CN108500998A - A kind of delivery machine people - Google Patents
A kind of delivery machine people Download PDFInfo
- Publication number
- CN108500998A CN108500998A CN201810609129.0A CN201810609129A CN108500998A CN 108500998 A CN108500998 A CN 108500998A CN 201810609129 A CN201810609129 A CN 201810609129A CN 108500998 A CN108500998 A CN 108500998A
- Authority
- CN
- China
- Prior art keywords
- storage box
- machine people
- delivery machine
- material frame
- telescoping mechanism
- 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
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Classifications
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- 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
Abstract
The invention discloses a kind of delivery machine people, belong to robotic technology field.Delivery machine people provided by the present invention includes storage box, telescoping mechanism, material frame and control mechanism, by the way that telescoping mechanism and material frame are arranged in storage box, and the case lid of the top of telescoping mechanism and storage box is connected, when the middle part of telescoping mechanism is connect with material frame, to when telescoping mechanism extends, storage box can be opened, and material frame is transferred to the outside of storage box, to pick and place material；When telescoping mechanism is shunk, material frame can be moved and be closed in storage box, and by storage box, so that material is in confined space, largely improve the confidentiality of material, avoid being identified by other people.In addition, by the way that material to be placed in storage box, the inner wall of storage box can play material frame certain position-limiting action, to be conducive to improve the precision and stability of material frame movement, avoid the phenomenon that article falls occur when delivering material.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of delivery machine people.
Background technology
Robot is to automatically control being commonly called as machine comprising all simulation people or the behavior of other biological and the machine of thought
Device.With the fast development of industrialization and automation, in order to reduce cost of labor, improves working efficiency and avoid harsh ring
Injury of the border to people, more and more industry effects replace manual labor with robot.
Delivery machine people is the industrial robot that may provide the user with delivering article service.Existing delivery machine people one
As change the position of article by the way that article movement is clamped, to which in article delivery to user hand or user will be transmitted to convenient for taking
The position arrived.Since delivery machine people can largely reduce the labor intensity of people, it is widely used in
The automatic transporting of lathe loading and unloading, press machine automatic production line, automatic assembly line, Palletised carry, container etc..
But the existing general seal of delivery machine people is poor, need the article delivered usually all it is exposed outside, not only
It is unfavorable for maintaining secrecy, security performance is poor, and hygiene is relatively low.In addition, in delivery process, the stability of item motion is poor, passs
Send the MECHANISM PRECISION of article not high, it is easy to the generation for the case where interim card, dislocation occurs, falls damage so as to cause article.
Invention content
The purpose of the present invention is to provide a kind of delivery machine people, the hygiene of the delivered article of delivery machine people is high,
Confidentiality is preferable, is not easy to be identified by other people, and the security performance of article is high, is not susceptible to damage, and delivery process stability is good, smart
Degree is high.
For this purpose, the present invention uses following technical scheme：
A kind of delivery machine people, including：
Storage box；
Telescoping mechanism is arranged in the storage box, material frame, the telescopic machine is connected in the middle part of the telescoping mechanism
The top of structure is connect with the case lid of the storage box, and the collapsing length of telescoping mechanism described in the opening direction along the storage box is big
In or equal to the distance between the material frame and the case lid；
Control mechanism is communicated to connect with the telescoping mechanism.
Preferably, the delivery machine people further includes：
Guiding mechanism, the guiding mechanism include directive wheel, and mounting groove is provided on the side of the material frame, described to lead
It is rotatably connected in the mounting groove to wheel, the inner wall of the directive wheel and the storage box is slidably connected.
Preferably, the quantity of the directive wheel is multiple, multiple directive wheels are uniformly distributed along the circumferential direction of the material frame.
Preferably, the guiding mechanism further includes：
Fixed frame, the fixed frame include U-shaped card socket part, and fold forms flange outward at the both ends of the U-shaped card socket part, institute
U-shaped card socket part is stated to be connected in the mounting groove, the directive wheel is rotatably connected in the U-shaped card socket part, the flange with
The material frame connection.
Preferably, the relative position of two sides of the U-shaped card socket part is provided with first through hole, the directive wheel
Be provided with third through-hole at center, fixed pin pass through the first through hole and the third through-hole by the directive wheel with it is described solid
Determine frame rotation connection.
Preferably, the storage box includes the babinet of split settings and the case lid, the opening setting of the babinet
There is lamp bar.
Preferably, the lamp bar is arranged around the babinet.
Preferably, being provided with touch screen on the case lid.
Preferably, the delivery machine people further includes：
Navigate pedestal, and the navigation pedestal is detachably connected on the bottom of the storage box.
Preferably, being provided with multiple limiting grooves on the material frame.
Preferably, being provided with material detection sensor in the limiting groove.
Beneficial effects of the present invention：
The invention discloses a kind of delivery machine people, delivery machine people includes storage box, telescoping mechanism, material frame and control
Mechanism processed connects by the way that telescoping mechanism and material frame are arranged in storage box, and by the case lid of the top of telescoping mechanism and storage box
It connects, when the middle part of telescoping mechanism is connect with material frame, to when telescoping mechanism extends, storage box can be opened, and by object
Rack is transferred to the outside of storage box, to pick and place material；When telescoping mechanism is shunk, material frame can be moved in storage box
It is interior, and storage box is closed, so that material is in confined space, largely improves the confidentiality of material, avoid by him
People identifies.In addition, by the way that material to be placed in storage box, the inner wall of storage box can play material frame certain limit and make
With, to be conducive to improve material frame movement precision and stability, avoid the phenomenon that article falls occur when delivering material.
Description of the drawings
Fig. 1 is the perspective view one of delivery machine people provided by the present invention；
Fig. 2 is the perspective view two of delivery machine people provided by the present invention；
Fig. 3 is the front view of delivery machine people provided by the present invention；
Fig. 4 is the upward view of delivery machine people provided by the present invention；
Fig. 5 is the explosive view of delivery machine people provided by the present invention；
Fig. 6 is the installation diagram of material frame and case lid provided by the present invention；
Fig. 7 is the perspective view of material frame provided by the present invention；
Fig. 8 is the explosive view of material frame provided by the present invention.
In figure：1, navigate pedestal；101, object disposing platform；102, mobile chassis；103, display screen；104, charge port；
2, storage box；201, babinet；202, case lid；
3, touch screen；4, avoidance sensor；5, idler wheel；
6, telescoping mechanism；601, the first bar；602, the second bar；603, mounting plate；
7, material frame；701, limiting groove；8, material；
9, guiding mechanism；901, directive wheel；902, fixed frame；903, fixed pin；
10, material detection sensor.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of delivery machine people, delivery machine people, which can execute to carry according to the order of user, to be made
Industry, and according to the coordinate of user's input target location, material 8 is accurately moved to target location from initial position.It is executing
After complete carrying task, delivery machine people can also be automatically moved into initial position, to execute transport operation again.
Specifically, as shown in Figures 1 to 8, delivery machine people includes storage box 2, telescoping mechanism 6 and control mechanism.Control
Mechanism processed is the touch screen 3 being arranged on storage box 2.User is completed using touch screen 3 and the interacting activity of delivery machine people, tool
Body, touch screen 3 includes control zone and viewing area, and multiple control buttons for executing special exercise are provided on control zone, such as
Control the start button and reset button of telescoping mechanism 6 in the switch button that delivery machine people opens and closes, and control storage box 2.
Viewing area can show with the relevant information of delivery machine people and parameter, such as 8 carrying capacity of material of delivery machine people and
Cruising ability etc..Touch screen 3 is arranged relative to the top droop of storage box 2, and the object that regards to meet user is accustomed to, and angle of inclination can
Think 30 degree, 45 degree or 60 degree.
For the ease of picking and placeing for material 8, it sets storage box 2 to the babinet 201 and case lid 202 of seperated design, babinet 201
Open top, touch screen 3 is arranged in case lid 202 for the ease of user's operation at the top of babinet 201 202 spiral-lock of case lid
On.Telescoping mechanism 6 is provided in babinet 201, the free end of telescoping mechanism 6 is fixedly connected with case lid 202, in telescoping mechanism 6
Portion is provided with material frame 7, and material frame 7 can be mineral water etc. for placing material 8, material 8.Along the opening direction of storage box 2
The collapsing length of telescoping mechanism 6 is more than or equal to the distance between material frame 7 and case lid 202, so that material frame 7 is moved to babinet
201 outside.Certainly, in other embodiments, case lid 202 can not also be fixedly connected with telescoping mechanism 6, by case lid 202
One end and a side of babinet 201 are rotatablely connected, and storage box 2 is realized in the rotation by case lid 202 relative to babinet 201
Opening, to allow the lifting of material frame 7.
When user wants to take out the material 8 being placed on material frame 7 or places material 8 on material frame 7, then user can
It with the start button on point touching screen 3, is extended to control telescoping mechanism 6, when telescoping mechanism 6 starts elongation, positioned at setting
The case lid 202 at 2 top of object case is detached with babinet 201, to open storage box 2, when telescoping mechanism 6 continues elongation to a fixed length
When spending, material frame 7 can be transferred to the outside of storage box 2, so that user picks and places material 8；After user has picked and placeed material 8,
Reset button on point touching screen 3, control telescoping mechanism 6 shrink, so as to which material frame 7 to be moved in storage box 2, wait for
When telescoping mechanism 6 is contracted to certain length, case lid 202 again close storage box 2 on babinet 201 by spiral-lock, and material 8 is made to be in
Confined space.Material 8 is in confined space in the handling process can largely improve the confidentiality of material 8, keep away
Exempt to be identified by other people.In addition, by being placed in storage box 2 in material frame 7, the inner wall of storage box 2 can play one to material frame 7
Fixed position-limiting action avoids object occur when delivering material 8 to be conducive to improve the precision and stability of the movement of material frame 7
The phenomenon that product fall.
Specifically, as shown in Figure 6 to 8, multiple limiting grooves 701 for placing material 8 are provided on material frame 7,
The shape of limiting groove 701 is adapted with the shape of material 8, such as when material 8 is cylinder, and limiting groove 701 can be circle
Cylindrical groove.Further, in order to count the quantity of material 8 on material frame 7, one is provided in each limiting groove 701
A material detection sensor 10, specifically, material detection sensor 10 can be infrared sensor or ultrasonic sensor.When
When material detection sensor 10 detects material 8, which is fed back into control mechanism, so that control mechanism is in display screen 103
The inventory that the upper certain delivery machine people of display carries.In order to improve the aesthetics of storage box 2 and pick and place material convenient for user
8, lamp bar is provided on the outer wall of storage box 2, lamp bar not only has illumination functions, and has both aesthetics.
Further, telescoping mechanism 6 includes actuating unit and telescopic rod, and telescopic rod includes being arranged and capable of relatively moving
First bar 601 and the second bar 602, the bottom end of the first bar 601 are fixed on the inner bottom surface of object disposing platform 101, and the second bar 602 is arranged
On the top of the first bar 601, under the driving of actuating unit, the second bar 602 can be moved up and down along the first bar 601, the second bar
602 top is provided with mounting plate 603, and mounting plate 603 is fixedly connected with case lid 202.Due to babinet 201 in the present embodiment
Opening setting at top, therefore the telescopic direction of telescoping mechanism 6 be vertically, certainly in other embodiments, if
The opening of babinet 201 is arranged in the side of babinet 201, and the telescopic direction of telescoping mechanism 6 can also be in the horizontal direction.Specifically
, in the present embodiment, motor may be used in the actuating unit of telescoping mechanism 6.It certainly in other embodiments, can also be by gas
Cylinder connects directly as telescopic rod with material frame 7 and case lid 202 directly as telescoping mechanism 6, and by the cylinder rod of telescoping mechanism 6
It connects.
In order to improve supporter in the stability and accuracy for being lifted with being moved in reseting procedure, in the side of material frame 7
It is provided with guiding mechanism 9, guiding mechanism 9 and the inner wall of babinet 201 are slidably connected.Specifically, as shown in figure 8, guiding mechanism 9 can
Think the multiple directive wheels 901 being arranged in 7 side of material frame.In order to improve guide effect, by multiple directive wheels 901 along material frame
7 side is uniformly arranged, and 201 inner wall of the babinet position opposite with directive wheel 901 is provided with guide groove.For the ease of in material
Directive wheel 901 is installed in the side of frame 7, and multiple mounting grooves are uniformly provided on the side wall of material frame 7, and directive wheel 901 passes through solid
Determine frame 902 to be fixed in mounting groove.In the present embodiment, fixed frame 902 is formed by stripe board by fold, specifically, fixed
Frame 902 includes U-shaped card socket part, and fold forms flange outward at the both ends of U-shaped card socket part, in two relative sides of U-shaped card socket part
Relative position is provided with first through hole, and the second through-hole is provided on flange.When installing fixed frame 902 to mounting groove,
The third through-hole at 901 center of the second through-hole and directive wheel in U-shaped card socket part is passed through first with fixed pin 903, thus will
Directive wheel 901 and fixed frame 902 are rotatablely connected, and then U-shaped card socket part are connected in mounting groove, and make opening for U-shaped card socket part
Mouth is arranged outwardly, and flange is abutted with the side wall of material frame 7, and pin is finally utilized to pass through the second through-hole on flange by fixed frame
902 are fixed to the side of material frame 7.
Further, for the ease of enabling delivery machine people's autonomous, the intelligence of delivery machine people is improved
Level is removably connected with navigation pedestal 1 in the bottom end of storage box 2, and navigation pedestal 1 is for driving entire delivery machine people to transport
The automatic programming movement path in target location that is dynamic, and being inputted according to client, so as to prestissimo by material 8 send to
Target location.For the ease of placing storage box 2 on navigation pedestal 1, it sets navigation pedestal 1 to object disposing platform 101 and movement
Chassis 102, object disposing platform 101 are detachably connected on the top of mobile chassis 102, and the upper surface of object disposing platform 101 is placement surface,
Storage box 2 is detachably connected on placement surface.In the present embodiment, by by storage box 2, object disposing platform 101 and mobile chassis
102 are set as being detachably connected, and can realize the inventory transported as needed and loading type, replace different size or not
The storage box 2 of similar shape, and the object disposing platform 101 of different size can be replaced according to the size and shape of storage box 2, to change
Become the material carrying capacity and loading type of entire delivery machine people.The inside of object disposing platform 101 is cavity, is mounted therein with power supply machine
The power source that structure and driving mobile chassis 102 move, is provided with transmission mechanism in mobile chassis 102, power source may be used
Motor, motor are electrically connected with power supply mechanism, and the output end of motor and the input terminal of transmission mechanism connect, the output end of transmission mechanism
It is connected with idler wheel 5, power source drives the rotation of idler wheel 5 to realize the movement of delivery machine people by transmission mechanism.In this implementation
In example, the concrete structure of transmission mechanism is not limited, the quantity of idler wheel 5 can be it is multiple, such as three, as shown in figure 4, three
The arrangement of a idler wheel 5 is in equilateral triangle.Further, in order to improve the flexibility of robot motion, idler wheel 5 is set as universal
Wheel.
Further, in order to show the data such as the remaining capacity of power supply mechanism and the movement speed of mobile chassis 102, such as
Shown in Fig. 3, display screen 103 is additionally provided on the outer surface of object disposing platform 101, which, which can directly be embedded in, sets
On the shell of object platform 101, it can also be mounted on by holder on the shell of object disposing platform 101, the display plane of display screen 103
It is obliquely installed, the object that regards that angle of inclination meets user is accustomed to, such as can be 30 degree, 45 degree or 60 degree.As shown in Fig. 2, for
Motor structure preferentially uses chargeable mobile power, and charge port 104 is provided on the outer surface of object disposing platform 101, works as shifting
When the electricity of dynamic power supply exhausts, it can be charged to mobile power by external power supply.In order to before power supply mechanism electricity exhausts, give
User prompts, and alert mechanism can also be arranged on object disposing platform 101, alert mechanism can be indicator light or alarm.
In order to make delivery machine people realize automatic path planning, it is provided with avoidance work(on navigation pedestal 1
The avoidance sensor 4 of energy, and avoidance sensor 4 is set between object disposing platform 101 and mobile chassis 102.In delivery machine
In the moving process of people, the transmitting terminal of avoidance sensor 4 sends out optical signal, is reflected back toward when optical signal touches barrier
After coming, it can be received by the receiving terminal in avoidance sensor 4.After receiving terminal receives the optical signal that transmitting terminal is launched,
Front is had the signal transmission of barrier to control mechanism by avoidance sensor 4, control mechanism according to self-contained algorithm again
Planning path, and control navigation pedestal 1 and suitably change mobile route, with avoiding obstacles.Certainly in other embodiments, also may be used
Being arranged avoidance sensor 4 at other positions of delivery machine people, but since the volume of barrier may be smaller, by avoidance
Sensor 4 is arranged on the navigation pedestal 1 of delivery machine people bottom, is conducive to the barrier for detecting small volume.
The present embodiment additionally provides a kind of application method of delivery machine people on the basis of above-mentioned delivery machine people, should
Application method specifically comprises the following steps：
S1:Start button on delivery side's point touching screen 3, telescoping mechanism 6 start to extend, to open storage box 2
Case lid 202, and material frame 7 is moved to the outside of storage box 2；
S2:Material 8 is placed on material frame 7 by delivery side,
S3:Reset button on delivery side's point touching screen 3, telescoping mechanism 6 start to shrink at, to move material frame 7
To the inside of storage box 2, and close case lid 202；
S4:Storage box 2 is moved to target location by navigation 1 self-navigation of pedestal；
S5:After robot to be delivered reaches target location, recipient again taps on the start button on touch screen 3, stretches
Mechanism 6 extends again, to open the case lid 202 of storage box 2, and material frame 7 is moved to the outside of storage box 2；
S6:Recipient takes material 8 away；
S7:Recipient again taps on the reset button on touch screen 3, and telescoping mechanism 6 is shunk again, thus by material frame 7
It is moved to the inside of storage box 2, and closes case lid 202, material frame 7 and case lid 202 is made to reset；
S8:Storage box 2 is moved to initial position by navigation 1 self-navigation of pedestal, to execute next delivery tasks.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (10)
1. a kind of delivery machine people, which is characterized in that including：
Storage box (2)；
Telescoping mechanism (6), setting are connected with material frame (7), institute in the storage box (2) in the middle part of the telescoping mechanism (6)
The top for stating telescoping mechanism (6) is connect with the case lid (202) of the storage box (2), along the opening direction institute of the storage box (2)
The collapsing length for stating telescoping mechanism (6) is more than or equal to the distance between the material frame (7) and the case lid (202)；
Control mechanism is communicated to connect with the telescoping mechanism (6).
2. delivery machine people according to claim 1, which is characterized in that the delivery machine people further includes：
Guiding mechanism (9), the guiding mechanism (9) include directive wheel (901), and peace is provided on the side of the material frame (7)
Tankage, the directive wheel (901) are rotatably connected in the mounting groove, and the directive wheel (901) is interior with the storage box (2)
Wall is slidably connected.
3. delivery machine people according to claim 2, which is characterized in that the guiding mechanism (9) further includes：
Fixed frame (902), the fixed frame (902) includes U-shaped card socket part, and the both ends of the U-shaped card socket part turn down to be formed outward
Flange, the U-shaped card socket part are connected in the mounting groove, and the directive wheel (901) is rotatably connected on the U-shaped card socket part
Interior, the flange is connect with the material frame (7).
4. delivery machine people according to claim 3, which is characterized in that
The relative position of two sides of the U-shaped card socket part is provided with first through hole, is set at the center of the directive wheel (901)
Be equipped with third through-hole, fixed pin (903) pass through the first through hole and the third through-hole by the directive wheel (901) with it is described
Fixed frame (902) is rotatablely connected.
5. delivery machine people according to claim 1, which is characterized in that
The storage box (2) includes the babinet (201) and the case lid (202) of split settings, the opening of the babinet (201)
It is provided with lamp bar.
6. delivery machine people according to claim 5, which is characterized in that
The lamp bar is arranged around the babinet (201).
7. delivery machine people according to claim 1, which is characterized in that
It is provided with touch screen (3) on the case lid (202).
8. delivery machine people according to claim 1, which is characterized in that the delivery machine people further includes：
Navigate pedestal (1), and the navigation pedestal (1) is detachably connected on the bottom of the storage box (2).
9. according to claim 1-8 any one of them delivery machine people, which is characterized in that
It is provided with multiple limiting grooves (701) on the material frame (7).
10. delivery machine people according to claim 9, which is characterized in that
It is provided with material detection sensor (10) in the limiting groove (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810609129.0A CN108500998A (en) | 2018-06-13 | 2018-06-13 | A kind of delivery machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810609129.0A CN108500998A (en) | 2018-06-13 | 2018-06-13 | A kind of delivery machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108500998A true CN108500998A (en) | 2018-09-07 |
Family
ID=63403311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810609129.0A Pending CN108500998A (en) | 2018-06-13 | 2018-06-13 | A kind of delivery machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108500998A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4129583A4 (en) * | 2020-03-31 | 2023-09-20 | Woowa Brothers Co., Ltd. | Loading box changing system for delivery robot |
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|---|---|---|---|---|
| CN201723055U (en) * | 2010-04-22 | 2011-01-26 | 武瑞琪 | Lifting strong box |
| CN104760761A (en) * | 2011-11-02 | 2015-07-08 | 克罗内斯股份公司 | Package body with handle, method and device for producing package body |
| US20150032252A1 (en) * | 2013-07-25 | 2015-01-29 | IAM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4129583A4 (en) * | 2020-03-31 | 2023-09-20 | Woowa Brothers Co., Ltd. | Loading box changing system for delivery robot |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Applicant before: SUZHOU BOZHONG ROBOT Co.,Ltd. |