CN110480650A - Merchandising machine people - Google Patents
Merchandising machine people Download PDFInfo
- Publication number
- CN110480650A CN110480650A CN201910754827.4A CN201910754827A CN110480650A CN 110480650 A CN110480650 A CN 110480650A CN 201910754827 A CN201910754827 A CN 201910754827A CN 110480650 A CN110480650 A CN 110480650A
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- Prior art keywords
- pedestal
- component
- storage case
- machine people
- merchandising machine
- Prior art date
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 109
- 230000004888 barrier function Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 8
- 238000001125 extrusion Methods 0.000 description 18
- 238000012423 maintenance Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention discloses a kind of merchandising machine people, it include: pedestal, logistics storage case, support component and navigation avoidance component, logistics storage case is located at the top of pedestal and is spaced apart setting with pedestal, support component is located between pedestal and logistics storage case to limit hollow cavity before pedestal and logistics storage case, navigation avoidance component is located in hollow cavity, and the avoidance component that navigates is located at support component in the outside of the outer profile of the orthographic projection figure of the upper surface of pedestal.By the way that support component is arranged between pedestal and logistics storage case, make to form hollow cavity between pedestal and logistics storage case, navigation avoidance component is arranged in hollow cavity, navigation avoidance component is enabled to play maximum scanning range and best scanning effect, and it can will be connected between pedestal and logistics storage case by detachable structure by the way that support component is arranged, so that the replacement when perhaps pedestal needs to dismantle cabinet convenient for the later period to cabinet or pedestal, reduces use cost.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of merchandising machine people.
Background technique
Merchandising machine people needs to judge surface conditions by laser radar in the process of moving, thus avoidance in advance, phase
Merchandising machine people's laser radar in the technology of pass is generally located at the top or chassis of merchandising machine people.Radar is located at merchandising machine
Early warning is carried out compared with far from effective apart from road surface when the top of people, robot is easy to bump against on barrier, and laser radar is located at
Area coverage is smaller when at the chassis of robot, can not equally carry out effective avoidance, and laser radar is located at logistics machine
When the middle part of device people, merchandising machine people can cause to block to the scanning area of laser radar, sweeping for laser radar of severe decrease
Region is retouched, and then will affect the avoidance efficiency and ability of merchandising machine people.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, one object of the present invention
It is to propose that a kind of merchandising machine people, merchandising machine people eliminate pedestal and logistics storage case and block navigation avoidance component
Effect, improves the avoidance efficiency of merchandising machine people.
Merchandising machine people according to an embodiment of the present invention, comprising: pedestal, logistics storage case, support component and navigation avoidance
Component, the logistics storage case, which is set, is spaced apart setting on the top of the base and with the pedestal, and the support component is located at
It is described to limit hollow cavity before the pedestal and the logistics storage case between the pedestal and the logistics storage case
Navigation avoidance component is located in the hollow cavity, and the navigation avoidance component is located at the support component in the upper of the pedestal
The outside of the outer profile of the orthographic projection figure on surface.
Merchandising machine people according to an embodiment of the present invention, by the way that support component is arranged between pedestal and logistics storage case,
Make to form hollow cavity between pedestal and logistics storage case, navigation avoidance component is arranged at hollow cavity, so that navigation avoidance group
Part can play maximum scanning range and best scanning effect, and can be by pedestal and object by setting support component
It is connected between stream storage case by detachable structure, so that when cabinet or pedestal need to dismantle, convenient for the later period to case
The replacement of body or pedestal reduces use cost.
Merchandising machine people according to some embodiments of the invention, the support component include multiple support columns, the support
Column is connected between the upper surface of the pedestal and the lower surface of the logistics storage case and extends along the vertical direction, and multiple
Circumferentially spaced setting of the dagger along the upper surface of the pedestal.
Merchandising machine people according to some embodiments of the invention, the support column are four, and four support columns are along institute
State the equally circumferentially spaced of the upper surface of pedestal.
Merchandising machine people according to some embodiments of the invention, the navigation avoidance component are located at the base width direction
Middle part, a neighbouring navigation avoidance component setting in the support column.
Merchandising machine people according to some embodiments of the invention, the support column include: support rod and connection sheet, the branch
Strut extends along the vertical direction, and the upper end of the support rod is formed with the first threaded hole, and the logistics storage case corresponds to described
The position of one threaded hole is formed with the first fixation hole, and the logistics storage case is by cooperation in first fixation hole and described the
The first connector between one threaded hole is fixed on the support rod, and the connection sheet is located at the lower end of the support rod and edge
Horizontal direction extends, and is formed with the second fixation hole in the connection sheet, the pedestal corresponds to the position shape of second fixation hole
At there is the second threaded hole, the support column is connected by cooperating second between second fixation hole and second threaded hole
Fitting is fixed on the base.
Merchandising machine people according to some embodiments of the invention, the navigation avoidance component includes: preceding laser radar, described
Preceding laser radar is located at the top of the pedestal and is located at the front of the support component.
Merchandising machine people according to some embodiments of the invention, the navigation avoidance component further include: rear laser radar, institute
Rear laser radar is stated to be located at the top of the pedestal and be located at the rear of the support component.
Merchandising machine people according to some embodiments of the invention, further includes: air plug connector, the air plug connector are located at
Between the pedestal and the logistics storage case, and the air plug connector is located at the support component in the upper table of the pedestal
The inside of the outer profile of the orthographic projection figure in face.
Merchandising machine people according to some embodiments of the invention, the pedestal include: chassis and shell, the bottom on the chassis
The driving motor that portion is equipped with traveling wheel and connect with the traction drive, the top on the chassis are equipped with for installing described lead
The mounting base of avoidance component of navigating and erecting bed for installing the support component, the shell are located on the chassis, and
The shell corresponds to the mounting base and the position of the erecting bed is formed with avoiding hollow groove, and the navigation avoidance component is mounted on institute
The avoiding hollow groove is stated in mounting base and stretches out, the support component is mounted on the erecting bed and stretches out the avoiding hollow groove.
Merchandising machine people according to some embodiments of the invention, the pedestal further include: touch item, set in the touching item
There are two conductive electrode and judge whether the pedestal touches barrier, the touching according to the on-off of two conductive electrodes
Item is touched to be located on the lateral wall of the shell and along the circumferentially extending of the shell.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the internal structure chart on the chassis of merchandising machine people according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the pedestal of merchandising machine people according to an embodiment of the present invention；
Fig. 3 is the scanning range schematic diagram of navigation avoidance component according to an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of merchandising machine people according to an embodiment of the present invention；
Fig. 5 is the cross-sectional view of pedestal according to an embodiment of the present invention.
Appended drawing reference:
100: merchandising machine people；
10: pedestal；11: shell；12: touching item；13: chassis；131: traveling wheel；
20: logistics storage case；21: data processing terminal；
30: support component；31: support column；32: connection sheet；33: support rod；
40: navigation avoidance component；41: preceding laser radar；42: rear laser radar；
50: air plug connector.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment being described with reference to the drawings is exemplary, and is retouched in detail below
State the embodiment of the present invention.
Merchandising machine people 100 according to an embodiment of the present invention is described below with reference to Fig. 1-Fig. 5.
As Figure 1-Figure 5, merchandising machine people 100 according to an embodiment of the present invention may include: pedestal 10, logistics receiving
Case 20, support component 30 and navigation avoidance component 40.
Logistics storage case 20 is located at the top of pedestal 10 and is spaced apart setting with pedestal 10, and navigation avoidance component 40 is located at bottom
Between seat 10 and logistics storage case 20, to limit hollow cavity before pedestal 10 and logistics storage case 20, navigate avoidance component
40 be located at hollow cavity in, and navigate avoidance component 40 be located at support component 30 the upper surface of pedestal 10 orthographic projection figure outside
The outside of profile, that is to say, that in the horizontal plane, the avoidance component 40 that navigates with support component 30 is spaced apart setting, in this way can be with
Prevent support component 30 from stopping the scan path of navigation avoidance component 40.
Specifically, as shown in Figure 1, pedestal 10 is located at the bottom of merchandising machine people 100, and pedestal 10 is on the ground
The whole orthographic projection size on the ground of orthographic projection and merchandising machine people 100 is similar, further pedestal 10 with ground face contact
Place setting traveling wheel 131, by the operating that the driving motor inside pedestal 10 is arranged in drive traveling wheel 131, thus
Pedestal 10 and logistics storage case 20 is driven to move integrally, the bottom of this outer base 10 is slightly above the axle center of traveling wheel 131, both may be used
To protect wheel it is also ensured that the riding stability of merchandising machine people 100.
Support component 30 is located between pedestal 10 and logistics storage case 20, for connecting pedestal 10 and logistics storage case 20,
And limit hollow cavity among logistics storage case 20 and pedestal 10, in addition to this, support component 30 and logistics storage case 20 and
It is removably connected between pedestal 10, it is easy to disassemble to be brought convenience to user maintenance merchandising machine people 100.For example,
When logistics storage case 20 or pedestal 10 are damaged, maintenance personal can directly replace the logistics storage case 20 or pedestal of damage
10, maintenance time not only can be saved, maintenance cost can also be saved.In addition to this, when user needs replacing different function
When logistics storage case 20, dismountable characteristic of support component 30, the logistics storage case of Lai Genghuan different function also can use
20。
Navigation avoidance component 40 is located between pedestal 10 and logistics storage case 20, and the avoidance component 40 that navigates is located at support group
Part 30 is divided in the outside of the outer profile of the orthographic projection figure of the upper surface of pedestal 10,40 road pavement situation of avoidance component of navigating
Analysis processing, then traveling wheel 131 is transmitted information to, to play the role of avoidance.For example, in the normal row of merchandising machine people 100
In sailing, there is barrier in front, and navigation avoidance component 40 is by transmitting information to traveling wheel 131, traveling wheel after scanning discovery
131 change the direction of travel avoiding barrier of merchandising machine people 100.
Merchandising machine people 100 according to an embodiment of the present invention as a result, by being set between pedestal 10 and logistics storage case 20
Support component 30 is set, makes to form hollow cavity between pedestal 10 and logistics storage case 20, navigation avoidance component 40 is arranged hollow
It is intracavitary, enable navigation avoidance component 40 to play maximum scanning range and best scanning effect, and pass through setting
Support component 30 can will be detachably connected between pedestal 10 and logistics storage case 20, so that accommodating in pedestal or logistics
When case 20 needs to dismantle, replacement convenient for the later period to pedestal 10 or logistics storage case 20 reduces use cost.
As depicted in figs. 1 and 2, support component 30 includes multiple support columns 31, and support column 31 is connected to the upper table of pedestal 10
Extend between face and the lower surface of logistics storage case 20 and along the vertical direction, and multiple support columns 31 are along the upper surface of pedestal 10
Circumferentially spaced setting.
The structure of support column 31 is simple, occupies little space, and passes through the circumferentially spaced setting branch in the upper surface of pedestal 10
Dagger 31 can expand the area of 30 supporting zone of support component, can not only play good supporting role, additionally it is possible to improve
The overall stability of merchandising machine people 100, and support column 31 is smaller on the blocking influence of navigation avoidance component 40, is conducive to expand
The scanning area of big navigation avoidance component 40.
As depicted in figs. 1 and 2, according to one embodiment of present invention, support column 31 is four, four 31 edges of support column
The upper surface of pedestal 10 it is equally circumferentially spaced.Navigation avoidance component 40 is located at the middle part of 10 width direction of pedestal, support column
Avoidance group 40 settings of a neighbouring navigation in 31.
Four support columns 31 form square, the diagonal line and 11 upper surface institute shape of pedestal of the square that support column 31 forms
At square diagonal line angle at 45 °.One of support column 31 can be located in 10 upper surface width direction of pedestal
Portion, and the front side of proximate base 10, navigation avoidance component 40 can the neighbouring support column 31 settings.One of support column 31 can
To be located at the middle part in 10 upper surface width direction of pedestal, and the rear side of proximate base 10, navigation avoidance component 40 neighbouring can be somebody's turn to do
Support column 31 is arranged.It is possible thereby to reduce the barrier effect of 31 pairs of support group navigation avoidance components 40, and then promote navigation avoidance
The scanning effect of component 40.
A specific embodiment according to the present invention, as depicted in figs. 1 and 2, the point court where navigation avoidance component 40
It is α that point where to any two support column 31, which draws the angle that two rays are formed, α≤180 °, that is to say, that navigation avoidance
The scanning range of component 40 is greater than 180 °
Further, as shown in figure 3, from where the point towards any two support column 31 where navigation avoidance component 40
It is α that point, which draws the angle that two rays are formed, α≤90 °, that is to say, that the scanning range of navigation avoidance component 40 is greater than 270 °,
Specific navigation avoidance component 40 can be scanned with the avoidance component 40 that navigates as 270 ° of the sector in the center of circle, and further expansion leads
The scanning area of boat avoidance component 40.
The scan efficiency that can be improved merchandising machine people 100 by the big navigation avoidance component 40 of setting scanning range, from
And the obstacle avoidance ability of merchandising machine people 100 is improved, further increase the travelling speed of merchandising machine people 100.
As shown in Figure 1, support column 31 includes: support rod 33 and connection sheet 32, support rod 33 extends along the vertical direction, support
The upper end of bar 33 is formed with the first threaded hole, and the position of corresponding first threaded hole of logistics storage case 20 is formed with the first fixation hole,
Logistics storage case 20 is fixed on support rod 33 by the first connector of the cooperation between the first fixation hole and the first threaded hole,
It can not only play a supporting role, but also pedestal 10 and logistics storage case 20 can be connected, and in logistics storage case 20
Hollow cavity is defined among pedestal 10.
Connection sheet 32 is located at the lower end of support rod 33 and horizontally extending, and it is fixed that second is formed in connection sheet 32
Hole, the position of corresponding second fixation hole of pedestal 10 are formed with the second threaded hole, support rod 33 by cooperation the second fixation hole with
The second connector between second threaded hole is fixed on pedestal 10, can be support rod 33 and pedestal 10 by the second connector
It removably connects, connection sheet 32 and pedestal 10 are bonded that effect is preferable, can increase connecing for support column 31 and pedestal 10
Contacting surface product, and then the stability that support column 31 is connect with pedestal 10 can be promoted.
Due to being to be detachably connected between support rod 33 and logistics storage case 20 and pedestal 10, it is possible to be tieed up to user
Merchandising machine people 100 is repaired to bring convenience.For example, maintenance personal can be straight when logistics storage case 20 or pedestal 10 are damaged
The logistics storage case 20 or pedestal 10 for connecing replacement damage, not only can save maintenance time, can also save maintenance cost.Except this
Except, when user needs replacing the logistics storage case 20 of different function, it also can use dismountable spy of support component 30
Property, the logistics storage case 20 of Lai Genghuan different function.
A specific embodiment according to the present invention, as shown in Figure 1, Figure 2 and Figure 3, navigation avoidance component 40 swash before including:
Optical radar 41, preceding laser radar 41 are located at the top of pedestal 10 and are located at the front of support component 30, and preceding laser radar 41 is swept
Retouching angle can achieve 270 °, can be during merchandising machine people 100 advances, to logistics machine by laser radar 41 before being arranged
100 front of device people and the most region in the left and right sides are scanned, and guarantee that merchandising machine people 100 can quickly and accurately keep away
Cross obstacle.
A specific embodiment according to the present invention, as shown in Figure 1, Figure 2 and Figure 3, navigate avoidance component 40 further include: after
Laser radar 42, rear laser radar 42 are located at the top of pedestal 10 and are located at the rear of support component 30, rear laser radar 42
Scanning angle can achieve 270 °, can be in 100 fallback procedures of merchandising machine people, to logistics by laser radar 42 after setting
The most region in 100 rear of robot and the left and right sides is scanned, and guarantees that merchandising machine people 100 can be quickly and accurately
Circumvent obstacle.
Wherein, preceding laser radar 41 and rear laser radar 42 are all provided with the middle part for being set in 10 left and right directions of pedestal.
Laser radar is generated and transmitted by a branch of light pulse, beats on object and reflects, is finally received by receiver.
Receiver accurately measures light pulse from being emitted to the propagation time being reflected back toward.Because light pulse is connect with light velocity propagation
It receives device and always receives the previous pulse being reflected back toward before next pulse sending.Be in view of the light velocity it is known, when propagation
Between can be converted into the measurement adjusted the distance.In conjunction with the height of laser, laser scanning angle, so that it may be accurately calculated every
The coordinate of one ground hot spot.
And since the frequency of radiating laser beams can work as laser radar from several pulses per second to tens of thousands of a pulses per second
When the frequency of transmitting laser beam is very high, the avoidance effect of merchandising machine people 100 is best.
A specific embodiment according to the present invention, as shown in Figure 1, Figure 2 and Figure 3, merchandising machine people 100 further include: boat
Connector 50 is inserted, air plug connector 50 is located between pedestal 10 and logistics storage case 20, and air plug connector 50 is located at support group
Part 30 is in the inside of the outer profile of the orthographic projection figure of the upper surface of pedestal 10.
In multiple support columns 31, the width of at least one support column 31 is greater than the width of remaining support column 31, and air plug connects
Fitting 50 can be fixed on the maximum support column 31 of width.
As shown in figure 4, air plug connector 50 is located on pedestal 10 and at least partly stretches out the outer surface of pedestal 10, air plug connects
The part that fitting 50 stretches out pedestal 10 be formed with power interface, scan interface and and navigation interface, on power interface and pedestal
Power supply be connected, scan interface with navigate avoidance component 40 be connected, navigation interface is connected with 131 component of traveling wheel of pedestal.Object
It flows storage case 20 and is equipped with data processing terminal 21, data processing terminal 21 is equipped with the power supply with power interface removable plug
The scanning connector and the navigation connector with navigation interface removable plug of connector and scan interface removable plug.Data processing
Terminal 21 controls traveling wheel 131 according to the scanning signal of navigation avoidance component 40, and then it is mobile to control merchandising machine people 100.
By be arranged air plug connector 50, can for logistics storage case 20 and pedestal 10 between signal connection provider
Just, the replacement efficiency of logistics storage case 20 is improved.
As shown in figure 5, pedestal 10 includes: chassis 13 and shell 11, the bottom on chassis 13 be equipped with traveling wheel 131 and with walking
The driving motor of 131 transmission connection of wheel, traveling wheel 131 includes: two front-wheels and two rear-wheels, and driving motor can be sequentially connected
Front-wheel can also be sequentially connected rear-wheel, and the steering motor for driving front-wheel or rear-axle steering is additionally provided on chassis 13, turn to electricity
Machine drives traveling wheel 131 to swing the steering for realizing merchandising machine people 100.
The top on chassis 13 is equipped with the mounting base for being used to install navigation avoidance component 40 and for installing support component 30
Erecting bed, shell 11 are located on chassis 13, and the position of the corresponding mounting base of shell 11 and erecting bed is formed with avoiding hollow groove, navigates
Avoidance component 40 is mounted in mounting base and stretches out avoiding hollow groove, and support component 30 is mounted on erecting bed and stretches out avoiding hollow groove.It is logical
Setting avoiding hollow groove is crossed, can be provided for 30 supporter stream storage case 20 of support component conveniently, and can prevent shell 11 from blocking
The scan path of navigation avoidance component 40, furthermore, the globality of 10 outer surface structure of pedestal can be promoted.
According to one embodiment of present invention, pedestal 10 further include: touching item 12 touches conductive electricity there are two setting in item 12
Pole simultaneously judges whether pedestal 10 touches barrier according to the on-off of two conductive electrodes, and touching item 12 is located at the outer of shell 11
On side wall and along the circumferentially extending of shell 11.
Specifically, touching item 12 further includes flexible shell, flexible shell is adapted to be attached to the outer surface of merchandising machine people 100
On, such as can be front side, rear side or the left and right sides of merchandising machine people 100, flexible shell can also enclose in the horizontal direction
It is arranged around merchandising machine people 100, any side of merchandising machine people 100 are collided, and touching item 12 can be fed back.
Extrusion chamber is defined in flexible shell, extrusion chamber extends along the length direction of flexible shell, as merchandising machine people 100
When colliding barrier, flexible shell is squeezed and deformed by external force, and extrusion chamber generates corresponding radial contraction.
Conductive electrode is each provided in extrusion chamber, and conductive electrode is spaced apart setting, induction along the length direction of flexible shell
Electrode is used to incude flexible shell and corresponds to the external force born at the position of conductive electrode, when radial contraction occurs for extrusion chamber
Afterwards, to conductive electrode squeezing action occurs for the internal perisporium of extrusion chamber, and conductive electrode is sentenced according to the squeezing action of extrusion chamber internal perisporium
Whether disconnected merchandising machine people 100 touches barrier, and to the motion control mechanism feedback information of merchandising machine people 100 to adjust
The moving direction of merchandising machine people 100.
By the way that conductive electrode is arranged in extrusion chamber, flexible shell can be divided into multiple points arranged along its length
Section, each segmentation is corresponding with a conductive electrode, and when flexible shell squeezes, the segmentation at extrusion position deforms, with
Extrusion position is segmented the extrusion deformation that corresponding conductive electrode senses flexible shell, feeds back to merchandising machine people 100 and squeezes letter
Number, merchandising machine people 100 can move in the opposite direction with avoiding barrier.
The touching item 12 of robot according to the present invention can accurately incude touching item 12 by the way that conductive electrode is arranged
Deformation position, and then according to touching item 12 deformation position adjustment merchandising machine people 100 moving direction, be merchandising machine people
100 obstacle avoidances provide convenience, and structure is simple, easy to accomplish.
According to some embodiments of the present invention, conductive electrode includes the electrode slices of two separable settings, on flexible shell
Equipped with the power connection end to connect one to one with two electrode slices, power connection end passes through flexible shell and is connected with electrode slice.
Two electrode slices are respectively as follows: first electrode sheet and second electrode sheet, and first electrode sheet and second electrode sheet are along flexible
The deformation direction of shell is spaced apart setting, and when flexible shell is squeezed by external force, the internal perisporium of extrusion chamber is moved closer to, and first
The distance between electrode slice and second electrode sheet are also gradually reduced, until first electrode sheet and second electrode sheet only abut touching.The
Circuit is connected after one electrode slice is contacted with second electrode sheet, is obtained according to the current or voltage of first electrode sheet and second electrode on piece
The on-position of first electrode sheet and second electrode sheet is obtained, and then the position that flexible shell squeezes can be obtained.Work as flexibility
First electrode sheet and second electrode sheet separation, the electricity between first electrode sheet and second electrode sheet after the external force that shell is born disappears
Stream disappears.
The touch position of flexible shell is obtained according to the electric signal between electrode slice as a result, the structure of electrode slice is simple, holds
It is easy to manufacture, lower production costs, and also signal detection is convenient, and the precision of detection is higher, is conducive to promote the reliable of touching item 12
Property and stability.
According to some embodiments of the present invention, when two electrode slices separate, thickness of two electrode slices along flexible shell
Direction is spaced apart setting, when touching item 12 is connected with merchandising machine people 100, will touch the face vertical with thickness direction of item 12 and connect
On merchandising machine people 100, the connective stability of touching item 12 and merchandising machine people 100 can be promoted, merchandising machine people 100 moves
It collides during dynamic, flexible shell can generally generate the deformation along flexible shell thickness direction.Therefore, electrode slice is along flexible
The thickness direction interval of shell is arranged, it is ensured that two electrode slices can contact with each other when merchandising machine people 100 collides
And feedback signal, after preventing merchandising machine people 100 from colliding, electrode slice can not contact influence induction accuracy.
In certain embodiments, electrode slice extends along the length direction of flexible shell, in the same conductive electrode
Two electrode slices are arranged in parallel and length is identical, that is to say, that when flexible shell is not by external forces, the same conductive electricity
Two electrode slices in extremely are parallel and are oppositely arranged.
On the one hand, induction region can be expanded along the electrode slice that the length direction of flexible shell extends, other hand, in parallel
The two electrode slices contact being oppositely arranged is convenient, and electrode slice, which is arranged in a staggered manner, after preventing flexible shell from deforming causes conductive electrode can not
Feedback-induced signal.
Extrusion chamber has a pair of straight flange being parallel to each other, the end of straight flange perpendicular to the sectional view of flexible shell length direction
Portion is connected with arc-shaped side, for example, the cross sectional shape of extrusion chamber can be oblong or waist-shaped hole.
That is, the internal perisporium of extrusion chamber include two along flexible shell length direction extend planar wall, two
Planar wall is opposite and is arranged in parallel, and is connected between planar wall by curved wall, two electrode slices are located at extrusion chamber correspondingly
On two internal perisporiums of corresponding straight flange, that is, two electrode slices are located at correspondingly on two planar walls.
The extrusion chamber of above structure, after flexible shell deforms, two planar walls move closer to two electrode slices and connect
Touching, and two curved walls easily deform, and provide conveniently it is possible thereby to deform for flexible shell and touch conductive electrode, Jin Erke
To promote the precision of conductive electrode.
According to some embodiments of the present invention, flexible shell includes: outer tube and multiple inner sleeves, and outer tube is connected to object
Be formed as touching the external structure of item 12 in stream robot 100, define installation cavity in outer tube, inner sleeve is located at installation cavity
Interior, extrusion chamber is limited in inner sleeve, and conductive electrode is mounted on correspondingly in multiple inner sleeves, in other words, inner sleeve
Quantity is identical as the quantity of conductive electrode, and a conductive electrode is equipped in an inner sleeve.
By setting outer tube and inner sleeve, outer tube can not only promote the globality of touching 12 surface structure of item, and
And it can be assemblied on merchandising machine people 100 and be provided conveniently for touching item 12, moreover it is possible to promote the Assembly stability of touching item 12；It is interior
Casing can provide conveniently for the assembly of conductive electrode, and can prevent from interfering with each other between adjacent conductive electrode, mention
The induction precision of touching item 12 is risen.
In the present embodiment, the periphery wall of inner sleeve stops the internal perisporium for abutting touching outer tube, and outer tube is squeezed deformation
Afterwards, can be quickly by displacement transfer to inner sleeve, and then electrode slice contact is driven to generate feedback signal, prevent inner sleeve with
There are the efficiency that gap influences flexible shell displacement transfer between outer tube.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the description of the present invention, " fisrt feature ", " second feature " may include one or more of the features.In
In description of the invention, the meaning of " plurality " is two or more.In the description of the present invention, fisrt feature is in the second spy
Sign " on " or " under " may include that the first and second features directly contact, and also may include the first and second features not be straight
It contacts but by the other characterisation contact between them.In the description of the present invention, fisrt feature is in second feature " it
On ", " top " and " above " include fisrt feature right above second feature and oblique upper, or be merely representative of fisrt feature level
Height is higher than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of merchandising machine people characterized by comprising
Pedestal；
Logistics storage case, the logistics storage case set on the top of the base and are spaced apart setting with the pedestal；
Support component, the support component are located between the pedestal and the logistics storage case in the pedestal and the object
Hollow cavity is limited before stream storage case；
Navigate avoidance component, and the navigation avoidance component is located in the hollow cavity, and the navigation avoidance component is positioned at described
Support component is in the outside of the outer profile of the orthographic projection figure of the upper surface of the pedestal.
2. merchandising machine people according to claim 1, which is characterized in that the support component includes multiple support columns, institute
Support column is stated to be connected between the upper surface of the pedestal and the lower surface of the logistics storage case and extend along the vertical direction, and
Circumferentially spaced setting of multiple support columns along the upper surface of the pedestal.
3. merchandising machine people according to claim 2, which is characterized in that the support column is four, four supports
Column is equally circumferentially spaced along the upper surface of the pedestal.
4. merchandising machine people according to claim 3, which is characterized in that it is wide that the navigation avoidance component is located at the pedestal
The middle part in direction is spent, the neighbouring navigation avoidance component of one in the support column is arranged.
5. merchandising machine people according to claim 2, which is characterized in that the support column includes:
Support rod, the support rod extend along the vertical direction, and the upper end of the support rod is formed with the first threaded hole, the logistics
The position that storage case corresponds to first threaded hole is formed with the first fixation hole, and the logistics storage case is by cooperation described the
The first connector between one fixation hole and first threaded hole is fixed on the support rod；
Connection sheet, the connection sheet are located at the lower end of the support rod and horizontally extending, are formed in the connection sheet
Second fixation hole, the position that the pedestal corresponds to second fixation hole are formed with the second threaded hole, and the support column is by matching
The second connector closed between second fixation hole and second threaded hole is fixed on the base.
6. merchandising machine people according to claim 1, which is characterized in that the navigation avoidance component includes:
Preceding laser radar, the preceding laser radar are located at the top of the pedestal and are located at the front of the support component.
7. merchandising machine people according to claim 6, which is characterized in that the navigation avoidance component further include:
Laser radar afterwards, the rear laser radar are located at the top of the pedestal and are located at the rear of the support component.
8. merchandising machine people according to any one of claims 1-7, which is characterized in that further include:
Air plug connector, the air plug connector are located between the pedestal and the logistics storage case, and the air plug connects
Part is located at the support component in the inside of the outer profile of the orthographic projection figure of the upper surface of the pedestal.
9. merchandising machine people according to any one of claims 1-7, which is characterized in that the pedestal includes:
Chassis, the driving motor that the bottom on the chassis is equipped with traveling wheel and connect with the traction drive, the chassis
Top is equipped with the mounting base for filling the navigation avoidance component and the erecting bed for installing the support component；
Shell, the shell are located on the chassis, and the shell corresponds to the position of the mounting base and the erecting bed
It is formed with avoiding hollow groove, the navigation avoidance component is mounted in the mounting base and stretches out the avoiding hollow groove, the support component
It is mounted on the erecting bed and stretches out the avoiding hollow groove.
10. merchandising machine people according to claim 9, which is characterized in that the pedestal further include:
Item is touched, is set in the touching item there are two conductive electrode and the bottom is judged according to the on-off of two conductive electrodes
Whether seat touches barrier, and the touching item is located on the lateral wall of the shell and along the circumferentially extending of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754827.4A CN110480650A (en) | 2019-08-15 | 2019-08-15 | Merchandising machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910754827.4A CN110480650A (en) | 2019-08-15 | 2019-08-15 | Merchandising machine people |
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| CN110480650A true CN110480650A (en) | 2019-11-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910754827.4A Pending CN110480650A (en) | 2019-08-15 | 2019-08-15 | Merchandising machine people |
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Effective date of registration: 20201230 Address after: 100192 Room 101, building A-1, Northern Territory, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant after: NINEBOT (BEIJING) TECH Co.,Ltd. Address before: 100089 No.161, 6 / F, block B, building 1, No.38, Zhongguancun Street, Haidian District, Beijing Applicant before: BEIJING ZHIXING MUYUAN TECHNOLOGY Co.,Ltd. |