CN107914276A - A kind of transportation robot - Google Patents
A kind of transportation robot Download PDFInfo
- Publication number
- CN107914276A CN107914276A CN201711365681.1A CN201711365681A CN107914276A CN 107914276 A CN107914276 A CN 107914276A CN 201711365681 A CN201711365681 A CN 201711365681A CN 107914276 A CN107914276 A CN 107914276A
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- China
- Prior art keywords
- door
- transportation robot
- warehouse
- shell
- parcel shelf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 claims description 45
- 230000003993 interaction Effects 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001815 facial effect Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of transportation robot, including：Chassis, including top plate and bottom plate, are provided with power supply module, moving assembly, communication control module, sensing module on the bottom plate；The sensing module is used to gather the environmental parameter in robot route of travel, and the moving assembly is used to drive the transportation robot to move under the control of the communication control module；Shell, is arranged on the top plate, and the shell side opens up door；Warehouse, is arranged on the inside of the shell and is fixedly mounted on the top plate；At least two pieces of parcel shelf, it is parallel longitudinal to be arranged in the warehouse；With the one-to-one drive component of the parcel shelf, it is arranged between the warehouse and the shell, for driving at least two pieces of parcel shelf edges to move longitudinally up and down；Door movable component, is arranged between the warehouse and shell.The transportation robot of the present invention can transport various article for multiple users at the same time, and ensure that article and robot are not damaged.
Description
Technical field
The present invention relates to the technical field of robot, more particularly to a kind of transportation robot.
Background technology
In recent years, service robot has obtained development at full speed.For the service robot with article delivery functions, its
Conveyer mainly includes following two forms：
(1) external form
The robot of machine ox, mechanical horse etc., article is carried on the back in back；For another example anthropomorphic robot, double arm, both hands support
A pallet is lifted, is placed items within pallet.Limited using external conveyer from storage space, it is easy to accomplish；But
Be not suitable for transporting some secret articles, and the dust-proof more demanding article such as windproof should not be dispensed.
(2) built in version
Such as wheeled robot, by the interior storing bin set come conveying articles.However, existing storing bin is fixed knot
Structure, door open after by user's voluntarily picking, thus there is following defect：
If a) bin gate structure is unreasonable, to glove thing can be taken to make troubles；
B) parcel shelf of storing bin is fixed structure, not only stiff, and some can not even detect whether to place article；
C) for privacy of user and article safety, single article can only be placed, service efficiency is low.
D) control method of parcel shelf is relatively simple, i.e., is simply combined by motor and lift plate, it is only necessary to according to fixation
Stroke, fixed position is lifted to by parcel shelf, and motor is may result in if there is a situation where article and is burnt out.
Therefore, it is badly in need of a kind of robot that can transport various article for multiple users at the same time, while can either elevator
Device task efficiency, and can ensure privacy of user and article safety.
The content of the invention
In view of the foregoing deficiencies of prior art, it is an object of the invention to provide a kind of transportation robot, Neng Goutong
When for multiple users transport various article, and ensure article and robot it is not impaired under the premise of, can ensure that user is hidden
Private and article safety.
In order to achieve the above objects and other related objects, the present invention provides a kind of transportation robot, including：Chassis, including
Top plate and bottom plate, are provided with power supply module, moving assembly, communication control module, sensing module on the bottom plate；The sensing mould
Block is used to gather the environmental parameter in robot route of travel, and the moving assembly is used for the control in the communication control module
The lower driving transportation robot movement；Shell, is arranged on the top plate, and the shell side opens up door；Warehouse, is set
In the inside of the shell and it is fixedly mounted on the top plate；At least two pieces of parcel shelf, it is parallel longitudinal to be arranged on the warehouse
It is interior；With the one-to-one drive component of the parcel shelf, it is arranged between the warehouse and the shell, in the communication
Under the control of control module, at least two pieces of parcel shelf edges move longitudinally up and down described in driving；Door movable component, is arranged on described
Between warehouse and shell, for driving the switch motion of the door.
In one embodiment of the invention, the moving assembly includes the drive wheel group that a pair is symmetricly set on the bottom plate
Part and some universal wheels；The drive wheel assemblies include motor, encoder, driver, suspension and wheel.
In one embodiment of the invention, the communication control module includes microprocessor and communication board.
In one embodiment of the invention, the sensing module includes laser sensor and ultrasonic sensor, for perceiving
The surrounding environment of robot, obtains the obstacle information in robot route of travel.
In one embodiment of the invention, drive component includes driving motor, a pair of of synchronous pulley, synchronous belt, optical axis and consolidates
Determine connector；The synchronous belt is around being located on the pair of synchronous pulley, one of synchronous pulley and the driving motor phase
Even, the optical axis is disposed longitudinally on outside the warehouse, and the fixedly connected part is set on the optical axis, with the synchronous belt and
Corresponding parcel shelf is connected, under the drive of the synchronous belt, driving the parcel shelf to be moved up and down along the optical axis.
In one embodiment of the invention, it is synchronous that the door movable component includes motor, door slide bar, synchronous belt, a pair
Belt wheel and fixedly connected part；The door slide bar is longitudinally disposed, and the pair of synchronous pulley is arranged on the door slide bar both ends,
One of synchronous pulley is connected with the motor, and the synchronous belt is around being located on the pair of synchronous pulley, the fixing piece
Connector is set on the door slide bar, is connected with the synchronous belt and the door, for the band in the synchronous belt
Under dynamic, the door is driven to pump along the door slide bar.
In one embodiment of the invention, human-computer interaction component is further included, is set on the housing, in the communication
Human-computer interaction is realized under the control of control module.
In one embodiment of the invention, the human-computer interaction component includes facial recognition modules, fingerprint identification module, voice
Interactive module and the one or more combinations in the block of gesture interaction mould.
In one embodiment of the invention, finger component is provided with the door.
In one embodiment of the invention, several limit switches are set on the warehouse, are used for realization the positioning of parcel shelf.
In one embodiment of the invention, mask assembly is further included, the periphery being arranged between the top plate and the bottom plate should
Mask assembly is equipped with the signal detection passage of the sensing module；Pressure sensor or infrared is provided with the mask assembly
Sensor.
As described above, the transportation robot of the present invention, has the advantages that：
(1) various article can be transported for multiple users at the same time；
(2) privacy of user is protected, the safety of article has been ensured, has greatly improved user experience；
(3) service efficiency of robot is substantially increased；
(4) usage scenario of robot is extended.
Brief description of the drawings
Fig. 1 is shown as the front view after Hatch Opening of the transportation robot of the present invention in an embodiment is opened；
Fig. 2 is shown as the sectional view along A-A of the transportation robot of Fig. 1；
Fig. 3 is shown as the perspective internal view of the transportation robot of Fig. 1.
Component label instructions
1 chassis
11 top plates
12 bottom plates
121 power supply modules
122 moving assemblies
123 sensing modules
2 shells
3 warehouses
4 parcel shelf
5 drive components
6 doors
7 door movable components
8 human-computer interaction components
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
It should be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., only coordinating specification to be taken off
The content shown, so that those skilled in the art understands and reads, is not limited to the enforceable qualifications of the present invention, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile cited such as " on ", " under " in this specification, "left", "right", the term of " centre " and " one ", also it is only
Easy to understanding for narration, and it is not used to limit the enforceable scope of the present invention, its relativeness is altered or modified, in no essence
Change under technology contents, when being also considered as the enforceable category of the present invention.
The transportation robot of the present invention transports various article for multiple users at the same time by setting at least two pieces of parcel shelf
Robot, and ensure article and robot it is not impaired under the premise of, can ensure privacy of user and article safety.
As shown in Figure 1-Figure 3, in an embodiment, transportation robot of the invention, including：
Chassis 1, including top plate 11 and bottom plate 12, power supply module 121, moving assembly 122, logical is provided with the bottom plate 12
Believe control module (not shown) and sensing module 123；The sensing module 123 is used to gather in robot route of travel
Environmental parameter, the moving assembly 122 are used to drive the transportation robot to move under the control of the communication control module.
Specifically, bottom plate 12 is used to set the components such as power supply module 121, moving assembly 122, communication control module and sensing module 123,
Top plate 11 is used for the shell and warehouse for placing transportation robot.
In one embodiment of the invention, the power supply module 121 includes rechargeable battery and charging module, to be sustainably
The transportation robot power supply of the present invention.
In one embodiment of the invention, the moving assembly 122 includes the drive that a pair is symmetricly set on the bottom plate 12
Drive wheel assemblies and some universal wheels；The drive wheel assemblies include motor, driver, suspension and wheel, and motor drives driver,
Driver drives are hung, and suspension drives vehicle wheel rotation again.Preferably, be respectively arranged with before and after the bottom plate 12 two it is universal
Wheel.Two drive wheel assemblies are separately positioned on the rear and front end or the left and right sides of the bottom plate 12.
In one embodiment of the invention, the communication control module includes microprocessor and communication board.The communication board is used
In realizing transportation robot and extraneous data communication, such as receive glove and take thing to instruct, receive destination address information, receive target
User information, output Item Information etc..
In one embodiment of the invention, the sensing module 123 includes laser sensor and ultrasonic sensor, for feeling
Know the surrounding environment of robot, obtain the obstacle information in robot route of travel.Specifically, laser sensor and ultrasonic wave
Sensor is used for realization positioning and avoidance, and the microprocessor is gathered according to the laser sensor and the ultrasonic sensor
Signal control the moving assembly, arrived at avoiding barrier.Preferably, the microprocessor using DSP or
FPGA。
Shell 2, is arranged on the top plate 11, and the shell side opens up door.
Warehouse 3, is arranged on the inside of the shell 2 and is fixedly mounted on the top plate 11.
At least two pieces of parcel shelf 4, it is parallel longitudinal to be arranged in the warehouse 3.Specifically, by being set in the warehouse 3
At least two pieces of parcel shelf 4 are put, and the article of a user is placed in each parcel shelf 4, so as to fulfill being transported at the same time for multiple users
Defeated various article.Preferably, the parcel shelf 4 includes fixed plate and movable plate；The movable plate can be moved manually or automatically
Enter or remove the warehouse 3.
Preferably, the quantity of the parcel shelf 4 is 3, so that service can be provided for multiple users at the same time, and can guarantee that and
When be each user service.
With the one-to-one drive component 5 of the parcel shelf 4, it is arranged between the warehouse 3 and the shell 2, is used for
Under the control of the communication control module, at least two pieces of parcel shelf 4 are driven along moving longitudinally up and down work.Specifically, lead to
Letter control module takes the demand of thing or glove according to user, controls corresponding drive component 5 to drive corresponding parcel shelf 4 in warehouse
Moved up and down in 3 to door.
In one embodiment of the invention, drive component 5 includes driving motor, a pair of of synchronous pulley, synchronous belt, optical axis and consolidates
Determine connector；The synchronous belt is around being located on the pair of synchronous pulley, one of synchronous pulley and the driving motor phase
Even, the optical axis is disposed longitudinally on outside the warehouse 3, and the fixedly connected part is set on the optical axis, with the synchronous belt
It is connected with corresponding parcel shelf 4, under the drive of the synchronous belt 53, driving 4 plate of glove along the optical axis
Lower movement.Preferably, the number of the optical axis is one or two, so as to be stably connected with, ensures the normal fortune of drive component 5
OK.
Door 6, is arranged on the warehouse 3.Specifically, door 6 of the invention is opened by moving up and down.
In one embodiment of the invention, finger component is provided with the door 6.Wherein, finger component can use
Electric current and touch finger pinch device, can also use infrared finger pinch device.
Door movable component 7, is arranged between the warehouse 3 and shell 2, for driving the switch motion of the door 6.
In one embodiment of the invention, it is synchronous that the door movable component 7 includes motor, door slide bar, synchronous belt, a pair
Belt wheel and fixedly connected part；The door slide bar is longitudinally disposed, and the pair of synchronous pulley is arranged on the door slide bar both ends,
One of synchronous pulley is connected with the motor, and the synchronous belt is around being located on the pair of synchronous pulley, the fixing piece
Connector is set on the door slide bar, is connected with the synchronous belt and the door, for the band in the synchronous belt
Under dynamic, the door is driven to pump along the door slide bar.Preferably, the quantity of the door slide bar is one
Or two.
In one embodiment of the invention, transportation robot of the invention further includes human-computer interaction component 8, is arranged on described outer
On shell, for by communication control module, realizing human-computer interaction.Preferably, the human-computer interaction component is arranged on the shell
Top, using touch-screen.Wherein, the human-computer interaction component includes facial recognition modules, fingerprint identification module, interactive voice mould
Block and the one or more combinations in the block of gesture interaction mould.By human-computer interaction component, realize user and robot on glove,
The information exchange of thing is taken, to ensure the security of article.
In one embodiment of the invention, several limit switches are set on the warehouse 3 of transportation robot of the invention, are used for
Realize the positioning of parcel shelf.Wherein, the limit switch can be arranged on inside warehouse 3, and limit is realized by being contacted with parcel shelf
Position；Can also be arranged on outside warehouse 3, by contacted with fixedly connected part realize it is spacing.
In one embodiment of the invention, transportation robot of the invention further includes mask assembly, is arranged on the top plate 11
Periphery between the bottom plate 12.The mask assembly is equipped with the signal detection passage of the sensing module；The mask assembly
On be provided with pressure sensor or infrared sensor, to realize the anti-pinch function of transportation robot.
Carry out the course of work for the transportation robot that the present invention is further explained below by specific embodiment.In the embodiment
In, include three pieces of parcel shelf.Transportation machines man-hour, under original state, door is closed, and three pieces of parcel shelf are all on warehouse top
Portion, after communication module receives the instruction of delivering article, control module driving motor drives vehicle wheel rotation, goes to destination.
During traveling, positioning and avoidance are realized by laser sensor and ultrasonic module, accurately to arrive at.Reach mesh
Ground after, communication module contact client, and after realizing user identification confirmation by human-computer interaction component, opening a position, user put thing or
Take thing, after the completion of user action, robot closes storehouse and returns to or go to next destination.
In conclusion the transportation robot of the present invention can transport various article for multiple users at the same time；Protect user
Privacy, has ensured the safety of article, has greatly improved user experience；Substantially increase the service efficiency of robot；Extend
The usage scenario of robot.So the present invention effectively overcomes various shortcoming of the prior art and has high industrial exploitation value
Value.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (11)
- A kind of 1. transportation robot, it is characterised in that：Including：Chassis, including top plate and bottom plate, power supply module, moving assembly, communication control module, sensing mould are provided with the bottom plate Block；The sensing module is used to gather the environmental parameter in robot route of travel, and the moving assembly is used in the communication The transportation robot is driven to move under the control of control module；Shell, is arranged on the top plate, and the shell side opens up door；Warehouse, is arranged on the inside of the shell and is fixedly mounted on the top plate；At least two pieces of parcel shelf, it is parallel longitudinal to be arranged in the warehouse；With the one-to-one drive component of the parcel shelf, it is arranged between the warehouse and the shell, for described logical Under the control for believing control module, at least two pieces of parcel shelf edges move longitudinally up and down described in driving；Door movable component, is arranged between the warehouse and shell, for driving the switch motion of the door.
- 2. transportation robot according to claim 1, it is characterised in that：The moving assembly is symmetricly set on including a pair Drive wheel assemblies and some universal wheels on the bottom plate；The drive wheel assemblies include motor, encoder, driver, suspension And wheel.
- 3. transportation robot according to claim 1, it is characterised in that：The communication control module include microprocessor and Communication board.
- 4. transportation robot according to claim 1, it is characterised in that：The sensing module includes laser sensor and surpasses Sonic sensor, for perceiving the surrounding environment of robot, obtains the obstacle information in robot route of travel.
- 5. transportation robot according to claim 1, it is characterised in that：It is synchronous that drive component includes driving motor, a pair Belt wheel, synchronous belt, optical axis and fixedly connected part；For the synchronous belt around being located on the pair of synchronous pulley, one of them is synchronous Belt wheel is connected with the driving motor, and the optical axis is disposed longitudinally on outside the warehouse, and the fixedly connected part is set in described On optical axis, it is connected with the synchronous belt and corresponding parcel shelf, under the drive of the synchronous belt, driving the glove Plate is moved up and down along the optical axis.
- 6. transportation robot according to claim 1, it is characterised in that：The door movable component includes motor, door Slide bar, synchronous belt, a pair of of synchronous pulley and fixedly connected part；The door slide bar is longitudinally disposed, and the pair of synchronous pulley is set Put and be connected in the door slide bar both ends, one of synchronous pulley with the motor, the synchronous belt is the pair of around being located at On synchronous pulley, the fixing piece connector is set on the door slide bar, is connected with the synchronous belt and the door, For under the drive of the synchronous belt, driving the door to pump along the door slide bar.
- 7. transportation robot according to claim 1, it is characterised in that：Human-computer interaction component is further included, is arranged on described On shell, for realizing human-computer interaction under the control of the communication control module.
- 8. transportation robot according to claim 7, it is characterised in that：The human-computer interaction component includes face recognition mould Block, fingerprint identification module, voice interaction module and the one or more combinations in the block of gesture interaction mould.
- 9. transportation robot according to claim 1, it is characterised in that：Finger component is provided with the door.
- 10. transportation robot according to claim 1, it is characterised in that：Several limit switches are set on the warehouse, It is used for realization the positioning of parcel shelf.
- 11. transportation robot according to claim 1, it is characterised in that：Mask assembly is further included, is arranged on the top plate Periphery between the bottom plate, the mask assembly are equipped with the signal detection passage of the sensing module；On the mask assembly It is provided with pressure sensor or infrared sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365681.1A CN107914276A (en) | 2017-12-18 | 2017-12-18 | A kind of transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365681.1A CN107914276A (en) | 2017-12-18 | 2017-12-18 | A kind of transportation robot |
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| Publication Number | Publication Date |
|---|---|
| CN107914276A true CN107914276A (en) | 2018-04-17 |
Family
ID=61893472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711365681.1A Pending CN107914276A (en) | 2017-12-18 | 2017-12-18 | A kind of transportation robot |
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| Country | Link |
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| CN (1) | CN107914276A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638081A (en) * | 2018-04-27 | 2018-10-12 | 上海静客网络科技有限公司 | A kind of Intelligent greeting robot |
| CN108748186A (en) * | 2018-06-13 | 2018-11-06 | 苏州博众机器人有限公司 | A kind of delivery machine people and its application method |
| CN110076802A (en) * | 2019-05-31 | 2019-08-02 | 深兰科技（上海）有限公司 | A kind of service robot |
| CN110216646A (en) * | 2019-05-31 | 2019-09-10 | 深兰科技（上海）有限公司 | One kind peddling robot |
| CN110371636A (en) * | 2018-08-02 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Automated guided vehicle |
| CN110524546A (en) * | 2018-05-25 | 2019-12-03 | 菜鸟智能物流控股有限公司 | Robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638081A (en) * | 2018-04-27 | 2018-10-12 | 上海静客网络科技有限公司 | A kind of Intelligent greeting robot |
| CN110524546A (en) * | 2018-05-25 | 2019-12-03 | 菜鸟智能物流控股有限公司 | Robot |
| CN108748186A (en) * | 2018-06-13 | 2018-11-06 | 苏州博众机器人有限公司 | A kind of delivery machine people and its application method |
| CN108748186B (en) * | 2018-06-13 | 2023-12-12 | 苏州博众智能机器人有限公司 | Delivery robot and application method thereof |
| CN110371636A (en) * | 2018-08-02 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Automated guided vehicle |
| CN110076802A (en) * | 2019-05-31 | 2019-08-02 | 深兰科技（上海）有限公司 | A kind of service robot |
| CN110216646A (en) * | 2019-05-31 | 2019-09-10 | 深兰科技（上海）有限公司 | One kind peddling robot |
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