CN208906891U - A kind of mobile robot with door opening/closing apparatus - Google Patents
A kind of mobile robot with door opening/closing apparatus Download PDFInfo
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- CN208906891U CN208906891U CN201821616258.4U CN201821616258U CN208906891U CN 208906891 U CN208906891 U CN 208906891U CN 201821616258 U CN201821616258 U CN 201821616258U CN 208906891 U CN208906891 U CN 208906891U
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Abstract
The utility model relates to the mobile robots with door opening/closing apparatus, by setting drive train and robot body, to form a mobile transfer robot；Meanwhile a rotating arm is arranged in the opening portion of storage cavity in the robot body, actuation portion and abutting portion are set on rotating arm, it adsorbs the lattice door after electromagnetism unlock by actuation portion, and rotates the rotating arm, realizes lattice door towards opening inside storage cavity；During it opens the door, actuation portion persistently keeps adsorbing the lattice door, to ensure the open state of the lattice door, the direct conducting of cell cabinet and storage cavity is realized, then, Wrap device is wrapped up or taken by existing push away, the transhipment of package can be realized, and reverse the door opening/closing apparatus, the locking of lattice door can be realized, the problem of solving existing transfer robot, cannot achieve automatic door opening.
Description
Technical field
The utility model belongs to intelligent logistics system technical field, in particular to a kind of moving machine with door opening/closing apparatus
Device people.
Background technique
In the prior art, have some automated guided vehicles or transfer robot may be implemented the carrying of goods and materials, but
Still there are many limitations, major technique defect in terms of article loading or unloading operation are as follows:
Firstly, the article on the automated guided vehicle of inside plants usually picks and places article by operator；Some electronics
Though there is the automatic delivery intelligent vehicle of exploitation in commercial company, it is equipped with several matter storage lattices and is used to deliver cargo, by matter storage lattice
Lattice door open and the operation that places an article within or take out there is still a need for manual operations；Although secondly, occurring some bands recently
The transfer robot of telescopic arm and gripper can only grab the object of comparison rule, and only with automatic clamping and placing article
It can be operated in simple open space, not consider the protection to article privacy, additionally due to the function of not opening the door, so simultaneously
Do not have the ability that article is picked and placed from storing cell.
Summary of the invention
The utility model is intended to provide a kind of mobile robot with door opening/closing apparatus, to solve existing conveying robot
People, the problem of cannot achieve automatic door opening.
Concrete scheme is as follows: a kind of mobile robot with door opening/closing apparatus, including a robot frame, an outer housing
And a drive train, the outer housing are coated in the robot frame to cooperatively form a robot master with the robot frame
Body, the drive train are set to the bottom of the robot body；Further include door opening/closing apparatus:
A storage cavity is equipped in the robot body, the side of the storage cavity has an opening portion, the corresponding opening
The position in portion is additionally provided with the dodge gate for being used to open and closing the opening portion on the robot body；
The door opening/closing apparatus is set to the position in the robot body close to the opening portion comprising one is pivoted installation
Rotating arm and a driving mechanism for driving the rotating arm to rotate；
The actuation portion for being attracted lattice door is additionally provided on the rotating arm, and for contacting at lattice door and along lattice door
Mobile abutting portion.
The further technical solution of the utility model is that the actuation portion is magnetic attraction portion or negative pressure actuation portion.
The further technical solution of the utility model is that the actuation portion is magnetic roll, which, which is pivoted, is installed on the rotation
On pivoted arm；The outside wall surface of magnetic force rolling can contact on lattice door, to form the abutting portion.
The further technical solution of the utility model is that the position of the opening portion is equipped with the sliding rail extended vertically, the work
Dynamic door can be slided up and down on the robot body by the sliding rail；The rotating arm is pivoted with the drive-connecting shaft being vertically arranged
Position on the inside of the sliding rail, the driving mechanism are the driving motor set on the pivot joint shaft position.
The further technical solution of the utility model be further include taking piece putting equipment, this take piece putting equipment be set to the machine
In human agent comprising elevating mechanism, translation mechanism and conveying mechanism, the elevating mechanism are set on the robot body, should
Translation mechanism is set on the elevating mechanism, which is set on the translation mechanism.
The further technical solution of the utility model is that the conveying mechanism is that the pectination of a pectination hollow out is pitched.
The further technical solution of the utility model is that the conveying mechanism includes conveyer belt assembly and feeder motor, is somebody's turn to do
Feeder motor and the conveyer belt assembly are sequentially connected.
The further technical solution of the utility model is that the conveying mechanism further includes a friction roller；Define the conveyer belt group
The direction of part towards the opening portion is front, which is set to the position in front of conveyer belt assembly, and it is perpendicular to be set to the conveyer belt
Histogram to lower position.
The further technical solution of the utility model is that the conveyer belt assembly includes that the annular of a plurality of parallel interval setting is defeated
Send band；The conveying mechanism further includes lifting mechanism, which is equipped with the comb that pectination hollow out is adapted to the conveyer belt assembly
Shape bracket, for lifting the article in the conveyer belt assembly.
The further technical solution of the utility model is enabling component at the top of further including, which passes through one
Closure is set to the top of the robot body, for opening storage cavity from top.
The utility model has the advantages that the mobile robot of the utility model, by setting drive train and robot body, with shape
At a mobile transfer robot；Meanwhile in the opening portion of storage cavity a rotating arm is arranged, in rotating arm in the robot body
Upper setting actuation portion and abutting portion adsorb the lattice door after electromagnetism unlock by actuation portion, and rotate the rotating arm, realize
Lattice door is towards opening inside storage cavity；During it opens the door, actuation portion persistently keeps adsorbing the lattice door, to ensure
The open state of the lattice door realizes the direct conducting of cell cabinet and storage cavity, then, wraps up or take packet by existing push away
Device is wrapped up in, the transhipment of package can be realized, and reverses the door opening/closing apparatus, the locking of lattice door can be realized, is solved existing
Transfer robot, the problem of cannot achieve automatic door opening.
Detailed description of the invention
Fig. 1 (a) is the structural schematic diagram of one mobile robot of the utility model embodiment；
Fig. 1 (b) is the structural schematic diagram after opening portion is opened.
Fig. 2 (a) is after embodiment one removes outer housing, piece putting equipment to be taken to be located at the structural schematic diagram of initial position；
Fig. 2 (b) is after embodiment one removes outer housing, piece putting equipment to be taken to be located at the structural schematic diagram for taking object location；
Fig. 3 (a) is the structural schematic diagram that mobile robot picks and places part design factors one in embodiment 1；
Fig. 3 (b) is the structural schematic diagram that mobile robot picks and places part design factors two in embodiment 1；
Fig. 4 is the partial structural diagram of door opening/closing apparatus installation in embodiment 1；
Fig. 5 (a) is the side view after the removal outer housing of embodiment one when opening lattice door；
Fig. 5 (b) is the side view after the removal outer housing of embodiment one when carrying article；
Fig. 5 (c) is the side view after the removal outer housing of embodiment one when the lattice door of pass；
Fig. 6 is that two mobile robot of the utility model embodiment opens the structural schematic diagram after dodge gate；
Fig. 7 (a) is the structural schematic diagram that embodiment two removes angle one after outer housing；
Fig. 7 (b) is the structural schematic diagram that embodiment two removes angle two after outer housing；
Fig. 8 (a) is original state structural schematic diagram after the utility model embodiment three removes outer housing；
Fig. 8 (b) is the structural schematic diagram after three pectination bracket of embodiment is promoted；
Fig. 9 (a) is the side view after the removal outer housing of embodiment three when opening lattice door；
Fig. 9 (b) is the side view after the removal outer housing of embodiment three when carrying article；
Fig. 9 (c) is the side view after the removal outer housing of embodiment three when the lattice door of pass.
Specific embodiment
To further illustrate each embodiment, the utility model is provided with attached drawing.These attached drawings are in the utility model discloses
A part of appearance mainly to illustrate embodiment, and can cooperate the associated description of specification former come the running for explaining embodiment
Reason.Cooperation refers to these contents, and those of ordinary skill in the art will be understood that other possible embodiments and sheet are practical new
The advantages of type.Component in figure is not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
Now in conjunction with the drawings and specific embodiments, the present invention will be further described.
Embodiment one
In conjunction with shown in Fig. 1 (a) and Fig. 1 (b), this embodiment offers a kind of mobile robot with door opening/closing apparatus,
The mobile robot 1 includes drive train 11, outer housing 12, opening portion 14, top enabling component 17, dodge gate 18, electromagnetism
Iron sucker 20 etc..
Wherein, which has a robot frame, which is sheathed in the robot frame, with envelope
The robot frame is closed, and cooperatively forms a robot body with the robot frame；Drive train 11 is mounted on robot master
Below body, for realizing the horizontal movement of robot body.In this embodiment, drive train 11 select two it is motor-driven
Two-wheel differential speed gears include the passively Universal support wheel 11b of two driving wheel 11a and four as shown in the figure；Certainly, in others
In specific embodiment, drive train 11 can also be using by more motor-driven all-wheel drive trains.
Outer housing 12 and dodge gate 18 generally use opaque hard encasing material, can also be with to protect robot interior structure
Protect article privacy.Opening portion 14 is located on a vertical plane of outer housing 12, which needs to have the biggish area of plane
To meet the requirement being bonded to each other on one side for having lattice door with article-storage device, the shape in other faces then usually can be with no restrictions.
4 height of cell on opening portion 14 and article-storage device is consistent, and length and width dimensions are more bigger than the lattice door 6 of corresponding cell, can be with
Allow lattice door (part see Fig. 5 (a) marked as 6) to screw in screw out.Storage cavity 13, opening portion are equipped in the robot body
14 inside is the storage cavity 13 for storing cargo, and bulk is than cell (part see Fig. 5 (a) marked as 4)
Memory space size is bigger, and then realizes the one side that opening portion 14 is set to the storage cavity.
Top enabling component 17 is the door with lockset, can be rotation door, the forms such as vertical hinged door or clamshell doors, the implementation
It, can be along the cunning inside top enabling component 17 including two split cover board 17a and 17b using door structure in example
Rail is pushed open to both sides level.The lockset of top enabling component 17 is usually automatic lock, can be with automatic unlocking, top enabling component 17
It is also provided with motor and screw mechanism, cover board 7a and 17b can be pushed open automatically, addressee personnel is allowed directly to open at the top of robot
Mouth picks and places article, and does not have to bend over to pick and place article from opening portion 14.Dodge gate 18 is mounted on 12 inside of shell, is located at opening
14 position of portion, size is more bigger than opening portion, is not shown in the figure by dodge gate elevating mechanism 19() it is controlled along the cunning being vertically arranged
Dynamic rail is mobile, adjustment height.It is in lifting position when dodge gate 18 is flat, opening portion 14 is covered completely, to avoid in robot
Portion's structure exposes to the open air outside.When carrying out loading or unloading operation, dodge gate 18 can descend to the position for making 14 full-gear of opening portion.
Electromagnet sucker 20 is mounted on the surrounding of opening portion 14, there is two pieces in this embodiment, and chuck surface is more prominent than outer housing 12,
For the irony outer surface adsorbed close with article-storage device.Robot front upper part position is usually mounted with display 21, for showing
Information simultaneously supports human-computer interaction.In addition, be also provided with all kinds of environment sensing sensors outside robot, such as laser radar and
Ultrasonic radar etc..
In conjunction with shown in Fig. 2 (a), robot interior component mainly has robot frame 22, door opening/closing apparatus 15, dodge gate liter
Descending mechanism 19 takes piece putting equipment 16 etc..Wherein, robot frame 22 is frame structure, is fixedly mounted on 11 top of drive train,
It is mainly used for providing structural support for outer housing 12, various kinds of sensors and other components, in the embodiment, by the metal plate of frame-type
Part frame 22a and metal base plate 22b are formed by connecting；In other specific embodiments, aluminium profile structure part etc. can also be used
Mode is made, and shape and structure are not particularly limited.Door opening/closing apparatus 15 is used to open or closes lattice door, is typically mounted on
The upper position of 14 side rear of opening portion, two sheet metal component frame 22a, it is visible after dodge gate 18 declines.Due to article-storage device
On cell be usually symmetrically arranged, which is each side equipped with a door opening/closing apparatus 15.It is living
Dynamic door elevating mechanism 19 is mounted on the lower position of 18 two sides sheet metal component column of dodge gate, be by small machine, synchronous belt, lead screw with
And the straight-line displacement mechanism of nut composition, the lifting of dodge gate 18 is realized by motor rotation and screw nut driven.Pick and place part
Device 16 is made of the pectination fork 9 of the first lifting mould group L1, fork translated linear mould group H1 and pectination hollow out, and article may be implemented
Pick-and-place and lifting.Wherein, the first lifting mould group L1 is mounted on the middle position of robot lower half, and bottom passes through structural member
It is connected with the metal base plate 22b of robot frame 22.Fork translated linear mould group H1 is mounted on the top of the first lifting mould group L1,
And pectination fork 9 is mounted on the slide unit of fork translated linear mould group H1.First lifting mould group L1 and fork translated linear mould
Horizontal stretching motion and the elevating movement of pectination fork 9 may be implemented in group H1.
In this embodiment, this takes piece putting equipment 16, is set in the robot body comprising an elevating mechanism, one flat
Telephone-moving structure and a conveying mechanism.
In conjunction with shown in Fig. 3 (a) and Fig. 3 (b), take piece putting equipment 16 by the first lifting mould group L1, the work as elevating mechanism
Fork translated linear mould group H1 for translation mechanism and 9 composition of pectination fork as conveying mechanism.First lifting mould group L1 and fork
Sub- translated linear mould group H1 is respectively intended to realize straight line elevating movement and linear translational motion, can also use various forms certainly
Linear motion mould group, such as feed screw nut movement mould group, synchronous belt move mould group.The embodiment is using feed screw nut form
Move mould group.Preferably, the first lifting mould group L1 uses the telescoping mechanism using multi-stage screw and multistage square tube guide sleeve, this
Telescoping mechanism is usually used in making tatami elevator.Multistage square tube guide sleeve generally comprises 2-4 section square tube, and size successively reduces, schemes
In only show 40a and two section square tube of 40b as signal.In the telescoping mechanism, pasted on four faces between each pair of adjacent square tube
There is engineering plastic tablet to form interference fit, while keeping lesser frictional force.The square tube of the lowermost square tube 40a and the top
40b is connected with bottom plate 41a and upper head plate 41b respectively, and bottom plate 41a then passes through connector and is fixedly mounted on robot frame
On 22 metal base plate 22b.Multistage nested screw rod S1 is equipped with inside square tube, screw rod bottom end is fixed on bottom plate 41a, and
Screw tip is successively machined with turret head and optical axis from top to bottom, and wherein the bearing block on optical axis and upper head plate 41b, which is formed, cooperates,
And synchronous pulley 42b is then fixed on turret head.Motor M1 is fixedly installed on upper head plate 41b, the motor is defeated by motor
Synchronous pulley 42a and synchronous belt 43 on shaft drive synchronous pulley 42b rotation, and then drive screw rod S1 rotation, realize first
Go up and down the flexible of mould group L1.Similar, fork translated linear mould group H1 is very common feed screw nut straight line mould group, includes
Upper head plate 41b, motor M2, synchronous pulley 44a, synchronous belt 45, synchronous pulley 44b, lead screw S2, nut N 2, guide rail 46, sliding block 47
It is formed with slide unit 48, when motor M2 rotation, slide unit 48 is moved forward and backward along guide rail 46.And pectination fork 9 is fixedly mounted on fork
On the slide unit 48 of translated linear mould group H1, or with slide unit 48 it is made into a part, so can be realized horizontal stretching motion.
Fig. 4 is the structural schematic diagram of mobile robot door opening/closing apparatus in the embodiment.Due to the case of most of express delivery cabinet
Lattice door is usually designed to the vertical hinged door of bilateral symmetry form, so default is filled equipped with symmetrical left-side switch door in robot
It sets and right-side switch door gear.Door opening/closing apparatus 15 mainly includes magnetic idler wheel 51, rotating arm 52, steering engine 53.Wherein, magnetic
Property idler wheel 51 be can with lattice door be attracted actuation portion, be mounted on 52 end of rotating arm；52 root of rotating arm and steering engine 53 are defeated
Shaft is connected；Steering engine 53 is mounted in robot frame 54, and steering engine output revolving shaft is parallel with the shaft of lattice door.Unpacking lattice door
When, first rotation makes magnetic rollers 51 contact and adsorb with the lattice door 6 of irony to driving rotating arm 52 outwardly, then 52 court of rotating arm
Lattice door 6 is pulled open in interior rotation.It unpacks during lattice door, magnetic rollers roll on lattice door, therefore its outer can be kept
Contact, to form abutting portion.Rotation direction and the rotation direction of unpacking lattice door are exactly the opposite when closing lattice door.When lattice door is shut
And after being locked by cell interior latch, rotating arm 52 rotates inwardly, so that magnetic rollers and lattice door disengage, due to revolving at this time
Pivoted arm 52 has been reduced within opening portion 14, dodge gate 18 can rise by opening portion 14 close with protect robot interior structure with
And the privacy of article.For some express delivery cabinet cells using upper rotation door, then door opening/closing apparatus 15 should be mounted on opening portion 14
Top, the shaft of steering engine 53 are parallel with the upper rotation shaft of door.Certainly, in other specific embodiments, actuation portion can be with
It is negative pressure actuation portion or electromagnetic force roller, its open door effect can be achieved.
In conjunction with Fig. 5 (a), Fig. 5 (b) and Fig. 5 (c), the course of work of the embodiment are as follows:
When complete docking after, robot have opening portion 14 with article-storage device 2 have lattice door while tightly
Patch, at this point, the opening portion 14 of robot and door of cell 4 or so be directed ats and highly unanimously.Wherein opening portion 14 is than cell 4
Door 6 is bigger.In order between clearer display robot 1 and the internal structure and robot 1 and cell 4 of article-storage device 2
Relative position removes the shell of robot shell 12 and article-storage device in figure.When mobile robot and external article-storage device are complete
After docking, to protect article privacy, adsorption operations are first carried out.Electromagnet sucker 20 in robot powers on, by robot
It is firmly adsorbed on the iron shell of article-storage device.Since the suction of the electromagnet sucker is generally at hundreds of kilograms or so, commonly
People can not move mobile robot easily, even if greater impact will also be generated by having moved, so as to be perceived by sensor
Trigger alarm.Therefore the robot of subsequent execution picks and places part operation and will carry out under conditions of completely obscured, protects article
Privacy.Herein using the electromagnet suction type for being easiest to implement, it is of course also possible to the side such as mechanical lock buckle or vacuum chuck
Formula realizes absorption.After completing adsorption operations, the electric up-down dodge gate 18 at opening portion 14 declines so that opening portion automatically
14 open wide completely.At this point, robot 1 can send instruction notification the latter for the electromagnet lockset 6b of lattice door to article-storage device 2
Unlock.The sufficiently large robot interior storage cavity 13 in space is reserved due to corresponding to behind opening portion 14, and this opportunity
Fork translated linear mould group H1 and pectination fork 9 inside device people are in sufficiently low position, and therefore, lattice door 6 can be in machine
90 ° are freely rotated in the inside storage cavity 13 of people without generating interference.In order to go to the folding angle of lattice door 6 from 0 °
90 °, then manipulate lattice door using the door opening/closing apparatus 15 in robot, that is, allow door opening/closing apparatus 15 turning initially to 0 ° of position with
Lattice door is attracted, then lattice door is driven to turn to 90 ° of positions.
When lattice door has been opened fully to 90 ° of positions, after this, robot interior takes piece putting equipment 16 will be successive
It executes and rises and protrude horizontally up movement.First lifting mould group L1 increases the pectination bracket 5 so that in the height and cell of pectination fork 9
Height it is quite and slightly lower, then fork translated linear mould group H1 extend so that pectination fork 9 insertion cells 4 in pectination brackets 5
Lower section；Certainly, in other general cells, it can also be not provided with pectination bracket, inclined-plane is arranged in the front end of pectination fork, can also
Splendid attire article is connect voluntarily to shovel.Hereafter the first lifting mould group L1 continues to increase a bit of height, keeps article 3 and pectination bracket 5 de-
From then translated linear mould group H1 is retracted, so that pectination fork 9 and article 3 enter the storage cavity 13 of robot.In view of sometimes
The placement location for waiting article 3 compares on the inside of cell, in order to ensure article is completely into robot interior, can execute again primary
Support takes movement, i.e. pectination fork 9 drops to the height more slightly lower than pectination bracket 5 again, then successively stretches out, raise and retract.
After inside by article carrying to robot body, at this moment lattice door 6 can not close, and otherwise can knock article
3 and pectination fork 9.Therefore, it after article 3 is completely into robot body inside, needs to drop to the first elevating mechanism L1
Sufficiently low position, so that the highest point of article 3 is lower than the minimum point of lattice door 6.After this, we can driving switch
Door gear 15 drives lattice door to turn to 0 ° of position from 90 ° of positions.Due to being equipped with spring inside the electromagnet lockset 6b of cell 4
Lock pin, so lattice door 6, which once closes, to be remained turned-off.After this, door opening/closing apparatus 15 can be enabled to go to 5 ° of positions left side
The right side is detached from lattice door, increase automatically dodge gate 18, opening portion 14 is completely enclosed.Then robot carries article
Leave article-storage device.
Embodiment two
In conjunction with shown in Fig. 6, Fig. 7 (a) and Fig. 7 (b), this embodiment offers a kind of mobile robot, structure with
Embodiment one is essentially identical, and the main distinction is to take piece putting equipment in the embodiment, picks and places part apparatus structure with embodiment one
It is different.
The embodiment takes piece putting equipment 16 to specifically include that the first lifting mould group L1 as elevating mechanism, as translation
Conveyer belt translated linear mould group H2, the friction roller as conveying mechanism and the conveyer belt assembly T2 of mechanism.Wherein, conveyer belt translates
The front end of straight line mould group H2 be equipped with friction roller 60, can be stretched out from horizontal opening 14, finally with the object inside external cell
Product contact, and pass through the rotation of friction roller 60, realization acts on article to be transferred, by article shovel in conveyer belt assembly, with
Realize transfer output.In the embodiment, friction roller 60 is identical with conveyer belt assembly T2 outer rim conveying direction.
Meanwhile in this embodiment, main distinction point is in addition, in the embodiment:
1) the first lifting mould group L1 is by discrete lead screw S1, nut N 1, guide rod 40c, sliding sleeve 40d, upper head plate 41c and gold
Belong to bottom plate 22b composition.And the main component of the first lifting mould group L1 is respectively positioned on the side of robot, compared in embodiment 1
Elevator mechanism made of multi-stage screw and multi-stage expansion square tube, it is possible to reduce to the occupancy of robot lower space, to increase
Add the lifting travel of fetching device 16；
2) only it need to guarantee that friction roller 60 can be contacted with the article face-side to be transferred in cell in the embodiment, so
Using the shorter conveyer belt translated linear mould group H2 of stroke, it is mounted below upper head plate 41c, it is flat in structure and embodiment 1
It is essentially identical to move straight line mould group H1, also includes motor M2, parts, the differences such as lead screw S2, nut N 2, guide rail 46, sliding block 47 are
Lead screw S2 stroke is relatively shorter, therefore is no longer described in detail；
3) the pectination fork 9 in embodiment 1 is replaced using friction roller and conveyer belt assembly T2.Friction roller and conveyer belt assembly
T2 mainly includes friction roller 60, active conveyer belt 61, motor M3, mounting bracket 62, shaft 63 etc..Wherein, mounting bracket 62 is wrapped
A pair of of fore-stock 62a, a pair of after-poppet 62b and the structural member for connecting them are included, is equipped with two between two fore-stock 62a
Shaft 63 is also equipped with two shafts 63 between two after-poppet 62b, and active conveyer belt 61 then covers in four shafts 63.
Conveyer belt 61 is usually made of a plurality of wide narrow bar conveyer belt, and the distance by adjusting shaft 63, which can be tensioned, actively to be conveyed
Band 61.Friction roller 60 and motor M3 are installed in mounting bracket 62.Motor M3 is driven actively by synchronous belt and synchronous pulley
Conveyer belt 61 rotates, and friction roller 60 and motor M3 are sequentially connected.Certainly, the friction roller 60 of above-mentioned passive rotation can also be replaced
For electric roller, motor M3 and corresponding toothed belt transmission chain are then no longer needed at this time.
Action process when embodiment 2 pick and place part operation is substantially the same manner as Example 1, and only article mode of movement is not
Together, rely primarily on conveyer belt translated linear mould group H2 with friction roller and conveyer belt assembly T2 translation after, make friction roller 60 with
Article contact, so that article 3 be made to be moved between cell and robot by frictional force.
Embodiment three
In conjunction with shown in Fig. 8 (a) and Fig. 8 (b), this embodiment offers the mobile pick-and-place part robots of another kind.The implementation
The structure of example is substantially the same manner as Example 2, and the main distinction is that the structure of piece putting equipment 16 is taken to have certain change.
The embodiment takes piece putting equipment 16 to specifically include that the first lifting mould group L1 as elevating mechanism, as translation
Conveyer belt translated linear mould group H2, the friction roller as conveying mechanism and the conveyer belt assembly T2 of mechanism；Meanwhile the embodiment is also
It is provided with lifting mechanism, which includes the second lifting mould group L2 and the pectination on second lifting mould group L2
Bracket 64.
1) embodiment takes the piece putting equipment 16 to increase the second lifting mould group L2 and pectination bracket 64.Second lifting mould group
L2 uses the straight line mould group being made of motor M4, lead screw S4, nut N 4 and guide rod sliding sleeve etc..The mould group can be fixedly mounted on
On the upper head plate 41c of first lifting mould group L1, the side positioned at upper head plate 41c far from horizontal opening 14, it is clear that in others
In specific embodiment, the upper half of the robot frame 22 of side of the robot far from horizontal opening 14 can also be fixedly mounted on
Portion.Pectination bracket 64 is installed, the position of comb teeth is just aligned 61 narrow bar conveyer belt of active conveyer belt on sliding platform 70
Between gap, and the width of comb teeth be less than gap width.When motor M4 rotation, is driven and slided by feed screw nut kinematic pair
Moving platform 70 and pectination bracket 64 are vertically moved up or down.Before pickup, pectination bracket 64 can decline, until its upper surface is slightly below
The upper surface of active conveyer belt 61, and after pickup, pectination bracket 64 can rise, and article 3 is raised and active conveyer belt
61 are separated.
2) installation site of the first lifting mould group L1 and conveyer belt translated linear mould group H2 is moved under robot
Half portion, this is because the first lifting mould group L1 only needs the lifting travel of very little in the present embodiment.
In conjunction with shown in Fig. 9 (a), article 3 is located inside cell 4 at this time.Before lattice door of unpacking, the second lifting mould group L2 will
Pectination bracket 64 falls below 61 upper surface of active conveyer belt position below, and then the first lifting mould group L1, passes through motor
M1 and lead screw S1 transmission chain, friction roller and conveyer belt assembly T2 and pectination bracket 64 are dropped to than 6 lower edge of lattice door more
Low place is collided to avoid with lattice door.Door opening/closing apparatus 15 can turn to 0 ° of position and adsorb lattice door 6 later,
Then lattice door is taken to 90 ° of positions as shown in the figure.
In conjunction with Fig. 9 (b), after opening lattice door 6, the first lifting mould group L1 promotes friction roller and conveyer belt assembly T2 and the
The height of one lifting mould group L1, promotes active conveyer belt 61 and pectination bracket 64 to comparable with floor height in cell 4
Position, then conveyer belt translated linear mould group H2, by motor M2 and lead screw S2 transmission chain, by friction roller and conveyer belt assembly T2
It is translated to 4 direction of cell, so that friction roller 60 is close to the article to be transferred in cell and generates certain normal pressure.Then it conveys
With the motor M3 rotation in translated linear mould group H2, active conveyer belt 61 and friction roller 60 is driven to rotate, wherein actively conveying
It is identical as the rotation direction of friction roller 60 with 61, therefore article 3 is transferred on active conveyer belt 61 by friction roller 60.When article 3
After being transferred on active conveyer belt, since it is located at behind lattice door 6.
Article 3 is promoted, the top of lattice door 6 is made it higher than.After article 3 is elevated, since it is located at top
Behind the partition 17c of enabling component 17, Gu Tuzhong is represented by dashed line.After this, conveyer belt translated linear mould group H2 will after
Move back so that friction roller and conveyer belt assembly T2 retract robot interior, then the first lifting mould group L1 decline so that friction roller and
The upper surface of conveyer belt assembly T2 is lower than the bottom of lattice door 6, hereafter can drive lattice door by driving switch door gear 15
0 ° of position is turned to from 90 ° of positions, completes the movement for closing lattice door.After this, closing device 15 goes to 15 ° from 0 ° of position
Position and lattice door 6 are detached from, and then door-plate 18, which rises, closes horizontal opening 14,20 power down of electromagnet sucker, and robot 1 can sail
From article-storage device 2.
Although specifically showing and describing the utility model in conjunction with preferred embodiment, those skilled in the art is answered
This is understood, in the spirit and scope for not departing from the utility model defined by the appended claims, in form and details
On the utility model can be made a variety of changes, be the protection scope of the utility model.
Claims (10)
1. a kind of mobile robot with door opening/closing apparatus, including a robot frame, an outer housing and a drive train,
The outer housing is coated in the robot frame to cooperatively form a robot body with the robot frame, which sets
In the bottom of the robot body；It is characterized in that, further including door opening/closing apparatus:
A storage cavity is equipped in the robot body, the side of the storage cavity has an opening portion, the corresponding opening portion
Position is additionally provided with the dodge gate for being used to open and closing the opening portion on the robot body；
The door opening/closing apparatus is set to the position in the robot body close to the opening portion comprising a rotation for being pivoted installation
Arm and a driving mechanism for driving the rotating arm to rotate；
The actuation portion for being attracted lattice door is additionally provided on the rotating arm, and for contacting at lattice door and moving along lattice door
Abutting portion.
2. mobile robot according to claim 1, it is characterised in that: the actuation portion is that magnetic attraction portion or negative pressure are attracted
Portion.
3. mobile robot according to claim 2, it is characterised in that: the actuation portion is magnetic roll, which is pivoted
It is installed on the rotating arm；The outside wall surface of magnetic force rolling can contact on lattice door, to form the abutting portion.
4. mobile robot according to claim 1, it is characterised in that: the position of the opening portion is equipped with the cunning extended vertically
Dynamic rail, the dodge gate can be slided up and down on the robot body by the sliding rail；The rotating arm is to be vertically arranged
Drive-connecting shaft is hubbed at the position on the inside of the sliding rail, which is the driving motor set on the pivot joint shaft position.
5. mobile robot according to claim 1, it is characterised in that: further include taking piece putting equipment, this takes piece putting equipment
In the robot body comprising elevating mechanism, translation mechanism and conveying mechanism, the elevating mechanism are set to the robot
In main body, which is set on the elevating mechanism, which is set on the translation mechanism.
6. mobile robot according to claim 5, it is characterised in that: the conveying mechanism is the pectination of a pectination hollow out
Fork.
7. mobile robot according to claim 5, it is characterised in that: the conveying mechanism includes conveyer belt assembly and defeated
Power transmission machine, the feeder motor and the conveyer belt assembly are sequentially connected.
8. mobile robot according to claim 7, it is characterised in that: the conveying mechanism further includes a friction roller；Definition
The direction of the conveyer belt assembly towards the opening portion is front, which is set to the position in front of conveyer belt assembly, and is set to
The lower position of the conveyer belt vertical direction.
9. mobile robot according to claim 7, it is characterised in that: the conveyer belt assembly includes that a plurality of parallel interval is set
The cycloconveyor belt set；The conveying mechanism further includes lifting mechanism, which, which is equipped with, is adapted to comb with the conveyer belt assembly
The pectination bracket of shape hollow out, for lifting the article in the conveyer belt assembly.
10. mobile robot described in -9 any claims according to claim 1, it is characterised in that: further include that top is opened the door
Component, the top enabling component are set to the top of the robot body by a closure, with empty for opening storing from top
Chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821616258.4U CN208906891U (en) | 2018-09-30 | 2018-09-30 | A kind of mobile robot with door opening/closing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821616258.4U CN208906891U (en) | 2018-09-30 | 2018-09-30 | A kind of mobile robot with door opening/closing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208906891U true CN208906891U (en) | 2019-05-28 |
Family
ID=66614038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821616258.4U Active CN208906891U (en) | 2018-09-30 | 2018-09-30 | A kind of mobile robot with door opening/closing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208906891U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160172A (en) * | 2018-09-30 | 2019-01-08 | 成都睿乐达机器人科技有限公司 | A kind of mobile robot with door opening/closing apparatus |
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
-
2018
- 2018-09-30 CN CN201821616258.4U patent/CN208906891U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160172A (en) * | 2018-09-30 | 2019-01-08 | 成都睿乐达机器人科技有限公司 | A kind of mobile robot with door opening/closing apparatus |
| CN109160172B (en) * | 2018-09-30 | 2024-01-09 | 成都睿乐达机器人科技有限公司 | Mobile robot with door opening and closing device |
| CN110789637A (en) * | 2019-12-05 | 2020-02-14 | 苏州博众机器人有限公司 | Transport robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A mobile robot with door opening and closing device Effective date of registration: 20210108 Granted publication date: 20190528 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: CHENGDU RUILEDA ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2021980000204 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220324 Granted publication date: 20190528 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: CHENGDU RUILEDA ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2021980000204 |