CN113601537B

CN113601537B - Robot

Info

Publication number: CN113601537B
Application number: CN202111183224.7A
Authority: CN
Inventors: 李金龙
Original assignee: Xuzhou Shenghuai Machinery Co ltd
Current assignee: Xuzhou Shenghuai Machinery Co ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2022-02-08
Anticipated expiration: 2041-10-11
Also published as: CN113601537A

Abstract

The invention relates to the technical field of robots and discloses a robot which comprises a moving base, wherein a robot main body is arranged on the moving base, one side of the robot main body, which is positioned at the upper end of the moving base, is connected with a loading basket for loading vegetables and fruits, an object carrying device is arranged in the loading basket, and one side, which is far away from the loading basket, of the robot main body is provided with a power supply device for supplying power to the robot main body; the carrying device comprises an air cylinder, the air cylinder is fixedly connected to the center of the bottom of an inner basket of the loading basket, the piston end of the air cylinder is connected with a supporting block, the upper end of the supporting block is connected with a supporting plate matched with the loading basket, the supporting plate is connected to the inside of the loading basket in a sliding mode, the basket opening of the loading basket is connected with an installation block, and the lower end of the installation block is connected with a laser ranging sensor. This robot can solve present vegetables and fruits and drop and load the basket in the time impaired easily, and the group battery performance of robot is not good simultaneously, influences the problem of robot result of use.

Description

Robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot.

Background

Robots are machine devices that perform work automatically, that can accept human commands, run preprogrammed programs, or outline actions based on principles formulated with artificial intelligence techniques, and whose task is to assist or replace human work, such as manufacturing, construction, or dangerous work.

In vegetables and fruits pick the in-process, in order to facilitate transporting vegetables and fruits, have the robot that has the container to follow, pick the in-process, in the vegetables and fruits that picking personnel will pick directly lost the loading basket of the robot that follows, when loading the basket full, the robot transports it again. However, since the loading basket has a certain depth, picking personnel generally directly place picked vegetables and fruits into the loading basket at the basket opening of the loading basket, the vegetables and fruits are easily damaged when falling into the loading basket, and meanwhile, the battery pack of the robot has poor performance, which affects the use effect of the robot.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a robot which has the advantages of preventing vegetables and fruits from being damaged and improving the use effect of the robot, and solves the problems that the vegetables and fruits are easy to damage when falling into a loading basket, and the battery pack of the robot has poor performance and affects the use effect of the robot.

(II) technical scheme

In order to achieve the purposes of preventing vegetables and fruits from being damaged and improving the using effect of the robot, the invention provides the following technical scheme: a robot comprises a moving base, wherein a robot main body is arranged on the moving base, one side of the robot main body, which is positioned at the upper end of the moving base, is connected with a loading basket for loading vegetables and fruits, an object loading device is arranged in the loading basket, and a power supply device for supplying power to the robot main body is arranged on one side, which is far away from the loading basket, of the robot main body;

the carrying device comprises a cylinder, the cylinder is fixedly connected to the center of the bottom of an inner basket of the loading basket, the piston end of the cylinder is connected with a supporting block, the upper end of the supporting block is connected with a supporting plate matched with the loading basket, the supporting plate is connected to the inside of the loading basket in a sliding mode, a basket opening of the loading basket is connected with an installation block, the lower end of the installation block is connected with a laser ranging sensor, the laser emitting end of the laser ranging sensor is arranged towards the supporting plate, a laser anti-blocking assembly is connected between the installation block and the supporting plate, the laser ranging sensor is arranged in the laser anti-blocking assembly, a controller and a control panel used for setting the distance are connected to the outer basket wall of the loading basket, and the cylinder, the laser ranging sensor, the controller and the control panel are connected through wires.

Preferably, the power supply device comprises a power supply box, the power supply box is arranged at the upper end of the movable base, the box opening of the power supply box is rotationally connected with a box cover through a pin shaft, a copper plate frame in a shape of a Chinese character 'jing' is fixedly connected in the power supply box, the power supply box is uniformly divided into nine working cavities through a copper plate frame, a heat radiation fan is arranged in the most central working cavity, four sides of the heat radiation fan are respectively provided with a lithium battery pack which is arranged in the corresponding working cavity, any two adjacent lithium battery packs are arranged at intervals, a cross-shaped support frame is fixedly connected on the inner cavity wall of the working cavity provided with the lithium battery packs, the support frame is connected with a conducting strip, the lithium battery pack is arranged on the corresponding conducting strip, and an air inlet and an air outlet are symmetrically formed in the cavity wall of the working cavity below the support frame.

Preferably, a maintenance door is installed on the front surface of the robot main body, and a door lock is installed on the maintenance door.

Preferably, the vertical side walls of the four sides of the supporting plate are provided with rolling grooves, rolling balls are arranged in the rolling grooves, the balls penetrate through notches of the rolling grooves and are connected to the corresponding inner basket walls of the loading basket in a rolling mode.

Preferably, the supporting plate is connected with the supporting block by a screw.

Preferably, one end of the box cover, which is far away from the pin shaft, is connected with the power supply box through a hasp.

Preferably, the upper end of the movable base is fixedly connected with an inclined block with a triangular section, and the power supply box is connected to an inclined plane of the inclined block.

Preferably, any two adjacent lithium battery packs are fixedly connected with a grab handle together.

Preferably, the hole wall of the air inlet hole is fixedly connected with a dust screen.

(III) advantageous effects

Compared with the prior art, the invention provides a robot, which has the following beneficial effects:

1. this robot, through setting up the thing device that carries, the high distance between the top vegetables and fruits and the loading basket mouth is unchangeable in the maintenance backup pad, when satisfying loading basket and constantly depositing vegetables and fruits demand, has reduced vegetables and fruits and has fallen to the height in the loading basket, because potential energy when the object striking is highly relevant, makes vegetables and fruits also reduce to receive the potential energy in the loading basket when highly reducing, prevents that vegetables and fruits from directly falling highly too high when loading the basket and causing the damage.

2. According to the robot, the power supply device is arranged, and the four lithium battery packs are arranged, so that the robot has longer working time; the four lithium battery packs are distributed at intervals by taking the cooling fan as the center, are not attached to each other, have larger heat dissipation surfaces, and are started by the cooling fan, so that the air flow effect in the power supply box is accelerated, and the heat dissipation effect of the lithium battery packs is improved.

3. This robot for power supply unit slope sets up through setting up the slope piece, opens the case lid after, upwards inclines to charge lithium cell group, can be more laborsaving change lithium cell group.

4. This robot through setting up the ball, reduces the frictional resistance of backup pad when loading the basket internal motion, makes the backup pad move more stably when the vertical direction motion is done in the atress of loading the basket simultaneously.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

fig. 3 is a schematic structural diagram of a power supply device of a robot according to the present invention;

fig. 4 is a top view of the power supply box of the robot according to the present invention.

In the figure: 1. moving the base; 2. a robot main body; 3. a loading basket; 4. a cylinder; 5. a support block; 6. a support plate; 7. mounting blocks; 8. a laser ranging sensor; 9. a controller; 10. a control panel; 11. a power supply box; 12. a box cover; 13. a dust screen; 14. a copper plate frame; 15. a working chamber; 16. a heat radiation fan; 17. a lithium battery pack; 18. a support frame; 19. a conductive sheet; 20. an air inlet; 21. an air outlet; 22. maintaining the door; 23. a door lock; 24. a rolling groove; 25. a ball bearing; 26. a hasp; 27. an inclined block; 28. a handle.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to fig. 1-4, a robot includes a mobile base 1, a robot main body 2 is installed on the mobile base 1, a loading basket 3 for loading vegetables and fruits is connected to one side of the robot main body 2 at the upper end of the mobile base 1, an object loading device is installed in the loading basket 3, and a power supply device for supplying power to the robot main body 2 is installed at one side of the robot main body 2 away from the loading basket 3;

the carrying device comprises an air cylinder 4, the air cylinder 4 is fixedly connected at the center of the bottom of an inner basket of a loading basket 3, the piston end of the air cylinder 4 is connected with a supporting block 5, the upper end of the supporting block 5 is connected with a supporting plate 6 matched with the loading basket 3, the supporting plate 6 is slidably connected in the loading basket 3, the basket mouth of the loading basket 3 is connected with an installation block 7, the lower end of the installation block 7 is connected with a laser ranging sensor 8, the laser emitting end of the laser ranging sensor 8 is arranged towards the supporting plate 6, a laser anti-blocking component is connected between the installation block 7 and the supporting plate 6, the laser ranging sensor 8 is arranged in the laser anti-blocking component, the outer basket wall of the loading basket 3 is connected with a controller 9 and a control panel 10 for setting the distance, the air cylinder 4, the laser ranging sensor 8, the controller 9 and the control panel 10 are connected through wires, and the laser ranging sensor 8 irradiates the laser on the supporting plate 6, the distance between the support plate 6 and the shopping cart is obtained, then the data is transmitted to the controller 9, the required distance is set on the control panel 10 according to daily use requirements, for example, 10cm, the controller 9 controls the air cylinder 4 to drive the support plate 6 to move in the corresponding vertical direction through the support block 5 until the distance between the support plate 6 and the controller is exactly 10cm measured by the laser ranging sensor 8, after the vegetables and fruits are laid on the support plate 6, the laser ranging sensor 8 irradiates laser on the vegetables and fruits, the height distance between the topmost vegetables and fruits on the support plate 6 and the laser ranging sensor 8 is kept unchanged, the height of the vegetables and fruits falling into the loading basket 3 is reduced while the requirement of continuously storing the vegetables and fruits on the loading basket 3 is met, the potential energy when the objects are impacted is related to the height, the potential energy when the height is reduced and the potential energy applied to the vegetables and fruits falling into the loading basket 3 is also reduced, prevent the vegetable and fruit from being damaged due to the over-high height when the vegetable and fruit is directly dropped into the loading basket 3.

The power supply device comprises a power supply box 11, the power supply box 11 is arranged at the upper end of a movable base 1, a box opening of the power supply box 11 is rotatably connected with a box cover 12 through a pin shaft, a copper plate frame 14 in a shape of a Chinese character jing is fixedly connected in the power supply box 11, the power supply box 11 is uniformly divided into nine working cavities 15 through the copper plate frame 14, a heat dissipation fan 16 is arranged in the most central working cavity 15, four sides of the heat dissipation fan 16 are respectively provided with a lithium battery pack 17, the lithium battery packs 17 are arranged in the corresponding working cavities 15, any two adjacent lithium battery packs 17 are arranged at intervals, a supporting frame 18 in a shape of a Chinese character ji is fixedly connected on the inner cavity wall of the working cavity 15 provided with the lithium battery packs 17, the supporting frame 18 is connected with a conducting plate 19, the lithium battery packs 17 are arranged on the corresponding conducting plates 19, air inlet holes 20 and air outlet holes 21 are symmetrically arranged on the cavity wall of the working cavity 15 below the supporting frame 18, four lithium battery packs 17 are arranged, so that the robot has longer working time; four lithium cell groups 17 of group use radiator fan 16 as central interval distribution, do not paste each other, have bigger cooling surface, when radiator fan 16 starts, inhale power supply box 11 with the outer cold air of power supply box 11 in through inlet port 20, the cold air rethread venthole 21 that gets into in power supply box 11 enters into radiator fan 16's below, afterwards by radiator fan 16 through the gap fortune output between power supply box 11 and the case lid 12, cold air is when passing through inlet port 20 and venthole 21, to the lower extreme heat dissipation of lithium cell group 17, through accelerating the air flow effect in the power supply box 11, thereby the radiating effect to lithium cell group 17 has been improved.

The front of the robot main body 2 is provided with a maintenance door 22, the maintenance door 22 is provided with a door lock 23, and the maintenance door 22 is opened to facilitate maintenance of the robot main body 2.

Roll groove 24 has all been seted up on the vertical lateral wall of four sides of backup pad 6, be equipped with rolling ball 25 in the roll groove 24, ball 25 passes the notch setting of roll groove 24, and ball 25 roll connection is on the basket wall in loading basket 3's the correspondence, when backup pad 6 is loading basket 3 internal motion, it rolls to drive ball 25, reduce the frictional resistance of backup pad 6 when loading basket 3 internal motion, simultaneously because ball 25 pushes up on the basket wall in loading basket 3, make backup pad 6 move when the vertical direction motion is done to the atress in loading basket 3 more stable.

The supporting plate 6 is connected with the supporting block 5 through screws, so that the supporting plate 6 is convenient to replace.

The end of the cover 12 remote from the pin is connected to the power supply box 11 by a buckle 26.

The upper end fixedly connected with section of the movable base 1 is a triangular inclined block 27, and the power supply box 11 is connected to the inclined plane of the inclined block 27, so that the power supply device is inclined and arranged, after the box cover is opened, the upward inclined lithium battery pack is pulled, and the lithium battery pack can be replaced more laborsavingly.

Any two adjacent lithium battery packs 17 are fixedly connected with a grab handle 28, so that the four lithium battery packs 17 can be taken and placed at one time.

The hole wall of the air inlet hole 20 is fixedly connected with a dustproof net 13 to prevent dust from entering the power supply box 11.

To sum up, in the robot, the laser ranging sensor 8 irradiates laser on the support plate 6 to obtain the distance from the support plate 6 to the robot, then the data is transmitted to the controller 9, the required distance is set on the control panel 10 according to daily use requirements, for example, 10cm, the controller 9 controls the air cylinder 4 to drive the support plate 6 to move in the corresponding vertical direction through the support block 5 until the distance from the support plate 6 to the robot is exactly 10cm measured by the laser ranging sensor 8, after the vegetables and fruits are laid on the support plate 6, the laser ranging sensor 8 irradiates the laser on the vegetables and fruits, the height distance between the topmost vegetables and fruits on the support plate 6 and the laser ranging sensor 8 is kept unchanged, the requirement of continuously storing the vegetables and fruits on the loading basket 3 is met, the height of the vegetables and fruits falling into the loading basket 3 is reduced, and the potential energy of objects during impact is related to the height, the height is reduced, and the potential energy applied to the vegetables and fruits falling into the loading basket 3 is also reduced, so that the vegetables and fruits are prevented from being damaged due to the overhigh height when directly falling into the loading basket 3; four lithium battery packs 17 are arranged, so that the robot has longer working time; the four lithium battery packs 17 are distributed at intervals by taking the cooling fan 16 as a center, are not attached to each other and have larger cooling surfaces, when the cooling fan 16 is started, cold air outside the power supply box 11 is sucked into the power supply box 11 through the air inlet holes 20, the cold air entering the power supply box 11 enters the lower part of the cooling fan 16 through the air outlet holes 21, and then is transported and output by the cooling fan 16 through a gap between the power supply box 11 and the box cover 12, when the cold air passes through the air inlet holes 20 and the air outlet holes 21, the lower end of the lithium battery pack 17 is cooled, and the air flowing effect in the power supply box 11 is accelerated, so that the cooling effect on the lithium battery packs 17 is improved; the power supply device is obliquely arranged, and after the box cover is opened, the lithium battery pack is obliquely pulled upwards, so that the lithium battery pack can be replaced more labor-saving; when the support plate 6 moves in the loading basket 3, the balls 25 are driven to roll, the friction resistance of the support plate 6 during the movement in the loading basket 3 is reduced, and meanwhile, the balls 25 are pressed against the inner basket wall of the loading basket 3, so that the support plate 6 moves more stably when the support plate 6 is stressed in the loading basket 3 and moves in the vertical direction.

It is to be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

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

1. The utility model provides a robot, includes mobile base (1), install robot main part (2) on mobile base (1), its characterized in that: one side of a robot main body (2) positioned at the upper end of the movable base (1) is connected with a loading basket (3) used for loading vegetables and fruits, an object loading device is installed in the loading basket (3), and a power supply device used for supplying power to the robot main body (2) is arranged on one side, far away from the loading basket (3), of the robot main body (2);

the carrying device comprises an air cylinder (4), the air cylinder (4) is fixedly connected to the center of the bottom of an inner basket of the loading basket (3), a supporting block (5) is connected to the piston end of the air cylinder (4), a supporting plate (6) matched with the loading basket (3) is connected to the upper end of the supporting block (5), the supporting plate (6) is connected to the inside of the loading basket (3) in a sliding mode, a basket opening of the loading basket (3) is connected with an installation block (7), a laser ranging sensor (8) is connected to the lower end of the installation block (7), the laser emitting end of the laser ranging sensor (8) is arranged towards the supporting plate (6), a controller (9) and a control panel (10) used for setting the distance are connected to the outer basket wall of the loading basket (3), and the air cylinder (4), the laser ranging sensor (8), the controller (9) and the control panel (10) are connected through wires, the power supply device comprises a power supply box (11), the power supply box (11) is installed at the upper end of a movable base (1), a box opening of the power supply box (11) is rotatably connected with a box cover (12) through a pin shaft, a copper plate frame (14) in a shape like a Chinese character 'jing' is fixedly connected in the power supply box (11), the power supply box (11) is uniformly divided into nine working cavities (15) through the copper plate frame (14), a heat dissipation fan (16) is installed in the most central working cavity (15), four sides of the heat dissipation fan (16) are respectively provided with a lithium battery pack (17), the lithium battery packs (17) are arranged in the corresponding working cavities (15), any two adjacent lithium battery packs (17) are arranged at intervals, and a supporting frame (18) in a shape like a Chinese character 'ten' is fixedly connected to the inner cavity wall of the working cavity (15) provided with the lithium battery packs (17), be connected with conducting strip (19) on support frame (18), lithium cell group (17) set up on corresponding conducting strip (19), are located inlet port (20) and venthole (21) have been seted up to the symmetry on the chamber wall of working chamber (15) of support frame (18) below, the upper end fixedly connected with section of mobile base (1) is triangle-shaped's slope piece (27), power box (11) are connected on the inclined plane of slope piece (27).

2. A robot as claimed in claim 1, characterized in that: the front of the robot main body (2) is provided with a maintenance door (22), and the maintenance door (22) is provided with a door lock (23).

3. A robot as claimed in claim 1, characterized in that: the vertical side walls of the four sides of the supporting plate (6) are provided with rolling grooves (24), rolling balls (25) are arranged in the rolling grooves (24), the rolling balls (25) penetrate through notches of the rolling grooves (24), and the rolling balls (25) are connected to the corresponding inner basket walls of the loading basket (3) in a rolling mode.

4. A robot as claimed in claim 1, characterized in that: the supporting plate (6) is connected with the supporting block (5) through screws.

5. A robot as claimed in claim 1, characterized in that: one end of the box cover (12) far away from the pin shaft is connected with the power supply box (11) through a hasp (26).

6. A robot as claimed in claim 1, characterized in that: any two adjacent lithium battery packs (17) are fixedly connected with a grab handle (28) together.

7. A robot as claimed in claim 1, characterized in that: the hole wall of the air inlet hole (20) is fixedly connected with a dust screen (13).