CN107577237A - A kind of modular dispensing machine people - Google Patents
A kind of modular dispensing machine people Download PDFInfo
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- CN107577237A CN107577237A CN201710934284.5A CN201710934284A CN107577237A CN 107577237 A CN107577237 A CN 107577237A CN 201710934284 A CN201710934284 A CN 201710934284A CN 107577237 A CN107577237 A CN 107577237A
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- robot body
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 19
- 230000001105 regulatory effect Effects 0.000 claims abstract description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 230000004927 fusion Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Abstract
A kind of modular dispensing machine people,Including robot body,Interactive module,Executing agency,First loading module,Second loading module,It is characterized in that,The interactive module,Executing agency,First loading module,Second loading module is fixed on robot body and can dismantled,The robot body is hollow,Using in-wheel driving,Leg formula drives,And with autonomous center-of-gravity regulating height and Area of bearing,Omni-mobile,The functions such as pivot turn,The interactive module is installed on above the robot body front end,The executing agency is installed on above the robot body rear end,First loading module is installed on the robot body hollow region,Second loading module is installed on the top of robot body,When one or more any module is disassembled in first loading module and second loading module,Robot body still can be with normal work.
Description
Technical field
The present invention relates to logistics distribution field, more particularly to a kind of modularization dispensing machine people.
Background technology
Establishing intelligent city increasingly turns into the common research topic of society, and the intelligence of goods, which is transported, also becomes people's discussion
Much-talked-about topic, at present large number of rows occurred already some robots be used for dispense goods, the side that existing product generally uses
Case is that robot only transports a chest module, and some functional modules are redundancies under specific occasion, such space profit
Have with rate and be largely limited, in consideration of it, a kind of match somebody with somebody with larger space utilization rate with the modularization for being capable of modularization assemble
Robot is sent to bring very big improvement.
The content of the invention
It is an object of the invention to provide a kind of modularization dispensing machine people, the modularization assemble of robot can be realized,
Dispatching casing is available for people's unrestricted choice to assemble, and increases the freedom used and improves space availability ratio.
To achieve the above object, there is provided following technical scheme：
1. a kind of modular dispensing machine people, including robot body, interactive module, executing agency, the first loading module, the
Two loading modules, it is characterised in that the interactive module, executing agency, the first loading module, the second loading module pass through respectively
Interactive module interface, actuator interface, the first loading interface, the second loading interface are fixed on robot body and can be with
Dismounting, the interactive module interface, actuator interface, the first loading module interface, the second loading module interface are provided simultaneously with
The function of mechanically connecting and electrically connect, the robot body is hollow, using in-wheel driving, the driving of leg formula, and has autonomous
Function, the interactive modules such as center-of-gravity regulating height and Area of bearing, Omni-mobile, pivot turn are installed on the robot sheet
Above body front end, the executing agency is installed on above the robot body rear end, and first loading module is installed on institute
Robot body hollow region is stated, second loading module is installed on the top of robot body, first loading module
There is function of containing articles with second loading module, in first loading module and second loading module any one or
When the multiple modules of person are disassembled, robot body still can be with normal work.
It is 2. further, it is characterised in that：
（1）The robot body laser radar, IMU, can be compiled with autonomous, the robot body by camera
Code device etc. multisensor Data Fusion technology and GPS realize being automatically positioned of indoor and outdoors, avoidance, build figure and navigation, lead to
Cross Distributed Calculation planning and obtain optimized operation path, the information that the optimal path includes has starting point, destination, barrier
And walking path, the camera include RGBD depth cameras, monocular cam, binocular camera；
（2）The robot body can with third-party platform real-time Communication for Power and receive third-party platform instruction.
It is 3. further, it is characterised in that：
（1）The interactive module can interact with the external world, by information transfers such as dispatching orders to robot body, and in real time
Show current distribution information；
（2）When the interactive module scene is inapplicable or can dismantle during robot body limited space, also, the machine
Human body can only lose the function of interactive module this module and other normal functions are unaffected.
It is 4. further, it is characterised in that：
（1）The executing agency is provided with camera, and the executing agency uses PID control and Visual servoing control, described to hold
Row mechanism has one or more free degree, and particularly, the executing agency can be used for pressing elevator；
（2）When executing agency's scene is inapplicable or can dismantle during robot body limited space, also, the machine
Human body only can lose the function of this module of executing agency and other normal functions are unaffected.
It is 5. further, it is characterised in that first loading module and the second loading module form more than one, it is described
First loading module and the second loading module can be freely assembled in the case of allowing in space.
Brief description of the drawings：
Fig. 1 is the complete structure schematic diagram of the specific embodiment of the present invention
Fig. 2 is the structural representation after the first loading module and the second loading module are pulled down
Fig. 3 is the structural representation of the specific embodiment robot body of the present invention.
Claims (5)
1. a kind of modular dispensing machine people, including robot body, interactive module, executing agency, the first loading module, the
Two loading modules, it is characterised in that the interactive module, executing agency, the first loading module, the second loading module pass through respectively
Interactive module interface, actuator interface, the first loading interface, the second loading interface are fixed on robot body and can be with
Dismounting, the interactive module interface, actuator interface, the first loading module interface, the second loading module interface are provided simultaneously with
The function of mechanically connecting and electrically connect, the robot body is hollow, using in-wheel driving, the driving of leg formula, and has autonomous
Function, the interactive modules such as center-of-gravity regulating height and Area of bearing, Omni-mobile, pivot turn are installed on the robot sheet
Above body front end, the executing agency is installed on above the robot body rear end, and first loading module is installed on institute
Robot body hollow region is stated, second loading module is installed on the top of robot body, first loading module
There is function of containing articles with second loading module, in first loading module and second loading module any one or
When the multiple modules of person are disassembled, robot body still can be with normal work.
A kind of 2. modularization dispensing machine people as claimed in claim 1, it is characterised in that：
（1）The robot body laser radar, IMU, can be compiled with autonomous, the robot body by camera
Code device etc. multisensor Data Fusion technology and GPS realize being automatically positioned of indoor and outdoors, avoidance, build figure and navigation, lead to
Cross Distributed Calculation planning and obtain optimized operation path, the information that the optimal path includes has starting point, destination, barrier
And walking path, the camera include RGBD depth cameras, monocular cam, binocular camera；
（2）The robot body can with third-party platform real-time Communication for Power and receive third-party platform instruction.
A kind of 3. modular dispensing machine people as claimed in claim 1, it is characterised in that：
（1）The interactive module can interact with the external world, by information transfers such as dispatching orders to robot body, and in real time
Show current distribution information；
（2）When the interactive module scene is inapplicable or can dismantle during robot body limited space, also, the machine
Human body can only lose the function of interactive module this module and other normal functions are unaffected.
A kind of 4. modular dispensing machine people as claimed in claim 1, it is characterised in that：
（1）The executing agency is provided with camera, and the executing agency uses PID control and Visual servoing control, described to hold
The free degree of row mechanism is no less than 3, and particularly, the executing agency can be used for pressing elevator；
（2）When executing agency's scene is inapplicable or can dismantle during robot body limited space, also, the machine
Human body only can lose the function of this module of executing agency and other normal functions are unaffected.
5. a kind of modular dispensing machine people as claimed in claim 1, it is characterised in that first loading module and the
Two loading module form more than one, first loading module and the second loading module can be certainly in the case of allowing in space
By assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934284.5A CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934284.5A CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107577237A true CN107577237A (en) | 2018-01-12 |
| CN107577237B CN107577237B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710934284.5A Active CN107577237B (en) | 2017-10-10 | 2017-10-10 | Modularized distribution robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107577237B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544912A (en) * | 2018-03-16 | 2018-09-18 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differentia all-terrain mobile robot control system and its control method |
| CN111413963A (en) * | 2020-02-20 | 2020-07-14 | 上海交通大学 | Multifunctional robot autonomous distribution method and system |
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| CN111413963B (en) * | 2020-02-20 | 2021-10-15 | 上海交通大学 | Multifunctional robot autonomous distribution method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107577237B (en) | 2024-02-23 |
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