CN209240075U - robot with handle - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses a robot with a handle, which includes a rear shell and a handle. The handle includes a gripping part and a connecting part. The handle rotates relative to the rear shell, and the handle has a first state and a second state; when the handle is in the first state, the gripping portion and the connecting portion are fitted and hidden in the rear shell; when the handle is in the second state, the grip The part is far away from the back shell, and the connecting part and the back shell form a set angle. By providing the handle, when the robot needs to be transported, the grip part can be rotated so that the handle is rotated to the second state, and the handle is pulled, thereby pulling the robot to move, which is convenient for the robot to be transported. After the robot is transported to the designated position, the grip part is rotated in the opposite direction, so that the handle is rotated to the first state, and the handle can be hidden in the rear shell, so that the handle is hidden and placed without affecting the overall appearance of the robot.

Description

robot with handle

technical field

The utility model relates to the technical field of robots, in particular to a robot with a handle.

Background technique

With the continuous development of science and technology, human beings have made great progress in many aspects in the past few centuries. As one of the greatest inventions of human beings, robotics has made great progress in just 50 years since it came out in the early 1960s. With the advancement of sensing and control technology, drive technology and material technology, robots have the necessary conditions to realize the automation of handling, operation and processing in the service industry. Service robots open up new fields of robotic applications. Experts predict that the number of service robots will exceed that of industrial robots. At present, countries around the world are working hard to develop service robots used in various fields. Robots are entering various fields of human life, such as aerospace, military, medical, service, entertainment, etc. penetration.

In the prior art, ordinary service robots usually can only move on the flat ground by themselves when powered on, and need to be manually carried by the user when the power is turned off. The robots in the prior art are directly on the outer surface of the robot shell. There are two grooves on the top to facilitate the user's handling.

However, the structure of the groove not only affects the overall visual effect of the robot, it is laborious to use the structure of the groove to carry, the hand feel is not good, and it is easy to slip, which is easy to cause damage to the robot.

Utility model content

The utility model is proposed in order to solve the above-mentioned technical problems, and the purpose is to provide a robot with a handle. The robot with a handle of the utility model does not affect the overall visual effect of the robot by setting a hidden handle, and when the robot needs to be moved, the handle is pulled out for handling, which is relatively labor-saving, has excellent hand feeling and is not easy to slip, and can protect the robot during the handling process. robot.

Specifically, the utility model provides a robot with a handle, which includes a shell with a rear shell, and also includes a handle arranged on the rear shell, the handle includes a grip and a handle connected to the grip part and the connecting part of the rear case, the connecting part and the rear case are rotatably hinged, the holding part is configured to be able to drive the connecting part to rotate relative to the rear case, and the handle has a first state and the second state;

When the handle is in the first state, both the gripping part and the connecting part are fitted and hidden in the rear shell;

When the handle is in the second state, the holding portion is away from the rear shell, and the connecting portion forms a set angle with the rear shell.

Compared with the prior art, the utility model provides a robot with a handle. By setting the handle, the grip part can be turned when the robot needs to be transported, so that the handle can be rotated to the second state, and the handle can be pulled, thereby pulling The movement of the robot, the handling of the robot is relatively labor-saving, the handle is excellent, and it is not easy to slip, which can protect the robot during the handling process. After the robot is transported to the designated position, the grip part is rotated in the opposite direction, so that the handle is rotated to the first state, and the handle can be hidden in the rear shell, so that the handle is hidden and placed without affecting the overall appearance of the robot.

In addition, as a preference, an invisible groove is opened on the rear shell, the shape and size of the invisible groove are adapted to the handle, and the handle in the first state is located in the invisible groove and does not Highlight the rear case setting.

According to this preferred solution, through the invisible groove provided on the rear shell, when the robot does not need to be transported, the handle can be hidden in the rear shell of the robot through the structure of the invisible groove, and the invisible structure of the handle is simple.

Further, as a preference, one end of the invisible groove close to the holding part is communicated with a grasping groove.

According to this preferred solution, the setting of the grasping groove reserves a space for the finger to pull the handle, so that the user can reach into the grasping groove, pull the grip part and apply force, and take out the handle.

In addition, preferably, when the handle is in the second state, the handle is arranged obliquely upward, and the gripping portion is located on a side of the connecting portion away from the bottom of the rear case.

According to this preferred solution, when the handle is in the second state, it is inclined upwards, which is convenient for the user to carry the robot by pulling the handle. When the handle is in the second state, the handle is tilted upward, and the direction of the force applied by the handle to the robot is opposite to the direction of the resultant force of gravity and friction of the robot, which can reduce the force required by the user and make it easier for the user to carry the robot.

Further, preferably, when in the first state, the length direction of the handle is consistent with the height direction of the robot, the grip part is close to the bottom of the rear shell, and the rotation axis of the connecting part is in line with the height direction of the robot. The height direction of the robot is vertical.

According to this preferred solution, when the connecting portion is located in the first state, it is located above the gripping portion, so that the connecting portion can be avoided from being set too low, and the relatively high connecting portion improves the force point of the handle to the robot, so that the handle has a greater impact on the robot. The force application point is close to the center of gravity of the robot, which can prevent the robot's handle from tilting or even tilting when the force is applied.

In addition, preferably, an angle fixing member is provided on the rear case, and the maximum angle at which the connecting portion can rotate outward relative to the rear case is 110°-140° under the limit of the angle fixing member.

According to this preferred solution, the angle fixing piece is used to limit the outward rotation angle of the connecting part to 110°-140°, which can avoid the infinite rotation of the handle, and the handle is inclined upward by 20°-50°, forming an angle that is convenient for the user to apply force , Improve the hand feeling when handling.

In addition, preferably, when the holding portion is in the second state, the height from the bottom of the rear case is 0.9-1.2m.

According to this preferred solution, the height of the grip part in the second state is adapted to the height of most adults, which increases the user's hand feeling and experience when pulling the handle, and the handling of the robot is more convenient, labor-saving and has excellent hand feeling.

In addition, preferably, the handle is provided with a first magnetic piece, and the rear case is provided with a second magnetic piece with a magnetic pole different from that of the first magnetic piece, and the first magnetic piece in the first state The magnetic part corresponds to the position of the second magnetic part.

According to this preferred solution, the handle can be absorbed and fixed in the rear shell by using the principle of opposite magnetic pole attraction between the first magnetic part and the second magnetic part, so that shaking of the handle can be avoided when there is no need to carry the robot. At this time, the handle can be better hidden in the rear shell of the robot, and the setting of the handle will not affect the overall appearance of the robot.

In addition, preferably, the connection part is integrally formed with the grip part and arranged in a T-shape as a whole, the outer diameter of one end of the connection part connected to the grip part is less than 1.5 cm, and the grip part The outer diameter is less than 4cm.

According to this preferred solution, the connecting part at this time is adapted to the gap between the two fingers of a normal human hand, and the grip part is adapted to the grip of a human hand. When the user grasps the handle, it has an excellent hand feeling and is convenient for applying force.

In addition, preferably, an anti-slip sleeve is provided on the gripping portion.

According to this preferred solution, the use of the anti-slip sleeve can increase the friction between the hand and the gripping portion, avoiding slipping of the hand, and the arrangement of the anti-slip sleeve can also increase the user's comfort when pulling the handle.

Description of drawings

Fig. 1 is the rear view (first state) of the utility model robot;

Fig. 2 is a schematic perspective view of the main body (the handle is separated from the main body);

Fig. 3 is a schematic structural view of a handle with an anti-slip sleeve;

Figure 4 is a force analysis diagram when the robot is pulled horizontally;

Fig. 5 is a force analysis diagram when pulling the robot obliquely downward;

Fig. 6 is a force analysis diagram (second state) when the robot is pulled upwards obliquely.

Explanation of reference signs:

100, robot; 1, main body; 11, shell; 11a, rear shell; 2, head; 21, tablet computer; 3, traveling device; 31, wheels; 4, handle; 41, grip part; 42, Connecting part; 5, pin shaft; 51, pin shaft hole; 6, invisible groove; 61, grasping groove; 7, angle fixing piece; 81, first magnetic piece; 82, second magnetic piece; 9, anti-slip sleeve; 91. Anti-skid pattern.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described in detail. The drawings schematically show the structure and the like of a robot with a handle in simplified form.

In describing the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation , are constructed and operated in a specific orientation and therefore cannot be construed as limiting the invention.

Referring to FIG. 1 , the robot 100 provided by the present invention includes a main body 1 , a head 2 disposed on the top of the main body 1 , and a traveling device 3 disposed on the bottom of the main body 1 . The head 2 includes a tablet computer 21, which has various functions, and can realize communication, video, networking, camera and other functions. Wherein, the direction facing the screen of the tablet computer 21 is the front of the robot 100 , and oppositely, the direction facing the screen of the tablet computer 21 is the rear of the robot 100 . The main body part 1 includes a casing 11 including a rear case 11 a provided at the rear of the robot 100 . The traveling device 3 includes wheels 31 , and when powered on, the movement of the traveling device 3 can be controlled by the control device, thereby driving the robot 100 to move on the flat ground by itself.

However, when the machine is turned off, the robot 100 cannot move on the flat ground by itself, and the robot 100 needs to be carried manually. In order to facilitate the handling of the robot 100 , two grooves are generally provided on the casing 11 , and the user places his hands in the grooves to increase the focus of the hands. However, the structure of the groove not only affects the overall visual effect of the robot 100, but also takes a lot of effort to carry it with the structure of the groove, and the structure of the groove has a bad hand feeling and is easy to slip, thus easily damaging the robot 100 during the handling process. 100.

Therefore, the utility model provides a kind of robot 100, this robot 100 has the concealed handle 4 that does not affect the overall visual effect of the robot 100, the user's handling is better, not easy to slip, and is convenient for the handling of the robot 100. There are problems in the technology.

Specifically, the robot with a handle provided by the embodiment of the present invention, as shown in Fig. 1 and Fig. 2 , includes a handle 4, and the handle 4 is arranged on the rear shell 11a. When the robot 100 needs to be carried manually, the handle 4 is pulled, so that the robot 100 is exerted force through the handle 4, and the robot 100 is carried manually. The handle 4 includes a gripping portion 41 and a connecting portion 42 , and two ends of the connecting portion 42 are respectively connected to the gripping portion 41 and the rear case 11 a. Wherein, the connection between the connecting portion 42 and the rear case 11a is hinged through the adapted pin shaft 5 and the pin shaft hole 51, the pin shaft 5 is fixedly arranged on the rear case 11a, and the pin shaft hole 51 is opened on the connecting portion 42, and the connection The portion 42 is rotatable relative to the rear case 11a. By turning the holding part 41 , the connecting part 42 can be driven to rotate relative to the rear shell 11 a, thereby changing the position of the handle 4 .

The handle 4 has a first state hidden in the rear case 11a and a second state protruding from the rear case 11a. When the handle 4 is in the first state, the gripping portion 41 and the connecting portion 42 are attached and hidden in the rear case 11a; when the handle 4 is in the second state, the gripping portion 41 is far away from the rear case 11a, and the connecting portion 42 and the rear case The shell 11a is at a set angle α (see FIG. 6 ).

Compared with the prior art, the robot with a handle provided by the present invention can rotate the grip part 41 when the robot 100 needs to be transported by setting the handle 4, turn the handle 4 to the second state, and pull the handle 4. The handle 4 is used to pull the robot 100 to move. The handling of the robot 100 is relatively labor-saving, has excellent hand feeling and is not easy to slip, and can protect the robot 100 during the handling process. After the robot 100 is transported to the designated position, the grip part 41 is rotated in the opposite direction, so that the handle 4 is rotated to the first state, and the handle 4 can be hidden in the rear shell 11a, and the hidden handle 4 will not affect the whole of the robot 100. beautiful.

The connection part 42 is rotatably connected with the rear shell 11a, and the handle 4 is driven to switch between the first state and the second state through rotation. The method of driving the handle 4 is simple and convenient for the user to operate the handle 4 . The handle 4 is arranged on the rear shell 11 a of the robot 100 , and when the handle 4 is pulled to transport the robot 100 , the force application point is at the rear shell 11 a of the robot 100 . When the robot 100 is being transported by being pulled by the handle 4, once a collision occurs, the robot 100 will fall towards the rear shell 11a, and accordingly, important components in front of the robot 100 can be protected.

The handle 4 of the utility model achieves the invisible effect through the invisible groove 6 provided on the housing 11 . Specifically, an invisible groove 6 is provided on the rear shell 11a. The shape and size of the invisible groove 6 are adapted to the handle 4. The handle 4 in the first state is located in the invisible groove 6 and does not protrude from the rear shell 11a. Preferably, the depth of the invisible groove 6 is the same as the thickness of the handle 4 . When there is no need to carry the robot 100, the handle 4 can be hidden in the rear shell 11a of the robot 100 through the structure of the invisible groove 6, and the invisible structure of the handle 4 is simple. Preferably, the invisible groove 6 is a curved surface groove, and the side of the handle 4 that can be attached to the invisible groove 6 is an adapted curved surface. 6 around the shape of the rear case 11a.

In order to facilitate the user to take out the handle 4 from the invisible groove 6 , a grasping groove 61 is provided at an end of the invisible groove 6 close to the gripping portion 41 , and the grasping groove 61 communicates with the invisible groove 6 . The setting of the grasping groove 61 reserves a space for fingers to pull the handle 4 , so that the user can reach into the grasping groove 61 , pull the grip part 41 and apply force, and take out the handle 4 .

Preferably, when the handle 4 is in the second state, the handle 4 is arranged obliquely upward, and at this time, the gripping portion 41 is located at the obliquely upward position of the connecting portion 42 . When the handle 4 is in the second state, it is tilted upward, which is more convenient for the user to use, and is convenient for the user to carry the robot 100 by pulling the handle 4 . When the handle 4 is in the second state, it is inclined upward, and the direction of the force applied by the handle 4 to the robot 100 is opposite to the direction of the resultant force of gravity and friction of the robot 100, which can reduce the force required by the user, and the user can carry the robot. 100 is more labor-saving and convenient.

Let the robot 100 weigh G, the support force of the robot 100 on the ground is N, the friction coefficient between the robot 100 and the ground is μ, the friction force between the robot 100 and the ground is f, and the pulling force of the user pulling the robot 100 is F. In the following, the force analysis of the robot 100 during uniform motion is carried out according to three situations.

Situation 1: Pull the robot horizontally, see Figure 4.

Vertical direction: N ₁ =G;

Horizontal direction: F ₁ =f ₁ , f ₁ =μN ₁ ;

Insert the data to get: F ₁ =μG.

Situation 2: Tilt down and pull the robot up at an angle of θ, see Figure 5.

Vertical direction: N ₂ +F ₂ sinθ=G;

Horizontal direction: F ₂ cosθ=f ₂ , f ₂ =μN ₂ ;

Substitute the data to get:

Situation 3: Tilt upward and pull the robot obliquely upward at an angle of θ, see Figure 6.

Vertical direction: N ₃ +F ₃ sinθ=G;

Horizontal direction: F ₃ cosθ=f ₃ , f ₃ =μN ₃ ;

Substitute the data to get:

It can be seen that F ₃ is smaller than F ₂ , that is, compared with pulling the robot 100 diagonally downward, pulling the robot 100 upwards is the most labor-saving. When the coefficient of friction on the ground is large, according to the specific value, F ₃ is smaller than F ₁ , compared to pulling the robot 100 horizontally, it is more labor-saving to pull the robot 100 obliquely upwards.

When in the first state, the length direction of the handle 4 is consistent with the height direction of the robot 100, the grip portion 41 is close to the bottom of the rear shell 11a, and the connecting portion 42 is close to the top of the rear shell 11a, so that the connecting portion 42 can be avoided from being set too far. Low. The relatively high connecting portion 42 improves the force application point of the handle 4 to the robot 100, so that the force application point of the handle 4 to the robot 100 can be close to the center of gravity of the robot 100, thereby avoiding the inclination of the handle 4 of the robot 100 under force application Even crooked. At the same time, the connection part 42 will not be set too low, and the rear case 11a will leave enough space for placing the connection part 42 and the grip part 41, so that the space of the rear case 11a can be reasonably used to avoid the setting of the handle 4. And affect the overall appearance of the robot 100 .

Preferably, the axial direction of the pin shaft 5 is set horizontally, and at this time, the rotational axis of the connecting portion 42 is perpendicular to the height direction of the robot 100 . Turning the handle 42 upward or downward can drive the handle 4 to rotate, and the rotation of the handle 4 is simple and convenient.

The rear shell 11a is provided with an angle fixing member 7, and the maximum angle that the connecting portion 42 can rotate outward relative to the rear shell 11a under the limit of the angle fixing member 7 is 110°-140°. At this moment, the angle fixing part 7 is arranged on one end of the invisible groove 6 close to the connecting part 42, there is a turning space between the angle fixing part 7 and the connecting part 42, and when viewed from the front of the robot 100 toward the rear, the angle fixing part 7 approaches One end of the connecting portion 42 is arranged upwardly, and the inclination angle is 110°˜140° (see FIG. 6 ). When it is in the second state, the side of the connecting portion 42 facing the outside of the rear shell 11a is in surface contact with the angle fixing piece 7, and the angle α of the connecting portion 42 turning outward can be limited to 110° by using the limiting function of the angle fixing piece 7 ~140° can avoid the infinite rotation of the handle 4 , and the handle 4 in the second state is inclined upward to form an angle that is convenient for the user to apply force, improving the hand feeling during transportation. Simultaneously, the angle fixing part 7 can fix the handle 4 at the position of the second state, and in the process of using the handle 4 to pull the robot 100, it can avoid the shaking, inclination, or even crooked.

Preferably, the maximum angle at which the handle 4 can be turned outward is 120°. In the second state, the design of the handle 4 is more in line with human mechanics, forming an optimal pulling angle, and the user saves more effort when pulling the robot 100 .

The height of the grip portion 41 in the second state from the bottom of the rear case 11 a is 0.9-1.2 m, more preferably, the height of the grip portion 41 in the second state is 1.0 m. The height of the grip part 41 in the second state can be adapted to the height of most adults, which is convenient for the user to pull the handle 4 when the arm is tilted, and then pull the robot 100. The handling of the robot 100 is more convenient, labor-saving and feels good. excellent.

In conjunction with the above, the handle 4 provided in the embodiment of the present invention has a pin shaft 5 with a height of 80 cm, an overall length of the handle 4 of 40 cm, and the maximum angle that the handle 4 can rotate outwards is limited to 120°. Then when the handle 4 is in the second state, the height of the grip portion 41 is 1.0 m.

The handle 4 is provided with a first magnetic piece 81, and the rear shell 11a is provided with a second magnetic piece 82. The magnetic poles of the first magnetic piece 81 and the second magnetic piece 82 are different. Preferably, the first magnetic piece 81 is arranged on the handle Section 42. When the handle 4 is in the first state, the positions of the first magnetic part 81 and the second magnetic part 82 correspond. The handle 4 can be adsorbed and fixed in the rear shell 11a by using the principle of opposite magnetic pole attraction between the first magnetic part 81 and the second magnetic part 82, which can avoid the shaking of the handle 4 when the robot 100 does not need to be transported. 4 can be better hidden in the rear shell 11a of the robot 100, and the setting of the handle 4 will not affect the overall appearance of the robot 100.

In particular, in other embodiments, the first magnetic part 81 can be embedded in the handle 4 and/or the second magnetic part 82 can be embedded in the rear shell 11a, avoiding the first magnetic part 81 and the second magnetic part 82 settings affect the overall aesthetics of the robot.

In this embodiment, the connection part 42 and the grip part 41 are integrally formed and arranged in a T-shape as a whole. The handle 4 is made of aluminum alloy, which has strong oxidation resistance and corrosion resistance, ensuring the service life of the handle 4 . Wherein, the outer diameter of one end of the connecting portion 42 connected to the grip portion 41 is less than 1.5 cm, and the outer diameter of the grip portion 41 is less than 4 cm. At this time, the connecting portion 42 is adapted to the gap between two fingers of a normal human hand, and the grip portion 41 is adapted to the grip of a human hand. When the user grasps the handle 4, the handle feels excellent and is convenient for applying force.

As shown in FIG. 3 , an anti-slip sleeve 9 is provided on the gripping portion 41 . The anti-slip sleeve 9 may be a sponge sleeve or a rubber sleeve, and the anti-slip sleeve 9 may be provided with anti-slip lines 91 or anti-slip protrusions. Using the anti-slip cover 9 can increase the friction between the hand and the grip 41 to avoid slipping of the hand, and the setting of the anti-slip cover 9 can also increase the user's comfort when pulling the handle 4 .

In summary, the handle 4 of the robot 100 in the present invention has the advantages of long service life, wide application range, reasonable design, simple structure, and low production cost, which is convenient for popularization and use.

For those skilled in the art, within the scope of the technical idea of the present utility model, the various steps of the above control method can be deleted or adjusted in sequence as needed.

Those skilled in the art can understand that in the above embodiments, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solution claimed in each claim of the present application can be basically realized. Therefore, various changes may be made to the above-mentioned embodiments in form and detail in practical applications without departing from the spirit and scope of the present invention.

Claims (10)

1. a kind of handled robot of band, including the shell with rear shell, which is characterized in that further include being arranged in the rear shell On handle, the handle includes the interconnecting piece of grip part and the connection grip part and the rear shell, the interconnecting piece and The rear shell rotation is hinged, and the grip part is configured to that the interconnecting piece is driven to rotate relative to the rear shell, and described Hand has first state and the second state；

When the handle is in first state, the grip part and the interconnecting piece are bonded and are hidden in the rear shell In；

When the handle is in the second state, far from the rear shell, the interconnecting piece is in set with the rear shell for the grip part Clamp angle.

2. the handled robot of band according to claim 1, which is characterized in that offer stealth in the rear shell Slot, shape, the size of the stealth slot are adapted with the handle, and handle when in first state is located at described hidden The rear shell setting is not protruded in shape slot and.

3. the handled robot of band according to claim 2, which is characterized in that the stealth slot is close to the grip part One end be provided with and communicated with grabbing groove.

4. with handled robot described according to claim 1~any one of 3, which is characterized in that be in the second shape Handle when state tilts upward setting, and the holding area is in side of the interconnecting piece far from the rear shell bottom.

5. the handled robot of band according to claim 4, which is characterized in that when in the first state, described The length direction of hand is consistent with the short transverse of the robot, and the grip part is close to the bottom of the rear shell, the connection The rotation in portion is axial vertical with the short transverse of the robot.

6. the handled robot of band according to claim 5, which is characterized in that angled fixation is arranged in the rear shell Part, the maximum angle that the interconnecting piece can be turned out under the restriction of the angle fixing piece relative to the rear shell as 110 °~140 °.

7. according to claim 1~3, with handled robot described in any one of 5 or 6, which is characterized in that be located at the Height of the grip part apart from rear shell bottom when two-state is 0.9~1.2m.

8. according to claim 1~3, with handled robot described in any one of 5 or 6, which is characterized in that described It is provided with the first magnetic part on hand, second magnetic part different with the magnetic pole of first magnetic part is provided in the rear shell, First magnetic part when in first state is corresponding with the position of second magnetic part.

9. according to claim 1~3, with handled robot described in any one of 5 or 6, which is characterized in that the company Socket part and the grip part are integrally formed and whole T-shaped setting, outside one end that the interconnecting piece is connect with the grip part Diameter is less than 1.5cm, and the outer diameter of the grip part is less than 4cm.

10. according to claim 1~3, with handled robot described in any one of 5 or 6, which is characterized in that described Anti-slip cover is provided on grip part.