CN112429113A - Express delivery takeaway machine dog based on 3D prints manufacturing - Google Patents
Express delivery takeaway machine dog based on 3D prints manufacturing Download PDFInfo
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- CN112429113A CN112429113A CN202011405352.7A CN202011405352A CN112429113A CN 112429113 A CN112429113 A CN 112429113A CN 202011405352 A CN202011405352 A CN 202011405352A CN 112429113 A CN112429113 A CN 112429113A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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
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Abstract
The invention discloses an express delivery takeaway robot dog based on 3D printing and manufacturing, which can be directly controlled by a mobile phone APP through a Bluetooth and 5G remote control function through a laser radar navigation device and an obstacle avoidance sensor arranged in the robot dog, is simple and convenient to operate, can also enable a plurality of robot dogs to be automatically connected to a specified network, and can carry out group control operation through a program.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an express delivery takeout robot dog based on 3D printing and manufacturing.
Background
3D printing (also known as additive manufacturing, additive manufacturing) is a technology for constructing objects by layer-by-layer printing using bondable materials such as powdered metals or plastics based on digital model files, and was proposed by the united states in the middle of the 80's 20 th century at the earliest; 3D printing is often used for manufacturing models in the fields of mold manufacturing, industrial design and the like, and then is gradually used for directly manufacturing some products, which has deep influence on the traditional process flow, production line, factory mode and industrial chain combination and is a typical subversive technology of the manufacturing industry; the 3D printing technology is present in the mid-90 s of the 20 th century, and is actually the latest rapid prototyping device using technologies such as photocuring and paper lamination; the printing machine is basically the same as the common printing working principle, the printer is filled with liquid or powder and other printing materials, after the printing materials are connected with a computer, the printing materials are overlapped layer by layer under the control of the computer, and finally, a blueprint on the computer is changed into a real object; this printing technique is called a 3D stereoscopic printing technique.
With the gradual maturity of the 3D printing technology, the application of the 3D printing technology in the manufacturing industry is more and more extensive, products based on the 3D printing technology increasingly enter the visual field of people, the 3D printing manufactured express delivery take-out robot dog also starts to be suitable for the life of people, the function of the express delivery take-out robot dog in the prior art is single and not intelligent enough, the intelligent requirements of people are that the intelligent requirements of people are firstly extremely heavy, the operation of people is too troublesome, and the objects are placed in the containing cabin when the intelligent requirements of people are used for conveying the objects, during the conveying process, the articles can be overstocked and damaged, and the articles are not convenient to take, when the transported object is damaged, the problem is not meaningful to the existence of the transported object, and for this reason, the invention provides an express delivery takeout robot dog manufactured based on 3D printing to solve the problem.
Disclosure of Invention
The invention aims to provide an express delivery takeout robot dog based on 3D printing and manufacturing, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an express delivery takeaway robot dog based on 3D printing manufacturing comprises a robot dog main body, mechanical legs, a laser radar navigation device, an obstacle avoidance sensor, a containing cabin and an access auxiliary mechanism;
the robot dog comprises a robot dog main body, a laser radar navigation device, obstacle avoidance sensors, a holding cabin and a control system, wherein the robot dog main body is symmetrically provided with mechanical legs in a front-back symmetrical connection mode, one side of the upper end of the robot dog main body is connected with the laser radar navigation device, the two ends of the robot dog main body are symmetrically provided with the obstacle avoidance sensors, and the holding cabin is arranged in the middle;
a cabin door sealing plate is arranged at the position of a cabin door of the containing cabin, a containing groove is formed in the containing cabin at equal distance, a supporting spring is arranged in the containing groove, a supporting plate is arranged at the other end of the supporting spring, the supporting plate is movably arranged in the containing groove, a sliding groove and a fixing groove are symmetrically formed in the position of the cabin door, and a sliding strip is arranged in the sliding groove;
the cabin door sealing plate is provided with a first control knob in a threaded connection manner, one end of the first control knob is provided with a first rotating round block, first arc-shaped extrusion chutes are equidistantly arranged on the first rotating round block, first transmission racks are symmetrically and movably arranged in the cabin door sealing plate, one end of each first transmission rack is movably arranged in each first arc-shaped extrusion chute, and the other end of each first transmission rack is provided with a connecting spring;
one side of the first transmission rack is meshed and connected with a first transmission gear, the other side of the first transmission gear is meshed and connected with a second transmission gear, the second transmission gear is meshed and connected with one side of a second transmission rack, and one end of the second transmission rack is provided with an L-shaped movable extrusion rod;
the access assisting mechanisms are arranged in the containing cabin at equal intervals.
Preferably, the access assisting mechanism comprises a partition board, a movable groove, a movable sliding block, a second control knob, a second rotating round block, a second arc-shaped extrusion chute, a T-shaped movable board, an extrusion column, a locking round groove, a pressing plate, a T-shaped movable insert block, a transmission block, a locking clamping column and an extrusion chute, wherein the partition board is arranged in the containing cabin at equal intervals, the movable groove is arranged in the partition board, the movable sliding block is movably arranged in the movable groove, the pressing plate is arranged on one side of the movable sliding block, the second control knob is arranged in the partition board, the second rotating round block is arranged at one end of the second control knob, the second arc-shaped extrusion chute is arranged on the second rotating round block, one end of the T-shaped movable board is movably arranged in the second arc-shaped extrusion chute, the extrusion column is arranged on one side of the T-shaped movable board at equal intervals, the first return spring is connected with the extrusion column at, the extrusion post is inserted and is set up in the locking circular slot, the activity is provided with T type activity inserted block in the clamp plate, is provided with second reset spring on the T type activity inserted block, the activity of transmission piece sets up the avris position at T type activity inserted block to the one end of transmission piece is provided with the locking card post, is provided with the extrusion chute on the transmission piece, and the transmission piece is provided with third reset spring with locking card post same end.
Preferably, the mechanical leg is connected with a high-power speed reduction driving device.
Preferably, the robot dog main body has twelve degrees of freedom, each leg has three private clothes mechanisms for control, and the robot dog main body has twelve degrees of freedom, and the robot dog can move forward, backward, turn left, turn right, raise head, lower head, walk transversely and the like by adjusting the angle change of the twelve degrees of freedom.
Preferably, the locking clamping column corresponds to the extrusion column and the locking circular groove in arrangement position, and the arrangement diameters of the locking clamping column, the extrusion column and the locking circular groove are equal.
Compared with the prior art, the invention has the beneficial effects that:
1. through the laser radar navigation device and the obstacle avoidance sensor, the robot dog can be directly controlled by using a mobile phone APP through the Bluetooth and 5G remote control functions, the operation is simple and convenient, the robot dog can be controlled singly by uploading programs through a computer in a programming mode, a plurality of robot dogs can be automatically connected to a specified network, group control operation is performed through programs, commercial applications such as transportation, inspection, performance and the like are realized, and the robot dog can be respectively applied to a personal family environment and a logistics distribution environment;
2. by the aid of the containing cabin, the placing groove and the access auxiliary mechanism, when the machine dog conveys objects, the machine dog can be well protected in the conveying process, the objects are not prone to damage, the conveying function quality of the machine dog is guaranteed, the objects can be placed and taken conveniently, the conveying work efficiency of the machine dog is improved, and the use economic benefit of the machine dog is improved.
Drawings
FIG. 1 is a right side schematic view of a connection structure according to the present invention;
FIG. 2 is a left side schematic view of the connection structure of the present invention;
FIG. 3 is a top view of the internal connection structure of the holding compartment according to the present invention;
FIG. 4 is an enlarged view of the access assisting mechanism of FIG. 3 according to the present invention;
FIG. 5 is an enlarged view of the connection structure of the door closure of FIG. 3 according to the present invention;
FIG. 6 is a schematic view of the internal connection of the door seal plate according to the present invention;
FIG. 7 is an enlarged view of a portion of the connection structure of FIG. 6 according to the present invention;
FIG. 8 is a partial cross-sectional view of the internal connection structure of the access assisting mechanism according to the present invention;
FIG. 9 is an enlarged view of the internal connection structure of the partition board of FIG. 8 according to the present invention;
FIG. 10 is an enlarged view of the internal connection structure of the platen of FIG. 8 according to the present invention.
In the figure: the robot dog comprises a robot dog main body 1, mechanical legs 2, a laser radar navigation device 3, an obstacle avoidance sensor 4, a containing cabin 5, a placing groove 6, a sliding groove 7, a fixing groove 8, a sliding strip 9, a cabin door sealing plate 10, a first control knob 11, a first rotating round block 12, a first arc-shaped extrusion chute 13, a first transmission rack 14, a first transmission gear 15, a second transmission gear 16, a second transmission rack 17, an L-shaped movable extrusion rod 18, an access auxiliary mechanism 19, a partition plate 1901, a movable groove 1902, a movable slider 1903, a second control knob 1904, a second rotating round block 1905, a second arc-shaped extrusion chute 1906, a T-shaped movable plate 1907, an extrusion column 1908, a locking round groove 1909, a pressing plate 1910, a T-shaped movable inserting block 1911, a transmission block 1912, a locking clamping column 1913 and an extrusion chute 1914.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below. The embodiments of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without any inventive work, belong to the scope of protection of the present invention.
Referring to fig. 1 to 10, the present invention provides a technical solution: the invention relates to an express delivery take-out robot dog based on 3D printing and manufacturing, which comprises a robot dog main body 1, mechanical legs 2, a laser radar navigation device 3, an obstacle avoidance sensor 4, a containing cabin 5 and an access auxiliary mechanism 19, wherein the robot dog main body is provided with a plurality of mechanical legs;
the robot dog comprises a robot dog main body 1, mechanical legs 2, a laser radar navigation device 3, obstacle avoidance sensors 4 and a containing cabin 5, wherein the mechanical legs 2 are symmetrically arranged in the front and back of the robot dog main body 1, one side of the upper end of the robot dog main body 1 is connected with the laser radar navigation device 3, the obstacle avoidance sensors 4 are symmetrically arranged at two ends of the robot dog main body 1, and the containing cabin 5 is arranged in the;
a cabin door sealing plate 10 is arranged at the position of a cabin door of the containing cabin 5, a placing groove 6 is arranged in the containing cabin 5 at equal distance, a supporting spring is arranged in the placing groove 6, a supporting plate is arranged at the other end of the supporting spring, the supporting plate is movably arranged in the placing groove 6, a sliding groove 7 and a fixing groove 8 are symmetrically arranged at the position of the cabin door, and a sliding strip 9 is arranged in the sliding groove 7;
the cabin door sealing plate 10 is provided with a first control knob 11 in a threaded connection manner, one end of the first control knob 11 is provided with a first rotating round block 12, the first rotating round block 12 is equidistantly provided with a first arc-shaped extrusion chute 13, first transmission racks 14 are symmetrically and movably arranged in the cabin door sealing plate 10, one end of each first transmission rack 14 is movably arranged in the corresponding first arc-shaped extrusion chute 13, and the other end of each first transmission rack is provided with a connecting spring;
one side of the first transmission rack 14 is engaged and connected with a first transmission gear 15, the other side of the first transmission gear 15 is engaged and connected with a second transmission gear 16, the second transmission gear 16 is engaged and connected with one side of a second transmission rack 17, and one end of the second transmission rack 17 is provided with an L-shaped movable extrusion rod 18;
the access aid means 19 are arranged equidistantly in the hold-ing compartment 5.
Further, the access assisting mechanism 19 includes a partition plate 1901, a movable slot 1902, a movable slider 1903, a second control knob 1904, a second rotating circular block 1905, a second arc-shaped extrusion chute 1906, a T-shaped movable plate 1907, an extrusion column 1908, a locking circular slot 1909, a pressure plate 1910, a T-shaped movable insert 1911, a transmission block 1912, a locking clamp column 1913 and an extrusion chute 1914, the partition plate 1901 is equidistantly disposed in the containing compartment 5, the movable slot 1902 is disposed in the partition plate 1901, the movable slider 1903 is movably disposed in the movable slot 1902, the pressure plate 1910 is disposed on one side of the movable slider 1903, the second control knob 1904 is disposed in the partition plate 1901, and a second rotating circular block 1905 is disposed at one end of the second arc-shaped extrusion chute 1906, a T-shaped movable plate 1907 is movably disposed in the second arc-shaped extrusion chute 1906, and an extrusion column 1908 is equidistantly disposed on one side of the T-shaped movable plate 1907, the T-shaped movable plate 1907 is provided with a first return spring connected with the same side of the extrusion column 1908, the extrusion column 1908 is inserted into the locking circular groove 1909, a T-shaped movable insert 1911 is movably arranged in the pressure plate 1910, a second return spring is arranged on the T-shaped movable insert 1911, a transmission block 1912 is movably arranged at the side position of the T-shaped movable insert 1911, a locking clamp column 1913 is arranged at one end of the transmission block 1912, an extrusion chute 1914 is arranged on the transmission block 1912, and a third return spring is arranged at the same end of the transmission block 1912 as the locking clamp column 1913.
Furthermore, a high-power speed reduction driving device is connected and arranged on the mechanical leg 2.
Furthermore, the machine dog main body 1 has twelve degrees of freedom, each leg has three private clothes mechanisms for control, and twelve in total, and the machine dog can move forward, backward, turn left, turn right, raise head, lower head, walk transversely and the like by adjusting the angle change of the twelve degrees of freedom.
Furthermore, the locking clip 1913 corresponds to the three positions of the extruded column 1908 and the locking circular groove 1909, and the diameters of the three are equal.
The working principle is as follows: the robot dog is designed to have the appearance length of 900 mm, belongs to a large-scale robot dog, has a mechanical structure X-shaped gait structure, can be used for solving the distribution problem of the last kilometer in the express delivery takeout and logistics industries, can normally walk, can climb stairs, and has better road surface adapting capability than a wheeled vehicle robot. And printing and manufacturing the required part model through a 3D printer. The robot dog solves the problem of excessively high price, optimizes the parts again, can greatly reduce the cost based on a 3D printing technology, and has good change in power; the circuit part enables the machine dog to have a laser radar navigation system to realize autonomous route planning through a control mainboard, and also has Bluetooth and 5G remote control functions, so that the machine dog can be directly controlled by using a mobile phone APP, the operation is simple and convenient, the machine dog can upload programs through a computer in a programming mode to carry out single control, a plurality of machine dogs can be automatically connected to a designated network through a designed group control mode, the group control operation is carried out through the programs, and the commercial applications of transportation, inspection, performance and the like are realized; the robot dog can be applied to a personal family environment and a logistics distribution environment respectively, can be operated by a mobile phone to move in a remote control mode, is suitable for family companions, and can learn robot making and robot dog programming in a programming mode; the express delivery can be carried out by uniformly running a planned route in a group control mode, the express delivery is suitable for transportation, inspection and performance, furthermore, when the objects are stored, the objects are placed on the supporting plate in the placing groove 6, then the pressing plate 1910 is rotated, the pressing plate 1910 is pressed down to release the objects from the supporting plate, the supporting spring is in a compressed state, in the process, the T-shaped movable inserting block 1911 needs to be pressed, the T-shaped movable inserting block 1911 extrudes the extrusion chute 1914, the locking clamping column 1913 is driven to return to the pressing plate 1910 through the transmission block 1912, the T-shaped movable inserting block 1911 is loosened after the pressing down to a proper position, meanwhile, the locking clamping column 1913 returns to an initial position under the third resetting action, namely is clamped in the locking circular groove 1909, the position fixing of the pressing plate 1910 is realized, the limiting fixing of the objects is further realized, and the phenomena of shaking and damage of the objects in the conveying process are prevented, then the door closing plate 10 is closed, the first control knob 11 is rotated, the first transmission rack 14 is extruded through the first arc-shaped extrusion chute 13 on the first rotating round block 12, the transmission action among the first transmission gear 15, the second transmission gear 16 and the second transmission rack 17 is driven, the end part of the L-shaped movable extrusion rod 18 is clamped in the fixed groove 8, when the object arrives at the destination, the object needs to be taken out, the first control knob 11 is rotated reversely, the end part of the L-shaped movable extrusion rod 18 is separated from the fixed groove 8, then the second control knob 1904 is rotated, the second arc-shaped extrusion chute 1906 on the second rotating round block 1905 extrudes the T-shaped movable plate 1907, the extrusion column 1908 is pushed to extrude the locking clamping column 1913 from the locking round groove 1909, and meanwhile, the object is instantly ejected under the action of the supporting spring and the supporting plate, the articles can be taken out quickly, conveniently and quickly, and the holding cabin 5, the placing groove 6 and the access auxiliary mechanism 19 are arranged, so that when the machine dog conveys the articles, the machine dog can have a good protection effect on the articles in the conveying process, the articles are not easy to damage, the conveying function quality of the machine dog is ensured, the machine dog is convenient and fast to place and take the articles, the conveying work efficiency of the machine dog is improved, and the use economic benefit of the machine dog is improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an express delivery takeout machine dog based on 3D prints manufacturing which characterized in that: the robot dog comprises a robot dog main body (1), mechanical legs (2), a laser radar navigation device (3), an obstacle avoidance sensor (4), a containing cabin (5) and an access auxiliary mechanism (19);
the mechanical legs (2) are symmetrically arranged in the front and back of the machine dog main body (1), a laser radar navigation device (3) is connected to one side of the upper end of the machine dog main body (1), obstacle avoidance sensors (4) are symmetrically arranged at two ends of the machine dog main body (1), and a containing cabin (5) is arranged in the middle of the machine dog main body (1);
a cabin door sealing plate (10) is arranged at the position of the cabin door of the containing cabin (5), a placing groove (6) is arranged in the containing cabin (5) at a medium distance, a supporting spring is arranged in the placing groove (6), a supporting plate is arranged at the other end of the supporting spring, the supporting plate is movably arranged in the placing groove (6), a sliding groove (7) and a fixing groove (8) are symmetrically arranged at the position of the cabin door, and a sliding strip (9) is arranged in the sliding groove (7);
the cabin door sealing plate (10) is provided with a first control knob (11) in a threaded connection mode, one end of the first control knob (11) is provided with a first rotating round block (12), first arc-shaped extrusion chutes (13) are equidistantly arranged on the first rotating round block (12), first transmission racks (14) are symmetrically and movably arranged in the cabin door sealing plate (10), one end of each first transmission rack (14) is movably arranged in each first arc-shaped extrusion chute (13), and the other end of each first transmission rack is provided with a connecting spring;
one side of the first transmission rack (14) is meshed and connected with a first transmission gear (15), the other side of the first transmission gear (15) is meshed and connected with a second transmission gear (16), the second transmission gear (16) is meshed and connected with one side of a second transmission rack (17), and one end of the second transmission rack (17) is provided with an L-shaped movable extrusion rod (18);
the access auxiliary mechanisms (19) are arranged in the containing cabin (5) at equal intervals.
2. The express delivery takeaway robot dog based on 3D printing manufacturing of claim 1, wherein: the access assisting mechanism (19) comprises a partition plate (1901), a movable groove (1902), a movable sliding block (1903), a second control knob (1904), a second rotating round block (1905), a second arc-shaped extrusion chute (1906), a T-shaped movable plate (1907), an extrusion column (1908), a locking round groove (1909), a pressing plate (1910), a T-shaped movable insertion block (1911), a transmission block (1912), a locking clamping column (1913) and an extrusion chute (1914), the partition plate (1901) is equidistantly arranged in the containing cabin (5), the movable groove (1902) is arranged in the partition plate (1901), the movable sliding block (1903) is movably arranged in the movable groove (1902), the pressing plate (1910) is arranged on one side of the movable sliding block (1903), the second control knob (1904) is arranged in the partition plate (1901), and a second rotating round block (1905) is arranged at one end of the second control knob (1904), a second arc-shaped extrusion chute (1906) is arranged on the second rotating round block (1905), one end of the T-shaped movable plate (1907) is movably arranged in the second arc-shaped extrusion chute (1906), extrusion columns (1908) are equidistantly arranged on one side of the T-shaped movable plate (1907), a first return spring is connected and arranged on the same side of the T-shaped movable plate (1907) and the extrusion columns (1908), the extrusion column (1908) is inserted into the locking circular groove (1909), a T-shaped movable insert block (1911) is movably arranged in the pressure plate (1910), a second return spring is arranged on the T-shaped movable insert block (1911), the transmission block (1912) is movably arranged at the side position of the T-shaped movable insertion block (1911), and one end of the transmission block (1912) is provided with a locking clamping column (1913), the transmission block (1912) is provided with an extrusion chute (1914), and the transmission block (1912) is provided with a third return spring at the same end as the locking clamping column (1913).
3. The express delivery takeaway robot dog based on 3D printing manufacturing of claim 1, wherein: and the mechanical leg (2) is connected with a high-power speed reduction driving device.
4. The express delivery takeaway robot dog based on 3D printing manufacturing of claim 1, wherein: the robot dog main body (1) has twelve degrees of freedom, each leg is controlled by three private clothes mechanisms, twelve degrees of freedom are counted, and the robot dog can move forward, backward, turn left, turn right, raise head, lower head, walk transversely and the like by adjusting the angle change of the twelve degrees of freedom.
5. The express delivery takeaway robot dog based on 3D printing manufacturing of claim 2, wherein: the locking clamping column (1913) corresponds to the arrangement positions of the extrusion column (1908) and the locking circular groove (1909), and the arrangement diameters of the three are equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405352.7A CN112429113A (en) | 2020-12-05 | 2020-12-05 | Express delivery takeaway machine dog based on 3D prints manufacturing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405352.7A CN112429113A (en) | 2020-12-05 | 2020-12-05 | Express delivery takeaway machine dog based on 3D prints manufacturing |
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| CN112429113A true CN112429113A (en) | 2021-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011405352.7A Pending CN112429113A (en) | 2020-12-05 | 2020-12-05 | Express delivery takeaway machine dog based on 3D prints manufacturing |
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2020
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| DE2413120A1 (en) * | 1973-03-29 | 1974-10-03 | Goodyear Aerospace Corp | FREIGHT CONTAINER WITH ADJUSTABLE BOARDS |
| CN109132121A (en) * | 2018-09-28 | 2019-01-04 | 岳池县天台小学校 | A kind of test tube case |
| CN209064716U (en) * | 2018-11-13 | 2019-07-05 | 湖南哲龙科技有限公司 | A kind of novel use for electronic products protective device |
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Application publication date: 20210302 |