CN111300446A

CN111300446A - Send thing robot

Info

Publication number: CN111300446A
Application number: CN202010155283.2A
Authority: CN
Inventors: 支涛; 肖夏; 高志宇
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-06-19

Abstract

The application relates to the field of service robots, in particular to a delivery robot, which comprises a storage platform and a cloud platform mechanism, wherein the cloud platform mechanism is used for supporting the storage platform, and the cloud platform mechanism can adjust the levelness of the storage platform. When the object conveying robot jolts to lead to the object placing platform to incline or be unstable, the object placing platform can be adjusted through the holder mechanism to be kept horizontal, and therefore the probability of splashing and scattering of dishes in the object placing platform is reduced.

Description

Send thing robot

Technical Field

The application relates to the field of service robots, in particular to a delivery robot.

Background

The existing object or food delivery robot has the advantages that the object placing tray is fixed on a robot main body or an operation chassis, and if the robot jolts due to uneven road surfaces or is collided, dishes in the tray can be splashed and scattered during operation.

Disclosure of Invention

The application aims to provide a delivery robot to solve the problem that articles in a tray in the prior art cannot be kept stable due to jolt or impact.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides an article conveying robot, which includes:

a placement platform;

and the holder mechanism is used for supporting the object placing platform, and the holder mechanism is used for adjusting the levelness of the object placing platform.

The application provides a pair of send thing robot, its platform passes through cloud platform mechanism and supports, appears jolting when leading to platform slope or unstability when sending thing robot, and platform is adjusted to accessible cloud platform mechanism, makes it keep the level to reduce the probability that the dish in the platform appears spattering outward, the condition of scattering.

Optionally, in an embodiment of the present application, the object-sending robot further includes a three-axis gyroscope, the three-axis gyroscope is used for detecting a rotation angle of the object-placing platform, and the holder mechanism is capable of acting in response to a detection result of the three-axis gyroscope so as to adjust the object-placing platform.

The rotation angle of the object placing platform is detected by arranging the three-axis gyroscope in the object conveying robot, namely the front-back gradient and the left-right gradient of the object placing platform, and the rotation angle of the object placing platform in a horizontal state, so that the holder mechanism can adjust the object placing platform in real time according to the detection result of the three-axis gyroscope, and the holder mechanism can adjust the angle to enable the object placing platform to keep continuous and stable no matter how the object conveying robot jolts or inclines as long as the three-axis gyroscope detects that the object placing platform inclines.

Optionally, in an embodiment of the present application, the pan-tilt mechanism includes a translation shaft, a roll shaft, and a pitch shaft, which are movably connected in sequence, and the pitch shaft is connected to the storage platform;

the pitching shaft can rotate around a first axis relative to the rolling shaft so as to adjust the front-back levelness of the storage platform; the transverse roller can rotate around a second axis relative to the transverse roller so as to adjust the left and right levelness of the storage platform.

Through setting up translation axle, roller and every single move axle, rotate the every single move axle so that platform keeps front and back level, rotate the roller so that platform keeps horizontal about, through two directions just independent control simultaneously around and about with to make platform keep lasting the level.

Optionally, in an embodiment of the present application, the object-conveying robot further includes a fixing mechanism, the translation shaft is connected to the fixing mechanism, and the translation shaft can rotate around a third axis relative to the fixing mechanism, so that the object-placing platform can horizontally rotate.

Through setting up fixed establishment and making the translation axle rotationally connect in fixed establishment, rotate the translation axle and can the horizontal rotation put the thing tray to article on the thing tray are put in convenient to use or take.

Optionally, in an embodiment of the present application, the pitch axis is L-shaped, one end of the L-shaped pitch axis is supported at the bottom of the storage platform, and the other end of the L-shaped pitch axis is connected to the roll axis.

Optionally, in an embodiment of the present application, the traverse shaft is L-shaped, one end of the L-shaped traverse shaft is connected to the pitch shaft, and the other end of the L-shaped traverse shaft is connected to the translation shaft.

Optionally, in an embodiment of the present application, a pitch shaft motor is mounted on the roll shaft, and the pitch shaft motor is configured to drive the pitch shaft to rotate around the first axis; and a transverse roller motor is arranged on the translation shaft and used for driving the transverse roller to rotate around the second axis.

Optionally, in an embodiment of the present application, the translation shaft is L-shaped, and L-shaped one end of the translation shaft is connected to the traverse shaft, and L-shaped the other end of the translation shaft is connected to the fixing mechanism.

Optionally, in an embodiment of the present application, a translation shaft motor is installed on the fixing mechanism, and the translation shaft motor is configured to drive the translation shaft to rotate around the third axis.

Optionally, in an embodiment of the present application, the first axis, the second axis and the third axis are perpendicular to each other two by two and intersect at a point.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a front view of a delivery robot provided in an embodiment of the present application;

fig. 2 is a side view of a delivery robot according to an embodiment of the present application.

Icon: 100-a robot body; 200-a securing mechanism; 300-a translation axis; 310-a translation axis motor; 400-transverse rolling shaft; 410-a transverse roller motor; 500-pitch axis; 510-pitch axis motor; 600-a placement platform; 710-a first axis; 720-second axis; 730-third axis.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

The embodiment of the application provides a delivery robot, even under a bumpy state, articles (such as dishes) conveyed by the delivery robot are not prone to toppling or scattering.

As shown in fig. 1, the robot includes a robot body 100, a fixing mechanism 200 and a platform 600 are disposed in the robot body 100, the fixing mechanism 200 is fixedly connected to the robot body 100, and the platform 600 is connected to the fixing mechanism 200 through a pan-tilt mechanism.

When the object conveying robot jolts to lead to the object placing platform 600 to incline or be unstable, the object placing platform 600 can be adjusted through the holder mechanism, so that the object placing platform 600 is kept horizontal, and the probability of splashing and scattering of dishes in the object placing platform 600 is reduced.

This send thing robot still includes the triaxial gyroscope, and the integration of triaxial gyroscope is in the inside of platform 600, and the triaxial gyroscope is used for detecting platform 600's turned angle, and cloud platform mechanism can respond to the testing result action of triaxial gyroscope, thereby adjusts platform 600.

As shown in fig. 1 and 2, the pan-tilt mechanism includes a translation shaft 300, a roll shaft 400, and a pitch shaft 500, which are movably connected in sequence.

The pitch axis 500 is L-shaped, one end of the L-shaped pitch axis 500 is supported at the bottom of the platform 600, and the other end of the L-shaped pitch axis 500 is connected to the roll axis 400.

The roll shaft 400 is L-shaped, one end of the L-shaped roll shaft 400 is connected to the pitch shaft 500, and the other end of the L-shaped roll shaft 400 is connected to the translation shaft 300.

The translation shaft 300 is L-shaped, one end of the L-shaped translation shaft 300 is connected with the translation shaft 400, and the other end of the L-shaped translation shaft 300 is connected with the fixing mechanism 200.

The aforementioned tilt shaft 500 is rotatably connected to the roll shaft 400, and the tilt shaft 500 can rotate around the first axis 710 with respect to the roll shaft 400; the roll shaft 400 is rotatably connected to the translation shaft 300, and the roll shaft 400 can rotate around a second axis 720 relative to the translation shaft 300; the translation shaft 300 is rotatably connected to the fixing mechanism 200, and the translation shaft 300 can rotate around a third axis 730 relative to the fixing mechanism 200.

Referring to fig. 1 and 2, the first axis 710, the second axis 720, and the third axis 730 are perpendicular to each other and intersect at a point.

In this embodiment, the first axis 710 and the second axis 720 extend in a horizontal direction, the first axis 710 is perpendicular to the traveling direction of the robot body 100, the second axis 720 extends in the traveling direction of the robot body 100, and the third axis 730 extends in a vertical direction.

When the pitch axis 500 rotates around the first axis 710, the platform 600 swings in the front-back direction, so that the front-back levelness of the platform 600 can be adjusted.

When the roll shaft 400 rotates around the second axis 720, the platform 600 swings in the left-right direction, so that the left-right levelness of the platform 600 can be adjusted.

When translation axle 300 rotates around third axis 730, put platform 600 rotates in the horizontal direction, also is put platform 600 horizontal rotation, when article need be taken, can rotate the opening position to robot 100 with article, prevents that cloud platform mechanism from blockking the opening to conveniently take article.

For the convenience of adjustment, a pitch axis motor 510 is installed on the roll axis 400, and the pitch axis motor 510 is used for driving the pitch axis 500 to rotate around a first axis 710; a transverse rolling shaft motor 410 is installed on the translation shaft 300, and the transverse rolling shaft motor 410 is used for driving the transverse rolling shaft 400 to rotate around a second axis 720; translation shaft motor 310 is mounted on fixing mechanism 200, and translation shaft motor 310 is used for driving translation shaft 300 to rotate around third axis 730.

The principle of the object conveying robot for maintaining stability is as follows:

before the object is delivered, the object placing platform 600 is adjusted to be horizontal, and the angles of the three axes of the three-axis gyroscope are set to be 0 degrees.

When the object is delivered, if the robot body 100 jolts to cause the object placing platform 600 to incline 10 degrees in a certain direction, the angle of the corresponding axis of the three-axis gyroscope changes from 0 degree to 10 degrees, at this time, the pan-tilt mechanism immediately responds to the detection result of the three-axis gyroscope to adjust the inclination angle, if the tilt is in the front-back direction, the pitch axis motor 510 drives the pitch axis 500 to rotate, the angle of the three-axis gyroscope is enabled to return to zero again, and the object placing platform 600 is adjusted to be horizontal. If the inclination angle in other directions appears, the same operation is carried out, so that the angles of three axes of the three-axis gyroscope are continuously zero, the object placing platform 600 can be ensured to be continuously horizontal, and the problem of toppling or scattering caused by jolting is solved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A delivery robot, comprising:

a placement platform;

2. The delivery robot of claim 1, further comprising a three-axis gyroscope configured to detect a rotation angle of the platform, wherein the pan-tilt mechanism is operable to adjust the platform in response to the detection of the three-axis gyroscope.

3. The delivery robot of claim 1, wherein the pan-tilt mechanism comprises a translation shaft, a roll shaft and a pitch shaft movably connected in sequence, and the pitch shaft is connected with the storage platform;

4. The delivery robot of claim 3, further comprising a securing mechanism, wherein the translation shaft is coupled to the securing mechanism, and wherein the translation shaft is rotatable about a third axis relative to the securing mechanism to enable the horizontal rotation of the placement platform.

5. The delivery robot of claim 3, wherein the pitch axis is L-shaped, one end of the L-shaped pitch axis is supported at the bottom of the platform, and the other end of the L-shaped pitch axis is connected to the roll axis.

6. The delivery robot of claim 3, wherein the roll axis is L-shaped, one end of the L-shaped roll axis is connected to the pitch axis, and the other end of the L-shaped roll axis is connected to the translation axis.

7. The delivery robot of claim 3, wherein the roll shaft has a pitch shaft motor mounted thereon, the pitch shaft motor configured to drive the pitch shaft to rotate about the first axis; and a transverse roller motor is arranged on the translation shaft and used for driving the transverse roller to rotate around the second axis.

8. The delivery robot of claim 4, wherein the translation shaft is L-shaped, one end of the L-shaped translation shaft is connected to the transverse shaft, and the other end of the L-shaped translation shaft is connected to the fixing mechanism.

9. The delivery robot of claim 4, wherein the fixed mechanism has a translation shaft motor mounted thereon, the translation shaft motor being configured to drive the translation shaft to rotate about the third axis.

10. The delivery robot of claim 4, wherein the first axis, the second axis, and the third axis are perpendicular to each other and intersect at a point.