CN207992808U - A kind of modular dispensing machine people - Google Patents
A kind of modular dispensing machine people Download PDFInfo
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- CN207992808U CN207992808U CN201721298474.4U CN201721298474U CN207992808U CN 207992808 U CN207992808 U CN 207992808U CN 201721298474 U CN201721298474 U CN 201721298474U CN 207992808 U CN207992808 U CN 207992808U
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- robot body
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Abstract
A kind of modular dispensing machine people,Including robot body,Interactive module,Executing agency,First loading module,Second loading module,It is characterized in that,The interactive module,Executing agency,First loading module,Second loading module is fixed on robot body and can dismantle,The robot body is hollow,Using in-wheel driving,Leg formula drives,And there is autonomous center-of-gravity regulating height and bearing area,Omni-mobile,The functions such as pivot turn,The interactive module is installed on above the robot body front end,The executing agency is installed on above the robot body rear end,First loading module is installed on the robot body hollow region,Second loading module is installed on the top of robot body,When one or more any module is disassembled in first loading module and second loading module,Robot body still can work normally.
Description
Technical field
The present invention relates to logistics distribution field more particularly to a kind of modular dispensing machine people
Background technology
Establishing intelligent city increasingly becomes the common research topic of society, and the intelligence of cargo, which is transported, also becomes people's discussion
Much-talked-about topic, occurred some robots already for dispensing cargo, the side that existing product generally uses in large number of rows at present
Case is that robot only transports a chest module, and some function modules are redundancies under specific occasion, such space profit
Have with rate and be largely limited, in consideration of it, a kind of match with larger space utilization rate with the modularization for capableing of modularization assemble
Send robot that will bring very big improvement.
Invention content
The purpose of the present invention is to provide a kind of modular dispensing machine people, it can realize that the modularization of robot is spelled
Dress, dispatching babinet assemble for people's unrestricted choice, increase the freedom used and improve space availability ratio.
To achieve the above object, it provides the following technical solutions：
1. a kind of modular dispensing machine people, including robot body, interactive module, executing agency, first loads mould
Block, the second loading module, which is characterized in that the interactive module, executing agency, the first loading module, the second loading module point
Not by interactive module interface, actuator interface, the first loading interface, the second loading interface are removably fixed on machine
On human body, the interactive module interface, actuator interface, the first loading module interface, the second loading module interface is simultaneously
Has the function of mechanical connection and electrical connection, the robot body is hollow, using in-wheel driving, the driving of leg formula, and has
Autonomous center-of-gravity regulating height and bearing area, Omni-mobile, the function of pivot turn, the interactive module are installed on the machine
Above human body front end, the executing agency is installed on above the robot body rear end, the first loading module installation
In the robot body hollow region, second loading module is installed on the top of robot body, and described first loads
Module and second loading module have a function of containing articles, any one in first loading module and second loading module
When a or multiple modules are disassembled, robot body still has the ability of normal work.
2. further, it is characterised in that：
The robot body has the function of autonomous, the robot body by camera, laser radar,
IMU, encoder realize the automatic positioning of indoor and outdoors, avoidance, build figure using multisensor Data Fusion technology and GPS
And navigation, include the optimal fortune of starting point, destination, barrier and walking path information by Distributed Calculation planning acquisition
Walking along the street diameter, the camera include RGBD depth cameras, monocular cam, binocular camera；The robot body has
With third-party platform real-time Communication for Power and receive third-party platform instruction function.
3. further, it is characterised in that：
The executing agency is equipped with camera, and the executing agency uses PID control and Visual servoing control, the execution
Mechanism has one or more degree of freedom, and particularly, the executing agency has the function by elevator.
4. further, which is characterized in that first loading module and the second loading module form more than one, it is described
First loading module and the second loading module have the function of freely assembly when space allows.
A kind of specific embodiment of this programme is provided below, and is illustrated in conjunction with attached drawing
Description of the drawings：
Fig. 1 is the complete structure schematic diagram of specific embodiments of the present invention
Fig. 2 is the structural schematic diagram after the first loading module and the second loading module remove
Fig. 3 is the structural schematic diagram of specific embodiments of the present invention robot body
In figure：1. robot body, 2. interactive modules, 3. second loading modules, 4. first loading modules, 5. execute machine
Structure, 6. second loading module interfaces, 7. actuator interfaces, 8. first loading module interfaces, 9. interactive module interfaces.
Specific implementation mode：
1. as shown in Figure 1 and Figure 2, in one embodiment of the invention, a kind of modular dispensing machine people, including robot sheet
Body 1, interactive module 2, executing agency 5, the first loading module 4, the second loading module 3, which is characterized in that the interactive module 2,
Executing agency 5, the first loading module 4, the second loading module 3 is respectively by interactive module interface 9, actuator interface 7, and first
It loads the loading interface 6 of interface 8, second to be fixed on robot body and can dismantle, the interactive module interface 9 executes
Actuator interface 7, the first loading module interface 8, the second loading module interface 6 are provided simultaneously with the function of mechanical connection and electrical connection,
The robot body 1 is hollow, using in-wheel driving, the driving of leg formula, and has autonomous center-of-gravity regulating height and bearing area,
Omni-mobile, the function of pivot turn, the interactive module 2 are installed on above 1 front end of the robot body, the execution machine
Structure 5 is installed on above 1 rear end of the robot body, and first loading module 4 is installed on 1 hollow area of the robot body
Domain, second loading module 3 are installed on the top of robot body 1, and first loading module 4 and described second load mould
Block 3 has function of containing articles, one or more any module quilt in first loading module 4 and second loading module 3
When dismounting, robot body 1 still can work normally.
2. as shown in Figure 1 and Figure 2, in the present embodiment：
The robot body 1 can with autonomous, the robot body 1 can by camera, laser radar, IMU,
Encoder realizes the automatic positionings of indoor and outdoors, avoidance, builds figure and lead using multisensor Data Fusion technology and GPS
Boat plans by Distributed Calculation and obtains optimized operation path, the information that the optimized operation path includes has starting point, purpose
Ground, barrier and walking path, the camera include RGBD depth cameras, monocular cam, binocular camera；The machine
Device human body 1 can with third-party platform real-time Communication for Power and receive third-party platform instruction.
3. as shown in Figure 1 and Figure 2, in the present embodiment：
The interactive module 2 can be interacted with the external world, and the interactive module 2 will dispense the information such as order and be transferred to machine
Device human body, and the current distribution information of real-time display；When the interactive module 2 is empty in not applicable scene or robot body 1
Between by limited time can dismantle, also, the robot body 1 can only lose 2 this module of interactive module function and it is other just
Chang Gongneng is unaffected.
4. as shown in Figure 1 and Figure 2, in the present embodiment：
The executing agency 5 is equipped with camera, and the executing agency uses PID control and Visual servoing control, described
Executing agency has one or more degree of freedom, and particularly, the executing agency has the function by elevator, can be used for by electricity
Ladder；It can be dismantled when the executing agency 5 is in not applicable scene or 1 limited space of robot body, also, the machine
Human body 1 can only lose the function of 5 this module of executing agency and other normal functions are unaffected.
5. in the present embodiment, first loading module and the second loading module form more than one, described first loads
Module and the second loading module can be freely assembled in the case where space allows.
Claims (4)
1. a kind of modular dispensing machine people, including robot body, interactive module, executing agency, the first loading module, the
Two loading modules, which is characterized in that the interactive module, executing agency, the first loading module, the second loading module pass through respectively
Interactive module interface, actuator interface, the first loading interface, the second loading interface are removably fixed on robot body
On, the interactive module interface, actuator interface, the first loading module interface, the second loading module interface has machine simultaneously
Tool connects and the function of electrical connection, and the robot body is hollow, using in-wheel driving, the driving of leg formula, and has from homophony
Section height of C.G. and bearing area, Omni-mobile, the function of pivot turn, the interactive module are installed on the robot body
Above front end, the executing agency is installed on above the robot body rear end, and first loading module is installed on described
Robot body hollow region, second loading module are installed on the top of robot body, first loading module and
Second loading module has function of containing articles, in first loading module and second loading module any one or
When multiple modules are disassembled, robot body still has the ability of normal work.
2. a kind of modular dispensing machine people according to claim 1, it is characterized in that：
The robot body has a function of autonomous, the robot body by camera, laser radar, IMU and
Encoder realizes the automatic positionings of indoor and outdoors, avoidance, builds figure and lead using multisensor Data Fusion technology and GPS
Boat includes the optimized operation road of starting point, destination, barrier and walking path information by Distributed Calculation planning acquisition
Diameter, the camera include RGBD depth cameras, monocular cam, binocular camera；The robot body has and the
Tripartite's platform real-time Communication for Power and the function of receiving third-party platform instruction.
3. a kind of modular dispensing machine people according to claim 1, it is characterized in that：
The executing agency is equipped with camera, and the executing agency uses PID control and Visual servoing control, the executing agency
By degree no less than 3, the executing agency have by elevator function.
4. a kind of modular dispensing machine people according to claim 1, it is characterized in that：
First loading module and the second loading module form more than one, first loading module and the second loading module
Has the function of freely assembly when space allows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721298474.4U CN207992808U (en) | 2017-10-10 | 2017-10-10 | A kind of modular dispensing machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721298474.4U CN207992808U (en) | 2017-10-10 | 2017-10-10 | A kind of modular dispensing machine people |
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| CN207992808U true CN207992808U (en) | 2018-10-19 |
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| CN201721298474.4U Active CN207992808U (en) | 2017-10-10 | 2017-10-10 | A kind of modular dispensing machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577237A (en) * | 2017-10-10 | 2018-01-12 | 深圳市普渡科技有限公司 | A kind of modular dispensing machine people |
| CN109848992A (en) * | 2019-02-19 | 2019-06-07 | 武汉理工大学 | A kind of complete autonomous hybrid power take-away dispenser in the cell range of campus |
| CN112454372A (en) * | 2019-09-09 | 2021-03-09 | 上海产业技术研究院 | Service robot and medical treatment system |
-
2017
- 2017-10-10 CN CN201721298474.4U patent/CN207992808U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577237A (en) * | 2017-10-10 | 2018-01-12 | 深圳市普渡科技有限公司 | A kind of modular dispensing machine people |
| CN107577237B (en) * | 2017-10-10 | 2024-02-23 | 深圳市普渡科技有限公司 | Modularized distribution robot |
| CN109848992A (en) * | 2019-02-19 | 2019-06-07 | 武汉理工大学 | A kind of complete autonomous hybrid power take-away dispenser in the cell range of campus |
| CN112454372A (en) * | 2019-09-09 | 2021-03-09 | 上海产业技术研究院 | Service robot and medical treatment system |
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