CN112025731A - Robot - Google Patents
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- CN112025731A CN112025731A CN202010911389.0A CN202010911389A CN112025731A CN 112025731 A CN112025731 A CN 112025731A CN 202010911389 A CN202010911389 A CN 202010911389A CN 112025731 A CN112025731 A CN 112025731A
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- Prior art keywords
- chassis
- charging circuit
- cabinet body
- robot
- main frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims description 80
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000005389 magnetism Effects 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
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- 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
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- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a robot. The robot comprises a cabinet body, a bracket and a movable chassis; the cabinet body is arranged on the bracket, and the movable chassis is arranged below the bracket; the movable chassis is used for driving the bracket and the cabinet body to move; the cabinet body is provided with a first charging circuit; a second charging circuit is arranged on the movable chassis; the first charging circuit is connected with the second charging circuit to form a direct current charging circuit, and the direct current charging circuit is used for inputting electric energy in a battery in the mobile chassis into the battery in the cabinet body. The invention has the beneficial effects that: through the direct current charging circuit that first charging circuit and second charging circuit are connected, realize removing the chassis and charge to the cabinet body, and then avoided the in-process that the cabinet body removed, the condition of the cabinet body outage takes place.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot.
Background
Robot among the prior art, its at the in-process of delivery, when the electric quantity of the discovery cabinet body is less, need in time remove the robot and fill electric pile department and charge, and when the electric quantity is less, can have not removing when filling electric pile department, the electric quantity of the cabinet body has exhausted, and then probably causes the circumstances such as the disappearance of stored information.
Disclosure of Invention
The invention aims to provide a robot which can charge a cabinet body through a movable chassis, and avoids the power failure of the cabinet body due to the exhaustion of electric quantity in the moving process.
The technical scheme of the invention is as follows:
a robot comprises a cabinet body, a bracket and a movable chassis;
the cabinet body is arranged on the bracket, and the movable chassis is arranged below the bracket;
the movable chassis is used for driving the bracket and the cabinet body to move;
the cabinet body is provided with a first charging circuit;
a second charging circuit is arranged on the movable chassis;
the first charging circuit is connected with the second charging circuit to form a direct current charging circuit, and the direct current charging circuit is used for inputting electric energy in a battery in the mobile chassis into the battery in the cabinet body.
Preferably, still be provided with on the cabinet body and be used for with fill the side circuit of charging that electric pile is connected.
Preferably, the movable chassis comprises a chassis main frame, a power mechanism, a moving mechanism, a steering mechanism and a positioning mechanism;
the power mechanism, the moving mechanism, the steering mechanism and the positioning mechanism are all arranged on the chassis main frame;
the moving mechanism is used for driving the moving chassis to move;
the power mechanism is used for providing moving power of the moving mechanism;
the steering mechanism is used for changing the moving direction of the moving chassis;
the positioning mechanism is used for positioning the position of the movable chassis.
Preferably, the steering mechanism comprises a steering wheel, a position switch and an electromagnetic pin;
the moving mechanism is arranged on the steering wheel, and the steering wheel is rotationally connected with the chassis main frame;
the in-place switch is arranged on the steering wheel and is used for detecting the relative rotation position of the steering wheel and the chassis main frame;
the electromagnetic pin is arranged on the chassis main frame and used for being matched with the pin hole in the steering wheel to realize the positioning of the steering wheel.
Preferably, last first magnetism portion of inhaling and the second magnetism portion of inhaling that includes of steering mechanism, first magnetism portion of inhaling with the second magnetism portion of inhaling sets up respectively the steering wheel with on the chassis body frame, first magnetism portion of inhaling with the magnetism of second magnetism portion of inhaling is connected.
Preferably, the positioning mechanism comprises a guide rail, and the guide rail is conical or trapezoidal;
guide wheels are arranged on two sides of the guide rail and are abutted against the inner wall of the support, or the guide wheels are abutted against the inner wall below the cabinet body.
Preferably, the movable chassis is also provided with a lifting mechanism;
the lifting mechanism is used for changing the height of the movable chassis and driving the support and the cabinet body to leave the ground.
Preferably, the lifting mechanism comprises a top plate, a limiting device, a driving device and at least one pair of lifting frames;
the two ends of the limiting device are respectively connected with the top plate and the chassis main frame, and the limiting device is used for limiting the moving track of the top plate when the top plate ascends or descends;
the driving device is respectively connected with the top plate and the chassis main frame and is used for driving the top plate to ascend or descend;
the lifting frame comprises a first connecting rod and a second connecting rod;
one end of the first connecting rod is rotatably connected with the top plate, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected with the chassis main frame.
Preferably, in the lifting frames arranged in pairs, a reinforcing plate is arranged between the two first connecting rods, and/or a reinforcing plate is arranged between the two second connecting rods;
and/or the lifting frames which are arranged in pairs are provided with connecting shafts, and the first connecting rods and the second connecting rods are rotatably connected with the connecting shafts.
Preferably, the support comprises a support frame and a leg;
the number of the supporting legs is multiple, and the supporting legs are arranged below the supporting frame;
the support frame is a telescopic mechanism.
The invention has the beneficial effects that:
through the direct current charging circuit that first charging circuit and second charging circuit are connected, realize removing the chassis and charge to the cabinet body, and then avoided the in-process that the cabinet body removed, the condition of the cabinet body outage takes place.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a charging structure of a cabinet of a robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective external view of a mobile chassis of a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a steering mechanism of a robot according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
fig. 6 is a schematic perspective view of a steering structure of a robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a guide mechanism of a robot according to an embodiment of the present invention;
FIG. 8 is a top view of FIG. 7;
fig. 9 is a schematic structural diagram of a lifting mechanism of a robot according to an embodiment of the present invention;
fig. 10 is another schematic structural diagram of a lifting mechanism of a robot according to an embodiment of the present invention.
In the figure:
100: a cabinet body; 110: a first charging connection; 120: a second charging connection;
200: a support; 210: positioning a plate;
300: moving the chassis; 310: a chassis main frame; 320: a third charging connection; 330: a positioning mechanism; 331: a guide rail; 332: a guide wheel; 333: a Hall sensor; 340: a steering mechanism; 341: mounting a plate; 342: a steering wheel; 343: an electromagnetic pin; 344: a drive wheel; 345: an electromagnet; 346: a positioning member; 347: an in-place switch; 350: a lifting mechanism; 351: a top plate; 352: a limiting device; 353: a drive device; 354: a first link; 355: a second link; 356: a reinforcing plate; 357: a connecting shaft; 358: a connecting rod; 359: a scissor type lifting device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
A robot, as shown in fig. 1, includes a cabinet 100, a support 200, and a moving chassis 300; the cabinet 100 is arranged on the support 200, and the movable chassis 300 is arranged below the support 200; the movable chassis 300 is used for driving the bracket 200 and the cabinet 100 to move; the cabinet 100 is provided with a first charging circuit; a second charging circuit is arranged on the mobile chassis 300; the first charging circuit and the second charging circuit are connected to form a complete dc charging circuit, and the dc charging circuit is used to input the electric energy in the battery in the mobile chassis 300 to the battery in the cabinet 100.
Through the connection of first charging circuit and second charging circuit, form complete direct current charging circuit, rethread direct current charging circuit realizes when the cabinet body 100 needs, will remove the electric energy in the chassis 300 and carry for the cabinet body 100 can remain throughout and get the electric state, and then guarantees the normal use of the cabinet body 100.
Specifically, in the present embodiment, as shown in fig. 2, a first charging connector 110 is disposed below the cabinet 100, and is connected to the first charging circuit and connected to a third charging connector 320 in the second charging circuit, so that the first charging circuit and the second charging circuit are connected to form a complete charging circuit.
Specifically, in the present embodiment, the number of the first charging connectors 110 is plural. More specifically, the number of the first charging connectors 110 is four, and similarly, the third charging connectors 320 on the moving chassis 300 are the same as the first charging connectors 110 under the cabinet 100 in number and in one-to-one correspondence with each other in position.
Preferably, the cabinet body 100 is further provided with a side charging circuit connected with the charging pile.
That is, the normal power consumption of the cabinet 100 can be effectively ensured through the dual charging functions of the dc charging circuit and the side charging circuit.
Specifically, in the present embodiment, the side charging circuit is an ac charging circuit.
More specifically, in the present embodiment, as shown in fig. 2, a second charging connector 120 is disposed below the cabinet 100, and is used for connecting with a charging connection structure on a charging pile to form a complete ac charging circuit, so as to charge the cabinet 100 with the charging pile.
Preferably, the movable chassis 300 includes a chassis main frame 310, a power mechanism, a moving mechanism, a steering mechanism 340 and a positioning mechanism 330; the power mechanism, the moving mechanism, the steering mechanism 340 and the positioning mechanism 330 are all arranged on the chassis main frame 310; the moving mechanism is used for driving the moving chassis 300 to move; the power mechanism is used for providing moving power of the moving mechanism; the steering mechanism 340 is used for changing the moving direction of the moving chassis 300; the positioning mechanism 330 is used to position the mobile chassis 300.
In this embodiment, the power mechanism, the moving mechanism, the steering mechanism 340 and the positioning mechanism 330 are all disposed on the chassis main frame 310 and are integrated with the chassis main frame 310.
In this embodiment, the moving mechanism is two driving wheels 344, each of which is provided with a power device, specifically, in this embodiment, a motor.
In the present embodiment, the two driving wheels 344 are driven to move forward and backward by the two motors, and the steering mechanism 340 controls the two motors at different rotation speeds to realize differential speed of the two driving wheels 344, thereby realizing a steering function.
That is, the steering mechanism 340 includes controllers respectively connected to the two motors to control the output speeds of the motors.
Specifically, in the present embodiment, as shown in fig. 4, 5 and 6, the steering mechanism 340 further includes a steering wheel 342, a reach switch 347 and an electromagnetic pin 343; the moving mechanism is arranged on a steering wheel 342, and the steering wheel 342 is rotationally connected with the chassis main frame 310; the in-place switch 347 is arranged on the steering wheel 342, and the in-place switch 347 is used for detecting the relative rotation position of the steering wheel 342 and the chassis main frame 310; the electromagnetic pin 343 is provided on the chassis main frame 310, and is used for cooperating with a pin hole on the steering wheel 342 to position the steering wheel 342.
More specifically, through the arrangement of the steering wheel 342, the in-place switch 347 and the electromagnetic pin 343, after the moving chassis 300 is steered in place, locking can be performed, and the phenomenon that the steering amplitude is too large or too small to cause direction errors is avoided.
Specifically, in the present embodiment, the steering wheel 342 is rotatably disposed on the chassis main frame 310, and more specifically, is rotatably connected to the mounting plate 341 on the chassis main frame 310, and the mounting plate 341 is fixedly connected to the chassis main frame 310.
Specifically, in this embodiment, the electromagnetic pin 343 is fixedly disposed on the mounting plate 341, a corresponding pin hole is disposed on the steering wheel 342, the in-place switch 347 is disposed on the steering wheel 342, after the steering wheel is rotated in place, the in-place switch 347 is energized, the electromagnetic pin 343 is energized, so that the electromagnetic pin 343 falls down to enter the pin hole, and then the relative locking between the steering wheel 342 and the mounting plate 341 is realized, and the driving wheel 344 is disposed on the steering wheel 342, when the steering wheel 342 cannot rotate, the driving wheel 344 cannot realize steering, and further, the rotation direction of the mobile chassis 300 is positioned.
Preferably, the steering mechanism 340 includes a first magnetic portion and a second magnetic portion, the first magnetic portion and the second magnetic portion are respectively disposed on the steering wheel 342 and the chassis main frame 310, and the first magnetic portion and the second magnetic portion are magnetically connected.
Specifically, in this embodiment, the first magnetic portion is an electromagnet 345, and the second magnetic portion is an iron positioning member 346.
More specifically, in this embodiment, the mounting plate 341 is further provided with a positioning member 346, specifically, the positioning member 346 is an iron member, the steering wheel 342 is provided with an electromagnet 345, and when the in-place switch 347 is powered, the electromagnet 345 is powered, so that the electromagnet 345 and the positioning member 346 are adsorbed, and the stability in the moving process is ensured.
It should be noted that the positions of the first magnetic attraction part and the second magnetic attraction part can be exchanged.
Preferably, as shown in fig. 3, 7 and 8, the positioning mechanism 330 includes a guide track 331, and the guide track 331 has a tapered or trapezoidal shape; guide wheels 332 are disposed on two sides of the guide track 331, and the guide wheels 332 abut against the inner wall of the bracket 200, or the guide wheels 332 abut against the inner wall below the cabinet 100.
In this embodiment, the number of the guide tracks 331 is two, and the entrance end of the guide track 331 is tapered, so that the guide track can enter the lower portion of the bracket 200 more conveniently.
In this embodiment, the guide wheels 332 are disposed on both sides of the guide rail 331, so that the guide rail 331 can perform a normal guiding function when the positions of the two guide rails 331 are exchanged.
In this embodiment, at least two guide wheels 332 are disposed on both sides of each guide rail 331 to ensure stability when the guide rail 331 enters under the support 200.
In the present embodiment, the third charging connector 320 is disposed on the guide rail 331.
In this embodiment, hall sensors 333 are provided on both sides of the guide rail 331, and can be matched with the structure on the support 200 to position the relative position where the moving chassis 300 stops when it enters below the support 200.
In this embodiment, the positioning plate 210 is disposed below the support 200, a baffle is disposed on the positioning plate 210 at a position corresponding to the entrance end of the guide rail 331, and the positioning plate 210 and the baffle are fixedly connected in an L shape, so that the mobile chassis 300 can be mechanically positioned by the baffle when entering the position below the support 200, and the mobile chassis 300 is prevented from passing through the support 200 when the hall sensor 333 is inaccurately positioned.
Preferably, the movable chassis 300 is further provided with a lifting mechanism 350; the lifting mechanism 350 is used for changing the height of the mobile chassis 300 to drive the support 200 and the cabinet 100 to leave the ground.
Through the setting of elevating system 350, can make the height change of removing chassis 300, and then get up support 200 and cabinet 100 support, drive support 200 and cabinet 100 and remove.
Specifically, as shown in fig. 9, the lifting mechanism 350 includes a top plate 351, a limiting device 352, a driving device 353 and at least one pair of lifting frames; the two ends of the limiting device 352 are respectively connected with the top plate 351 and the chassis main frame 310, and the limiting device 352 is used for limiting the moving track of the top plate 351 during ascending or descending; the driving device 353 is respectively connected with the top plate 351 and the chassis main frame 310, and the driving device 353 is used for driving the top plate 351 to ascend or descend; the crane comprises a first link 354 and a second link 355; one end of the first link 354 is rotatably connected to the top plate 351, the other end of the first link 354 is rotatably connected to one end of the second link 355, and the other end of the second link 355 is rotatably connected to the chassis main frame 310.
Specifically, in this embodiment, carry out the butt through roof 351 and support 200, drive arrangement 353 and the cooperation of crane drive roof 351 and go up and down, and then realize the lift of support 200 and cabinet body 100.
Specifically, in this embodiment, the crane includes first connecting rod 354 and second connecting rod 355 that rotate the connection, is provided with reinforcing plate 356 between two first connecting rods 354, or is provided with reinforcing plate 356 between two second connecting rods 355, extends in the axis of rotation of first connecting rod 354 and second connecting rod 355, uses as connecting axle 357 for same axis of rotation in to the crane, and then can guarantee the synchronism of going up and down.
At least one connecting rod 358 is arranged between the adjacent lifting frames, so that a whole body can be formed between the plurality of lifting frames, and synchronous lifting can be carried out.
It is noted that in this embodiment the crane comprises a first link 354 and a second link 355, which may also be pivotally connected with more links, so that the crane can have a larger lifting distance.
In this embodiment, limiting device 352 can limit the lifting frame when driving top plate 351 to move up and down, and avoid top plate 351 to shake in the horizontal direction when lifting.
In this embodiment, as shown in fig. 10, a scissor type lifting device 359 is further provided to cooperate with the lifting mechanism 350 in this embodiment, so that the cabinet 100 and the rack 200 are more stable when lifted.
In this embodiment, the driving device 353 is an air cylinder or a hydraulic cylinder.
Preferably, the stand 200 includes a support frame and legs; the number of the supporting legs is multiple, and the supporting legs are arranged below the supporting frame; the support frame is a telescopic mechanism.
In this embodiment, it is also possible that the mobile chassis 300 does not go up and down, and the support 200 goes up and down, and then the lower end of the support 200 is connected with the top plate 351, and the support frame goes up and down, so that the support legs can leave the ground, and then the mobile chassis 300 can drive the support 200 and the cabinet 100 to move synchronously when moving.
Specifically, in the present embodiment, the lifting/lowering means of the support frame may be various, and for example, the lifting/lowering mechanism 350 of the present invention may be used, or a telescopic mechanism may be used.
The invention has the beneficial effects that:
through the direct current charging circuit that first charging circuit and second charging circuit are connected, realize removing chassis 300 and charge to the cabinet body 100, and then avoided the in-process that the cabinet body 100 removed, the circumstances of the cabinet body 100 outage takes place.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot is characterized by comprising a cabinet body, a bracket and a movable chassis;
the cabinet body is arranged on the bracket, and the movable chassis is arranged below the bracket;
the movable chassis is used for driving the bracket and the cabinet body to move;
the cabinet body is provided with a first charging circuit;
a second charging circuit is arranged on the movable chassis;
the first charging circuit is connected with the second charging circuit to form a direct current charging circuit, and the direct current charging circuit is used for inputting electric energy in a battery in the mobile chassis into the battery in the cabinet body.
2. The robot of claim 1, wherein the cabinet body is further provided with a side charging circuit for connecting with a charging pile.
3. The robot of claim 1, wherein the mobile chassis comprises a chassis main frame, a power mechanism, a mobile mechanism, a steering mechanism, and a positioning mechanism;
the power mechanism, the moving mechanism, the steering mechanism and the positioning mechanism are all arranged on the chassis main frame;
the moving mechanism is used for driving the moving chassis to move;
the power mechanism is used for providing moving power of the moving mechanism;
the steering mechanism is used for changing the moving direction of the moving chassis;
the positioning mechanism is used for positioning the position of the movable chassis.
4. The robot of claim 3, wherein the steering mechanism includes a steering wheel, a reach switch, and an electromagnetic pin;
the moving mechanism is arranged on the steering wheel, and the steering wheel is rotationally connected with the chassis main frame;
the in-place switch is arranged on the steering wheel and is used for detecting the relative rotation position of the steering wheel and the chassis main frame;
the electromagnetic pin is arranged on the chassis main frame and used for being matched with the pin hole in the steering wheel to realize the positioning of the steering wheel.
5. The robot of claim 4, wherein the steering mechanism includes a first magnetic attraction portion and a second magnetic attraction portion, the first magnetic attraction portion and the second magnetic attraction portion are respectively disposed on the steering wheel and the chassis main frame, and the first magnetic attraction portion and the second magnetic attraction portion are magnetically connected.
6. A robot according to claim 3, wherein the positioning mechanism comprises a guide track, the guide track being tapered or trapezoidal;
guide wheels are arranged on two sides of the guide rail and are abutted against the inner wall of the support, or the guide wheels are abutted against the inner wall below the cabinet body.
7. The robot as claimed in claim 3, wherein a lifting mechanism is further provided on the moving chassis;
the lifting mechanism is used for changing the height of the movable chassis and driving the support and the cabinet body to leave the ground.
8. The robot of claim 7, wherein the lifting mechanism includes a top plate, a limiting device, a driving device and at least one pair of lifting frames;
the two ends of the limiting device are respectively connected with the top plate and the chassis main frame, and the limiting device is used for limiting the moving track of the top plate when the top plate ascends or descends;
the driving device is respectively connected with the top plate and the chassis main frame and is used for driving the top plate to ascend or descend;
the lifting frame comprises a first connecting rod and a second connecting rod;
one end of the first connecting rod is rotatably connected with the top plate, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected with the chassis main frame.
9. The robot as claimed in claim 8, wherein in the lifting frames arranged in pairs, a reinforcing plate is arranged between the two first connecting rods and/or a reinforcing plate is arranged between the two second connecting rods;
and/or the lifting frames which are arranged in pairs are provided with connecting shafts, and the first connecting rods and the second connecting rods are rotatably connected with the connecting shafts.
10. The robot of claim 1, wherein the stand comprises a support frame and legs;
the number of the supporting legs is multiple, and the supporting legs are arranged below the supporting frame;
the support frame is a telescopic mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010911389.0A CN112025731A (en) | 2020-09-02 | 2020-09-02 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010911389.0A CN112025731A (en) | 2020-09-02 | 2020-09-02 | Robot |
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|---|---|
| CN112025731A true CN112025731A (en) | 2020-12-04 |
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| CN202010911389.0A Pending CN112025731A (en) | 2020-09-02 | 2020-09-02 | Robot |
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| US20200073402A1 (en) * | 2018-08-28 | 2020-03-05 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
| CN210488316U (en) * | 2019-06-28 | 2020-05-08 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| JP6736789B1 (en) * | 2020-02-28 | 2020-08-05 | 株式会社東芝 | lift device |
| CN212399602U (en) * | 2020-09-02 | 2021-01-26 | 北京云迹科技有限公司 | Robot |
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2020
- 2020-09-02 CN CN202010911389.0A patent/CN112025731A/en active Pending
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| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Driving/steering mechanism for automatic guider |
| CN105009004A (en) * | 2013-01-28 | 2015-10-28 | 亚马逊科技公司 | Inventory system with connectable inventory holders |
| JP2018163415A (en) * | 2017-03-24 | 2018-10-18 | 株式会社日立製作所 | Conveyance system, conveyance method, and automatic conveyance vehicle |
| US20200073402A1 (en) * | 2018-08-28 | 2020-03-05 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
| CN210488316U (en) * | 2019-06-28 | 2020-05-08 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| JP6736789B1 (en) * | 2020-02-28 | 2020-08-05 | 株式会社東芝 | lift device |
| CN212399602U (en) * | 2020-09-02 | 2021-01-26 | 北京云迹科技有限公司 | Robot |
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