CN208358813U - A kind of intelligent distribution robot - Google Patents
A kind of intelligent distribution robot Download PDFInfo
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- CN208358813U CN208358813U CN201721307805.6U CN201721307805U CN208358813U CN 208358813 U CN208358813 U CN 208358813U CN 201721307805 U CN201721307805 U CN 201721307805U CN 208358813 U CN208358813 U CN 208358813U
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Abstract
The utility model proposes a kind of intelligent distribution robots, including one module of pedipulator, two module of pedipulator, body module, interactive module, manipulator, box module, one module of pedipulator and two module of pedipulator are mounted on the two sides of the body module, and the interactive module is mounted on the top nose of the body module, the manipulator is mounted on the top rear of the body module, and the box module is mounted on the middle part of the body module.The utility model is by in-wheel driving, the driving of leg formula, Omni-mobile, autonomous center-of-gravity regulating height and bearing area, from the rigidity of main regulation shock mitigation system, the autonomous functions such as elevator that pass in and out are integrated in robot, and robot can be improved to the adaptability and traveling comfort of complex road condition, the obstacle climbing ability for improving robot is driven by leg formula, while making robot can be in floor gap smoothly operation.
Description
Technical field
The present invention relates to mobile robot fields, and in particular to a kind of intelligent distribution robot.
Background technique
It in the past few years takes out, the rapid development of the industries such as express delivery, corresponding delivery service demand is also increasing, has had at present
Part company is researching and developing corresponding delivery service robot, but because dispenses under efficiency, running stability and obstacle climbing ability
The reasons such as deficiency are never used widely.
Summary of the invention
The object of the present invention is to provide a kind of intelligent distribution robots.
The technical scheme adopted by the invention is as follows:
1. a kind of intelligent distribution robot, including one module of pedipulator (1), two module of pedipulator (2), body module (3),
Interactive module (4), manipulator (5), box module (6), one module of pedipulator (1) and two module of pedipulator (2) peace
Mounted in the two sides of the body module (3), the interactive module (4) is mounted on the top nose of the body module (3), described
Manipulator (5) is mounted on the top rear of the body module (3), and the box module (6) is mounted on the body mould
The middle part of block (3), the robot realize in-wheel driving by one module of pedipulator (1) and two module of pedipulator (2), and leg formula is driven
It is dynamic, autonomous center-of-gravity regulating height and bearing area, Omni-mobile, pivot turn, from the function of main regulation shock mitigation system rigidity, institute
It states robot and passes through body module (3) for one module of pedipulator (1), two module of pedipulator (2), interactive module (4), mechanical fingerprint
Block (5), box module (6) integrate, and the robot realizes the interactive function with people by interactive module (4), described
Robot realizes the function from main switch elevator door by manipulator (5), and the robot is carried out by box module (6)
Dispatching or the cargo collected required for loading.
2. further, one module of pedipulator (1) mainly includes DC speed-reducing one (1-01), direct current slows down electric
Machine mounting base one (1-13), bearing block (1-12), thigh front housing (1-02), joint end cap (1-03), spring damper pin shaft
(1-04), spring damper (1-05), shank front housing (1-06), hub motor (1-07), motor control panel end cap (1-08), wheel
Hub motor mount (1-09), shank rear shell (1-10), thigh rear shell (1-11), straight line screw rod stepper motor (1-14), top
Bearing axis (1-22), spring damper mounting base (1-21), middle part bearing axis (1-15), the first rolling bearing (1-20), direct current
Decelerating motor two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis (1-
18), the DC speed-reducing one (1-01) is fixedly mounted on DC speed-reducing mounting base one (1-13), and the direct current subtracts
Wherein one end and bearing block (1-12) are fixedly mounted speed motor mounting base one (1-13), the fixed peace of the other end and body module side
Dress, the bearing block (1-12) and thigh rear shell (1-11) rotation connection form upper joints, the thigh rear shell (1-11) with
Thigh front housing (1-02) be fixedly mounted, the spring damper (1-05) by spring damper pin shaft respectively with spring damper
Mounting base (1-21) and shank rear shell (1-10) and shank front housing (1-06) rotation connection, the thigh rear shell (1-11) and shank
Front housing (1-06) rotation connection forms middle part joint, and the shank rear shell (1-10) and shank front housing (1-06) are fixedly mounted, institute
It states hub motor (1-07) and hub motor mounting base (1-09) to be fixedly mounted, be equipped on the hub motor mounting base (1-09)
Motor control panel, motor control panel end cap (1-08) end cap is fixedly mounted on, on the hub motor mounting base (1-09),
The hub motor mounting base (1-09) and shank rear shell and shank front housing are rotatablely connected to form lower joint, and the robot is logical
It crosses control upper joints and leg formula driving function is realized in middle part joint, center of gravity adjusting and supporting surface are realized by control middle part joint
Product adjusts and shock mitigation system stiffness tuning function, realizes Omni-mobile and pivot turn function by control lower joint.
3. further, the bearing block (1-12) and upper bearing axis (1-22) are turned by third rolling bearing (1-23)
The main shaft of dynamic connection, described upper bearing axis one end (1-22) and DC speed-reducing one (1-01) is fixedly mounted, the other end with
Thigh rear shell (1-11) is fixedly mounted, and DC speed-reducing one (1-01) directly drives thigh rear shell (1-11) to entire top
Joint, there are threaded holes for the spring damper mounting base (1-21), form screw rod spiral shell with straight line screw rod stepper motor (1-14)
Parent agency, there are guide groove, the thigh rear shell (1-11) and thigh front housing (1- on the spring damper mounting base (1-21)
02) be respectively kept with guide rail, the spring damper mounting base (1-21) can on guide rail linear slide, the middle part bearing axis
The one end (1-15) is rotatablely connected by the first rolling bearing (1-20) and thigh rear shell (1-11), the other end and thigh front housing (1-
02) it is fixedly mounted, the straight line screw rod stepper motor (1-14) directly drives spring damper mounting base (1-21), spring shock absorption
Device mounting base (1-21) is by spring damper (1-05) driving shank rear shell (1-10) and shank front housing (1-06), to drive
Entire middle part joint, the DC speed-reducing two (1-16) and DC speed-reducing mounting base two (1-17) are fixedly mounted, institute
DC speed-reducing mounting base two (1-17) is stated to be fixedly mounted on shank rear shell (1-10) and shank front housing (1-06), it is described
Hooks coupling universal coupling one end (1-19) is fixedly connected with DC speed-reducing two (1-16) main shaft, the other end and lower bearing axis (1-
18) one end is fixedly connected, and the lower bearing axis (1-18) and shank rear shell (1-10) and shank front housing (1-06) pass through first
Rolling bearing (1-20) rotation connection, lower bearing axis (1-18) other end and hub motor mounting base (1-09) fixed company
It connects, DC speed-reducing two (1-16) is installed by Hooks coupling universal coupling (1-19) and lower bearing axis (1-18) drive hub motor
Seat (1-09) is equipped with absolute type magnetic coder on the DC speed-reducing two (1-16), uses to drive entire bottom joint
In the real time rotation angle of detection bottom joint.
4. further, two module of pedipulator (2) is the symmetrical structure of one module of pedipulator (1).
5. further, body module (3) bottom is equipped with laser radar (3-01), before the body module (3)
Equipped with RGBD camera (3-02), body module (3) two sides are symmetrically equipped with the first RGB camera (3-03), the body
It is equipped with emergency stop switch (3-04) at the top of module (3), body module (3) tail portion is equipped with binocular camera (3-05), the body
It is also equipped with master control borad inside module (3), lithium battery, Hub, the laser radar (3-01), RGBD camera (3-02), the
One RGB camera (3-03), binocular camera (3-05) are used to navigator fix.
6. further, the interactive module (4) be equipped with the 2nd RGB camera (4-01), liquid crystal touch control screen (4-02) and
Damping shaft (4-03), the 2nd RGB camera (4-01) position for human-computer interaction and assisting navigation, the liquid crystal touch control screen
(4-02) is used for human-computer interaction, and the damping shaft (4-03) is used to realize and be rotatablely connected that damping size can with body module (3)
It is adjusted according to actual needs, the setting angle of the interactive module (4) can be adjusted according to actual needs.
7. further, the manipulator (5) includes upper push-rod upper cover (5-01), upper push-rod lower cover (5-02), and two
Grade lifting push rod (5-03), secondary lifting push rod guide pad (5-04), manipulator swivel base (5-05), bearing support block (5-06),
Level-one goes up and down push rod (5-07), and level-one goes up and down push rod sliding block (5-08), and level-one goes up and down push rod sliding block mounting base (5-09), level-one liter
It drops push rod guide rail (5-10), level-one goes up and down push rod guide rail mounting plate (5-11), goes up and down steering engine (5-12), goes up and down steering engine mounting base
(5-13), rotation synchronization belt (5-14), big synchronous pulley (5-15), small synchronous pulley (5-16), rotate steering wheel (5-17), rotation
Steering engine mounting base (5-18), manipulator mounting plate (5-19), rubber block (5-20), upper push-rod (5-21), the 3rd RGB camera shooting
Head (5-22), upper push-rod guide pad (5-23), upper push-rod mounting base (5-24), upper push-rod screw rod (5-25), upper push-rod screw rod peace
It fills seat (5-26), upper push-rod steering wheel (5-27), upper push-rod steering engine (5-28), small synchronous pulley mounting base (5-29), second rolls
Bearing (5-30) is gone up and down synchronous belt (5-31), is gone up and down synchronous belt link block (5-32), and the upper push-rod steering engine (5-28) passes through
Leading screw and nut mechanism drives the stretching motion of upper push-rod (5-21), and the lifting steering engine (5-12) is driven by synchronous pulley mechanism
The elevating movement of manipulator (5), the rotate steering wheel (5-17) pass through synchronous pulley mechanism driving manipulator module (5)
Rotary motion.
8. further, the upper push-rod upper cover (5-01) and upper push-rod lower cover (5-02) are fixedly mounted, upper push-rod lower cover
(5-02) is fixedly mounted on secondary lifting push rod (5-03), and the upper push-rod steering engine (5-28) is fixedly mounted under upper push-rod
Cover on (5-02), upper push-rod screw rod (5-25) by upper push-rod screw rod mounting base (5-26) and upper push-rod steering wheel (5-27) with it is upper
The shaft of push rod steering engine (5-28) is fixedly mounted, and the upper push-rod mounting base (5-24) and upper push-rod screw rod (5-25) form screw rod
Pair of nut, the upper push-rod (5-21) and upper push-rod mounting base (5-24) are fixedly mounted, and the rubber block (5-20) is fixedly mounted
On upper push-rod (5-21), the 3rd RGB camera (5-22) is fixedly mounted on upper push-rod guide pad (5-23), it is described on
Push rod guide pad (5-23) is fixedly mounted on upper push-rod lower cover (5-02), and with upper push-rod (5-21) and upper push-rod screw rod (5-
25) at clearance fit, therefore the upper push-rod guide pad (5-23) is fixedly mounted on upper push-rod lower cover (5-02), described above to push away
Bar steering engine (5-28) can be by the feed screw nut pair driving of upper push-rod mounting base (5-24) and upper push-rod screw rod (5-25) composition
The stretching motion of push rod (5-21), level-one lifting push rod guide rail mounting plate (5-11) are fixedly mounted on manipulator swivel base (5-
05) on, level-one lifting push rod guide rail (5-10) is fixedly mounted in level-one lifting push rod guide rail mounting plate (5-11), described
Level-one goes up and down push rod sliding block (5-08) can go up and down push rod guide rail (5-10) sliding, the level-one lifting push rod sliding block installation along level-one
Seat one end (5-09) and level-one lifting push rod sliding block (5-08) are fixedly mounted, and the other end is fixedly mounted on level-one lifting push rod (5-
07) on, the lifting steering engine (5-12) is fixedly mounted on level-one lifting push rod (5-07) by going up and down steering engine mounting base (5-13)
On, small synchronous pulley (5-16) is housed in lifting steering engine (5-12) shaft, and synchronous belt (5-31) and small same by going up and down
Walk small synchronous pulley (5-16) composition lifting synchronous pulley mechanism driving manipulator module (5) on belt wheel mounting base (5-29)
Elevating movement, the small synchronous pulley mounting base (5-29) is fixedly mounted on secondary lifting push rod guide pad (5-04), described
Secondary lifting push rod guide pad (5-04) is fixedly mounted in level-one lifting push rod (5-07), on the lifting synchronous belt (5-31)
For dress there are two synchronous belt link block (5-32) is gone up and down, one of lifting synchronous belt link block (5-32) is fixedly mounted on level-one liter
The elevating movement that level-one lifting push rod (5-07) is driven on push rod guide rail mounting plate (5-11) and by synchronous pulley mechanism is dropped, separately
One lifting synchronous belt link block (5-32) is fixedly mounted on secondary lifting push rod (5-03) and by lifting synchronous belt turbine
Structure drives the elevating movement of secondary lifting push rod (5-03), manipulator mounting plate (5-19) the machine human body module
(3) on, the rotate steering wheel (5-17) is fixedly mounted on manipulator mounting plate (5- by rotate steering wheel mounting seat (5-18)
19) small synchronous pulley (5-16), is housed in rotate steering wheel (5-17) shaft, and by rotation synchronization belt (5-14) and fixed
Big synchronous pulley (5-15) the composition rotation synchronization belt mechanism being mounted on manipulator swivel base (5-05), the bearing support block
(5-06) is fixedly mounted on manipulator mounting plate (5-19), and is turned by the second rolling bearing (5-30) and manipulator
Seat (5-05) rotation connection, the manipulator swivel base (5-05) and manipulator mounting plate (5-19) and level-one go up and down push rod
(5-07) at clearance fit, the rotate steering wheel (5-17) passes through the rotation of rotation synchronization belt mechanism driving manipulator module (5)
Transhipment is dynamic.
9. further, the box module (6) includes cabinet (6-01), spring catch (6-02), lower chamber door (6-03), electricity
Son lock (6-04), upper chamber door (6-05), hinge (6-06), the spring catch (6-02) are fixedly mounted on the right side of cabinet (6-01)
On side door frame, the electronic lock (6-04) is fixedly mounted on lower chamber door (6-03) and upper chamber door (6-05), the lower chamber door (6-
03) and upper chamber door (6-05) is hinged by hinge (6-06) and the left side doorframe of cabinet (6-01), the work of the box module
Process are as follows: when 1. the box module (6) is in shutdown state, user refers to control system sending enabling by human-computer interaction
It enables, 2. electronic lock (6-04), which is powered, opens, and lower chamber door (6-03) or upper chamber door (6-05) are flicked by spring catch (6-02), 3. used
People takes out corresponding cargo from cabinet (6-01) or corresponding cargo is placed in cabinet (6-01), and 4. user closes the door, electricity
Son lock automatically lock.
The beneficial effects of the present invention are:
The present invention is by in-wheel driving, the driving of leg formula, Omni-mobile, autonomous center-of-gravity regulating height and bearing area, from homophony
The rigidity of shock-absorbing system, the autonomous function of passing in and out elevator are integrated in robot, robot can be improved and fit to complex road condition
Should be able to power and traveling comfort, the obstacle climbing ability for improving robot is driven by leg formula, while making robot can be in floor gap
Smoothly operation.
Detailed description of the invention
Fig. 1 manipulator shaft mapping；
Fig. 2 robot steering wheel device rotates the axonometric drawing after 45 °；
Fig. 3 robot turns down center of gravity rear axle mapping；
One module axonometric drawing of Fig. 4 pedipulator；
One inside modules structural schematic diagram of Fig. 5 pedipulator；
Fig. 6 robot load be 600N when straight line lead screw motor driving spring damper mounting base with the speed of 5mm/s from
Spring damper stress time plot when top movements are to bottom.
Fig. 7 body module axonometric drawing one；
Fig. 8 body module axonometric drawing two；
Fig. 9 interactive module axonometric drawing one；
Figure 10 interactive module axonometric drawing two；
Figure 11 manipulator axonometric drawing；
Figure 12 manipulator internal structure chart；
Axonometric drawing after the manipulator expansion of Figure 13 robot；
Figure 14 box module axonometric drawing.
Specific embodiment
In order to it is clearer, completely illustrate technical solution of the present invention, the present invention is made with reference to the accompanying drawing further
Explanation.Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this patent
Limitation；Embodiment in order to better illustrate the present invention, certain components in attached drawing have omission, zoom in or out, not
Represent the size of actual product；The same or similar label correspond to the same or similar components.
1. such as Fig. 1, shown in 2,3,12, a kind of intelligent distribution robot, including one module of pedipulator (1), two mould of pedipulator
Block (2), body module (3), interactive module (4), manipulator (5), box module (6), one module of pedipulator (1)
And two module of pedipulator (2) is mounted on the two sides of the body module (3), the interactive module (4) is mounted on the body mould
The top nose of block (3), the manipulator (5) are mounted on the top rear of the body module (3), the box module
(6) it is mounted on the middle part of the body module (3), the robot passes through one module of pedipulator (1) and two module of pedipulator (2)
Realize in-wheel driving, the driving of leg formula, autonomous center-of-gravity regulating height and bearing area, Omni-mobile, pivot turn subtract from main regulation
Shake the function of system stiffness, the robot by body module (3) by one module of pedipulator (1), two module of pedipulator (2),
Interactive module (4), manipulator (5), box module (6) integrate, and the robot is realized by interactive module (4)
With the interactive function of people, the robot realizes the function from main switch elevator door, the robot by manipulator (5)
Dispatching or the cargo collected required for being loaded by box module (6).
2. as shown in figures 4-6, one module of pedipulator (1) includes mainly DC speed-reducing one (1-01), direct current subtracts
Speed motor mounting base one (1-13), bearing block (1-12), thigh front housing (1-02), joint end cap (1-03), spring damper pin
Axis (1-04), spring damper (1-05), shank front housing (1-06), hub motor (1-07), motor control panel end cap (1-
08), hub motor mounting base (1-09), shank rear shell (1-10), thigh rear shell (1-11), straight line screw rod stepper motor (1-
14), upper bearing axis (1-22), spring damper mounting base (1-21), middle part bearing axis (1-15), the first rolling bearing (1-
20), DC speed-reducing two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing
Axis (1-18), the DC speed-reducing one (1-01) is fixedly mounted on DC speed-reducing mounting base one (1-13), described
Wherein one end and bearing block (1-12) are fixedly mounted DC speed-reducing mounting base one (1-13), the other end and body module side
It is fixedly mounted, the bearing block (1-12) and thigh rear shell (1-11) rotation connection form upper joints, the thigh rear shell (1-
11) with thigh front housing (1-02) be fixedly mounted, the spring damper (1-05) by spring damper pin shaft respectively with spring
Damper mounting base (1-21) and shank rear shell (1-10) and shank front housing (1-06) rotation connection, the thigh rear shell (1-11)
It is rotatablely connected with shank front housing (1-06) and forms middle part joint, the shank rear shell (1-10) and shank front housing (1-06) are fixed
Installation, the hub motor (1-07) and hub motor mounting base (1-09) are fixedly mounted, the hub motor mounting base (1-
09) motor control panel is housed, motor control panel end cap (1-08) end cap is fixedly mounted on, the hub motor mounting base on
On (1-09), the hub motor mounting base (1-09) and shank rear shell and shank front housing are rotatablely connected to form lower joint, institute
It states robot and realizes leg formula driving function by control upper joints and middle part joint, center of gravity tune is realized by control middle part joint
Section and bearing area adjusting and shock mitigation system stiffness tuning function pass through control lower joint and realize Omni-mobile and pirouette
Curved function.
3. as shown in figures 4-6, the bearing block (1-12) and upper bearing axis (1-22) pass through third rolling bearing (1-
23) it is rotatablely connected, the main shaft of described upper bearing axis one end (1-22) and DC speed-reducing one (1-01) are fixedly mounted, separately
One end and thigh rear shell (1-11) are fixedly mounted, and DC speed-reducing one (1-01) directly drives thigh rear shell (1-11) to whole
A upper joints, there are threaded holes for the spring damper mounting base (1-21), with straight line screw rod stepper motor (1-14) formation
Leading screw and nut mechanism, there are guide groove, the thigh rear shell (1-11) and thighs on the spring damper mounting base (1-21)
Front housing (1-02) is respectively kept with guide rail, the spring damper mounting base (1-21) can on guide rail linear slide, the middle part
Bearing axis one end (1-15) is rotatablely connected by the first rolling bearing (1-20) and thigh rear shell (1-11), before the other end and thigh
Shell (1-02) is fixedly mounted, and the straight line screw rod stepper motor (1-14) directly drives spring damper mounting base (1-21), bullet
Spring damper mounting base (1-21) drives shank rear shell (1-10) and shank front housing (1-06) by spring damper (1-05), from
And entire middle part joint is driven, the DC speed-reducing two (1-16) and DC speed-reducing mounting base two (1-17) are fixed and are pacified
Dress, the DC speed-reducing mounting base two (1-17) are fixedly mounted on shank rear shell (1-10) and shank front housing (1-06),
Described Hooks coupling universal coupling one end (1-19) is fixedly connected with DC speed-reducing two (1-16) main shaft, the other end and lower bearing axis
The one end (1-18) is fixedly connected, and the lower bearing axis (1-18) passes through with shank rear shell (1-10) and shank front housing (1-06)
First rolling bearing (1-20) rotation connection, lower bearing axis (1-18) other end and hub motor mounting base (1-09) are solid
Fixed connection, DC speed-reducing two (1-16) pass through Hooks coupling universal coupling (1-19) and lower bearing axis (1-18) drive hub motor
Mounting base (1-09) encodes on the DC speed-reducing two (1-16) equipped with absolute type magnetic to drive entire bottom joint
Device, for detecting the real time rotation angle of bottom joint.
4. as shown in Figure 1, two module of the pedipulator (2) is the symmetrical structure of one module of pedipulator (1).
5. as shown in figs. 6-7, body module (3) bottom is equipped with laser radar (3-01), the body module (3)
Front is equipped with RGBD camera (3-02), and body module (3) two sides are symmetrically equipped with the first RGB camera (3-03), described
It is equipped with emergency stop switch (3-04) at the top of body module (3), body module (3) tail portion is equipped with binocular camera (3-05), institute
It states and is also equipped with master control borad, lithium battery, Hub, the laser radar (3-01), RGBD camera (3- inside body module (3)
02), the first RGB camera (3-03), binocular camera (3-05) are used to navigator fix.
6. the interactive module (4) is equipped with the 2nd RGB camera (4-01), liquid crystal touch control screen (4- as shown in Fig. 8~9
02) it is positioned with damping shaft (4-03), the 2nd RGB camera (4-01) for human-computer interaction and assisting navigation, the liquid crystal
Touch screen (4-02) is used for human-computer interaction, and the damping shaft (4-03) is used to realize with body module (3) and be rotatablely connected, damping
Size can be adjusted according to actual needs, and the setting angle of the interactive module (4) can be adjusted according to actual needs.
7. the manipulator (5) includes upper push-rod upper cover (5-01), upper push-rod lower cover (5- as shown in Figure 10~12
02), secondary lifting push rod (5-03), secondary lifting push rod guide pad (5-04), manipulator swivel base (5-05), bearing support block
(5-06), level-one go up and down push rod (5-07), and level-one goes up and down push rod sliding block (5-08), and level-one goes up and down push rod sliding block mounting base (5-
09), level-one lifting push rod guide rail (5-10), level-one go up and down push rod guide rail mounting plate (5-11), go up and down steering engine (5-12), elevator
Machine mounting base (5-13), rotation synchronization belt (5-14), big synchronous pulley (5-15), small synchronous pulley (5-16), rotate steering wheel (5-
17), rotate steering wheel mounting seat (5-18), manipulator mounting plate (5-19), rubber block (5-20), upper push-rod (5-21), the
Three RGB cameras (5-22), upper push-rod guide pad (5-23), upper push-rod mounting base (5-24), upper push-rod screw rod (5-25) above push away
Bar screw rod mounting base (5-26), upper push-rod steering wheel (5-27), upper push-rod steering engine (5-28), small synchronous pulley mounting base (5-29),
Second rolling bearing (5-30) is gone up and down synchronous belt (5-31), is gone up and down synchronous belt link block (5-32), the upper push-rod steering engine (5-
28) by the stretching motion of leading screw and nut mechanism driving upper push-rod (5-21), the lifting steering engine (5-12) passes through synchronous pulley
The elevating movement of mechanism driving manipulator module (5), the rotate steering wheel (5-17) pass through synchronous pulley mechanism driving manipulator
The rotary motion of module (5).
8. the upper push-rod upper cover (5-01) and upper push-rod lower cover (5-02) are fixedly mounted as shown in Figure 10~12, above push away
Bar lower cover (5-02) is fixedly mounted on secondary lifting push rod (5-03), and the upper push-rod steering engine (5-28), which is fixedly mounted on, to push away
On bar lower cover (5-02), upper push-rod screw rod (5-25) passes through upper push-rod screw rod mounting base (5-26) and upper push-rod steering wheel (5-27)
It is fixedly mounted with the shaft of upper push-rod steering engine (5-28), the upper push-rod mounting base (5-24) and upper push-rod screw rod (5-25) group
At feed screw nut pair, the upper push-rod (5-21) and upper push-rod mounting base (5-24) are fixedly mounted, and the rubber block (5-20) is solid
On upper push-rod (5-21), the 3rd RGB camera (5-22) is fixedly mounted on upper push-rod guide pad (5-23) for Dingan County
On, the upper push-rod guide pad (5-23) is fixedly mounted on upper push-rod lower cover (5-02), and with upper push-rod (5-21) and above pushes away
Bar screw rod (5-25) is at clearance fit, therefore the upper push-rod guide pad (5-23) is fixedly mounted on upper push-rod lower cover (5-02),
The upper push-rod steering engine (5-28) can pass through the feed screw nut of upper push-rod mounting base (5-24) and upper push-rod screw rod (5-25) composition
The stretching motion of pair driving upper push-rod (5-21), level-one lifting push rod guide rail mounting plate (5-11) are fixedly mounted on manipulator
On swivel base (5-05), level-one lifting push rod guide rail (5-10) is fixedly mounted on level-one lifting push rod guide rail mounting plate (5-11)
On, level-one lifting push rod sliding block (5-08) can go up and down push rod guide rail (5-10) sliding along level-one, and the level-one goes up and down push rod
Sliding block mounting base one end (5-09) and level-one lifting push rod sliding block (5-08) are fixedly mounted, and the other end is fixedly mounted on level-one lifting
On push rod (5-07), the lifting steering engine (5-12) is fixedly mounted on level-one lifting push rod by going up and down steering engine mounting base (5-13)
On (5-07), small synchronous pulley (5-16) is housed in lifting steering engine (5-12) shaft, and passes through lifting synchronous belt (5-31)
With small synchronous pulley (5-16) the composition lifting synchronous pulley mechanism driving manipulator mould on small synchronous pulley mounting base (5-29)
The elevating movement of block (5), the small synchronous pulley mounting base (5-29) are fixedly mounted on secondary lifting push rod guide pad (5-04)
On, the secondary lifting push rod guide pad (5-04) is fixedly mounted in level-one lifting push rod (5-07), the lifting synchronous belt
There are two synchronous belt link block (5-32) is gone up and down, one of lifting synchronous belt link block (5-32) is fixedly mounted dress on (5-31)
The liter of level-one lifting push rod (5-07) is driven in level-one lifting push rod guide rail mounting plate (5-11) and through synchronous pulley mechanism
Movement is dropped, another lifting synchronous belt link block (5-32) is fixedly mounted on secondary lifting push rod (5-03) and by going up and down together
Walk the elevating movement of belt wheel mechanism driving secondary lifting push rod (5-03), manipulator mounting plate (5-19) the machine person
On module (3), the rotate steering wheel (5-17) is fixedly mounted on manipulator peace by rotate steering wheel mounting seat (5-18)
Loading board (5-19) is equipped with small synchronous pulley (5-16) in rotate steering wheel (5-17) shaft, and passes through rotation synchronization belt (5-
14) rotation synchronization belt mechanism, the axis are formed with the big synchronous pulley (5-15) being fixedly mounted on manipulator swivel base (5-05)
Support base (5-06) is held to be fixedly mounted on manipulator mounting plate (5-19), and by the second rolling bearing (5-30) with
Manipulator swivel base (5-05) rotation connection, the manipulator swivel base (5-05) and manipulator mounting plate (5-19) and level-one liter
Push rod (5-07) drops into clearance fit, and the rotate steering wheel (5-17) passes through rotation synchronization belt mechanism driving manipulator module
(5) rotary motion.
9. as shown in figure 13, the box module (6) includes cabinet (6-01), spring catch (6-02), lower chamber door (6-03),
Electronic lock (6-04), upper chamber door (6-05), hinge (6-06), the spring catch (6-02) are fixedly mounted on cabinet (6-01)
On the doorframe of right side, the electronic lock (6-04) is fixedly mounted on lower chamber door (6-03) and upper chamber door (6-05), the lower chamber door
(6-03) and upper chamber door (6-05) are hinged by hinge (6-06) and the left side doorframe of cabinet (6-01), the work of the box module
Make process are as follows: when 1. the box module (6) is in shutdown state, user makes control system issue enabling by human-computer interaction
Instruction, 2. electronic lock (6-04), which is powered, opens, and lower chamber door (6-03) or upper chamber door (6-05) are flicked by spring catch (6-02), 3. make
Employment takes out corresponding cargo from cabinet (6-01) or corresponding cargo is placed in cabinet (6-01), and 4. user closes the door,
Electronic lock automatically lock.
Claims (9)
1. a kind of intelligent distribution robot, it is characterised in that: including one module of pedipulator (1), two module of pedipulator (2), body
Module (3), interactive module (4), manipulator (5), box module (6), one module of pedipulator (1) and two mould of pedipulator
Block (2) is mounted on the two sides of the body module (3), before the interactive module (4) is mounted on the top of the body module (3)
End, the manipulator (5) are mounted on the top rear of the body module (3), and the box module (6) is mounted on described
The middle part of body module (3), the robot realize in-wheel driving by one module of pedipulator (1) and two module of pedipulator (2),
The driving of leg formula, autonomous center-of-gravity regulating height and bearing area, Omni-mobile, pivot turn, from main regulation shock mitigation system rigidity
Function, the robot by body module (3) by one module of pedipulator (1), two module of pedipulator (2), interactive module (4),
Manipulator (5), box module (6) integrate, and the robot realizes the interaction function with people by interactive module (4)
Can, the robot realizes the function from main switch elevator door by manipulator (5), and the robot passes through box module
(6) dispatching or the cargo collected required for being loaded.
2. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: one module of pedipulator (1) is main
Including DC speed-reducing one (1-01), DC speed-reducing mounting base one (1-13), bearing block (1-12), thigh front housing (1-
02), joint end cap (1-03), spring damper pin shaft (1-04), spring damper (1-05), shank front housing (1-06), wheel hub
Motor (1-07), motor control panel end cap (1-08), hub motor mounting base (1-09), shank rear shell (1-10), thigh rear shell
(1-11), straight line screw rod stepper motor (1-14), upper bearing axis (1-22), spring damper mounting base (1-21), middle part axis
It holds axis (1-15), the first rolling bearing (1-20), DC speed-reducing two (1-16), two (1- of DC speed-reducing mounting base
17), Hooks coupling universal coupling (1-19), lower bearing axis (1-18), the DC speed-reducing one (1-01) are fixedly mounted on direct current
In decelerating motor mounting base one (1-13), the DC speed-reducing mounting base one (1-13) wherein one end and bearing block (1-12)
It is fixedly mounted, the other end and body module side are fixedly mounted, and the bearing block (1-12) and thigh rear shell (1-11) rotation connect
It connects to form upper joints, the thigh rear shell (1-11) and thigh front housing (1-02) are fixedly mounted, the spring damper (1-
05) by spring damper pin shaft respectively with spring damper mounting base (1-21) and shank rear shell (1-10) and shank front housing
(1-06) rotation connection, the thigh rear shell (1-11) and shank front housing (1-06) rotation connection form middle part joint, described small
Leg rear shell (1-10) and shank front housing (1-06) are fixedly mounted, the hub motor (1-07) and hub motor mounting base (1-09)
It is fixedly mounted, motor control panel, motor control panel end cap (1-08) end is housed on the hub motor mounting base (1-09)
Lid is fixedly mounted on, on the hub motor mounting base (1-09), the hub motor mounting base (1-09) and shank rear shell and
Shank front housing is rotatablely connected to form lower joint, and the robot realizes the driving of leg formula by control upper joints and middle part joint
Function is realized that center of gravity is adjusted and bearing area adjusts and shock mitigation system stiffness tuning function by control middle part joint, is passed through
It controls lower joint and realizes Omni-mobile and pivot turn function.
3. a kind of intelligent distribution robot as claimed in claim 2, it is further characterized in that: the bearing block (1-12) with
Upper bearing axis (1-22) is rotatablely connected by rolling bearing, described upper bearing axis one end (1-22) and DC speed-reducing one
The main shaft of (1-01) is fixedly mounted, and the other end and thigh rear shell (1-11) are fixedly mounted, and DC speed-reducing one (1-01) is direct
Drive thigh rear shell (1-11) to entire upper joints, the spring damper mounting base (1-21) is and straight there are threaded hole
Filament bar stepper motor (1-14) forms leading screw and nut mechanism, there are guide groove on the spring damper mounting base (1-21),
The thigh rear shell (1-11) and thigh front housing (1-02) are respectively kept with guide rail, and the spring damper mounting base (1-21) can be
Linear slide on guide rail, middle part bearing axis one end (1-15) are rotatablely connected by rolling bearing and thigh rear shell (1-11),
The other end and thigh front housing (1-02) are fixedly mounted, and the straight line screw rod stepper motor (1-14) directly drives spring damper peace
It fills seat (1-21), spring damper mounting base (1-21) passes through spring damper (1-05) driving shank rear shell (1-10) and shank
Front housing (1-06), thus the entire middle part joint of driving, the DC speed-reducing two (1-16) and DC speed-reducing mounting base
Two (1-17) are fixedly mounted, and the DC speed-reducing mounting base two (1-17) is fixedly mounted on shank rear shell (1-10) and shank
On front housing (1-06), described Hooks coupling universal coupling one end (1-19) is fixedly connected with DC speed-reducing two (1-16) main shaft, another
End is fixedly connected with the one end lower bearing axis (1-18), before the lower bearing axis (1-18) and shank rear shell (1-10) and shank
Shell (1-06) is rotatablely connected by rolling bearing, lower bearing axis (1-18) other end and hub motor mounting base (1-09)
It is fixedly connected, DC speed-reducing two (1-16) passes through Hooks coupling universal coupling (1-19) and lower bearing axis (1-18) drive hub electricity
Machine mounting base (1-09) encodes on the DC speed-reducing two (1-16) equipped with absolute type magnetic to drive entire bottom joint
Device, for detecting the real time rotation angle of bottom joint.
4. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: two module of pedipulator (2) is machine
The symmetrical structure of one module of tool leg (1).
5. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: body module (3) bottom is equipped with
Laser radar (3-01), body module (3) front are equipped with RGBD camera (3-02), body module (3) two sides pair
Claim that RGB camera is housed, is equipped with emergency stop switch (3-04) at the top of the body module (3), body module (3) tail portion is equipped with
Binocular camera (3-05), the body module (3) is internal to be also equipped with master control borad, lithium battery, Hub, the laser radar (3-
01), RGBD camera (3-02), RGB camera, binocular camera (3-05) are used to navigator fix.
6. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: the interactive module (4) is equipped with first
RGB camera (4-01), liquid crystal touch control screen (4-02) and damping shaft (4-03), the first RGB camera (4-01) are used for people
Machine is interactive and assisting navigation positioning, and the liquid crystal touch control screen (4-02) is used for human-computer interaction, the damping shaft (4-03) be used for
Body module (3) realizes rotation connection, and damping size can be adjusted according to actual needs, the peace of the interactive module (4)
Dress angle can be adjusted according to actual needs.
7. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: the manipulator (5) includes upper
Push rod upper cover (5-01), upper push-rod lower cover (5-02), secondary lifting push rod (5-03), secondary lifting push rod guide pad (5-04),
Manipulator swivel base (5-05), bearing support block (5-06), level-one go up and down push rod (5-07), and level-one goes up and down push rod sliding block (5-08),
Level-one goes up and down push rod sliding block mounting base (5-09), and level-one goes up and down push rod guide rail (5-10), and level-one goes up and down push rod guide rail mounting plate (5-
11) steering engine (5-12), is gone up and down, is gone up and down steering engine mounting base (5-13), rotation synchronization belt (5-14), big synchronous pulley (5-15) is small
Synchronous pulley (5-16), rotate steering wheel (5-17), rotate steering wheel mounting seat (5-18), manipulator mounting plate (5-19), rubber
Blob of viscose (5-20), upper push-rod (5-21), the 2nd RGB camera (5-22), upper push-rod guide pad (5-23), upper push-rod mounting base
(5-24), upper push-rod screw rod (5-25), upper push-rod screw rod mounting base (5-26), upper push-rod steering wheel (5-27), upper push-rod steering engine (5-
28), small synchronous pulley mounting base (5-29), the second rolling bearing (5-30) are gone up and down synchronous belt (5-31), go up and down synchronous band connection
Block (5-32), the upper push-rod steering engine (5-28) drives the stretching motion of upper push-rod (5-21) by leading screw and nut mechanism, described
Go up and down the elevating movement that steering engine (5-12) passes through synchronous pulley mechanism driving manipulator module (5), the rotate steering wheel (5-17)
Pass through the rotary motion of synchronous pulley mechanism driving manipulator module (5).
8. a kind of intelligent distribution robot as claimed in claim 7, it is characterised in that: the upper push-rod upper cover (5-01) with it is upper
Push rod lower cover (5-02) is fixedly mounted, and upper push-rod lower cover (5-02) is fixedly mounted on secondary lifting push rod (5-03), it is described on
Push rod steering engine (5-28) is fixedly mounted on upper push-rod lower cover (5-02), and upper push-rod screw rod (5-25) is installed by upper push-rod screw rod
The shaft of seat (5-26) and upper push-rod steering wheel (5-27) and upper push-rod steering engine (5-28) is fixedly mounted, the upper push-rod mounting base
(5-24) and upper push-rod screw rod (5-25) forms feed screw nut pair, and the upper push-rod (5-21) and upper push-rod mounting base (5-24) are solid
Dingan County's dress, the rubber block (5-20) are fixedly mounted on upper push-rod (5-21), the fixed peace of the 2nd RGB camera (5-22)
On upper push-rod guide pad (5-23), the upper push-rod guide pad (5-23) is fixedly mounted on upper push-rod lower cover (5-02),
And with upper push-rod (5-21) and upper push-rod screw rod (5-25) at clearance fit, therefore the upper push-rod guide pad (5-23) is fixedly mounted
On upper push-rod lower cover (5-02), the upper push-rod steering engine (5-28) can pass through upper push-rod mounting base (5-24) and upper push-rod screw rod
The stretching motion of feed screw nut pair driving upper push-rod (5-21) of (5-25) composition, the level-one go up and down push rod guide rail mounting plate
(5-11) is fixedly mounted on manipulator swivel base (5-05), and level-one lifting push rod guide rail (5-10) is fixedly mounted on level-one liter
It drops on push rod guide rail mounting plate (5-11), level-one lifting push rod sliding block (5-08) can go up and down push rod guide rail (5-10) along level-one
Sliding, described level-one lifting push rod sliding block mounting base one end (5-09) and level-one lifting push rod sliding block (5-08) are fixedly mounted, separately
One end is fixedly mounted in level-one lifting push rod (5-07), and the lifting steering engine (5-12) passes through lifting steering engine mounting base (5-13)
It is fixedly mounted in level-one lifting push rod (5-07), small synchronous pulley (5-16) is housed in lifting steering engine (5-12) shaft,
And it is same by small synchronous pulley (5-16) the composition lifting on lifting synchronous belt (5-31) and small synchronous pulley mounting base (5-29)
The elevating movement of belt wheel mechanism driving manipulator module (5) is walked, the small synchronous pulley mounting base (5-29) is fixedly mounted on two
In grade lifting push rod guide pad (5-04), the secondary lifting push rod guide pad (5-04) is fixedly mounted on level-one lifting push rod
On (5-07), for dress there are two synchronous belt link block (5-32) is gone up and down, one of lifting is same on the lifting synchronous belt (5-31)
Step band connection block (5-32) is fixedly mounted in level-one lifting push rod guide rail mounting plate (5-11) and is driven by synchronous pulley mechanism
The elevating movement of dynamic level-one lifting push rod (5-07), another lifting synchronous belt link block (5-32) are fixedly mounted on secondary lifting
On push rod (5-03) and pass through the elevating movement of lifting synchronous pulley mechanism driving secondary lifting push rod (5-03), the manipulator
In module mounting plate (5-19) machine human body module (3), the rotate steering wheel (5-17) passes through rotate steering wheel mounting seat (5-
18) it is fixedly mounted on manipulator mounting plate (5-19), small synchronous pulley (5- is housed in rotate steering wheel (5-17) shaft
16), and pass through rotation synchronization belt (5-14) and big synchronous pulley (5-15) group being fixedly mounted on manipulator swivel base (5-05)
At rotation synchronization belt mechanism, the bearing support block (5-06) is fixedly mounted on manipulator mounting plate (5-19), and leads to
It crosses the second rolling bearing (5-30) and manipulator swivel base (5-05) to be rotatablely connected, the manipulator swivel base (5-05) and mechanical fingerprint
At clearance fit, the rotate steering wheel (5-17) is synchronized by rotation for block mounting plate (5-19) and level-one lifting push rod (5-07)
Rotary motion with mechanism driving manipulator module (5).
9. a kind of intelligent distribution robot as described in claim 1, it is characterised in that: the box module (6) includes cabinet
(6-01), spring catch (6-02), lower chamber door (6-03), electronic lock (6-04), upper chamber door (6-05), hinge (6-06), the bullet
Spring pin (6-02) is fixedly mounted on the right side doorframe of cabinet (6-01), and the electronic lock (6-04) is fixedly mounted on lower chamber door
On (6-03) and upper chamber door (6-05), the lower chamber door (6-03) and upper chamber door (6-05) pass through hinge (6-06) and cabinet (6-
01) left side doorframe is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307805.6U CN208358813U (en) | 2017-10-11 | 2017-10-11 | A kind of intelligent distribution robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307805.6U CN208358813U (en) | 2017-10-11 | 2017-10-11 | A kind of intelligent distribution robot |
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| Publication Number | Publication Date |
|---|---|
| CN208358813U true CN208358813U (en) | 2019-01-11 |
Family
ID=64913397
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721307805.6U Active CN208358813U (en) | 2017-10-11 | 2017-10-11 | A kind of intelligent distribution robot |
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| CN (1) | CN208358813U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671867A (en) * | 2017-10-11 | 2018-02-09 | 深圳市普渡科技有限公司 | A kind of intelligent distribution robot |
| CN109571418A (en) * | 2019-01-21 | 2019-04-05 | 广州百士臣科技有限公司 | A kind of logistics distribution robot with balance adjustment function |
| CN109986574A (en) * | 2019-04-03 | 2019-07-09 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110744590A (en) * | 2019-11-07 | 2020-02-04 | 北京海益同展信息科技有限公司 | Interactive screen structure and robot with same |
| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
| CN111891245A (en) * | 2020-08-14 | 2020-11-06 | 中国计量大学 | Wall-climbing robot with demagnetizable magnetic wheels |
| CN113427493A (en) * | 2021-06-29 | 2021-09-24 | 广东海洋大学 | Computer group security robot for cloud computing and use method thereof |
| WO2021195444A1 (en) * | 2020-03-25 | 2021-09-30 | Savioke, Inc. | Devices, systems and methods for autonomous robot navigation and secure package delivery |
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2017
- 2017-10-11 CN CN201721307805.6U patent/CN208358813U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671867A (en) * | 2017-10-11 | 2018-02-09 | 深圳市普渡科技有限公司 | A kind of intelligent distribution robot |
| CN109571418A (en) * | 2019-01-21 | 2019-04-05 | 广州百士臣科技有限公司 | A kind of logistics distribution robot with balance adjustment function |
| CN109986574A (en) * | 2019-04-03 | 2019-07-09 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110744590A (en) * | 2019-11-07 | 2020-02-04 | 北京海益同展信息科技有限公司 | Interactive screen structure and robot with same |
| WO2021195444A1 (en) * | 2020-03-25 | 2021-09-30 | Savioke, Inc. | Devices, systems and methods for autonomous robot navigation and secure package delivery |
| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
| CN111891245A (en) * | 2020-08-14 | 2020-11-06 | 中国计量大学 | Wall-climbing robot with demagnetizable magnetic wheels |
| CN113427493A (en) * | 2021-06-29 | 2021-09-24 | 广东海洋大学 | Computer group security robot for cloud computing and use method thereof |
| CN113427493B (en) * | 2021-06-29 | 2022-06-03 | 广东海洋大学 | Computer group security robot for cloud computing and use method thereof |
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