similarly, the third blocking rib 12 is a narrow strip, and / or the second blocking rib 21 is a narrow strip, and / or the fourth blocking rib 22 is also a narrow strip, which helps to reduce the obstruction of the optical instrument by the bracket.

[0060] In some embodiments, the first support 10 is formed by bending a strip of metal. This helps to improve the strength of the first support 10 and reduce its manufacturing cost.

[0061] In some embodiments, the second support 20 is formed by bending a strip of metal. This helps to increase the strength of the second support 20 and reduce its manufacturing cost.

[0062] In some embodiments, the first support 10 and the second support 20 have a symmetrical structure, which can also be understood as the first support 10 and the second support 20 having the same structure. This helps reduce the manufacturing cost of the protective structure 1 and improves its aesthetics. For example, the multiple supports in the protective structure 1 are symmetrically arranged, which helps to further improve the structural strength of the protective structure and reduce manufacturing costs. Of course, in other embodiments of this application, the multiple supports in the protective structure 1 may not be the same, and this is not limited here.

[0063] In some embodiments, please refer to Figure 2 and Figure 3 The first blocking rib 11 includes a first surface contact portion 111, and the second blocking rib 21 includes a second surface contact portion 211. The first surface contact portion 111 and the second surface contact portion 211 are in surface-to-surface contact. In this way, the first blocking rib 11 and the second blocking rib 21 can be connected surface-to-surface, which is beneficial to improving the connection strength between the first blocking rib 11 and the second blocking rib 21.

[0064] In some embodiments, at least a portion of the first blocking rib 11 is bent to form a first clearance portion 112; the first clearance portion 112 and the second blocking rib 21 enclose to form a first clearance hole 14. Thus, by bending at least a portion of the first blocking rib 11 to form the first clearance portion, this first clearance portion can be used for internal wiring or for accommodating parts of an optical instrument (e.g., connectors for optical instruments), which helps avoid interference between the protective structure and other equipment and improves structural compactness. Exemplarily, at least a portion of the second blocking rib 21 is bent to form a second clearance portion 212; the bending directions of the first clearance portion 112 and the second clearance portion 212 are opposite, and the first clearance portion 112 and the second clearance portion enclose to form the first clearance hole 14. Specifically, the first blocking rib 11 and the second blocking rib 21 have a symmetrical structure, which helps improve the aesthetics and stability of the protective structure.

[0065] In some embodiments, the first blocking rib 11 includes a first surface contact portion 111 and a first clearance portion 112 fixedly connected; the first clearance portion 112 is disposed on the side of the first surface contact portion 111 facing the third blocking rib 12; the first surface contact portion 111 is in surface contact with the second blocking rib 21; the first clearance portion 112 and the second blocking rib 21 enclose each other to form a first clearance hole 14. Further, the second blocking rib 21 includes a second surface contact portion 211 and a second clearance portion 212 fixedly connected, the second clearance portion 212 is disposed on the side of the second surface contact portion 211 facing the fourth blocking rib 22; the first surface contact portion 111 is in surface contact with the second surface contact portion 211; the first clearance portion 112 and the second clearance portion 212 enclose each other to form the first clearance hole 14. Thus, a first clearance hole 14 can be formed on the protective structure 1, which can be used to avoid the plug of an optical instrument, thus improving the structural compactness of the optical instrument and robot in this application. Furthermore, the first contact portion 111 and the first clearance portion 112 are fixedly connected, and the second contact portion 211 and the second clearance portion 212 are fixedly connected, which helps to further improve the structural strength of the protective structure 1 in this application.

[0066] Specifically, the optical instrument includes an instrument base and functional components fixed to the instrument base. The functional components are used to collect environmental signals and are generally hemispherical in shape. The first surface contact portion 111 is disposed between the third blocking rib 12 and the first clearance portion 112, and the second surface contact portion 211 is disposed between the fourth blocking rib 22 and the second clearance portion 212. The heights of the first clearance portion 112 and the second clearance portion 212 correspond to the height of the instrument base. This helps to prevent the first clearance portion 112 and the second clearance portion 212 from obstructing the functional components and thus limiting their field of view.

[0067] Specifically, the first clearance portion 112 includes a first extension 1121 and a second extension 1122 that are bent and connected, and the first extension 1121 and the second extension 1122 are perpendicular to each other. This helps to improve the structural strength of the first support 10. Similarly, the second clearance portion includes a third extension and a fourth extension that are bent and connected, and the third extension and the fourth extension are perpendicular to each other. The third extension is parallel to the first extension 1121, and the second extension 1122 and the fourth extension are located on the same plane. This helps to improve the structural strength of the second support 20.

[0068] In some embodiments, the first bracket 10 further includes a first bottom connecting portion 13, with the first blocking rib 11 and the third blocking rib 12 disposed at both ends of the first bottom connecting portion 13. The first bottom connecting portion 13 is used for fixed connection with the support base 30. Furthermore, the first bracket 10 is generally in the form of a closed ring. This is beneficial for further improving the structural strength of the first bracket 10 and the protective structure 1.

[0069] In some embodiments, the second bracket 20 further includes a second bottom connecting portion 23, with the second blocking rib 21 and the fourth blocking rib 22 disposed at both ends of the second bottom connecting portion 23. The second bottom connecting portion 23 is used for fixed connection with the support base 30. Furthermore, the second bracket 20 is generally in the form of a closed ring. This is beneficial for further improving the structural strength of the second bracket 20 and the protective structure 1.

[0070] For example, the first blocking rib 11 is arc-shaped. Specifically, the side of the first blocking rib 11 facing the optical instrument is arc-shaped. Similarly, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 are all arc-shaped. In this way, the internal space enclosed by the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 is generally spherical, improving the adaptability to the optical instrument and also helping to improve the compressive strength of the protective structure 1.

[0071] Specifically, the first clearance portion 112 includes a first extension segment 1121, a second extension segment 1122, and a first locking segment 1123 connected by bending in sequence. The second extension segment 1122 is perpendicular to both the first extension segment 1121 and the first locking segment 1123. One end of the first extension segment 1121 facing away from the second extension segment 1122 is bent and connected to the first bottom connecting portion 13, and they are perpendicular to each other. The end of the first locking segment 1123 is threadedly connected to the end of the first surface contact portion 111. Furthermore, the first bottom connecting portion 13, the first blocking rib 11, and the third blocking rib 12 in the first bracket 10 are formed by bending sheet metal parts, which helps to further improve the processing convenience and structural strength of the first bracket 10.

[0072] Similarly, the second clearance portion 212 includes a bent third extension, a fourth extension, and a second locking section. The fourth extension is perpendicular to both the third and second locking sections. The end of the third extension away from the fourth extension is bent and connected to the second bottom connecting portion 23, and they are perpendicular to each other. The end of the second locking section is threadedly connected to the end of the second surface contact portion 211. Furthermore, the second bottom connecting portion 23, the second blocking rib 21, and the fourth blocking rib 22 in the second bracket 20 are formed by bending sheet metal parts, which helps to further improve the processing convenience and structural strength of the second bracket 20.

[0073] In some embodiments, the first blocking rib 11 includes a first surface contact portion 111 and a first clearance portion 112 fixedly connected. The first surface contact portion 111 is bent and connected to one end of the third blocking rib 12, the first bottom connecting portion 13 is bent and connected to the other end of the third blocking rib 12, and the first clearance portion 112 is bent and connected to the end of the first bottom connecting portion 13 opposite to the third blocking rib 12. This facilitates further improvement in the processing convenience and structural strength of the first bracket 10.

[0074] Similarly, the second blocking rib 21 includes a second surface contact portion 211 and a second clearance portion fixedly connected. The second surface contact portion 211 is bent and connected to one end of the fourth blocking rib 22, the second bottom connecting portion 23 is bent and connected to the other end of the fourth blocking rib 22, and the second clearance portion 212 is bent and connected to the end of the second bottom connecting portion 23 opposite to the fourth blocking rib 22. This facilitates further improvement in the processing convenience and structural strength of the first bracket 10.

[0075] In some embodiments, the first surface contact portion 111 is provided with a first locking hole, the first clearance portion 112 is provided with a second locking hole, the second surface contact portion 211 is provided with a third locking hole, and the second clearance portion is provided with a fourth locking hole 123. The first locking hole, the second locking hole, the third locking hole, and the fourth locking hole 123 are coaxially arranged. Specifically, the first surface contact portion 111 and the second surface contact portion 211 are disposed between the first clearance portion 112 (e.g., the first locking section 1123) and the second clearance portion (e.g., the second locking section). This helps to increase the contact area between the first surface contact portion 111 and the second surface contact portion 211, thereby improving the strength of the protective structure 1 and the installation efficiency.

[0076] In some embodiments, please refer to Figure 4The protective structure 1 further includes a support base 30, on which the optical instrument mounting area 33 is provided. The first bracket 10 and the second bracket 20 are respectively fixedly connected to the support base 30. This helps to improve the strength of the protective structure 1 and increase assembly efficiency.

[0077] In some embodiments, the optical instrument includes at least one of a lidar, a spherical camera, and a depth camera. Exemplarily, the optical instrument includes a spherical lidar. This allows the optical instrument in this application to acquire ambient signals.

[0078] In some embodiments, the support base 30 is provided with a flange 32. This helps to improve the strength of the support base 30.

[0079] In some embodiments, the support base 30 is provided with weight reduction holes 31, which helps to reduce the weight of the support base 30 and reduce the amount of material used.

[0080] In some embodiments, the protective structure 1 further includes a protective cover 40, which has a receiving cavity. The protective cover 40 has a third clearance hole 41 communicating with the receiving cavity and a plurality of second clearance holes 42. The plurality of second clearance holes 42 are spaced apart circumferentially around the third clearance hole 41. The first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 are exposed outside the protective cover 40 through their respective second clearance holes 42. The optical instrument is exposed outside the protective cover 40 through the third clearance hole 41. In this embodiment, by providing the protective cover 40, the protective cover 40 can protect the structure located therein, which is beneficial to improving the stability of the protective structure 1.

[0081] For example, the bottom surface of the protective cover 40 is provided with a mounting opening, which communicates with the receiving cavity and is positioned directly opposite the third clearance hole 41. When assembling the protective structure 1 in this application, the optical instrument (e.g., lidar) is first locked onto the support base 30, and then multiple brackets (e.g., the first bracket 10 and the second bracket 20) are locked onto the support base 30 with screws. Finally, the protective cover 40 is placed over the radar protective structure 1 from top to bottom.

[0082] In some embodiments of this application, the side of the protective cover 40 is inclined downwards, which can also be understood as the edge of the top surface of the protective cover 40 being inclined downwards, or the top surface and side of the protective cover 40 being connected by an inclined downward surface. In this way, the protective structure 1 can be avoided from obstructing the optical instrument as much as possible, which is beneficial to increasing the viewing angle of the optical instrument.

[0083] Specifically, the protective cover 40 includes a front side 43 and a rear side 44 disposed opposite to each other. The front side 43 is inclined downward, and the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22, among which the blocking ribs are in surface contact, are disposed on the side of the optical instrument facing the rear side 44. For example, as Figure 1 As shown, the first blocking rib 11 and the second blocking rib 21 are in surface contact and are positioned near the middle of the rear side 44. The third blocking rib 12 and the fourth blocking rib 22 avoid the middle area of ​​the front side 43 and are positioned near the edge of the front side 43. Thus, when the protective structure of this application is used for a robot, the front side 43 can be positioned in front of the robot's walking direction, and the blocking ribs in surface contact among the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 can be positioned behind the robot's walking direction. This improves the problem of the front of the robot's walking direction being blocked by the blocking ribs and allows the robot to have a wider field of view in front of its walking direction.

[0084] A second aspect of this application also provides a robot, which includes a body, optical instruments, and a protective structure 1. Exemplarily, the optical instruments and the protective structure are disposed on the body. Since the robot in this application includes the aforementioned protective structure 1, it also has the beneficial effects of the aforementioned protective structure 1, which will not be elaborated upon here.

[0085] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0086] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0087] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0088] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A protective structure (1) for protecting optical instruments, characterized in that, The protective structure (1) includes a protective bracket, which includes at least two brackets connected together, and the at least two brackets include a first bracket (10) and a second bracket (20) arranged adjacent to each other; The first support (10) includes a first blocking rib (11) and a third blocking rib (12) that are bent and connected. The second support (20) includes a second blocking rib (21) and a fourth blocking rib (22) that are bent and connected. Wherein, one of the first blocking rib (11) and the third blocking rib (12) is in surface contact with one of the second blocking rib (21) and the fourth blocking rib (22) and is fixedly connected; the other blocking rib of the first blocking rib (11) and the third blocking rib (12) is spaced apart from the other blocking rib of the second blocking rib (21) and the fourth blocking rib (22); the first blocking rib (11), the third blocking rib (12), the second blocking rib (21) and the fourth blocking rib (22) together form a protective frame covering the optical instrument.

2. The protective structure (1) as described in claim 1, characterized in that, The included angle between the first blocking rib (11) and the third blocking rib (12) is less than or equal to 120°; And / or, the included angle between the second blocking rib (21) and the fourth blocking rib (22) is less than or equal to 120°; And / or, the first support (10) is formed by bending a strip of metal; And / or, the second bracket (20) is formed by bending a strip of metal; And / or, the first support (10) and the second support (20) are symmetrical in structure; And / or, the first blocking rib (11) includes a first surface contact portion (111), the second blocking rib (21) includes a second surface contact portion (211), and the first surface contact portion (111) and the second surface contact portion (211) are in surface-to-surface contact.

3. The protective structure (1) as described in claim 1, characterized in that, At least a portion of the first blocking rib (11) is bent to form a first clearance portion (112); the first clearance portion (112) and the second blocking rib (21) enclose to form a first clearance hole (14).

4. The protective structure (1) as described in claim 3, characterized in that, At least a portion of the second blocking rib (21) is bent to form a second clearance portion (212); the bending directions of the first clearance portion (112) and the second clearance portion (212) are opposite, and the first clearance portion (112) and the second clearance portion enclose each other to form the first clearance hole (14).

5. The protective structure (1) as described in claim 1, characterized in that, The first bracket (10) further includes a first bottom connecting part (13), and the first blocking rib (11) and the third blocking rib (12) are disposed at both ends of the first bottom connecting part (13); And / or, the second bracket (20) further includes a second bottom connection portion (23), wherein the second blocking rib (21) and the fourth blocking rib (22) are disposed at both ends of the second bottom connection portion (23).

6. The protective structure (1) as described in claim 5, characterized in that, The first blocking rib (11) includes a first surface contact portion (111) and a first clearance portion (112) fixedly connected. The first surface contact portion (111) is bent and connected to one end of the third blocking rib (12). The first bottom connecting portion (13) is bent and connected to the other end of the third blocking rib (12). The first clearance portion (112) is bent and connected to the end of the first bottom connecting portion (13) away from the third blocking rib (12). And / or, the second blocking rib (21) includes a second surface contact portion (211) and a second clearance portion that are fixedly connected. The second surface contact portion (211) is bent and connected to one end of the fourth blocking rib (22), the second bottom connecting portion (23) is bent and connected to the other end of the fourth blocking rib (22), and the second clearance portion is bent and connected to one end of the second bottom connecting portion (23) that is away from the fourth blocking rib (22).

7. The protective structure (1) as described in claim 6, characterized in that, The first surface contact portion (111) is provided with a first locking hole, the first clearance portion (112) is provided with a second locking hole, the second surface contact portion (211) is provided with a third locking hole, and the second clearance portion is provided with a fourth locking hole (123). The first locking hole, the second locking hole, the third locking hole and the fourth locking hole (123) are coaxially arranged.

8. The protective structure (1) as described in any one of claims 1 to 7, characterized in that, The protective structure (1) further includes a support base (30), on which the optical instrument is provided an installation area (33), and the first bracket (10) and the second bracket (20) are respectively fixedly connected to the support base (30); And / or, the optical instrument includes at least one of lidar, spherical camera, and depth camera.

9. The protective structure (1) as described in any one of claims 1 to 7, characterized in that, The protective structure (1) also includes a support base (30), which has a flange (32); And / or, the protective structure (1) further includes a support base (30), on which weight reduction holes (31) are provided; And / or, the protective structure (1) further includes a protective cover (40), the protective cover (40) is provided with a receiving cavity, the protective cover (40) is provided with a third clearance hole (41) communicating with the receiving cavity and a plurality of second clearance holes (42), the plurality of second clearance holes (42) are spaced apart around the third clearance hole (41) in the circumferential direction, the first blocking rib (11), the third blocking rib (12), the second blocking rib (21) and the fourth blocking rib (22) are exposed outside the protective cover (40) through the corresponding second clearance holes (42), and the optical instrument is exposed outside the protective cover (40) through the third clearance hole (41).

10. The protective structure (1) as described in any one of claims 1 to 7, characterized in that, The protective structure (1) also includes a protective cover (40), the sides of which are inclined downward.

11. The protective structure (1) as described in any one of claims 1 to 7, characterized in that, The protective structure (1) further includes a protective cover (40), which includes a front side (43) and a rear side (44) arranged opposite to each other. The first blocking rib (11), the third blocking rib (12), the second blocking rib (21) and the fourth blocking rib (22) with the blocking ribs in face-to-face contact are arranged on the side of the optical instrument facing the rear side (44).

12. A robot, characterized in that, The robot includes a body, optical instruments, and a protective structure (1) as described in any one of claims 1 to 11.

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