CN108482858B - For robot storage tank and be equipped with the robot of storage tank - Google Patents
For robot storage tank and be equipped with the robot of storage tank Download PDFInfo
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- CN108482858B CN108482858B CN201810139473.8A CN201810139473A CN108482858B CN 108482858 B CN108482858 B CN 108482858B CN 201810139473 A CN201810139473 A CN 201810139473A CN 108482858 B CN108482858 B CN 108482858B
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- deflation
- storage tank
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- 238000001514 detection method Methods 0.000 claims abstract description 67
- 230000006698 induction Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000000465 moulding Methods 0.000 claims abstract description 10
- 230000001939 inductive effect Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 238000013517 stratification Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 4
- 238000005187 foaming Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000005192 partition Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000002775 capsule Substances 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
- B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
Abstract
A kind of storage tank for robot, including there is the airbag body and control module that are layered clamping structure with the molding case ontology of EPP foaming materials, by what more than two air bags formed；Control module includes main control module and inflation/deflation control and detection module；Inflation/deflation control and detection module detect the air pressure in the airbag body, and atmospheric pressure value is transmitted to the main control module, and the main control module issues the instruction control inflation/deflation control and detection module executes inflated for deflated movement.Storage tank further include can the automatic identification storage tank need inflate or deflate induction module.This storage tank can carry out layering clamping to contents, prevent collision and extruding between article during transport, avoid article breakage.
Description
Technical field
The present invention relates to the storage tank technical fields for robot, and in particular to one kind has layering clamping structure air bag
Storage tank and be equipped with the robot of this storage tank.
Background technique
Storage tank is the necessary component of the robot for dispatching.Robot in the process of running, encounters ground not
It will cause rocking for itself when flat situation, may result in the damage of article in storage tank.In the prior art, it is transporting in order to prevent
Lead to the damage of storage tank interior items during sending due to the shaking of cabinet, the measure mainly taken at present is manually in case
Sponge or damping bubble bags are filled in son, on the one hand need certain human cost in this way, on the other hand, since these are for adding
Solid material be all it is disposable, cause waste and environmental pollution.
In order to overcome the above problem, gas cell, setting and gas cell phase on the outside of cabinet can be set on the inner wall of cabinet
Logical, the inflating port that can be inflated to gas cell, such cabinet may be reused.However, the shortcomings that technical solution is to fill
Air bag be provided only on the inner wall of cabinet and be it is integrated, when cabinet contents are smaller, air bag can not make full of gas
Small article is fixed, and when article is more in cabinet, air bag is inflated while clamping article, will also result in mutual between article
It squeezes, be easy to cause breakage, the article that can not be set in guard box body well.
Summary of the invention
The technical problem to be solved in the present invention is that avoiding the deficiency of above-mentioned technical proposal, and propose a kind of with layering
The robot storage tank of clamping structure air bag.
The present invention solves the technical problem the technical scheme adopted is that providing a kind of storage for balance car robot
Object case, the airbag body being fixedly clamped including case ontology, for article in case and control module；The control module includes master control
Molding block and inflation/deflation control and detection module；By logical between the airbag body and inflation/deflation control and detection module
Tracheae is connected；The inflation/deflation control and detection module are used to detect the air pressure in the airbag body；The master control molding
Block is controlled according to the inflation/deflation and the detected atmospheric pressure value of detection module issues instruction and controls the inflation/deflation control and inspection
It surveys module and executes the movement inflated for deflated to the airbag body.
The case ontology inner route clapboard is separated at least two layers of material-putting space, and correspondingly, the airbag body includes quantity
Air bag identical with the case ontology inner matter space number of plies, each layer commodity that each air bag is separately positioned on the case ontology are empty
In, for the air bag for being fixedly clamped to article in case, each air bag is respectively independent or interconnected.
The inflation/deflation control and detection module include the air valve for deflation, the air pump for inflation, for detecting
State the barometer of air pressure and the cross four-way for air circuit connection in airbag body；The air valve is directly connected to cross four-way
First port；The air pump is connected on the 4th port of the cross four-way by air pump hose；The barometer passes through gas
Pressure meter hose connects perforation with the third port of the cross four-way；The second port of the cross four-way passes through snorkel and institute
State airbag body connection.
The air pump is gripped together by the fixed lid of an air pump and an air pump bracket, and the air pump bracket is fixed on
On robot body, the fixed lid of the air pump is connected and fixed with the air pump bracket by fastener；The air valve is by a gas
Valve fixed frame and the air pump bracket grip together, and the air valve fixed frame is connect with the air pump bracket by fastener
It is fixed.
The air bag is U-shaped.
The airbag body is made of several interconnected described air bags, and interface is equipped on the airbag body
It is connected to the snorkel.
There is an aperture at the top of the case ontology, the snorkel fills the airbag body with described through the aperture
Deflation control and detection module connection.
The airbag body is made of several the described air bags being respectively independently not communicated with；On each described air bag
There is an independent snorkel to connect with gas circuit selection control valve；The inflation/deflation control and detection module select to control by gas circuit
Valve processed carries out respectively independent or mutually combined inflation/deflation to multiple air bags and controls.
The storage tank for robot further includes the chamber door being connected with the case ontology by shaft；In the case
The induction module for incuding chamber door folding is provided on the inside of ontology or doorframe；The induction module and the master control molding
Block is connected, and the external signal sensed is sent to the main control module, and the main control module is according to the letter received
Corresponding inflated for deflated instruction number is sent to inflation/deflation control and detection module, the inflation/deflation control and detection module according to
The inflated for deflated movement of air bag is executed according to the command information received.
The induction module is an inductive switch being arranged on the case ontology doorframe；When the chamber door plays on or off
When closing, the inductive switch is triggered, the main control module detects inductive switch state, and the main control module is according to induction
Switch state sends to deflate or inflate and instruct to inflation/deflation control and detection module, the inflation/deflation control and detection module
Start to deflate to the airbag body or the airbag body inflating, and arrived according to the barometric surveying in atmospheric pressure value control
The degree of inflation/deflation processed.
The induction module is a camera being arranged on the case ontology doorframe；The camera will be recorded
External image information is sent to the main control module, and the main control module sends corresponding inflation according to external image information
Or instruction of deflating, to inflation/deflation control and detection module, the inflation/deflation control and detection module are according to the instruction received
Information executes the inflated for deflated movement of air bag, and the atmospheric pressure value control in the airbag body arrived according to the barometric surveying
The degree of inflation/deflation processed.
The induction module is the multiple infrared cameras being separately positioned on the inside of the chamber door, each is described infrared to take the photograph
As the position of head corresponds to the intrinsic each stratification object space of the case；After the chamber door is closed, according to air bag in cabinet
Degree of inflation is judged with the image of article；The image information that each infrared camera will be recorded, is sent to the master control
Molding block, the main control module according to image information send corresponding inflation or instruction of deflating to inflation/deflation control and
The air bag that detection module, the inflation/deflation control and detection module execute in corresponding material-putting space according to the command information received fills
The movement of gas or deflation.
The invention also includes the robots for being equipped with the storage tank, including for accommodating storage tank, the robot body
Including trunk module, control-moment gyro device and for the main drive module of driving, the storage tank is arranged in the trunk
Inside modules；The control-moment gyro device includes the beat motor of two control-moment gyros, control gyro active deflection
With for controlling two reverse sync mechanisms that control-moment gyro beat speed is identical but beat is contrary；The machine
Human agent two sides are installed with axletree, and main drive module couples by transmission mechanism with axletree；The main drive module driving
When, it is rotated through transmission mechanism band motor car wheel around axletree；Or the robot body is driven to revolve around axletree through transmission mechanism
Turn, and then drive is installed in inside the robot body and all components thereon lean forward or swing back, i.e., described in drive
Inside robot body and all component relative wheel axis thereon lean forward or swing back；The robot body lean forward or
Gravitational moment caused by swinging back makes gyro nature beat and the gyroscopic couple that generates, and/or control beat motor driven gyro makes
The gyroscopic couple for obtaining gyro active beat and generating, balance and motion control for two-wheel dispensing machine people.
The invention also includes the control methods of storage tank, include the following steps:
The step of placing an article within storage tank:
Step A1: it places an article in storage tank；
Step A2: induction module will sense object placement status information, be sent to main control module；
Step A3: main control module sends corresponding instruction according to object placement status information and controls and detect to inflation/deflation
Module is inflated airbag body, and inflation/deflation control and detection module detect the real-time atmospheric pressure value in airbag body and be sent to
The main control module, when atmospheric pressure value reaches preset inflation threshold value, the main control module sends instructions to described
Inflation/deflation control and detection module are allowed to stop inflation；
The step of article is taken out from storage tank:
Step B1: induction module senses that article needs the signal being removed and is sent to main control module；
Step B2: main control module sends instruction of deflating to inflation/deflation control and detection module, inflation/deflation control and
Detection module gives the airbag body of storage tank to deflate on one side, on one side sends the atmospheric pressure value in the airbag body measured in real time
To the main control module, when atmospheric pressure value reaches preset deflation threshold value, the main control module sends instructions to institute
It states inflation/deflation control and detection module is allowed to stop deflating.
In the control method of the storage tank, when the airbag body is several described gas by being respectively independently not communicated with
When capsule forms, the inflation/deflation control and detection module further include gas circuit selection control valve；There is one on each air bag
Independent snorkel is connect with gas circuit selection control valve；Inflation/deflation control and detection module select control valve by gas circuit
Multiple air bags are carried out with respectively independent or mutually combined inflation/deflation control；
In step A3 or B2, object placement status information that the main control module is transmitted according to induction module is controlled
Gas circuit selects control valve, and corresponding air bag is selected to be inflated or deflate.
Compared with the existing technology compared with, the beneficial effects of the present invention are: 1, in storage tank using layering clamping structure air bag,
So that the article being placed in storage tank is layered placement, fastened respectively by air bag, during transport, article phase can be prevented
Collision and extruding between mutually, avoid breakage；2, the air bag in the present invention is reusable, reduces common consumptive material and is produced
Raw wastes and pollution.
Detailed description of the invention
Fig. 1 is the general assembly drawing of one of preferred embodiment of the present invention, does not include chamber door 400 in figure；
Fig. 2 is the structural schematic diagram of the case ontology 100 of one of preferred embodiment of the present invention；
Fig. 3 is the airbag body 200 of one of preferred embodiment of the present invention and inflation/deflation controls and the knot of detection module 320
Structure schematic diagram；
Fig. 4 is the inflation/deflation control and the decomposition texture schematic diagram of detection module 320 of one of preferred embodiment of the present invention；
Fig. 5 is the operation principle schematic diagram of one of preferred embodiment of the present invention；
Fig. 6 is one of the embodiment of induction module 600 of the present invention, the inductive switch 130 being mounted on 100 doorframe of case ontology
Schematic diagram；
Fig. 7 is the two of the embodiment of induction module 600 of the present invention, is mounted on the camera 140 on 100 doorframe of case ontology
Schematic diagram；
Fig. 8 is the three of the embodiment of induction module 600 of the present invention, the multiple infrared cameras 150 being mounted on chamber door 400
Schematic diagram；
Fig. 9 is the structural schematic diagram of second embodiment of airbag body 200 of the present invention；
Figure 10 is the schematic diagram for being equipped with the robot of one of preferred embodiment of the present invention storage tank.
In figure: 100 being case ontology, 110 be partition, 111 be bulkhead bracket, 120 be aperture, 130 be inductive switch, 140 be
Camera, 150 be infrared camera, 170 be fixed bracket, 200 be airbag body, 210 be air bag, 220 be snorkel, 300
It is main control module for control module, 310,320 be inflation/deflation control and detection module, 321 be air valve, 322 is air pump, 323
For barometer, 324 be cross four-way, 324a is the first port of cross four-way, 324b is the second port of cross four-way, 324c
For the 4th port that the third port of cross four-way, 324d are cross four-way, 325 be air pump hose, 326 be barometer hose,
330 be gas circuit select control valve, 400 be chamber door, 410 be shaft, 510 be air pump bracket, 520 be the fixed lid of air pump, 530
It is induction module for air valve fixed frame, 600,700 be robot body, 710 be trunk module, 720 is main drive module, 730
For control-moment gyro device.
Specific embodiment
Embodiments of the present invention are further described below in conjunction with each attached drawing.
A kind of embodiment of the present invention for the storage tank of robot, is shown in attached drawing 1 and attached drawing 2, including with EPP foaming materials
Molding case ontology 100, partition 110, airbag body 200, the inflation/deflation control in control module 300 and detection module 320, case
Door 400 and fixed bracket 170.Several bulkhead brackets 111 are fixed in case ontology 100, partition 110 can be inserted into bulkhead bracket
In 111, several small spaces will be divided into inside case ontology 100.Be inserted into partition 110 quantity can according to contents number and
Size determines.The bulkhead bracket 111 is two rectangular slats, is fixed on the two sidewalls in the case ontology 100 symmetrical
Position, the distance between two rectangular slats can just be such that the partition 110 is inserted into.The partition 110 is a rectangular slab, on plate
There are at least two rectangular openings to mitigate the total weight of storage tank to greatest extent.
As shown in Fig. 3, the airbag body 200 is made of more than two U-shaped air bags 210, is constituted layering and is clamped
Structure.The quantity of the air bag 210 is identical as the 100 inner matter space number of plies of case ontology, and each air bag 210 is respectively set
In each stratification object space of the case ontology 100, the air bag 210 is for being fixedly clamped to article in case.The gas
There are two types of embodiments for the tool of capsule ontology 200, and embodiment one communicates between each air bag 210 as shown in Fig. 3, whole
A airbag body 200 is equipped with an interface and is connected to the snorkel 220；As shown in Fig. 2, the case ontology 100
There is an aperture 120 above, the airbag body 200 is controlled and examined with the inflation/deflation through the aperture 120 by snorkel 220
Module 320 is surveyed to be connected to.Second of embodiment of airbag body 200 of the invention, as shown in figure 9, the airbag body 200 be by
Two or more is respectively independent to be not attached to the logical composition of air bag 210 each other, and one is installed on each air bag 210 and is individually led to
Tracheae 230, these independent snorkels 230 are connected respectively in gas circuit selection control valve 330, then select to control by the gas circuit
Valve 330 processed is connected on inflation/deflation control and detection module 320, and as shown in Fig. 5, the present embodiment can more flexible basis
The size of article and the position placed carry out respectively independent or mutually combined charge and discharge gas control to each air bag 210 in cabinet
System.Compared with the existing technology compared with the beneficial effects of the present invention are: making to place using layering clamping structure air bag in storage tank
Article in storage tank can be layered placement, be fastened respectively by air bag, during transport, article can be prevented mutual
Collision and extruding, avoid breakage；Air bag in the present invention is reusable, reduces waste caused by common consumptive material
With pollution.
The inflation/deflation control and detection module 320 are located on the top cover of case ontology 100, concrete composition part such as attached drawing
Shown in 4, including for deflation air valve 321, for the air pump 322 of inflation and for detecting air pressure in the airbag body 200
Barometer 323；The air valve 321 is directly connected to the first port 324a of cross four-way 324；The air pump 322 passes through gas
Pump hose 325 is connected to the 4th port 324d of cross four-way 324；The barometer 323 is tucked into barometer hose 326, institute
The other end for stating barometer hose 326 is connected to the third port 324c of cross four-way 324；The other end of the barometer 323
It is connected to external main control module 310, makes the atmospheric pressure value real-time delivery measured to main control module 310.The snorkel
220 are connected to the second port 324b of the cross four-way 324.
The inflation/deflation control and detection module 320 further include three components for playing fixed function: air pump bracket 510, gas
Pump fixed lid 520 and air valve fixed frame 530.When installation, air pump 322 is caught in corresponding recess on the air pump bracket 510
Position, then fix lid 520 with the air pump and held tightly, air pump is fixed into lid 520 with bolt and is fastenedly connected with air pump bracket 510,
To fixed air pump 322；Likewise, the air valve 321 is pressed from both sides together by the air valve fixed frame 530 and the air pump bracket 510
Holding is held, is bolted connection between air valve fixed frame 530 and air pump bracket 510.The air pump bracket 510 is finally fixed
It is connected on robot body.
Storage tank of the invention can both trigger charging-discharging function by hand, can also be triggered and be filled by way of detecting automatically
Deflation function.Whether need the component of inflation/deflation for induction module 600 for incuding, shares specific three embodiments.
One of the embodiment of induction module 600 of the present invention, as shown in Fig. 6, for the sense being mounted on 100 doorframe of case ontology
Inductive switch 130, at this point, chamber door 400 is connect by rotary shaft 410 with case ontology 100.
The work step of the present embodiment is as follows:
When being put into object: firstly, according to the size for being put into object determine to need to be put into partition quantity in case ontology 100 and
Position；Secondly, placing an article within and closing chamber door 400；Inductive switch 130 is oppressed by chamber door 400 and is triggered, 130 quilt of inductive switch
The object placement status information that chamber door compressing is sensed as it, the transmission object placement status information of inductive switch 130 to
Main control module 310, main control module 310 send inflation instruction to inflation/deflation control and detection module 320, inflation/deflation control and
Detection module 320 controls air pump 322 and starts to inflate, and pressure real-time delivery is to master in the airbag body 200 that barometer 323 detects
Control module 310, when atmospheric pressure value reaches preset inflation threshold value, main control module 310 sends instructions to charge and discharge gas control
System and detection module 320 make air pump 322 stop working, and inflation finishes.
When taking out object: firstly, opening chamber door 400, inductive switch 130 is released at this time, and inductive switch 130 is released work
For the object placement status information that it is sensed, inductive switch 130 sends the object placement status information to main control module
310, main control module 310 sends instructions to inflation/deflation control and detection module 320, and inflation/deflation control and detection module 320 will
Air valve 321 is opened, and the gas in airbag body 200 is released from air valve 321,200 internal pressure of airbag body that barometer 323 detects
Power real-time delivery is to main control module 310, and when atmospheric pressure value reaches preset deflation threshold value, main control module 310 is sent
Instructing closes air valve 321 to inflation/deflation control and detection module 320, stops deflating.
In the present embodiment, the barometer 423 is baroceptor, and the air valve 421 is solenoid valve, modules it
Between work relationship it is as shown in Fig. 5.The preset inflation threshold value and deflation threshold value can be in the master control moldings
It is adjusted according to actual needs in block 310.
The two of the embodiment of induction module 600 of the present invention install on the doorframe of the case ontology 100 as shown in Fig. 7
There is camera 140, judges to inflate or deflate by identifying the movement of people.For example, inflation is represented when people stretches out a finger,
Deflation is then represented when people stretches out two fingers.The object placement status information that camera 140 senses is the camera 140 identification
The human action arrived, the camera 140 send the object placement status information to main control module 310, and main control module 310 is again
It sends inflated for deflated instruction and carries out inflation/deflation, the air bag sheet that barometer 323 detects to inflation/deflation control and detection module 320
Pressure real-time delivery is to main control module 310 in body 200, main when atmospheric pressure value reaches preset inflated for deflated threshold value
Control module 310, which sends instructions to inflation/deflation control and detection module 320, keeps its stopping inflated for deflated.Compared with the existing technology
Compared with the further beneficial effect of the present invention is: whether need to inflate or deflate by induction module automatic sensing airbag body,
Keep inflation/deflation process more intelligent.
The three of the embodiment of induction module 600 of the present invention correspond to partition as shown in Fig. 8 on the chamber door 400
Several infrared cameras 150 are set on the 110 each layer position separated, after chamber door 400 is closed, infrared camera 150 is clapped
The object placement status information that the image of air bag and article is sensed as the infrared camera 150 in the cabinet taken the photograph.It is infrared
Camera 150 sends the object placement status information to main control module 310, and main control module 310 retransmits inflated for deflated
It instructs and carries out inflation/deflation to inflation/deflation control and detection module 320, pressure is real in the airbag body 200 that barometer 323 detects
When pass to main control module 310, when atmospheric pressure value reaches preset inflated for deflated threshold value, main control module 310 send out
Instruction is sent to keep its stopping inflated for deflated to inflation/deflation control and detection module 320.In the three of the present embodiment, main control module
310 judge the degree of inflation/deflation according to the image information that infrared camera 150 senses simultaneously, especially when the air bag system
System by it is more than two respectively it is independent be not attached to logical air bag 210 each other and form when, main control module 310 can be according to infrared photography
The image of article selects control valve 330 to control gas circuit on the first 150 each layers sensed, thus filling to each air bag 210
Deflation degree is respectively controlled.Such as: first layer does not place article in storage tank, and the second layer is placed with a big object
Product, as soon as third layer is placed with a small article, main control module 310 controls gas circuit selection control valve 330 not to first layer gas
Capsule inflation, main control module 310 are that lower inflation threshold value is arranged in second layer air bag, and higher inflation is arranged for third layer air bag
Threshold value.Compared with the existing technology compared with the further beneficial effect of the present invention is: by camera and infrared camera as induction
Module when judging the deflation degree to airbag body, can not first open chamber door, to can avoid article in deflation course
It inadvertently falls off outside case
Embodiment two and embodiment three can deflate to airbag body 200 under the premise of not opening chamber door 400,
It can avoid article to fall to outside case outside deflation course is favorite.
As shown in Fig. 10, entire storage tank passes through fixed bracket 170 and is fixedly attached on robot body 700.This hair
Bright storage tank can also be applied in addition to robot other use the field of storage tank.
As shown in Fig. 10, the invention also includes the robots for being equipped with the storage tank, including for accommodating storage tank
Robot body 700, which includes trunk module 710 and the main drive module 720 for driving, and storage tank is set
It sets inside the trunk module 710, control-moment gyro dress is provided between the storage tank 100 and main drive module 720
Set 730；The control-moment gyro device 730 includes the beat motor of two control-moment gyros, control gyro active deflection
With for controlling two reverse sync mechanisms that control-moment gyro beat speed is identical but beat is contrary；The robot
Main body two sides are installed with axletree, and main drive module 720 couples by transmission mechanism with axletree；The main drive module 720
When driving, rotated through transmission mechanism band motor car wheel around axletree；Or drive the robot body around wheel through transmission mechanism
Axis rotates, and then drive is installed in 700 inside of robot body and all components thereon lean forward or swing back, i.e. band
It moves 700 inside of robot body and all component relative wheel axis thereon leans forward or swing back；The robot master
Body 700 lean forward or swing back caused by gravitational moment make gyro nature beat and the gyroscopic couple that generates, and/or control beat
Motor driven gyro makes gyro active beat and the gyroscopic couple that generates, the balance and movement control for two-wheel dispensing machine people
System.Compared with the existing technology compared with the further beneficial effect of the present invention is: be assembled with the storage tank robot can avoid by
Article breakage in case is caused in shaking of the robot in moving process, so that the delivery process of robot is relatively reliable.With
Upper described only the embodiment of the present invention, is not intended to limit the scope of the invention, all using description of the invention and attached
Equivalent structure or equivalent flow shift made by figure content is applied directly or indirectly in other relevant technical fields, same
Reason is included within the scope of the present invention.
Claims (13)
1. a kind of storage tank for robot, it is characterised in that:
The airbag body (200) and control module (300) being fixedly clamped including case ontology (100), for article in case；The control
Molding block (300) includes main control module (310) and inflation/deflation control and detection module (320)；
It is connected between the airbag body (200) and inflation/deflation control and detection module (320) by snorkel (220)
It connects；
The inflation/deflation control and detection module (320) are used to detect the air pressure in the airbag body (200)；The main control
Module (310) is controlled according to the inflation/deflation and the detected atmospheric pressure value of detection module (320) is issued and filled described in instruction control
Deflation control and detection module (320) execute the movement inflated for deflated to the airbag body (200)；
Case ontology (100) inner route clapboard (110) is separated at least two layers of material-putting space, correspondingly, the airbag body
It (200) include quantity air bag (210) identical with case ontology (100) the inner matter space number of plies, each air bag (210) sets respectively
It sets in each stratification object space of the case ontology (100), the air bag (210) is used to be fixedly clamped to article in case,
Each air bag (210) is respectively independent or interconnected；
It further include passing through the chamber door (400) that shaft (410) are connected with the case ontology (100)；In the case ontology (100)
The induction module (600) for incuding chamber door folding is provided on internal or doorframe；The induction module (600) and the master control
Molding block (310) is connected, and the external signal sensed is sent to the main control module (310), the master control molding
Block (310) sends corresponding inflated for deflated instruction to inflation/deflation control and detection module (320), institute according to the signal received
It states inflation/deflation control and detection module (320) and executes the inflated for deflated movement of air bag according to the command information received.
2. storage tank according to claim 1, it is characterised in that:
Inflation/deflation control and detection module (320) include the air valve (321) for deflation, the air pump (322) for inflation,
For detecting the barometer (323) of the airbag body (200) interior air pressure and for the cross four-way (324) of air circuit connection；
The air valve (321) is directly connected to the first port (324a) of cross four-way (324)；The air pump (322) passes through gas
Pump hose (325) is connected on the 4th port (324d) of the cross four-way (324)；The barometer (323) passes through air pressure
The third port (324c) for counting hose (326) and the cross four-way (324) connects perforation；The of the cross four-way (324)
Two-port netwerk (324b) is connected to by snorkel (220) with the airbag body (200).
3. storage tank according to claim 2, it is characterised in that:
The air pump (322) is gripped together by the fixed lid (520) of an air pump and an air pump bracket (510), the gas
Pump bracket (510) is fixed on robot body, and the fixed lid (520) of the air pump and the air pump bracket (510) pass through fastening
Part is connected and fixed；
The air valve (321) is gripped together by an air valve fixed frame (530) and the air pump bracket (510), the gas
Valve fixed frame (530) is connected and fixed with the air pump bracket (510) by fastener.
4. storage tank according to claim 3, it is characterised in that:
The air bag (210) is U-shaped.
5. storage tank according to claim 4, it is characterised in that:
The airbag body (200) is made of several interconnected described air bags (210), in the airbag body
(200) interface is equipped with to be connected to the snorkel (220).
6. storage tank according to claim 5, it is characterised in that:
Have an aperture (120) at the top of the case ontology (100), the snorkel (220) will be described through the aperture (120)
Airbag body (200) is controlled with the inflation/deflation and detection module (320) is connected to.
7. storage tank according to claim 1, it is characterised in that:
The airbag body (200) is made of several the described air bags (210) being respectively independently not communicated with；
There is an independent snorkel (230) to connect on each described air bag (210) with gas circuit selection control valve (330)；
The inflation/deflation control and detection module (320) carry out multiple air bags (210) by gas circuit selection control valve (330)
Respectively independent or mutually combined inflation/deflation control.
8. storage tank according to claim 1, it is characterised in that:
The induction module (600) is an inductive switch (130) being arranged on case ontology (100) doorframe；
It when the chamber door (400) opens or closes, triggers the inductive switch (130), main control module (310) detection
To inductive switch (130) state, the main control module (310), which sends to deflate or inflate according to inductive switch (130) state, to be referred to
It enables to inflation/deflation control and detection module (320), the inflation/deflation control and detection module (320) start to the air bag
Ontology (200) is deflated or inflation, and the atmospheric pressure value in the airbag body (200) measured according to the barometer (323)
Control the degree of inflation/deflation.
9. storage tank according to claim 1, it is characterised in that:
The induction module (600) is a camera (140) being arranged on case ontology (100) doorframe；The camera shooting
Head (140) external image information being recorded is sent to the main control module (310), the main control module (310) according to
Corresponding inflation is sent according to external image information or instruction of deflating is to inflation/deflation control and detection module (320), it is described
The command information that inflation/deflation control and detection module (320) foundation receive executes the inflated for deflated movement of air bag, and according to institute
State the degree of the atmospheric pressure value control inflation/deflation in the airbag body (200) that barometer (323) measures.
10. storage tank according to claim 1, it is characterised in that:
The induction module (600) is the multiple infrared cameras (150) being separately positioned on the inside of the chamber door (400), each
The position of a infrared camera (150) corresponds to each stratification object space in the case ontology (100)；
After the chamber door (400) are closed, degree of inflation is judged according to the image of air bag in cabinet and article；It is each described infrared
The image information that camera (150) will be recorded is sent to the main control module (310), the main control module (310) according to
It sends corresponding inflation according to image information or deflates and instruct to inflation/deflation control and detection module (320), the charge and discharge
Gas control system and detection module (320) execute inflated for deflated dynamic of the air bag in corresponding material-putting space according to the command information received
Make.
11. a kind of robot including storage tank described in claims 1 to 10 any one,
Including the robot body (700) for accommodating storage tank, which includes trunk module (710), control
Moment gyro device (730) processed and main drive module (720) for driving, it is characterised in that:
The storage tank setting is internal in the trunk module (710)；The control-moment gyro device (730) includes two
Actively the beat motor of deflection is identical with for two control-moment gyro beat speed of control for control-moment gyro, control gyro
But the contrary reverse sync mechanism of beat；
Robot body (700) two sides are installed with axletree, and main drive module (720) joins by transmission mechanism and axletree
It connects；When the main drive module (720) drives, rotated through transmission mechanism band motor car wheel around axletree；Or through transmission mechanism band
It moves the robot body (700) to rotate around axletree, and then drive is installed in inside the robot body (700) and it
On all components lean forward or swing back, that is, drive the robot body (700) internal and all components thereon be opposite
Axletree leans forward or swings back；
The robot body (700) lean forward or swing back caused by gravitational moment make gyro nature beat and the gyro that generates
Torque, and/or the gyroscopic couple that beat motor driven gyro makes gyro active beat and generates is controlled, it is used for two-wheel dispensing machines
The balance and motion control of device people.
12. a kind of storing box control method based on storage tank described in claim 1,
It is characterized by comprising the following steps:
The step of placing an article within storage tank:
Step A1: it places an article in storage tank；
Step A2: induction module (600) will sense object placement status information, be sent to main control module (310)；
Step A3: main control module (310) sends corresponding instruction according to object placement status information and controls and examine to inflation/deflation
It surveys module (320) to be inflated airbag body (200), inflation/deflation control and detection module (320) detection airbag body (200)
Interior real-time atmospheric pressure value is simultaneously sent to the main control module (310), when atmospheric pressure value reaches preset inflation threshold value, institute
State that main control module (310) sends instructions to inflation/deflation control and detection module (320) is allowed to stop inflation；
The step of article is taken out from storage tank:
Step B1: induction module (600) senses that article needs the signal being removed and is sent to main control module (310)；
Step B2: main control module (310) sends instruction of deflating to inflation/deflation control and detection module (320), the inflation/deflation
Control and detection module (320) are deflated to the airbag body (200) of storage tank on one side, the airbag body that will be measured on one side
(200) atmospheric pressure value in is sent to the main control module (310) in real time, when atmospheric pressure value reaches preset deflation threshold value
When, the main control module (310) sends instructions to the inflation/deflation control and detection module (320) is allowed to stop deflating.
13. a kind of storing box control method according to claim 12, it is characterised in that:
When the airbag body (200) is made of several the described air bags (210) being respectively independently not communicated with, the charge and discharge
Gas control system and detection module (320) further include gas circuit selection control valve (330)；There is a list on each air bag (210)
Only snorkel (230) is connect with gas circuit selection control valve (330)；The inflation/deflation control and detection module (320) pass through gas
Road selects control valve (330) that multiple air bags (210) are carried out with respectively independent or mutually combined inflation/deflation control；
In step A3 or B2, object placement status information that the main control module (310) is transmitted according to induction module (600)
Control valve (330) are selected to control gas circuit, corresponding air bag (210) is selected to be inflated or deflate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139473.8A CN108482858B (en) | 2018-02-11 | 2018-02-11 | For robot storage tank and be equipped with the robot of storage tank |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139473.8A CN108482858B (en) | 2018-02-11 | 2018-02-11 | For robot storage tank and be equipped with the robot of storage tank |
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| Publication Number | Publication Date |
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| CN108482858A CN108482858A (en) | 2018-09-04 |
| CN108482858B true CN108482858B (en) | 2019-08-20 |
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| CN201810139473.8A Active CN108482858B (en) | 2018-02-11 | 2018-02-11 | For robot storage tank and be equipped with the robot of storage tank |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111976862B (en) * | 2019-05-21 | 2022-12-02 | 北京京东乾石科技有限公司 | Logistics distribution equipment |
| CN111731651A (en) * | 2020-06-28 | 2020-10-02 | 浙江慧诚包装材料有限公司 | Prevent extrusion food packaging carton |
| CN113189889A (en) * | 2021-06-02 | 2021-07-30 | 河北工程大学 | Intelligent module assembling system serving multiple scenes |
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| CN108482858A (en) | 2018-09-04 |
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Effective date of registration: 20231008 Address after: 518000 Wanke Yuncheng Phase 4, Dashi 1st Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province (Centralized Commercial Project) A08 (12-08) Patentee after: Kandra (Shenzhen) Intelligent Technology Co.,Ltd. Address before: 20 / F, sannuo wisdom building, 3012 Binhai Avenue, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: CANDELA (SHENZHEN) TECHNOLOGY INNOVATION Co.,Ltd. |