CN107985890A - A kind of parcel shelf, robot storing bin and robot - Google Patents
A kind of parcel shelf, robot storing bin and robot Download PDFInfo
- Publication number
- CN107985890A CN107985890A CN201711368202.1A CN201711368202A CN107985890A CN 107985890 A CN107985890 A CN 107985890A CN 201711368202 A CN201711368202 A CN 201711368202A CN 107985890 A CN107985890 A CN 107985890A
- Authority
- CN
- China
- Prior art keywords
- movable plate
- parcel shelf
- plate
- fixed plate
- slide
- 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.)
- Pending
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 30
- 229910052742 iron Inorganic materials 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The present invention provides a kind of parcel shelf, robot storing bin and robot, including：Movable plate；Fixed plate；Slide, the slide connect the movable plate and the fixed plate, and the movable plate can be slided along the slide, and then separated or closed up with the fixed plate；Limit assembly, the limit assembly are arranged between the movable plate and the fixed plate, to limit the ultimate range that the movable plate slides.Parcel shelf, robot storing bin and the robot of the present invention can flexibly be movable into and out storing bin, and can accurate judgement its upper and lower surface whether have article, so as to greatly facilitate glove and take thing, improve user experience.
Description
Technical field
The present invention relates to the technical field of parcel shelf, more particularly to a kind of parcel shelf, robot storing bin and 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) the parcel shelf fixed setting of storing bin, it is impossible to which activity, can not also detect whether be placed with article thereon.
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 parcel shelf, robot storing
Storehouse and robot, can flexibly be movable into and out storing bin, and can accurate judgement its upper and lower surface whether have article,
So as to greatly facilitate glove and take thing, user experience is improved.
In order to achieve the above objects and other related objects, the present invention provides a kind of parcel shelf, including：Movable plate；Fixed plate；
Slide, the slide connect the movable plate and the fixed plate, the movable plate and can be slided along the slide, so with institute
Fixed plate is stated to separate or close up；Limit assembly, the limit assembly are arranged between the movable plate and the fixed plate, with limit
The ultimate range that the fixed movable plate slides.
In one embodiment of the invention, the limit assembly includes being arranged on the connected convex of the lower surface of the movable plate
Block and iron plate；It is arranged on the connected limit switch and electromagnet of the upper surface of the fixed plate；When the movable plate is described in
When slide slides the ultimate range, the iron plate is in contact with the electromagnet, work of the limit switch in the convex block
The firmly lower conducting electromagnet, so that the iron plate is fixed together with the electromagnet.
In one embodiment of the invention, control module and drive module are further included, the control module is used for according to reception
To pull-out instruction or pull in instruction, control the drive module driving movable plate to be slided along the slide, so that movable
Plate and fixed plate are separated or closed up.
In one embodiment of the invention, the pressure sensor being connected with the control module is provided with the movable plate,
For detecting whether article is placed with the movable plate；The pressure being connected with the control module is provided with the fixed plate
Sensor, for detecting the stress below the fixed plate；The pressure that the control module is additionally operable on the movable plate passes
Sensor detects when not placing article on the movable plate and continuing preset duration, controls the drive module to drive the activity
Plate is slided along the slide, so that the movable plate and fixed plate are closed up.
In one embodiment of the invention, handle is provided with the movable plate, for movable plate described in manual actuation along institute
Slide slip is stated, so that the movable plate and the fixed plate are closed up or separated.
In one embodiment of the invention, the rear end of the movable plate is provided with actuating unit, and the actuating unit is used for
When the iron plate and the electromagnet disconnect, the movable plate is driven to be slided along the slide, so that the movable plate and described
Fixed plate is closed up.
In one embodiment of the invention, the actuating unit uses rubber band, compression spring, tension spring, motor or push rod.
Meanwhile the present invention provides a kind of robot storing bin, it is characterised in that：Including at least two pieces of above-mentioned parcel shelf and
Controller；The controller is used to control at least two pieces of parcel shelf to move according to default track in storing bin.
In one embodiment of the invention, the movable plate of the parcel shelf is provided with pressure sensor, for detecting the work
Whether article is placed with movable plate.
In one embodiment of the invention, the pressure being connected with the controller is provided with the fixed plate of the parcel shelf and is passed
Sensor, the pressure sensor are used to detect the power whether fixed plate is subject to exceed predetermined threshold value；The controller receives
The detection information of the pressure sensor transmission simultaneously sends default control instruction, to ensure suffered by the fixed plate of the parcel shelf
Power resets or no longer increases.
Finally, the present invention provides a kind of robot, including above-mentioned robot storing bin.
As described above, parcel shelf, robot storing bin and the robot of the present invention, have the advantages that：
(1) storing bin can be flexibly movable into and out, ensure that security during parcel shelf activity, and greatly facilitate
User's pickup, improves user experience；
(2) whether article can be placed on accurate judgement parcel shelf；And in the structure that polylith parcel shelf is set, work as lower section
Parcel shelf or article above false hit during parcel shelf, or parcel shelf is moved downward when meeting some article, and parcel shelf can
Movement is automatically stopped, to ensure the safety and reliability of whole device.
Brief description of the drawings
Fig. 1 is shown as structure diagram of the parcel shelf of the present invention in an embodiment；
Fig. 2 is shown as the sectional view along A-A of Fig. 1；
The movable plate that Fig. 3 is shown as the parcel shelf of the present invention pulls out the structure diagram by after；
Fig. 4 is shown as the B-B direction sectional view of Fig. 3；
Fig. 5 is shown as the C-C of Fig. 3 to sectional view.
Component label instructions
1 movable plate
11 handles
2 fixed plates
21 pressure sensors
3 slides
4 limit assemblies
41 convex blocks
42 iron plates
43 limit switches
44 electromagnet
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
It should be noted that the diagram provided in the present embodiment only illustrates the basic conception of the present invention in a schematic way,
Then in schema only display with it is of the invention in related component rather than component count, shape and size during according to actual implementation paint
System, kenel, quantity and the ratio of each component can be a kind of random change during its actual implementation, and its assembly layout kenel also may be used
Can be increasingly complex.
Parcel shelf, robot storing bin and the robot of the present invention can realize that parcel shelf is moved relative to the flexible of storing bin
Enter and remove, and can accurate judgement its upper and lower surface whether have article, greatly facilitate glove and take thing, lifted
User experience.
As Figure 1-Figure 5, in an embodiment, parcel shelf of the invention includes movable plate 1, fixed plate 2,3 and of slide
Limit assembly 4.
The slide 3 connects the movable plate 1 and the fixed plate 2, and the movable plate 1 can be slided along the slide 3,
And then separate or close up with the fixed plate 2；The limit assembly 4 is arranged between the movable plate 1 and the fixed plate 2,
To limit the ultimate range that the movable plate 1 slides.
In one embodiment of the invention, the limit assembly 4 includes being arranged on the connected of the lower surface of the movable plate 1
Convex block and 41 and iron plate 42；It is arranged on the connected limit switch 43 and electromagnet 44 of the upper surface of the fixed plate 2.When described
Movable plate 1 along the slide 3 slide the ultimate range when, the convex block 41 and the limit switch 43 pass through iron plate 42 and electricity
Magnet 44 mutually exerts on active force so that the movable plate 1 can not continue to slide, and the iron plate 42 connects with the electromagnet 44
Touch, the limit switch 43 turns on the electromagnet 44 under the active force of the convex block 41 so that the iron plate 42 with it is described
Electromagnet 44 is fixed together, so that the movable plate 1 and the fixed plate be positioned.At this time, user can place article
On parcel shelf, or the article of oneself is taken out from parcel shelf.After user is placed or taken out article, it is necessary to by the activity
Plate 1 and the fixed plate 2 are closed up, to realize the reset of the movable plate 1.
Specifically, the mode that movable plate of the invention can be manually or automatically is moved along slide, to realize movable plate
Export and reset.
In one embodiment of the invention, handle 11 is provided with the movable plate 1, for movable plate 1 described in manual actuation
Slided along the slide 3, so that the movable plate 1 and the fixed plate 2 are closed up or separated.That is, pass through the handle
11 manually realize movement of the movable plate 1 relative to fixed plate 2.
In another embodiment of the present invention, parcel shelf of the invention includes control module and drive module, the control
Module is used for according to the pull-out instruction received or pulls in instruction, controls the drive module to drive the movable plate along the cunning
Rail slides, so that movable plate and fixed plate are separated or closed up.That is, automatically realized by control module and drive module
Movable plate relative to fixed plate movement.
Preferably, the pressure sensor 12 being connected with the control module is provided with the movable plate 1, for detecting
State and whether be placed with article on movable plate；The pressure sensor 21 being connected with the control module is provided with the fixed plate 2,
For detecting the stress below the fixed plate；The control module is additionally operable to the pressure sensor 12 on the movable plate 1
Detect when not placing article on the movable plate 1 and continuing preset duration, control the drive module to drive the movable plate 1
Slided along the slide 3, so that the movable plate 1 and fixed plate 2 are closed up.Specifically, the upper surface of the movable plate is provided with
Whether the pressure sensors such as foil gauge, the upper surface for detecting the movable plate in real time are placed with article.It is described when detecting
When the upper surface of movable plate is not placed with article, show that the article on the parcel shelf has been removed, then the control module control
The drive module is made in certain time length, after 2s or 3s, drives the movable plate to be slided along the slide, so as to fulfill described
The automation of movable plate resets.
In one embodiment of the invention, actuating unit is provided with the movable plate, the actuating unit is used for described
When iron plate is disconnected with the electromagnet, the movable plate is driven to be slided along the slide, so that the movable plate and the fixation
Plate closes up.Specifically, the actuating unit is arranged on the rear end of the movable plate, for breaking in the iron plate and the electromagnet
The movable sheet reset is driven when opening.Preferably, the actuating unit uses rubber band, compression spring, tension spring, motor or push rod.When
Using rubber band, compression spring or tension spring when elastic parts, when movable plate export, elastic parts is stretched；Movable plate needs multiple
During position, elastic parts then provides pulling force, so as to ensure that movable plate smoothly resets.
The robot storing bin of the present invention includes at least two pieces above-mentioned parcel shelf and controller；The controller is used
Moved at least two pieces of parcel shelf described in control in storing bin according to default track.
In one embodiment of the invention, the movable plate of the parcel shelf is provided with pressure sensor, for detecting the work
Whether article is placed with movable plate.
In one embodiment of the invention, the pressure being connected with the controller is provided with the fixed plate of the parcel shelf and is passed
Sensor, the pressure sensor are used to detect the power whether fixed plate is subject to exceed predetermined threshold value；The controller receives
The detection information of the pressure sensor transmission simultaneously sends default control instruction, to ensure suffered by the fixed plate of the parcel shelf
Power resets or no longer increases.Specifically, when holding multiple pieces parcel shelf in robot storing bin, user is sequentially given according to controller
Article is delivered or collected, or delivers or collect the article on corresponding parcel shelf according to actual user.When in actual use, occur
Failure or objects underneath are excessive, and top parcel shelf has been arrived on parcel shelf or article top, then controller control lower section parcel shelf stops immediately
Stop is made, and waits robot to judge that current state adjustment acts.
Finally, robot of the invention includes above-mentioned robot storing bin.
In conclusion parcel shelf, robot storing bin and the robot of the present invention can flexibly be movable into and out storing bin,
It ensure that security during parcel shelf activity, and greatly facilitate user's pickup, improve user experience；Being capable of accurate judgement
Whether article is placed on parcel shelf；And in the structure that polylith parcel shelf is set, when the parcel shelf or article of lower section are in false hit
During the parcel shelf of top, or parcel shelf is moved downward when meeting some article, and parcel shelf can be automatically stopped movement, whole to ensure
The safety and reliability of device.So the present invention effectively overcomes various shortcoming of the prior art and has high industrial profit
With 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. parcel shelf, it is characterised in that：Including：Movable plate；Fixed plate；Slide, the slide connect the movable plate and the fixed plate, the movable plate and can be slided along the slide, and then Separate or close up with the fixed plate；Limit assembly, the limit assembly are arranged between the movable plate and the fixed plate, are slided with limiting the movable plate Dynamic ultimate range.
- 2. parcel shelf according to claim 1, it is characterised in that：The limit assembly includes being arranged on the movable plate The connected convex block and iron plate of lower surface；It is arranged on the connected limit switch and electromagnet of the upper surface of the fixed plate；When The movable plate along the slide slide the ultimate range when, the iron plate is in contact with the electromagnet, described spacing to open Pass turns on the electromagnet under the active force of the convex block, so that the iron plate is fixed together with the electromagnet.
- 3. parcel shelf according to claim 1, it is characterised in that：Further include control module and drive module, the control Module is used for according to the pull-out instruction received or pulls in instruction, controls the drive module to drive the movable plate along the cunning Rail slides, so that movable plate and fixed plate are separated or closed up.
- 4. parcel shelf according to claim 3, it is characterised in that：It is provided with the movable plate and the control module phase Whether pressure sensor even, article is placed with for detecting on the movable plate；It is provided with the fixed plate and the control The pressure sensor that molding block is connected, for detecting the stress below the fixed plate；The control module is additionally operable to described Pressure sensor on movable plate detect do not placed on the movable plate article and continue preset duration when, control the driving Movable plate described in module drive is slided along the slide, so that the movable plate and fixed plate are closed up.
- 5. according to Claims 1 to 4 any one of them parcel shelf, it is characterised in that：Handle is provided with the movable plate, is used Slided in movable plate described in manual actuation along the slide, so that the movable plate and the fixed plate are closed up or separated.
- 6. according to Claims 1 to 4 any one of them parcel shelf, it is characterised in that：The rear end of the movable plate is provided with dynamic Force mechanisms, the actuating unit are used to, when the iron plate and the electromagnet disconnect, drive the movable plate along the slide Slide, so that the movable plate and the fixed plate are closed up.
- 7. parcel shelf according to claim 6, it is characterised in that：The actuating unit using rubber band, compression spring, tension spring, Motor or push rod.
- A kind of 8. robot storing bin, it is characterised in that：Including the parcel shelf described in one of at least two pieces of claim 1-6 and control Device processed；The controller is used to control at least two pieces of parcel shelf to move according to default track in storing bin.
- 9. robot storing bin according to claim 8, it is characterised in that：The movable plate of the parcel shelf is provided with pressure Whether sensor, article is placed with for detecting on the movable plate.
- 10. robot storing bin according to claim 8 or claim 9, it is characterised in that：Set in the fixed plate of the parcel shelf There is the pressure sensor being connected with the controller, the pressure sensor is used to detect whether the fixed plate is subject to exceed in advance If the power of threshold value；The controller receives the detection information that the pressure sensor is sent and sends default control instruction, with Ensure that the fixed plate institute stress of the parcel shelf resets or no longer increases.
- A kind of 11. robot, it is characterised in that：Including the robot storing bin described in claim 8~10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711368202.1A CN107985890A (en) | 2017-12-18 | 2017-12-18 | A kind of parcel shelf, robot storing bin and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711368202.1A CN107985890A (en) | 2017-12-18 | 2017-12-18 | A kind of parcel shelf, robot storing bin and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107985890A true CN107985890A (en) | 2018-05-04 |
Family
ID=62037814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711368202.1A Pending CN107985890A (en) | 2017-12-18 | 2017-12-18 | A kind of parcel shelf, robot storing bin and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107985890A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07309410A (en) * | 1994-05-19 | 1995-11-28 | Yamaichi Sangyo Kk | Goods housing shelf |
| CN2280696Y (en) * | 1996-08-30 | 1998-05-06 | 南海市盐步竹岗五金机械厂 | Drawer type mould goods-shelf |
| CN202186675U (en) * | 2011-08-17 | 2012-04-11 | 山东省立医院 | Practical telescopically-adjustable reagent rack |
| CN203062095U (en) * | 2012-09-20 | 2013-07-17 | 梅塞尔切割焊接(中国)有限公司 | Material frame positioning device of laser cutting machine |
| CN104287471A (en) * | 2014-09-20 | 2015-01-21 | 青岛高校重工机械制造有限公司 | Article containing cabinet capable of detecting pressure |
| CN204433578U (en) * | 2015-01-12 | 2015-07-01 | 温州云洁仓储设备有限公司 | A kind of Bidirectional drawing type mould shelf |
| CN105059907A (en) * | 2015-07-28 | 2015-11-18 | 成都市欣欣高强度紧固件制造有限公司 | Automatic feeding device |
| CN105083074A (en) * | 2015-05-15 | 2015-11-25 | 浙江海洋学院 | Bus seat giving integrating system |
| CN105438707A (en) * | 2015-12-23 | 2016-03-30 | 贵阳普天物流技术有限公司 | Method and device for automatically storing and taking goods in intensive storehouse |
| CN105730956A (en) * | 2016-03-30 | 2016-07-06 | 南通大学 | Stacking machine with two layers of objective tables |
| CN105923314A (en) * | 2016-06-23 | 2016-09-07 | 海麟文博（厦门）文物预防性保护技术有限公司 | Intelligent exhibition frame for museum classical collections |
| CN106025900A (en) * | 2016-08-01 | 2016-10-12 | 舒渝燕 | Drawer type power distribution cabinet with anti-jam power mechanism |
| CN207861140U (en) * | 2017-12-18 | 2018-09-14 | 上海有个机器人有限公司 | A kind of parcel shelf, robot storing bin and robot |
-
2017
- 2017-12-18 CN CN201711368202.1A patent/CN107985890A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07309410A (en) * | 1994-05-19 | 1995-11-28 | Yamaichi Sangyo Kk | Goods housing shelf |
| CN2280696Y (en) * | 1996-08-30 | 1998-05-06 | 南海市盐步竹岗五金机械厂 | Drawer type mould goods-shelf |
| CN202186675U (en) * | 2011-08-17 | 2012-04-11 | 山东省立医院 | Practical telescopically-adjustable reagent rack |
| CN203062095U (en) * | 2012-09-20 | 2013-07-17 | 梅塞尔切割焊接(中国)有限公司 | Material frame positioning device of laser cutting machine |
| CN104287471A (en) * | 2014-09-20 | 2015-01-21 | 青岛高校重工机械制造有限公司 | Article containing cabinet capable of detecting pressure |
| CN204433578U (en) * | 2015-01-12 | 2015-07-01 | 温州云洁仓储设备有限公司 | A kind of Bidirectional drawing type mould shelf |
| CN105083074A (en) * | 2015-05-15 | 2015-11-25 | 浙江海洋学院 | Bus seat giving integrating system |
| CN105059907A (en) * | 2015-07-28 | 2015-11-18 | 成都市欣欣高强度紧固件制造有限公司 | Automatic feeding device |
| CN105438707A (en) * | 2015-12-23 | 2016-03-30 | 贵阳普天物流技术有限公司 | Method and device for automatically storing and taking goods in intensive storehouse |
| CN105730956A (en) * | 2016-03-30 | 2016-07-06 | 南通大学 | Stacking machine with two layers of objective tables |
| CN105923314A (en) * | 2016-06-23 | 2016-09-07 | 海麟文博（厦门）文物预防性保护技术有限公司 | Intelligent exhibition frame for museum classical collections |
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| CN207861140U (en) * | 2017-12-18 | 2018-09-14 | 上海有个机器人有限公司 | A kind of parcel shelf, robot storing bin and robot |
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