CN208305074U - A kind of delivery machine people - Google Patents
A kind of delivery machine people Download PDFInfo
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- CN208305074U CN208305074U CN201820914890.0U CN201820914890U CN208305074U CN 208305074 U CN208305074 U CN 208305074U CN 201820914890 U CN201820914890 U CN 201820914890U CN 208305074 U CN208305074 U CN 208305074U
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- storage box
- machine people
- delivery machine
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- case lid
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Abstract
The utility model discloses a kind of delivery machine people, belong to robotic technology field.Delivery machine people provided by the utility model includes storage box, driving device, material frame component and control mechanism, it is capable of the case lid of automatic open close by the opening setting in storage box, and material frame component is arranged in storage box, it can be realized using control mechanism control when taking or placing material, storage box is automatically opened, and material frame component is transferred to the outside of storage box；When transporting or storing material, material frame component can be moved in storage box, and storage box is closed, material is made to be in confined space, largely improve the confidentiality and clean level of material.In addition, the inner wall of storage box can play certain position-limiting action to material frame by the way that material frame component to be placed in storage box, to be conducive to improve the mobile precision and stability of material frame, avoid the phenomenon that article falls occur when delivering material.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of delivery machine people.
Background technique
Robot is to automatically control being commonly called as machine comprising the behavior of all simulation people or other biological and the machine of thought
Device.With the fast development of industrialization and automation, in order to reduce cost of labor, improves working efficiency and avoid harsh ring
Injury of the border to people, more and more industry effects replace manual labor with robot.
Delivery machine people is the industrial robot that may provide the user with delivering article service.Existing delivery machine people one
As by the mobile position for changing article of clamping article, so that article delivery into user hand or is transmitted to user convenient for taking
The position arrived.Since delivery machine people can largely reduce the labor intensity of people, it is widely used in
The automatic transporting of lathe loading and unloading, press machine automatic production line, automatic assembly line, Palletised carry, container etc..
But the existing general airtightness of delivery machine people is poor, the article for needing to deliver usually all it is exposed outside, not only
It is unfavorable for that secrecy, security performance is poor, easily fall off damage, hygiene is lower, and intelligence degree is low.In addition, existing
The type that delivery machine people delivers material is single, poor universality.
Utility model content
The purpose of this utility model is to provide a kind of delivery machine people, not only intelligence degree is high by delivery machine people,
Confidentiality is preferable, is readily transported, and can be avoided material by external environmental.
For this purpose, the utility model uses following technical scheme:
A kind of delivery machine people characterized by comprising
Storage box, opening are provided with case lid；
Material frame component is arranged in the storage box, and can be under the drive of the drive towards close or separate
The direction of the case lid is mobile, and when the material frame component is mobile towards the case lid, the case lid can be automatically turned on；
Control mechanism is communicated to connect with the driving device, and can control the case lid opening and closing.
Preferably, one end of the case lid is rotatably connected on the opening of the storage box, in overturning power mechanism
Under driving, the other end of the case lid can be overturn around the junction of the case lid and the storage box, and the overturning power
Mechanism and the control mechanism communicate to connect.
Preferably, the delivery machine people further include:
Testing agency, positioned at the opening of the storage box, when the testing agency detects the material frame component,
The control mechanism controls the overturning power mechanism and opens the case lid.
Preferably, the driving device is telescoping mechanism, the material frame component is detachably connected on the telescopic machine
The middle part of structure, the case lid are connected to the free end of the telescoping mechanism.
Preferably, the material frame component includes multiple for carrying the material frame of different material, multiple materials
At least partially selectively setting in frame is on the telescoping mechanism.
Preferably, the multiple material frames being arranged on the telescoping mechanism are arranged along telescopic direction interval.
Preferably, being provided with multiple limiting grooves on the material frame, and material inspection is provided in the limiting groove
Survey sensor.
Preferably, the delivery machine people further include:
Guiding mechanism, the guiding mechanism include directive wheel, and mounting groove is provided on the side of the material frame, described to lead
It is rotatably connected in the mounting groove to wheel, the inner wall of the directive wheel and the storage box is slidably connected.
Preferably, the guiding mechanism further include:
Fixed frame, the fixed frame include U-shaped card socket part, and the both ends of the U-shaped card socket part turn down outward forms flange, institute
U-shaped card socket part is stated to be connected in the mounting groove, the directive wheel is rotatably connected in the U-shaped card socket part, the flange with
The material frame connection.
Preferably, the delivery machine people further include:
Navigate pedestal, and the navigation pedestal is detachably connected on the bottom of the storage box.
The utility model has the beneficial effects that
The utility model discloses a kind of delivery machine people, delivery machine people includes storage box, driving device, material frame
Component and control mechanism are capable of the case lid of automatic open close by the opening setting in storage box, and material frame component are set
It sets in storage box, can be realized using control mechanism control when taking or placing material, storage box is automatically opened, and
Material frame component is transferred to the outside of storage box；When transporting or storing material, material frame component can be moved to and be set
In object case, and storage box is closed, material is made to be in confined space, largely improves the confidentiality and cleaning of material
Degree.In addition, the inner wall of storage box can play certain limit to material frame by the way that material frame component to be placed in storage box
Effect avoids occurring when delivering material that article falls shows to be conducive to improve the mobile precision and stability of material frame
As.
Detailed description of the invention
Fig. 1 is the perspective view one of delivery machine people provided by the utility model；
Fig. 2 is the perspective view two of delivery machine people provided by the utility model；
Fig. 3 is the front view of delivery machine people provided by the utility model；
Fig. 4 is the bottom view of delivery machine people provided by the utility model；
Fig. 5 is the explosive view of delivery machine people provided by the utility model；
Fig. 6 is the installation diagram of material frame and case lid provided by the utility model；
Fig. 7 is the perspective view of material frame provided by the utility model；
Fig. 8 is the explosive view of material frame provided by the utility model.
In figure: 1, navigate pedestal；101, object disposing platform；102, mobile chassis；103, display screen；104, charge port；
2, storage box；201, cabinet；202, case lid；
3, touch screen；4, obstacle avoidance sensor；5, idler wheel；
6, telescoping mechanism；601, the first bar；602, the second bar；603, mounting plate；
7, material frame；701, limiting groove；8, material；
9, guiding mechanism；901, directive wheel；902, fixed frame；903, fixed pin；
10, material detection sensor.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
The utility model provides a kind of delivery machine people, and delivery machine people can execute carrying according to the order of user
Operation, and according to the coordinate of user's input target position, material 8 is accurately moved to target position from initial position.It is holding
It has gone after carrying task, delivery machine people can also be automatically moved into initial position, to execute transport operation again.
Specifically, as shown in Figures 1 to 8, delivery machine people includes storage box 2, driving device and control mechanism.Glove
Material frame component is provided in case 2, material frame component includes multiple for carrying the material frame 7 of different material, and material frame 7 is used for
Material 8 is placed, material 8 can be mineral water or other objects.Before delivering material, it can be selected according to the type of material
Some or certain several material frames 7 are assembled in storage box 2.It, will be more when multiple material frames 7 are assemblied in storage box 2
A material frame 7 is arranged along the short transverse interval of storage box 2.Control mechanism is the touch screen 3 being arranged on storage box 2.User
The interacting activity with delivery machine people is completed using touch screen 3, specifically, touch screen 3 includes control zone and viewing area, control zone
On be provided with it is multiple execute special exercises control buttons, such as control delivery machine people opening and closing switch button, and control
The start button and reset button of 2 inner driving device of storage box.Viewing area can show information relevant to delivery machine people
And parameter, such as the material carrying capacity and cruising ability etc. of delivery machine people.Touch screen 3 inclines relative to the top of storage box 2
Tiltedly setting, to meet the view object habit of user, tilt angle can be 30 degree, 45 degree or 60 degree.
For the ease of the pick-and-place of material 8, it sets storage box 2 to the cabinet 201 and case lid 202 of seperated design, cabinet 201
Top be provided with opening, touch screen 3 is arranged in case for the ease of user's operation at 201 top of cabinet for 202 spiral-lock of case lid
On lid 202.Work as glove to open and close storage box 2 using the unlatching and closure that control mechanism can control case lid 202
When case 2 is opened, driving device can be controlled using control mechanism and worked, by material frame 7 towards close to or far from case lid 202
Direction is mobile, consequently facilitating picking and placing material 8 on material frame component.
It is telescoping mechanism by driving device, and telescoping mechanism 6 is set in the present embodiment to drive material frame 7 mobile
It sets in cabinet 201.Specifically, telescoping mechanism 6 includes power mechanism and telescopic rod, telescopic rod includes being arranged and opposite capable of moving
Dynamic the first bar 601 and the second bar 602, the bottom end of the first bar 601 are fixed on the inner bottom surface of object disposing platform 101, the second bar 602
It is set in the top of the first bar 601, driven by the power mechanism, the second bar 602 can be moved up and down along the first bar 601, the
The top of two bars 602 is provided with mounting plate 603, and mounting plate 603 is fixedly connected with case lid 202.Due to cabinet in the present embodiment
201 opening setting at top, therefore the telescopic direction of telescoping mechanism 6 be along the vertical direction, certainly in other embodiments,
If the side of cabinet 201 is arranged in the opening of cabinet 201, the telescopic direction of telescoping mechanism 6 is also possible in the horizontal direction.
Specifically, in the present embodiment, the power mechanism of telescoping mechanism 6 can use motor.It certainly in other embodiments, can also be with
By cylinder directly as telescoping mechanism 6, and cylinder rod is connect directly as telescopic rod with material frame 7 and case lid 202.
Further, case lid 202 and 201 connection type of cabinet can connect to rotate one end of case lid 202 by shaft
The opening in cabinet 201 is connect, so that the other end of case lid 202 be enable to turn down by rotation center of shaft.Turn to realize
The rotation of axis can be connected with overturning power mechanism in one end of shaft, and overturning power mechanism can be motor, by the electricity of motor
Arbor is connect with shaft, drives shaft to rotate using the rotation of motor shaft.Certainly in other embodiments, power mechanism is overturn
Cylinder can be used, the piston rod of cylinder is connect with case lid 202, is turned over around the shaft using the movement driving case lid 202 of piston rod
Folding.Further, it in order to improve the intelligence degree of delivery machine people, avoids opening case lid 202 too early or too late, it can be with
Testing agency is set in the opening of storage box 2, testing agency can be sensor, such as infrared sensor or ultrasonic wave
Sensor.When detection components detect material frame 7, the i.e. controllable overturning power mechanism work of control mechanism, timely to beat
Unpacking lid 202.
Case lid 202 and 201 connection type of cabinet, can also be by case lids 202 and telescoping mechanism 6 other than above-mentioned connection type
Free end be directly fixedly connected, material frame 7 is arranged in the middle part of telescoping mechanism 6, so that realizing can using telescoping mechanism 6
It drives case lid 202 and material frame 7 mobile simultaneously, does not need to be arranged again above-mentioned overturning power mechanism and by case lid 202 and case
Body 201 is rotatablely connected by shaft, and then is conducive to simplify the structure and control difficulty of entire delivery machine people.For the ease of taking
Material is put, telescoping mechanism 6 is set greater than along the collapsing length of the opening direction of storage box 2 equal to material frame 7 and case lid 202
The distance between, so as to which material frame 7 to be moved to the outside of cabinet 201.
When user wants to take out the material 8 being placed on material frame 7 or places material 8 on material frame 7, then user can
With the start button on point touching screen 3, so that the elongation of telescoping mechanism 6 is controlled, when telescoping mechanism 6 starts elongation, positioned at setting
The case lid 202 at 2 top of object case is separated with cabinet 201, to storage box 2 be opened, when telescoping mechanism 6 continues elongation to a fixed length
When spending, material frame 7 can be transferred to the outside of storage box 2, so that user picks and places material 8；After user has picked and placed material 8,
Reset button on point touching screen 3, control telescoping mechanism 6 is shunk, so as to which material frame 7 is moved in storage box 2, to
When telescoping mechanism 6 is contracted to certain length, case lid 202 again close storage box 2 on cabinet 201 by spiral-lock, is in material 8
Confined space.Material 8 can largely improve the confidentiality of material 8 in confined space in the handling process, avoid
It is identified by other people.In addition, the inner wall of storage box 2 can play material frame 7 centainly by the way that material frame 7 to be placed in storage box 2
Position-limiting action avoid article occur when delivering material 8 to be conducive to improve the mobile precision and stability of material frame 7
The phenomenon that falling.
In order to further be limited to material 8, as shown in Figure 6 to 8, it is provided on material frame 7 multiple for putting
The shape of the limiting groove 701 of glove material 8, limiting groove 701 is adapted with the shape of material 8, such as when material 8 is cylinder
When, limiting groove 701 can be cylinder shape groove.Further, in order to count the quantity of material 8 on material frame 7, at each
A material detection sensor 10 is provided in limiting groove 701, specifically, material detection sensor 10 can be infrared sensing
Device or ultrasonic sensor.When material detection sensor 10 detects material 8, which is fed back into control mechanism, with
Just control mechanism shows the inventory that certain delivery machine people carries on display screen 103.In order to improve the aesthetics of storage box 2
And material 8 is picked and placed convenient for user, lamp bar is provided on the outer wall of storage box 2, lamp bar not only has illumination functions, and has both
Aesthetics.
In order to improve the stability and accuracy that material frame 7 moves in lifting and reseting procedure, in the side of material frame 7
It is provided with guiding mechanism 9, guiding mechanism 9 and the inner wall of cabinet 201 are slidably connected.Specifically, as shown in figure 8, guiding mechanism 9 can
Think multiple directive wheels 901 that 7 side of material frame is set.In order to improve guide effect, by multiple directive wheels 901 along material frame
7 side is uniformly arranged, and 201 inner wall of the cabinet position opposite with directive wheel 901 is provided with guide groove.For the ease of in material
Directive wheel 901 is installed in the side of frame 7, and multiple mounting grooves are uniformly provided on the side wall of material frame 7, and directive wheel 901 passes through solid
Determine frame 902 to be fixed in mounting groove.In the present embodiment, fixed frame 902 is formed by stripe board by fold, specifically, fixed
Frame 902 includes U-shaped card socket part, and the both ends of U-shaped card socket part turn down form flange outward, in two relative sides of U-shaped card socket part
Relative position is provided with first through hole, and the second through-hole is provided on flange.When by the installation of fixed frame 902 to mounting groove,
The third through-hole at 901 center of the second through-hole and directive wheel in U-shaped card socket part is passed through first with fixed pin 903, thus will
Directive wheel 901 and fixed frame 902 are rotatablely connected, and then U-shaped card socket part are connected in mounting groove, and make opening for U-shaped card socket part
Mouth is arranged outwardly, and flange is abutted with the side wall of material frame 7, finally passes through the second through-hole on flange for fixed frame using pin
902 are fixed to the side of material frame 7.
Further, for the ease of enabling delivery machine people's autonomous, the intelligence of delivery machine people is improved
Level is removably connected with navigation pedestal 1 in the bottom end of storage box 2, and navigation pedestal 1 is for driving entire delivery machine people to transport
The automatic programming movement path in target position that is dynamic, and being inputted according to client, so as to prestissimo by material 8 send to
Target position.For the ease of placing storage box 2 on navigation pedestal 1, object disposing platform 101 and movement are set by navigation pedestal 1
Chassis 102, object disposing platform 101 are detachably connected on the top of mobile chassis 102, and the upper surface of object disposing platform 101 is placement surface,
Storage box 2 is detachably connected on placement surface.In the present embodiment, by by storage box 2, object disposing platform 101 and mobile chassis
102 are set as being detachably connected, and can be realized the inventory transported as needed and loading type, replace different size or not
The storage box 2 of similar shape, and the object disposing platform 101 of different size can be replaced according to the size and shape of storage box 2, to change
Become the material carrying capacity and loading type of entire delivery machine people.The inside of object disposing platform 101 is cavity, is mounted therein with power supply machine
The power source that structure and driving mobile chassis 102 move, is provided with transmission mechanism in mobile chassis 102, power source can use
Motor, motor are electrically connected with power supply mechanism, and the output end of motor and the input terminal of transmission mechanism connect, the output end of transmission mechanism
It is connected with idler wheel 5, power source drives the rotation of idler wheel 5 by transmission mechanism to realize the movement of delivery machine people.In this implementation
In example, with no restrictions to the specific structure of transmission mechanism, the quantity of idler wheel 5 can be it is multiple, such as three, as shown in figure 4, three
A arrangement of idler wheel 5 is in equilateral triangle.Further, in order to improve the flexibility of robot motion, set universal for idler wheel 5
Wheel.
Further, in order to show the data such as the remaining capacity of power supply mechanism and the movement speed of mobile chassis 102, such as
Shown in Fig. 3, display screen 103 is additionally provided on the outer surface of object disposing platform 101, which, which can directly be embedded in, sets
On the shell of object platform 101, it can also be mounted on by bracket on the shell of object disposing platform 101, the display plane of display screen 103
It is obliquely installed, tilt angle meets the view object habit of user, such as can be 30 degree, 45 degree or 60 degree.As shown in Fig. 2, for
Motor structure preferentially uses chargeable mobile power source, and charge port 104 is provided on the outer surface of object disposing platform 101, works as shifting
When the electricity of dynamic power supply exhausts, it can be charged by external power supply to mobile power source.In order to give before power supply mechanism electricity exhausts
User prompts, and alert mechanism can also be arranged on object disposing platform 101, alert mechanism can be indicator light or alarm.
In order to make delivery machine people realize automatic path planning, it is provided on navigation pedestal 1 with avoidance function
The obstacle avoidance sensor 4 of energy, and obstacle avoidance sensor 4 is set between object disposing platform 101 and mobile chassis 102.In delivery machine
In the moving process of people, the transmitting terminal of obstacle avoidance sensor 4 sends out optical signal, is reflected back toward when optical signal touches barrier
After coming, it can be received by the receiving end in obstacle avoidance sensor 4.After receiving end receives the optical signal that transmitting terminal is launched,
The signal that there is barrier in front is transferred to control mechanism by obstacle avoidance sensor 4, control mechanism according to self-contained algorithm again
Planning path, and control navigation pedestal 1 and suitably change mobile route, with avoiding obstacles.It certainly in other embodiments, can also
Obstacle avoidance sensor 4 to be arranged in other positions of delivery machine people, but since the volume of barrier may be smaller, by avoidance
Sensor 4 is arranged on the navigation pedestal 1 of delivery machine people bottom, is conducive to the barrier for detecting small volume.
The present embodiment additionally provides the application method of delivery machine people a kind of on the basis of above-mentioned delivery machine people, should
Application method specifically comprises the following steps:
S1: the start button on delivery side's point touching screen 3, telescoping mechanism 6 start to extend, to open storage box 2
Case lid 202, and material frame 7 is moved to the outside of storage box 2；
S2: material 8 is placed on material frame 7 by delivery side,
S3: the reset button on delivery side's point touching screen 3, telescoping mechanism 6 start to shrink, so that material frame 7 is mobile
To the inside of storage box 2, and close case lid 202；
S4: storage box 2 is moved to target position by navigation 1 self-navigation of pedestal；
S5: after robot to be delivered reaches target position, recipient again taps on the start button on touch screen 3, stretches
Mechanism 6 extends again, to open the case lid 202 of storage box 2, and material frame 7 is moved to the outside of storage box 2；
S6: recipient takes material 8 away；
S7: recipient again taps on the reset button on touch screen 3, and telescoping mechanism 6 is shunk again, thus by material frame 7
It is moved to the inside of storage box 2, and closes case lid 202, resets material frame 7 and case lid 202；
S8: storage box 2 is moved to initial position by navigation 1 self-navigation of pedestal, to execute next delivery tasks.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of delivery machine people characterized by comprising
Storage box (2), opening are provided with case lid (202)；
Material frame component, setting is interior in the storage box (2), and can be under the drive of the drive towards close or separate institute
The direction for stating case lid (202) is mobile, and when the material frame component is mobile towards the case lid (202), the case lid (202) can
It automatically turns on；
Control mechanism is communicated to connect with the driving device, and can control the case lid (202) opening and closing.
2. delivery machine people according to claim 1, which is characterized in that
One end of the case lid (202) is rotatably connected on the opening of the storage box (2), in the driving of overturning power mechanism
Under, the other end of the case lid (202) can be overturn around the junction of the case lid (202) and the storage box (2), and described
It overturns power mechanism and the control mechanism communicates to connect.
3. delivery machine people according to claim 2, which is characterized in that the delivery machine people further include:
Testing agency is located at the opening of the storage box (2), when the testing agency detects the material frame component,
The control mechanism controls the overturning power mechanism and opens the case lid (202).
4. delivery machine people according to claim 1, which is characterized in that
The driving device is telescoping mechanism (6), and the material frame component is detachably connected in the telescoping mechanism (6)
Portion, the case lid (202) are connected to the free end of the telescoping mechanism (6).
5. delivery machine people according to claim 4, which is characterized in that
The material frame component includes multiple for carrying the material frame (7) of different material, in multiple material frames (7) extremely
Small part is selectively disposed on the telescoping mechanism (6).
6. delivery machine people according to claim 5, which is characterized in that
The multiple material frames (7) being arranged on the telescoping mechanism (6) are arranged along telescopic direction interval.
7. delivery machine people according to claim 5, which is characterized in that
It is provided with multiple limiting grooves (701) on the material frame (7), and is provided with material inspection in the limiting groove (701)
It surveys sensor (10).
8. delivery machine people according to claim 5, which is characterized in that the delivery machine people further include:
Guiding mechanism (9), the guiding mechanism (9) include directive wheel (901), are provided with peace on the side of the material frame (7)
Tankage, the directive wheel (901) are rotatably connected in the mounting groove, and the directive wheel (901) is interior with the storage box (2)
Wall is slidably connected.
9. delivery machine people according to claim 8, which is characterized in that the guiding mechanism (9) further include:
Fixed frame (902), the fixed frame (902) includes U-shaped card socket part, and the both ends of the U-shaped card socket part turn down to be formed outward
Flange, the U-shaped card socket part are connected in the mounting groove, and the directive wheel (901) is rotatably connected on the U-shaped card socket part
Interior, the flange is connect with the material frame (7).
10. -9 described in any item delivery machine people according to claim 1, which is characterized in that the delivery machine people further include:
It navigates pedestal (1), navigation pedestal (1) is detachably connected on the bottom of the storage box (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820914890.0U CN208305074U (en) | 2018-06-13 | 2018-06-13 | A kind of delivery machine people |
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| CN201820914890.0U CN208305074U (en) | 2018-06-13 | 2018-06-13 | A kind of delivery machine people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748185A (en) * | 2018-06-13 | 2018-11-06 | 苏州博众机器人有限公司 | A kind of delivery machine people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108748185A (en) * | 2018-06-13 | 2018-11-06 | 苏州博众机器人有限公司 | A kind of delivery machine people |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |