CN209125828U - Robot - Google Patents

Abstract

The embodiment of the utility model provides a robot. Wherein the robot comprises: the device comprises a machine body and a multi-section chassis for driving the machine body to move; wherein, the machine body is provided with a cargo bin and a bin door for sealing the cargo bin; a control mechanism is arranged in the machine body and provides first power for driving the bin door to be opened and second power for driving the bin door to be closed; the multi-section chassis comprises at least two chassis, the upper surface of one chassis of the at least two chassis is positioned above the rest of the at least two chassis except the chassis, and the machine body is fixed on the upper surface. The embodiment of the utility model provides a technical scheme helps improving the road surface adaptability of robot, makes it be suitable for indoor and outdoor multiple environment of traveling.

Description

Robot

Technical field

The utility model relates to field of mechanical technique more particularly to a kind of robots.

Background technique

With the continuous development of technology, robot has begun into people's lives and has become possibility.At present in logistics The service industries such as dispatching, it is bigger to machine Man's Demands due to the rapidly rising of cost of labor, and logistics distribution robot produces Product maturity is inadequate.

Existing robot is only suitable for the more smooth indoor environment in ground mostly.And the robot for being used to dispense, it need to be in room Activity needs to have the logistics distribution ability of complex environment to complete to dispense in interior and outdoor environment, and existing robot is also It cannot reach.

Summary of the invention

In view of the above problems, the utility model is proposed to solve the above problems or at least be partially solved the above problem Robot.

Then, in one embodiment of the utility model, a kind of robot is provided.The robot include: body and The multisection type chassis for driving body to advance；Wherein,

The body is equipped with the door of freight house and the closing freight house；

Control mechanism is equipped in the body, the control mechanism provides the first power for driving the door to open, with And the second power that the driving door is closed；

The multisection type chassis includes the upper surface at least two chassis and a chassis at least two chassis In at least two chassis in addition to the chassis remaining chassis top, the body is fixed on the upper surface.

Optionally, at least two chassis sequence arranges, and two neighboring chassis is flexibly connected.

Optionally, the robot further include: the two active wheel model groups and two being laid on the multisection type chassis A passive wheel model group；Projection of the four wheels of described two active wheel model groups and described two passive wheel model groups on running face It is located at an apex of diamond shape.

Optionally, described two passive wheel model groups include the first passive wheel model group and the second passive wheel model group；Wherein, described Two active wheel model groups and the first passive wheel model group are arranged in the multisection type chassis on the chassis of front end；It is described Second passive wheel model group is arranged in the multisection type chassis on the chassis of rear end；Or

Comprising there are three or when three with top bottom-disc, described two driving wheels are located at the multisection type on the multisection type chassis On middle chassis in chassis；Described two follower Mo Zu are arranged in the multisection type chassis respectively in rear and front end On chassis.

Optionally, the multisection type chassis includes the first chassis and the second chassis；First chassis and second bottom Disc portion overlapping is simultaneously flexibly connected in overlapping；Second chassis is located at the top on first chassis, and the body is fixed On the upper surface on second chassis.

Optionally, the robot further includes damping spring；It is equipped between adjacent chassis at least two chassis The damping spring；One end of the damping spring is flexibly connected with one in adjacent chassis, the other end and the adjacent bottom Another flexible connection in disk.

Optionally, the damping spring is tilting between the adjacent chassis.

Optionally, the robot further include can at least two positions on stroke lock to maintain at least two locks The self-locking device of set a distance；The self-locking device is equipped at least two chassis between adjacent chassis；The self-locking device One end be flexibly connected with one in the adjacent chassis, the other end is flexibly connected with another in the adjacent chassis； When the self-locking device is in the lock state, the adjacent chassis relative position is fixed；The self-locking device is in the unlocked state When, the adjacent chassis relative position is variable.

Optionally, the self-locking device includes force application part and self-locking gas spring；Wherein, the self-locking gas spring includes releasing Put pin；The force object of the force application part is the release pin；The force application part force is so that the self-locking gas spring solution Lock, and deformation occurs under the action of external deformation power；When the force application part removes power, the self-locking gas spring locking.

Optionally, the self-locking gas spring is inclined between the adjacent chassis.

Optionally, the force application part includes electromagnet and armature, armature Xiang Suoshu when the electromagnet is powered Release pin force.

Optionally, the force side of the release pin is equipped with pressure arm；The pressure arm is connect with armature；The armature is in the electricity It is exerted a force by the pressure arm to the release pin when magnet is powered.

Optionally, the self-locking nyctitropic both ends of gas spring shape are respectively equipped with a hinged seat；Positioned at the release pin The hinged seat of one end is the second hinged seat；Second hinged seat is equipped with through hole, and the hole axle of the through hole is perpendicular to institute State the long axis of self-locking gas spring；One end of the release pin puts in along the direction of the long axis across second hinged seat described Through hole；The through hole is protruded into exert a force in the through hole to the release pin in described pressure arm one end, and the other end is in institute It states and is connect outside the second hinged seat with the armature.

Optionally, the robot further include: swing component and the first connector；Wherein, the swing component includes swinging Central part, and the first swing part and the second swing part positioned at oscillation center portion two sides；The force application part with it is described The connection of first swing part, provides swing power for first swing part；Second swing part passes through first connector With the release pin connection.

Optionally, first connector includes wire rope casing and the first steel wire being threaded through in the wire rope casing Rope；Wherein, the wire rope casing is stretched out at the both ends of first wirerope；First extension end of first wirerope and institute The connection of the second swing part is stated, the second extension end and the release pin link.

Optionally, the multisection type chassis includes the first chassis and the second chassis；The robot further include: for solid The support of the fixed force application part and the swing component；The support is arranged on first chassis or second chassis； The support is equipped with limiting slot, interior to be equipped with the second connector that moved in the slot of the limiting slot；The armature The power output section for protruding into the limiting slot is flexibly connected with second connector；First swing part is connect with described second Part is flexibly connected；The region in the correspondence of the support oscillation center portion is equipped with slotted hole；The oscillation center portion is equipped with the Two pin shafts, second pin shaft are placed in the slotted hole；When first swing part of the swing component is swung, second pin shaft On the direction that the slotted hole limits and apart from interior movement.

Optionally, the robot further includes battery；A chassis at least two chassis is equipped with accommodating Slot, the battery containing is in the accommodation groove；Wherein, the upper surface on the chassis equipped with the accommodation groove be located at it is described extremely Lack the top on remaining chassis in addition to the chassis in two chassis；It is flexibly connected in the slot bottom of the accommodation groove with adjacent chassis.

Optionally, mounting platform is outward extended at the notch of the accommodation groove；

The first damping for being flexibly connected damping spring is set on the end face on the adjacent chassis of the face of the mounting platform Spring hinged seat and/or the first self-locking device hinged seat for being flexibly connected self-locking device.

Optionally, the door is two；The control mechanism includes: two rotating devices, transmission devices and for mentioning For the power device of power；Wherein, two rotating devices are separately connected door different in two doors；Transmission dress It sets and is connected respectively with two rotating devices and the power device, the power for being provided according to the power device, band Dynamic two rotating device constant speed reversely rotate, so that two door constant speed are reversely unscrewed and constant speed is reversely revolved It closes.

Optionally, the rotating device includes: rotating arm, and the rotating arm forms parallel four with the corresponding door and connects Linkage.

Optionally, the transmission device includes: the first driven pulley and the second driven pulley；First driven pulley and Second driven pulley is coaxially disposed and diameter is identical, to realize first driven pulley and second driven pulley Constant speed reversely rotate；Any in first driven pulley and second driven pulley is connected with the power device；

The rotating device includes drive rod；Two drive rods for including in two rotating devices, are separately mounted to On first driven pulley and second driven pulley, and it is connected respectively from the different doors.

Optionally, there are two hinge joints, respectively tail portion hinge and head hinge for the power device tool；

Any shape in the tail portion hinge and head hinge and first driven pulley and second driven pulley At tri-joint mechanism power mechanism, the power of the tri-joint mechanism power mechanism transmitting realizes that the constant speed of described two driven pulleies is reversely revolved Transhipment is dynamic.

Optionally, the driven pulley drives the rotating arm rotation by wirerope trigger mechanism.

Optionally, spring mechanism is connected between the rotating arm and the door.

Optionally, during two door tralings: two doors are not in contact with preceding, the tri-joint mechanism power mechanism Driving force be greater than the sum of rotary motion resistance of the rotating arm, door gravity, elastic force of the spring mechanism, and the bullet When power is greater than the rotary motion resistance, the wirerope trigger mechanism is not triggered, so that two doors are in traling Always the extreme lower position of indent is in journey；

When two door contacts, the rotary motion resistance is greater than the elastic force, the wirerope trigger mechanism quilt Triggering drives two doors respectively right respectively so that the driven pulley drives the wirerope trigger mechanism movement The parallelogram lindage swing rotary answered realizes the evagination movement of two doors.

Optionally, in the unthreading process of two doors: driving the driven pulley in the tri-joint mechanism power mechanism Rotation, the swing rotary for executing the parallel four-bar are moved to drive two doors to do indent movement；In two storehouses When door indent to extreme lower position, two doors start constant speed under the drive of tri-joint mechanism power mechanism and reversely rotate to realize The unscrewing campaign of two doors.

Optionally, the wirerope trigger mechanism includes: the second wirerope and wirerope regulating part；

The wirerope regulating part is hinged on the drive rod, and the tail portion of second wirerope is from the wirerope tune The centre bore of section part passes through, and is tangential on the 4th pulley after the tangent winding of third pulley, and is pressed on the door connection of the door On part.

Optionally, the robot further includes bumper assembly, and the bumper assembly is arranged in protection portion, the protection Portion includes: at least one chassis in the body outer surface and/or the multisection type chassis；

The bumper assembly includes: anti-striker, elastomer and collision sense device；Wherein,

One end of the elastomer is flexibly connected with the protection portion, and the other end is flexibly connected with anti-striker；

The collision sense device is arranged in the protection portion, for being touched when the anti-striker is by external impact power Hair is to issue collision alarm；

The collision sense device is connect with the controller of the body, and collision alarm is sent to the controller, by The controller makes steering according to collision alarm or stagnation of movement controls.

Optionally, the robot further includes following at least one: 3 D laser scanning equipment, positioning device, image Acquire equipment, ultrasonic sensor, two-dimensional laser sensor, gyroscope, communication equipment and audio frequency apparatus.

Optionally, when the robot includes 3 D laser scanning equipment, the top surface of the body is tilting top surface, and The highest point of the tilting top surface is arranged in the 3 D laser scanning equipment.

Optionally, the robot further includes setting in the intracorporal control circuit of the machine, and following at least one The button that the body outer surface is set and is connect with the control circuit:

Solve band-type brake button, switch button and scram button.

Optionally, the robot further include: the automatic charging mouth on the body outer surface is set；

The battery for being additionally provided with charging circuit in the body and being connect with the charging circuit；

The automatic charging mouth accesses the charging circuit.

Optionally, the robot further include: setting is in the body outer surface, for playing the prompt dress of suggesting effect It sets；

The suggestion device includes following at least one: electric quantity display device, trouble light and turn signal.

Technical solution provided by the embodiment of the utility model, setting freight house can accommodate the cargo to be dispensed on body, close The door of freight house can avoid cargo to be dispensed and drop out；The road surface adaptability of robot is helped to improve using multisection type chassis, It is adapted to indoor and outdoor a variety of running environments.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.

Fig. 1 is the first angle schematic diagram for the robot that an embodiment of the present invention provides；

Fig. 2 a is a kind of principle schematic diagram realized on the multisection type chassis that an embodiment of the present invention provides；

Fig. 2 b is another principle schematic diagram realized on the multisection type chassis that an embodiment of the present invention provides；

Fig. 3 is a kind of schematic three dimensional views realized on the multisection type chassis that an embodiment of the present invention provides；

Fig. 4 is the cross-sectional view of schematic three dimensional views shown in Fig. 3；

Fig. 5 is a kind of another angle three-dimensional signal realized on the multisection type chassis that an embodiment of the present invention provides Figure；

The structural schematic diagram of damping spring is set in the multisection type chassis that Fig. 6 provides for an embodiment of the present invention；

The schematic three dimensional views on the second chassis in the multisection type chassis that Fig. 7 provides for an embodiment of the present invention；

The schematic three dimensional views on the first chassis in the multisection type chassis that Fig. 8 provides for an embodiment of the present invention；

The structural schematic diagram of self-locking device is set in the multisection type chassis that Fig. 9 provides for an embodiment of the present invention；

A kind of structure realized of self-locking device is shown in the multisection type chassis that Figure 10 provides for an embodiment of the present invention It is intended to；

Figure 11 is the schematic cross-section of self-locking device shown in Figure 10；

Figure 12 is the structural schematic diagram for the logistics distribution robot that an embodiment of the present invention provides；

Figure 13 a is the first form view when deceleration strip is got on the multisection type chassis that an embodiment of the present invention provides；

Figure 13 b is the second form view when deceleration strip is got on the multisection type chassis that an embodiment of the present invention provides；

Figure 13 c is the second form view when deceleration strip is got on the multisection type chassis that an embodiment of the present invention provides；

The first form view when the multisection type chassis up gradient that Figure 14 a provides for an embodiment of the present invention；

The second form view when the multisection type chassis up gradient that Figure 14 b provides for an embodiment of the present invention；

The second form view when the multisection type chassis up gradient that Figure 14 c provides for an embodiment of the present invention；

The first form view when the multisection type chassis gug that Figure 15 a provides for an embodiment of the present invention；

The second form view when the multisection type chassis gug that Figure 15 b provides for an embodiment of the present invention；

The second form view when the multisection type chassis gug that Figure 15 c provides for an embodiment of the present invention；

Figure 16 is a kind of schematic diagram of the second angle for robot that an embodiment of the present invention provides；

The door unscrewing or the signal during traling that Figure 17 is a kind of robot that an embodiment of the present invention provides Figure；

Figure 18 is a kind of schematic perspective view for freight house that an embodiment of the present invention provides；

Figure 19 is a kind of schematic perspective view for freight house that an embodiment of the present invention provides；

Figure 20 is a kind of schematic perspective view for freight house that an embodiment of the present invention provides；

Figure 21 is a kind of schematic perspective view for freight house that an embodiment of the present invention provides；

Figure 22 is a kind of schematic perspective view for freight house that an embodiment of the present invention provides；

Figure 23 a is a kind of structural schematic diagram of the freight house that provides of an embodiment of the present invention under the open state of door；

Figure 23 b is a kind of structural schematic diagram of the freight house that provides of an embodiment of the present invention under the off status of door；

Figure 24 a, Figure 24 b, Figure 24 c and Figure 24 d, the position signal of door respectively provided by the embodiment of the utility model；

Figure 25 a, Figure 25 b, Figure 25 c and Figure 25 d, the position of rotating arm respectively provided by the embodiment of the utility model shows Meaning；

Figure 26 is the structural representation for the external installation bumper assembly on the first chassis that an embodiment of the present invention provides Figure；

Figure 27 is the structural schematic diagram for the bumper assembly that an embodiment of the present invention provides；

Figure 28 is schematic diagram of the bumper assembly that provides of an embodiment of the present invention when male part is collided power；

Figure 29 be the bumper assembly that provides of an embodiment of the present invention be collided on the left of male part power when show It is intended to；

Figure 30 be the bumper assembly that provides of an embodiment of the present invention be collided on the right side of male part power when show It is intended to；

Figure 31 is the structural schematic diagram for adding bottom plate that an embodiment of the present invention provides；

Figure 32 is that schematic diagram is simulated by deceleration strip outdoor scene by the robot that an embodiment of the present invention provides；

Figure 33 is that the robot upward slope outdoor scene that an embodiment of the present invention provides simulates schematic diagram；

Figure 34 is that the robot descending outdoor scene that an embodiment of the present invention provides simulates schematic diagram；

Figure 35 is the robot door opening procedure schematic drawing that an embodiment of the present invention provides；

Figure 36 is the robot door closing process schematic drawing that an embodiment of the present invention provides；

Figure 37 is that the robot that an embodiment of the present invention provides shifts to the schematic diagram of charging pile on the way；

Figure 38, which is that the robot that provides of an embodiment of the present invention is mobile, to be connect in place and with charging pile and charges Schematic diagram；

The first angle schematic diagram of organism internal structure in the robot that Figure 39 provides for an embodiment of the present invention；

The second angle schematic diagram of organism internal structure in the robot that Figure 40 provides for an embodiment of the present invention.

Specific embodiment

Field is dispensed in the end of logistics distribution, delivery industry at present, is substantially dispensed into client's hand, lacks by manpower Corresponding robot realizes the dispatching of last one kilometer.Since existing robot also rests on the exploitation of simple function mostly On, such as answer service in market, the service of ordering in dining room；Existing robot can't be used for logistics distribution service.For This, the utility model provides a kind of robot for being adapted for logistics distribution, to meet industrial park, office building, fast in campus The dispatching of package is passed, human cost is reduced, improves dispatching efficiency.

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those skilled in the art are obtained without making creative work The every other embodiment obtained, fall within the protection scope of the utility model.It should be noted that " first " herein, " the The descriptions such as two ", are not represent sequencing for distinguishing different message, equipment, module etc., also do not limit " first " and " the Two " are different type.

The utility model embodiment provides the multisection type chassis that a kind of robot includes: body and body is driven to advance；Its In, the body is equipped with the door of freight house and the closing freight house；Control mechanism, the control machine are equipped in the body Structure provides the first power for driving the door to open, and the second power that the driving door is closed；The multisection type bottom Disk includes that the upper surface at least two chassis and a chassis at least two chassis is located at least two chassis In in addition to the chassis remaining chassis top, the body is fixed on the upper surface.

At least two chassis are connected to form a whole chassis by the way of being flexibly connected, which is advancing In the process, mobilizable at least two chassis of reason is constituted, and enables the variation of the adaptive running face of chassis structure.It compares and adopts For the robot of rigid chassis, technical solution provided by the embodiment of the utility model, road surface adaptability is higher, is suitable for room Interior and outdoor a variety of running environments meet the performance requirement as logistics distribution robot.

In a kind of achievable technical solution, at least two chassis sequence is arranged, and two neighboring chassis activity connects It connects.Wherein, the flexible connection referred in the utility model embodiment can simply understand are as follows: two connecting components can have relative motion Connection.It is flexibly connected can include: hinged, be slidably connected or hingedly with the combination that is slidably connected etc., the utility model is implemented Example is not especially limited this.

Certainly, other structures realization also can be used at least two chassis provided by the embodiment of the utility model, for example, Multisection type chassis includes: middle chassis and the four sides chassis being separately positioned on middle chassis four direction, each side chassis It is flexibly connected with the middle chassis；In another example multisection type chassis includes three chassis of triangular pitch, three chassis two Two are flexibly connected；Etc., the utility model embodiment is not especially limited this.

Wherein, structure when multisection type chassis includes two chassis can be found in a kind of specific implementation example shown in Fig. 2 a. Certainly, multisection type chassis may also include 3 or 4 etc..Fig. 2 b shows a kind of reality on multisection type chassis including 3 chassis Existing structure.Referring to fig. 2 shown in b, multisection type chassis includes front chassis 902, middle chassis 901 and rear chassis 900.Front chassis 902, Middle chassis 901 and rear chassis 900 are sequentially arranged, and adjacent front chassis 902 and middle chassis 901 is flexibly connected；Adjacent indsole Disk 901 and rear chassis 900 are flexibly connected.In example shown in Fig. 2 b, the upper surface on middle chassis is in front chassis 902 and rear chassis 900 top.Body can be fixed on the upper surface on chassis 901 in this.Certainly, the realization structure on multisection type chassis can also have very much Kind, specific design can determine that the utility model embodiment is not especially limited this according to demand.

Further, diamond shape wheel construction can be used in the robot provided by the embodiment of the utility model, i.e., the described machine People further include: two active wheel model groups being laid on multisection type chassis and two passive wheel model groups；Described two active wheel models Projection of the four wheels of group and described two passive wheel model groups on running face is located at an apex of diamond shape.

In a kind of achievable technical solution, described two passive wheel model groups include the first passive wheel model group and the second quilt Driving wheel mould group；Wherein, position is arranged in the multisection type chassis in described two active wheel model groups and the first passive wheel model group In on the chassis of front end；The second passive wheel model group is arranged in the multisection type chassis on the chassis of rear end.

In another achievable scheme, when the multisection type chassis is comprising there are three or three with top bottom-disc, institute Two driving wheels are stated to be located on the middle chassis on the multisection type chassis；Described two follower Mo Zu are arranged in described more respectively On chassis in segmentation chassis in rear and front end.

For example, for multisection type chassis shown in Fig. 2 a comprising two chassis, two active wheel model groups and one Passive wheel model group may be provided on a chassis, another passive wheel model group is arranged on another chassis.For shown in Fig. 2 b Structure comprising there are three for the multisection type chassis structure on chassis, two active wheel model groups may be provided at middle chassis 901, one Passive wheel model group is arranged on rear chassis 900, another passive wheel model group is arranged on front chassis 900.Certainly, for including For three or three multisection type chassis structures with top bottom-disc, only rear and front end chassis can also be used and be equipped with diamond shape arrangement The mode of two active wheel model groups and two passive wheel model groups.

Using more flexible movable connection structure connection between adjacent chassis in multisection type chassis, in the process of moving Its vibration generated also can not be small.Therefore, damping spring can be added in chassis to achieve the effect that damping.That is, reference can be made to Fig. 6 Shown in example, the robot provided by the embodiment of the utility model further include: damping spring 11.The damping spring 11 One end is flexibly connected with one in adjacent chassis, and the other end is flexibly connected with another in the adjacent chassis.It is specific real Shi Shi, damping spring 11 can be tilting between adjacent chassis.For example, shown in fig. 6 comprising there are two the multisection type chassis on chassis In structure, it is inclined between the first chassis 100 and the second chassis 200.

Further, in multisection type chassis between adjacent chassis also it is settable can on stroke at least two positions locking To maintain the self-locking device of at least two locking distances, the purpose for adding self-locking device is for edge disassembly, maintenance and to carry. Specifically, the self-locking device is equipped at least two chassis between adjacent chassis；One end of the self-locking device and institute A flexible connection in adjacent chassis is stated, the other end is flexibly connected with another in the adjacent chassis；The self-locking dress It sets when being in the lock state, the adjacent chassis relative position is fixed；It is described adjacent when the self-locking device is in the unlocked state Chassis relative position is variable.

What needs to be explained here is that: in relation to the specific implementation knot of the damping spring and self-locking device that are arranged in multisection type chassis Structure can be found in embodiment particularized below.

Fig. 1, Fig. 2 a, Fig. 3 and Figure 17 shows an embodiment of the present invention provide robot structural schematic diagram.This The multisection type chassis in robot that embodiment provides includes that there are two chassis, respectively the first chassis and the second chassis.Such as figure 1, shown in Fig. 5 and Figure 17, robot includes: body 400 and the multisection type chassis 300 for driving the traveling of body 400.Wherein, described Body 400 is equipped with two doors of freight house 500 and the closing freight house 500.Two doors can be phase shown in Figure 17 To the first door D1 and the second door D2 of setting.Two door D1 of control and D2 folding is equipped in the body 400 Control mechanism, the first power that the control mechanism provides two door D1 of driving and D2 constant speed is reversely unscrewed, and drive The second power of dynamic two the door D1 and the reversed traling of D2 constant speed.As shown in figs 2 a and 3, the multisection type chassis 300 Including the first chassis 100 and the second chassis 200, first chassis 100 and second chassis 200 partly overlap and are being overlapped Place is flexibly connected；Second chassis 200 is located at the top on first chassis 100, and the body 400 is fixed on described second On chassis 200.

Technical solution provided by the embodiment of the utility model, setting freight house can accommodate the object to be dispensed on body, close Two doors of freight house can avoid object to be dispensed and drop out；It need to cross road barrier, deceleration strip using multisection type chassis or sail When to road surfaces such as ramps, the first chassis or the second chassis can relatively another chassis adjustment positional relationship with adapt to the variation on road surface after It continues into road surface is adaptable, suitable for indoor and outdoor a variety of running environments.

In a kind of achievable technical solution, as shown in Fig. 2 a and Fig. 5, multisection type chassis includes realizing to be flexibly connected Articulation piece 9.Articulation piece 9 includes: the first hinged seat 91 with hinge hole and the first pin shaft 92 being adapted to hinge hole.First The part Chong Die with the second chassis on chassis is the first overlapping portion；The part Chong Die with first chassis on the second chassis is the Two overlapping portions.The first hinged seat is provided on an overlapping portion in first overlapping portion and the second overlapping portion；Another is provided with First pin shaft.For example, as shown in Figure 2 a, the first hinged seat 91 is arranged on second overlapping portion on the second chassis 200, the first pin shaft 92 are arranged on first overlapping portion on the first chassis 100.Specifically, as shown in figure 8, the first pin shaft 92 can pass through pin shaft pedestal 20 It is fixed on the first chassis 100.First pin shaft 92 is arranged in the hinge hole of first hinged seat 91, and is equipped between the two Bearing 12 (as shown in Figure 7).In the specific implementation, tapered roller bearing can be selected in bearing, and cylinder roller bearing etc., this is practical It is novel that this is not especially limited.

In order to further increase the mobility of robot, robot provided by the embodiment of the utility model includes two actives Wheel model group 61 and 62 and two passive wheel model groups 51 and 52；Described two passive wheel model groups 51 and 52 include the first passive wheel model Group 51 and the second passive wheel model group 52, described two active wheel model groups 61 and 62 and the first passive wheel model group 51 are set to On first chassis 100, the second passive wheel model group 52 is set on second chassis 200；Described two driving wheels Projection of the four wheels of mould group 61 and 62 and described two passive wheel model groups 51 and 52 on running face is located at diamond shape An apex.Active wheel model group and passive wheel model group are arranged using diamond shape can be achieved pivot stud, and mobility is good.

For example, in a specific implementation, referring to fig. 2 shown in a, two settings of active wheel model groups 61 and 62 are the On one overlapping portion；First passive wheel model group 51 is arranged in the non-overlapping portion on the first chassis 100；Second passive wheel model group 52 is arranged In the non-overlapping portion on second chassis 200.With continued reference to as indicated with 1, it is assumed that the direction X1 shown in Fig. 2 a is multisection type The direction of advance on chassis, the direction X2 are the direction of retreat on multisection type chassis.It, will be more according to the direction X1 shown in Fig. 2 a and the direction X2 The both ends on segmentation chassis can be respectively defined as: front-end and back-end.The front end of the non-overlapping portion on the first chassis 100, that is, multisection type chassis Front end；The rear end of the non-overlapping portion on the second chassis 200, that is, multisection type chassis rear end.In the specific implementation, the first follower Mould group 51 may be provided at the front end of the non-overlapping portion on the first chassis 100, form isoceles triangle with two active wheel model groups 61 and 62 Shape.The rear end at the non-overlap position on the second chassis 200, and the running face on multisection type chassis is arranged in second passive wheel model group 52 Projection on the first passive wheel model group 51 and the second passive relatively described two active wheel model groups in 52 position of wheel model group line pair Claim (as shown in Figure 5).

Further, as shown in fig. 6, the robot provided by the embodiment of the utility model may also include damping spring 11.The part Chong Die with second chassis 200 on first chassis 100 is the first overlapping portion；Second chassis 200 The part Chong Die with first chassis 100 is the second overlapping portion；One end of the damping spring 11 and first overlapping portion It is flexibly connected, the other end is flexibly connected with second overlapping portion.Multisection type chassis can generate vibration during obstacle detouring, the shake Dynamic moving device (such as service robot, logistics distribution machine that may cause that there is multisection type chassis provided in this embodiment People etc.) in accommodate cargo to be dispensed (as take out or express delivery) occur acutely shake and damage.For this purpose, the present embodiment mentions The technical solution of confession reduces chassis vibration by adding damping spring.

When it is implemented, the hinged seat of Moveable shock spring is respectively provided on the first overlapping portion and the second overlapping portion, The hinged seat can be used structure as shown in Figure 7 and Figure 8 and realize.That is, hinged seat include: for be fixed on the first overlapping portion and/ Or second pedestal on overlapping portion and the hinging pin shaft that is set on the base.The both ends of damping spring are respectively equipped with hinge eyes, Hinge eyes are set in hinging pin shaft, that is, are completed hinged.As shown in fig. 7, the second chassis 200 is cut with scissors equipped with the first damping spring Joint chair, the first damping spring hinged seat include the first damping spring pedestal 14 and are fixed on the first damping spring pedestal 14 The first damping spring connect pin shaft 13.As shown in figure 8, the first chassis 100 is equipped with the second damping spring hinged seat, this second Damping spring hinged seat includes the second damping spring pedestal 18 and the second damping for being fixed on the second damping spring pedestal 18 Spring connects pin shaft 19.

In a kind of achievable technical solution, the damping spring 11 can be tilting in first overlapping portion and described Between two overlapping portions.Further, as shown in fig. 6, the linear direction of travel on the multisection type chassis is X-direction；The damping Spring 11 and the hinge joint of first overlapping portion are the first hinge joint；The damping spring is hinged with second overlapping portion Point is the second hinge joint；The space line of first hinge joint and second hinge joint, the projection line on running face 111 ' are parallel to the direction X.It is the damping spring 11 is tilting while guaranteeing damping effect, moreover it is possible to effectively reduce The overall height on chassis.

Further, the robot provided by the embodiment of the utility model may also include can on stroke at least two Position locks the self-locking device 7 to maintain at least two locking distances；One end of the self-locking device 7 and first chassis 100 are flexibly connected, and the other end is flexibly connected with second chassis 200.When it is implemented, can by one end of self-locking device 7 with First overlapping portion is hinged, and the other end and the second overlapping portion are hinged.When the self-locking device is in the lock state, first chassis It is fixed with second chassis relative position；When the self-locking device is in the unlocked state, first chassis and described second Chassis relative position is variable.When self-locking device 7 is in the lock state, the first chassis 100 and the second chassis 200 composition it is whole Body forms rigid chassis, is convenient for flat pavement running, chassis maintenance and transport disassembly.When self-locking device 7 is in the unlocked state, first Relative position between chassis 100 and the second chassis 200 can change with current line into road condition change.Specifically, referring to Fig. 7 Shown, second chassis 200 is equipped with the first self-locking device hinged seat, and the first self-locking device hinged seat includes the first self-locking dress Bottom set seat 16 and the first self-locking device articulated shaft 15 being fixed on the first self-locking device pedestal 16.It is shown in Figure 8, first Chassis 100 be equipped with the second self-locking device hinged seat, the second self-locking device hinged seat include the second self-locking device pedestal 20 and The second self-locking device articulated shaft 21 being fixed on the second self-locking device pedestal 20.Self-locking device 7 passes through as shown in Figure 7 and Figure 8 The first self-locking device hinged seat and the second self-locking device hinged seat it is hinged with the first chassis and the second chassis respectively.

Wherein, self-locking gas spring 701 can be selected in the self-locking device 7, as shown in Figure 9.It, can be by manual when practical application Mode trigger the release pin of self-locking gas spring 701.For example, pushing release pin, self-locking gas spring, that is, in the unlocked state is removed Lower pressure discharges the release pin, and self-locking gas is in the lock state.

In the specific implementation, example shown in Figure 9, the self-locking gas spring 701 can be inclined in first overlapping Between portion and second overlapping portion.Specifically, as shown in figure 9, the linear direction of travel on the multisection type chassis is X-direction； The hinge joint of the self-locking gas spring 701 and first overlapping portion is third hinge joint a；The self-locking gas spring 701 and institute The hinge joint for stating the second overlapping portion is the 4th hinge joint c；The space line of the third hinge joint a and the 4th hinge joint c, Projection line 71 ' on running face is parallel to the X-direction.

In order to realize the automation state switching performance of self-locking gas spring, as shown in Fig. 5, Figure 10 and Figure 11, this is practical new Type embodiment, which provides robot, may also include force application part 8.Self-locking gas spring 701 includes release pin 10, the force of force application part Object is release pin 10；Force application part exerts a force so that self-locking gas spring 701 unlocks, and shape occurs under the action of external deformation power Become；When force application part removes power, the self-locking gas spring locking.

In a kind of achievable technical solution, referring to shown in Figure 10 and Figure 11, force application part 30 may include electromagnet 31 And armature 32, the armature 32 exert a force when the electromagnet 31 is powered to the release pin 10.When electromagnet 31 is powered, attract Armature 32 and electromagnet 31 are attracted, and can produce the active force that need to be applied on release pin 10 in 32 attracting process of armature.Wherein, Electromagnet 31 and armature 32 can be used structure as shown in figure 11 and realizes: the electromagnet 31 has centre bore；The armature 32 Including for when the electromagnet 31 is powered with the actuation portion 321 of the electromagnetic actuation and be arranged in the actuation portion The power output section 322 of the centre bore is protruded on 321.

Further, the robot provided in this embodiment may also include controller (not shown).The controller It is mountable on the first chassis 100 or the second chassis 200；It can also directly be multiplexed the control with robot provided in this embodiment Device, etc., the utility model are not especially limited this.Controller is connect with electromagnet, and controller can control electromagnet to be powered Or power-off.

In a kind of achievable scheme, releasing for the self-locking gas spring 701 is provided as shown in figure 11, in the present embodiment The force side for putting pin 10 can also be equipped with pressure arm 40.The pressure arm 40 is connect with armature 32；The armature 32 is in the electromagnet 31 It is exerted a force by the pressure arm 40 to the release pin 10 when energization.More specific structure, it is as shown in Figure 10 and Figure 11, described self-locking The nyctitropic both ends of 701 shape of gas spring are respectively equipped with a hinged seat；Hinged seat positioned at described 10 one end of release pin is second Hinged seat 50；Second hinged seat 50 is equipped with through hole 51, and the hole axle of the through hole 51 is perpendicular to the self-locking gas bullet The long axis of spring 701；One end of the release pin 10 passes through second hinged seat 50 along the direction of the longitudinal axis L and puts in described pass through Perforation 51；The through hole 51 is protruded into exert a force in the through hole 51 to the release pin 40, separately in described 40 one end of pressure arm One end is connect in 50 outside of the second hinged seat with the armature 32.

Further, as shown in figure 11, self-locking device provided by the embodiment of the utility model may also include that swing component 60 And first connector 70.Wherein, the swing component 60 includes oscillation center portion 61, and is located at 61 two sides of oscillation center portion The first swing part 62 and the second swing part 63；The force application part 30 is connect with first swing part 62, is described first Swing part 62, which provides, swings power；Second swing part 63 is connect by first connector 70 with the release pin 10.

It is realized when it is implemented, flowering structure such as can be used in first connector 70: as shown in figure 11, first connection Part 70 includes wire rope casing 71 and the first wirerope 72 being threaded through in the wire rope casing 71；Wherein, first steel The wire rope casing 71 is stretched out at the both ends of cord 72；First extension end of first wirerope 72 and second swing part 63 connections, the second extension end and the release pin 10 link.First connector is realized using the above structure, so that the force section The setting position of part is freer, and according to the practical assembling space in multisection type chassis, force application part is arranged on the first chassis On, or be arranged on the second chassis.

Self-locking device provided by the embodiment of the utility model further may also include that for fixing the force application part 30 And the support 80 of the swing component 60.The support 80 is equipped with limiting slot 81, and interior be equipped with can move in the limiting slot 81 The second dynamic connector 82；The force application part 30 includes protruding into the limiting slot 81 to connect with 82 activity of the second connector The power output section 322 connect；First swing part 62 is flexibly connected with second connector 82.

What needs to be explained here is that: since the first swing part 62 of swing component 60 and the second swing part 63 are arcuately tracks It swings.When force application part 30 is realized using structure electromagnet 31 as shown in the figure and 32 structure of armature, the movement rail of armature 32 Mark is straight path.If the first swing part 62 and the second connector 82 is hinged, armature 32 and the second connector 82 are hinged, then put The position in the oscillation center portion of moving part 60 is not capable of fixing.Therefore, the region in the correspondence of the above-mentioned support 80 oscillation center portion 61 Equipped with slotted hole (not shown)；The oscillation center portion 61 is equipped with the second pin shaft, and second pin shaft is placed in described oval In hole；When first swing part 61 of the swing component 60 is swung, second pin shaft on the direction that the slotted hole limits with Apart from interior movement.

What needs to be explained here is that: the self-locking device only illustrated in above content selects the specific implementation side of self-locking gas spring Case, the equipment with self-locking function such as hydraulic cylinder can be used also to realize in self-locking device in practical application, and the utility model is implemented Example is not especially limited this.

Further, the robot further includes battery, and a chassis at least two chassis is equipped with accommodating Slot, the battery containing is in the accommodation groove；Wherein, the upper surface on the chassis equipped with the accommodation groove be located at it is described extremely Lack the top on remaining chassis in addition to the chassis in two chassis；It is flexibly connected in the slot bottom of the accommodation groove with adjacent chassis. Specifically, as shown in Figure 3 includes the robot in the multisection type chassis example on the first chassis 100 and the second chassis 200 It further include battery 2；Second chassis 200 is equipped with accommodation groove, and the battery 2 is accommodated in the accommodation groove；In the appearance Slot bottom and first overlapping portion for setting slot are hinged.

In a specific implementation structure, mounting platform is outward extended at the notch of the accommodation groove；The installation is flat It is arranged on the end face on the adjacent chassis of the face of platform for being flexibly connected the first damping spring hinged seat of damping spring and/or being used for It is flexibly connected the first self-locking device hinged seat of self-locking device.Specifically, as Fig. 3, Fig. 4 and it is shown in Fig. 7 include the first bottom In the multisection type chassis example on disk 100 and the second chassis 200, mounting platform 201 is outward extended at the notch of the accommodation groove； Setting is cut with scissors for the first damping spring of hinged damping spring on the end face on the first chassis described in the face of the mounting platform 201 Joint chair and/or the second self-locking device hinged seat for hinged self-locking device.

Below with reference to following several application scenarios, deceleration is crossed to multisection type chassis provided by the embodiment of the utility model The process of band, ascents and descents.

Scene one, crosses deceleration strip

Two active wheel model groups are arranged on the first chassis.Therefore, the first chassis can be considered front truck (i.e. driving vehicle)；Second Chassis can be considered rear car (i.e. loading vehicle).As shown in Figure 13 a, 13b and 13c, front truck drives rear car to move forward.Slow down when crossing When band, the first passive wheel model group on front truck first drives towards deceleration strip, while rear car rotates under the drive of front truck around hinge, with Adapt to the variation on road surface.Front truck continues to travel, and the active wheel model group of front truck continues to drive towards deceleration strip, until driving the second of rear car Passive wheel model group crosses deceleration strip, completes overall process of the chassis by deceleration strip.

Scene two, up gradient

Shown in Figure 14 a, 14b and 14c, the follower of front truck first goes up a slope, and drives chassis to go up a slope, rear car is under the drive of front truck It rotates around hinge in relative positional relationship shown in figure, to adapt to the variation on road surface.Front truck continues to travel, the driving wheel of front truck Mould group is gone up a slope until driving the second passive wheel model group of rear car to drive into up gradient, front truck and rear car are reverted to by hinge joint at this time Relative positional relationship at smooth-riding surface.When chassis structure is travelled from up gradient to level line, the passive wheel model group of the first of front truck Level line is first driven towards, by hinge joint relative rotation occurs for rear car and front truck again to adapt to the variation on road surface at this time, and front truck is after continuing It sails, until rear car is driven to enter level line, front truck and rear car return back to relative positional relationship when smooth-riding surface, and then complete to go up a slope The overall process of road stroke.

Scene three, gug

Shown in Figure 15 a, 15b and Figure 15 c, the follower elder generation descending of front truck drives chassis descending, drive of the rear car in front truck Under rotate around hinge in relative positional relationship shown in figure, to adapt to the variation on road surface.Front truck continues to travel, the active of front truck Wheel model group descending is until drive the second passive wheel model group of rear car to drive into gug, and front truck and rear car are restored by hinge joint at this time For the relative positional relationship at smooth-riding surface.When chassis structure is travelled from gug to level line, the passive wheel model of the first of front truck Group first drives towards level line, and rear car and front truck pass through hinge joint and relative rotation occur again to adapt to the variation on road surface at this time, and front truck continues Traveling, until rear car is driven to enter level line, front truck and rear car return back to relative positional relationship when smooth-riding surface, and then under completion The overall process of ramp stroke.

In the present embodiment close freight house door can be one, it is two or more, the utility model embodiment to this not Make specific limit.Wherein, two pairs of storehouse door openings are compared with a door, and folding efficiency is higher, and the time is short.In following the description, with goods Storehouse is illustrated the specific implementation of above-mentioned control mechanism for setting the scheme there are two door.When door is two, two Door can be oppositely arranged.It is dynamic to can provide two door constant speed of driving are reversely unscrewed first for control mechanism in the present embodiment Power, and the second power of two reversed tralings of door constant speed of driving.Specifically, the control mechanism includes: two rotations Rotary device, transmission device and the power device being used to provide power；Wherein, two rotating devices are separately connected described in two Different door in door；Transmission device is connected with two rotating devices and the power device respectively, for according to institute The power of power device offer is provided, drives two rotating device constant speed to reversely rotate, so that two described doors etc. Fast reversed unscrewing and the reversed traling of constant speed.

The freight house of the utility model embodiment may include: two doors being oppositely arranged.Two doors can be distinguished With on-state and off-state.Wherein, for any door, the process from open state to off status is properly termed as closing the door Process, the process from off status to open state are properly termed as door opening process.Two doors simultaneously be in door closing procedure or In the case where door opening process, which can execute reverse rotation motion.And the transmission device of the utility model embodiment It drives two rotating device constant speed to reversely rotate, above-mentioned two door constant speed can be made to reversely rotate, therefore may be implemented State the synchronous effect (synchronous closing effect or synchronous open door effect) of two doors.

It is appreciated that two doors being oppositely arranged in the utility model embodiment can be equal to a door pair.Goods Storehouse may include: one or more door pair.For example, the freight house of semiellipsoid shape is provided with the first door in the first side Second side is provided with the second door equity.Wherein, the first side and second side are oppositely arranged.It is appreciated that this field Technical staff can determine the structure of door according to practical application request.For example, storehouse compatible with freight house periphery can be set Door, the utility model embodiment is for the quantity of door pair included by freight house, door to specific location, the Yi Jicang in freight house The specific structure of door is without restriction.

The power device of the utility model embodiment, is used to provide power.Above-mentioned power device may include: motor, horse Up to etc..In a kind of alternative embodiment of the utility model, above-mentioned power device can be push-rod electric machine, and push-rod electric machine is a kind of The rotary motion of motor is changed into the power-driven gear of the straight reciprocating motion of push rod, it will be understood that the utility model Embodiment is without restriction for specific power device.

Optionally, the tail portion hinge of above-mentioned power device may be mounted on the hinged seat of end, and the end hinged seat can On the freight house that is mounted on where the door；The head of the power device can be hinged on the connection of the power device On part.Wherein, hinge is hinge or the link position of devices arms in mechanical structure, can play the role of joint.At hinge Usually adjacent parts are connected with a pin shaft, make to rotate between part around hinge.

The transmission device of the utility model embodiment, for transmitting power to rotating device.What above-mentioned transmission device used The kind of drive may include: V belt translation, gear drive, pulley drive, chain conveyer, worm-drive, screw drive etc., Ke Yili Solution, the utility model embodiment are without restriction for the specific kind of drive.

Two rotating devices of the utility model embodiment, are separately connected door different in above-mentioned two door, with Constant speed reversely rotates under the drive of above-mentioned transmission device, so that above-mentioned two door constant speed reversely rotates.Above-mentioned rotating dress Setting can be to have the function of that rotation function, the utility model embodiment are without restriction for specific rotating device.

In a kind of alternative embodiment of the utility model, the transmission device may include: that first pulley and second are sliding Wheel；The first pulley and the second pulley are coaxially disposed and diameter is identical, to realize the first pulley and described second The constant speed of pulley reversely rotates, that is, the first pulley and the second pulley can export the reversed rotary power of constant speed； Any in the first pulley and the second pulley is connected with the power device, to receive the dynamic of the power device Power；

Correspondingly, the rotating device may include drive rod；Two drive rods for including in two rotating devices It is separately mounted on the first pulley and the second pulley, and is connected respectively from the different doors, with drive pair The door rotation answered.

In a kind of application example of the utility model, drive rod may include: the first drive rod and the second drive rod, and One drive rod is rotated with the first pulley of transmission device along counterclockwise, meanwhile, the second drive rod is with the second of transmission device Pulley rotates clockwise.

In an embodiment of the present invention, there are two hinge joints, respectively tail portion hinge for above-mentioned power device tool With head hinge.The first pulley or second pulley of the tail portion hinge joint, the head hinge joint and transmission device can To constitute tri-joint mechanism mechanism.In the course of work of above-mentioned power device, the first drive rod will be as first pulley be along first party To rotation, while the second drive rod will be rotated in a second direction with second pulley.Wherein, first direction and second direction are phase Anti- direction.For example, first direction is that counterclockwise, second direction is clockwise direction etc..

The utility model embodiment is without restriction for the connection type between drive rod and door.Above-mentioned connection type It may include: belt pulley connection, elastic dowel pin shaft coupling connection, gear connection, rigid process hole is bolted, crosshead shoe joins The connection of axis device, magnetic connection etc..

In a kind of alternative embodiment of the utility model, the drive rod can by wirerope trigger mechanism with it is corresponding Door be connected.Wirerope is that mechanical property and the satisfactory steel wire of geometric dimension are twisted together according to certain rules Helical form steel tendon, wirerope is usually by steel wire, wire rope core and grease composition.Wirerope is first to be twisted stock by multilayer steel wire, Again centered on wire rope core, helically wound rope is twisted by certain amount stock.The intensity of wirerope is high, from heavy and light, stable working, no Easy suddenly whole root fracture, reliable operation.

In an embodiment of the present invention, the wirerope trigger mechanism be can specifically include: wirerope and steel Cord regulating part；The wirerope regulating part is hinged on the drive rod, and the tail portion of the wirerope is from the wirerope tune The centre bore of section part passes through, and is tangential on the 4th pulley after the tangent winding of third pulley, and is pressed on the door connection of the door On part.That is, the head of wirerope is located on drive rod, tail portion is located on door.Third pulley and the 4th pulley are for steel Guiding role can be played for cord.

In another alternative embodiment of the utility model, the rotating device includes: rotating arm, the rotating arm with Corresponding door forms parallel four-bar linkage.Above-mentioned parallel four-bar linkage specifically includes: two fixed hinges and two work Dynamic hinge, and door can be around two fixed hinge rotations or swing.Door may be implemented in above-mentioned parallel four-bar linkage Indent, due to that can realize the rotation of door under the concave configuration of door, the ON/OFF of door can be realized in inside, And it can be not take up exterior space, therefore can be adapted for the scene of storage robot, it is carried out with the inside in storage robot The ON/OFF of door.

In an embodiment of the present invention, the principle of above-mentioned parallel four-bar linkage can be with are as follows: the door pair Should be there are two door connector, the first end of the door connector is hinged on the door, and the second end of the door connector is logical Connecting rod of moving into one's husband's household upon marriage is hinged on the rotating arm.

In practical applications, the door may be mounted on two door connectors, described two connectors and institute The mounting surface for stating door is coplanar.It may include: first end and second end, wherein first end for a door connector It is hinged on door, second end is hinged on rotating arm by door connecting rod.

The rotating mechanism of the utility model embodiment may include rotating arm and drive rod.From the open state to off status During first, drive rod can not generate relative motion relative to rotating arm, therefore door can be driven (such as inverse according to first direction Clockwise) rotation.From open state to off status second during, two doors contact, two rotating arms can not continue Rotation；And drive rod can overcome resistance and continue to rotate according to first direction, in such cases, door can be by means of above-mentioned Parallel four-bar linkage continues hoisting, and door protrudes outward under the drive of above-mentioned parallel four-bar linkage, therefore can mend While repaying the appearance notch between two doors, sealing and water-proof function are realized.Optionally, sealing can be set on door The hoisting of item, door can squeeze sealing strip, improve sealing and waterproof performance between two doors.

In a kind of alternative embodiment of the utility model, spring can connect between the rotating arm and the door Mechanism.The elastic force of above-mentioned spring mechanism can make door tension and be in the extreme lower position swung, therefore can make door It is rotated during above-mentioned first.Also, during above-mentioned first, rotational resistance is no more than the elastic force of spring, Spring is not deformed, and spring can not destroy the motion state of rotary motion.And during above-mentioned second, rotational resistance is super The elastic force of spring is crossed, spring is deformed (stretching), and spring can destroy the motion state of rotary motion, so that rotary motion knot Beam, and door hoisting outward under the drive of parallel four-bar linkage, realize evagination effect.

In an embodiment of the present invention, the spring mechanism may include: the first spring fastenings, spring and Second spring connector；

First spring fastenings are mounted on the door connector of the door, and the spring is connected to first bullet Between spring connector and the second spring connector, the second spring connector is mounted on the rotating arm.

In a kind of alternative embodiment of the utility model, the rotating arm is in the correspondence position of the parallel four-bar linkage It sets and cushion collar can be set.Cushion collar can play the position-limiting action for above-mentioned parallel―ordinal shift, so that door can not It is rotated down.

In a kind of alternative embodiment of the utility model, the control mechanism can also include: frizzen, limit switch And power supply control apparatus；The frizzen is located at the output node of the transmission device, if the frizzen touches the limit Switch, then the power supply control apparatus cuts off the power supply circuit of the power device, so that the power device stops working.

To sum up, the control mechanism of the utility model embodiment can be with since transmission device can drive rotating device to rotate So that above-mentioned door rotation, forms arching trajectory, therefore can be adapted for the corresponding freight house of door arching trajectory, such as round, The freight house of the abnormity appearance such as ellipse.

Also, the transmission device of the utility model embodiment drives two rotating device constant speed to reversely rotate, and can make Above-mentioned two door constant speed reversely rotates, thus may be implemented above-mentioned two door synchronous effect (synchronous closing effect or Synchronous open door effect).

In addition, the rotating arm of the utility model embodiment can form parallel four-bar linkage with corresponding door.It is above-mentioned Parallel four-bar linkage specifically includes: two fixed hinges and two movable hinges, and door can be around two fixed hinges Rotation is swung.The indent of door may be implemented in above-mentioned parallel four-bar linkage, due to can under the concave configuration of door it is real The rotation of existing door, therefore the ON/OFF of door can be realized in inside, and it can be not take up exterior space, therefore can be applicable in In the scene of storage robot, the ON/OFF of door is carried out with the inside in storage robot.

Further, the door of the utility model embodiment, can be by means of parallel four in the case where rotary motion terminates Link mechanism continues hoisting, and door protrudes outward under the drive of above-mentioned parallel four-bar linkage, therefore can be in compensation two While appearance notch between door, sealing and water-proof function are realized.

To sum up, in technical solution provided by the embodiment of the utility model, the process of door switch can simply be interpreted as follows Process:

When closing door, the power transmitted from tri-joint mechanism power mechanism realizes that constant speed reversely rotates two driven pulleies of device Constant speed reverse rotation motion, driven pulley drive rotating arm rotation by wirerope trigger mechanism；The driving force of power mechanism is big In the sum of rotary motion resistance, door gravity, spring force, spring force is greater than the resistance of rotating arm rotary motion at this time, therefore When door rotates, wirerope trigger mechanism is not triggered, and door is in the extreme lower position of hoisting, door and internal limited block always Contact, when two fan doors rotate to end, two fan door contacts, the resistance of rotary motion is greater than spring force, and system can not Rotary motion is executed again, and wirerope trigger mechanism is triggered at this time, and driven pulley drives wirerope to move by driving lever, that is, drives The parallelogram lindage swing rotary of corresponding door realizes the hoisting evagination movement of door；

Storehouse door opening: the driven pulley that tri-joint mechanism power mechanism drives constant speed to reversely rotate device rotates, integrally most to resistance Small direction movement, System Priority execute parallel four-bar and rotate descending motion, and door is driven indent, when door indent to limit When block, swing rotary movement terminates, and door starts circle rotation movement, and two fan doors, that is, rotatable split are rotated to both sides.

7, Figure 18 and Figure 19 referring to Fig.1 are provided with the first door D1 and the second door D2 being oppositely arranged on body.Its In, it may be provided with trim D3 on the first door D1 and the second door D2, trim D3 can play decoration function.Freight house knot Can also be equipped on structure D5: rib D4, rib D4 can play the role of stopping article in freight house to drop out.

Show referring to the stereochemical structure of Figure 20, Figure 21, Figure 22, respectively a kind of freight house of an embodiment of the present invention offer It is intended to.

In Figure 20, the first door D1 is on first connector D24, second connector D31, first connector D24, second connector D31 are coplanar with the mounting surface of the first door D1.

The rotating arm of the utility model embodiment forms parallel four-bar linkage with corresponding door.For example, the first rotation Arm D10 and the first door D1 forms the first parallel four-bar linkage.Above-mentioned first parallel four-bar linkage specifically includes: two solid Determine hinge (a, c) and two movable hinges (b, d), and the first door D1 can be around two fixed hinge (a, c) rotations or pendulum It is dynamic.

The principle of above-mentioned first parallel four-bar linkage can be with are as follows: first connector corresponding for the first door D1 For D24 and second connector D31, specifically include: first end and second end, wherein first end is hinged on the first door D1 On, second end is hinged on first rotating arm D10 by door connecting rod (first connecting rod D22 and second connecting rod D30).

The indent of the first door D1 may be implemented in above-mentioned first parallel four-bar linkage, due to can be the first door D1's The rotation of door is realized under concave configuration, therefore the ON/OFF of the first door D1 can be realized in inside, and can be not take up outside Space, therefore the scene for the robot that can be adapted for storing in a warehouse, with the inside in storage robot carry out the opening of the first door D1/ It closes.

Second door D2 is similar with the structure of the first door D1.In Figure 21, the second door D2 is mounted in third door connector On D43, the 4th connector D50, the mounting surface of third door connector D43, the 4th connector D50 and the second door D2 are total Face.

Second rotating arm D9 and the second door D2 forms the second parallel four-bar linkage.Above-mentioned second parallel four-bar linkage It specifically includes: two fixed hinges (e, g) and two movable hinges (f, h), and the second door D2 can be around two fixed hinges Point (e, g) rotation is swung.

For hinge a, b, c, d, e, f, g and h, the first pin shaft D20, the second pin shaft can have been respectively corresponded D23, third pin shaft D29, the 4th pin shaft D32, the 5th pin shaft D39, the 6th pin shaft D41, the 7th pin shaft D47 and the 8th pin shaft D48.

In Figure 20 and Figure 21, constant speed, which reversely rotates device D8, can realize the anti-of two pulleys (first pulley and second pulley) To rotary motion, the first driving lever D11, the second driving lever D33 are separately mounted to the first pulley and that constant speed reversely rotates device D8 On two pulleys, the first driving lever D11, the constant speed of the second driving lever D33, reverse rotation motion, and the center of opposite freight house can be realized Face is symmetrical.

In Figure 20, left wirerope regulating part D12 is hinged on the first driving lever D11, and the tail portion of left wirerope D17 is from Zuo Gang The centre bore of cord regulating part D12 passes through, and is tangential on the 4th pulley D19, left pin shaft 18 again after the tangent winding of third pulley 15 For fastening the 4th pulley D19.It is finally pressed on first connector D24 by left wirerope compressing member D21, i.e., left wirerope The head of D17 is located on the first driving lever D11, and tail portion is located on the first door D1.

In Figure 21, right wirerope regulating part D34 is hinged on the second driving lever D33, and the tail portion of right wirerope D36 is from right steel The centre bore of cord regulating part D34 passes through, and is tangential on the 6th pulley D37, right pin shaft again after the 5th tangent winding of pulley D35 D38 is for fastening the 6th pulley D37.It is finally pressed on third door connector D43 by right wirerope compressing member D40, i.e., right steel The head of cord D36 is located on the second driving lever D33, and tail portion is located on the second door D2.

The first spring mechanism is can connect between first rotating arm D10 and the first door D1.In Figure 20, the first spring Mechanism may include: the first spring fastenings D25, the first spring D26 and second spring connector D27；First spring fastenings D25 is mounted on first connector D24 of the first door D1, the first spring D26 be connected to the first spring fastenings D25 and Between second spring connector D26, second spring connector D27 is mounted on first rotating arm D10.

Second spring mechanism is can connect between second rotating arm D9 and the second door D2.In Figure 21, second spring machine Structure may include: third spring fastenings D44, second spring D45 and the 4th spring fastenings D46；Third spring fastenings D44 It is mounted on the third door connector D43 of the second door D2, second spring D45 is connected to third spring fastenings D44 and the 4th Between spring fastenings D46, the 4th spring fastenings D46 is mounted on the second rotating arm D9.

Motion process of the door of the utility model embodiment from open state to off status includes: the first process and the second mistake Journey.Referring to Figure 23 a, a kind of structural schematic diagram of the freight house provided for an embodiment of the present invention under the open state of door, It is a kind of structural schematic diagram of the freight house that provides of an embodiment of the present invention under the off status of door referring to Figure 23 b, in this way, Motion process of the door of the utility model embodiment from open state to off status namely from state change shown in Figure 23 a to figure State shown in 23b.

Above-mentioned first spring mechanism or the elastic force of second spring mechanism can make the first door or the second door by It draws and the extreme lower position in swing, therefore the first door or the second door can be made to be revolved during above-mentioned first Transhipment is dynamic.Also, during above-mentioned first, rotational resistance is no more than the elastic force of spring, and spring is not deformed, and spring can be with The motion state of rotary motion is not destroyed.And during above-mentioned second, rotational resistance is more than the elastic force of spring, and spring generates change Shape (stretching), spring can destroy the motion state of rotary motion, so that rotary motion terminates, and the first door or the second storehouse Door hoisting outward under the drive of parallel four-bar linkage, realizes evagination effect.

Constant speed reversely rotates device D8 and can be driven by push-rod electric machine D7, and the tail portion hinge of push-rod electric machine D7 is mounted on end hinge On joint chair D6, end hinged seat D6 is mounted on warehouse structure D5；The head of push-rod electric machine D7 is hinged by motor pin shaft D52 On motor contact D53, motor contact D53 is mounted on constant speed and reversely rotates on the top sheave of device D8；Push-rod electric machine D7 Tail portion hinge, head hinge, constant speed reversely rotate device D8 driving wheel (namely first pulley or second pulley) center of circle Tri-joint mechanism mechanism is constituted, in the case where push-rod electric machine D7 elongation, the first driving lever D11 will reversely rotate device D8's with constant speed First pulley is along rotation counterclockwise, while right driving lever D33 will reversely rotate the second pulley of device D8 along clockwise with constant speed Rotation.

In the case where push-rod electric machine D7 elongation, the first driving lever D11 rotates counterclockwise, and the first driving lever D11 is with respect to the at this time One rotating arm D10 does not generate relative motion, and the first door D1 can be driven to rotate counterclockwise, while being reversely rotated and being filled by constant speed The effect of D8 is set, the second door D2, which is synchronized, to be rotated clockwise, and speed is identical as the speed of the first door D1.

Referring to Figure 24 a, Figure 24 b, 24c and Figure 24 d, the position of door provided by the embodiment of the utility model is respectively illustrated It sets, referring to Figure 25 a, Figure 25 b, Figure 25 c and Figure 25 d, respectively illustrates the position of rotating arm provided by the embodiment of the utility model. Wherein, Figure 24 a, the position Figure 25 a are in, by Figure 24 b, the position Figure 25 b in the first door D1, the second door D2, to Figure 24 c, During Figure 25 c rotates, the first door D1, the second door D2 can do constant speed reverse rotation motion, and axis of rotation is same One axle center；In Figure 24 c, the position Figure 25 c, the first door D1, the second door D2 rotate to the center of freight house, the first door D1 is contacted with the second door D2, and the first door D1, the second door D2 can not continue to rotate in such cases, first rotating arm D10, Second rotating arm D9 can not continue to rotate.If push-rod electric machine D7 continues to extend, the first driving lever D11 passes through left wirerope D17, the One connector D24, the first spring fastenings D25 overcome the elastic force of the first spring D26 to continue to rotate counterclockwise, and the second driving lever Driving lever D33 then can constant speed rotation clockwise；First door D1 is by first connector D24, second connector D31 around hinge Point a, c rotation；The second door D2 is rotated by third door connector D43, the 4th connector D50 around hinge f, g simultaneously；This mistake The motion process of journey such as Figure 24 c, Figure 25 c to Figure 24 d, Figure 25 d, the synchronous hoisting of the first door D1, the second door D2, therefore can be with While compensating appearance notch, the corresponding inner wall of shell is squeezed, realizes waterproof action.

As shown in figure 22, if frizzen D55 touches shutdown limit switch D56, electric signal, cutting by ejector pin can be provided The power supply circuit of motor D7 makes push-rod electric machine D7 stop elongation, and the first door D1, the second door D2 break off an action, therefore can be with Realize the effect of appearance compensation, waterproof.

For the freight house shown in Figure 18 to Figure 22, in door in the motion process from off status to open state, push rod Motor D7 shortens, and the first driving lever D11 is rotated clockwise, and the second driving lever D33 synchronizes rotation counterclockwise.Door is from off status to opening shape The motion process of state may include: third process and the 4th process, and door does pendulum drop movement during third, and door is the 4th It makes rotating motion in the process.

It is appreciated that the motion principle of the second door D2 is similar with the motion principle of the first door D1, door is from off status Motion process to open state is similar with motion process of the door from open state to off status, and and therefore not to repeat here, mutually joins According to.

The specific implementation that the utility model embodiment reversely rotates device D8 for constant speed is without restriction.According to one Kind embodiment, the implementation that constant speed reversely rotates device D8 may include: gear transmission mode, and gear transmission mode has essence High advantage is spent, however due to more demanding manufacture and installation accuracy, manufacturing cost is higher.

According to another embodiment, the implementation that constant speed reversely rotates device D8 may include: the sister block kind of drive. Correspondingly, shown in Figure 20, it may include: first pulley, second pulley that constant speed, which reversely rotates device D8, third pulley D15, 4th pulley D19, the first connecting rope (not shown) and the second connecting rope (not shown).Wherein, the first pulley It is coaxially disposed with the second pulley, and diameter is identical.The both ends of first connecting rope and second connecting rope are solid respectively It is scheduled in the first pulley and the second pulley, the centre of first connecting rope and second connecting rope is around described Different pulley in third pulley and the 4th pulley；In the winding path of first connecting rope, the first pulley Direction with path segments occupied by the second pulley is respectively first direction and second direction；In second connecting rope Wind path in, the direction of path segments occupied by the first pulley and the second pulley be respectively the second direction and The first direction；The first direction and the second direction are opposite.

The utility model embodiment is sliding as the first of driving wheel by being wrapped in the first connecting rope, the second connecting rope On wheel, second pulley, in the winding path for being correspondingly connected with rope, path piece occupied by the first pulley, the second pulley Section it is contrary, in this manner it is possible to be wrapped in the first pulley, the length in the second pulley by two connecting ropes Variation, to realize the reverse rotation of the first pulley and the second pulley；The first pulley and the second pulley can To export reversed rotary motion, reliable transmission is high, structure is simple, easy to implement and cost is relatively low.Also, due to the first cunning Wheel is identical with the diameter of second pulley, therefore first pulley and second pulley can export the reversed rotary motion of constant speed.

To sum up, the door of the utility model embodiment controls equipment, since transmission device can drive rotating device to rotate, Above-mentioned door can be made to rotate, form arching trajectory, therefore can be adapted for the corresponding freight house of door arching trajectory, such as is round The freight house of the abnormity appearance such as shape, ellipse.Also, the transmission device of the utility model embodiment drives two rotating device constant speed It reversely rotates, above-mentioned two door constant speed can be made to reversely rotate, therefore the synchronous effect of above-mentioned two door may be implemented (synchronous closing effect or synchronous open door effect).

Further, robot provided by the embodiment of the utility model may also include bumper assembly.Specifically, the anticollision Component is arranged in protection portion, and the protection portion includes at least: at least one in the body outer surface, the multisection type chassis On a chassis.Referring to example shown in Figure 16 and 26, the outside on multisection type chassis is arranged in bumper assembly.More specifically, multistage Formula chassis includes the first chassis and the second chassis, and the outside on the first chassis in multisection type chassis is arranged in bumper assembly.Assuming that the Shell is equipped with outside one chassis, then it is corresponding with first tray bottom outer to may be provided at the shell F1 for bumper assembly Side.Such as example shown in Figure 27, the bumper assembly include: anti-striker F2, elastomer F6 and collision sense device F10；Wherein, One end of the elastomer F6 and the protection portion are hinged, and the other end and anti-striker F2 are hinged.As shown in figure 27, elastomer F6 Both ends pass through respectively pin shaft F4 and F8 realize it is hinged.The collision sense device F10 is arranged in the protection portion, in institute It is triggered when stating anti-striker F2 by external impact power to issue collision alarm；The collision sense device F10 and the body Controller connection, is sent to the controller for collision alarm, is made steering according to collision alarm by the controller or is stopped Sail control.The effect of elastomer F6 is set in the present embodiment, is that external impact power disappearance Shi Weifang striker provides the reply resetted Power.

When it is implemented, the anti-striker F2 can be multistage, there are gaps between every section.For example, in the appearance of body Two sections, three sections or the anti-striker of multistage is arranged in face, and there are certain gaps between adjacent anti-striker, to avoid an anticollision wherein Part when by external impact power, the case where interference effect by adjacent anti-striker causes collision sense device that can not be triggered hair It is raw.

In a kind of achievable technical solution, as shown in Figure 16 and Figure 26, the foreign steamer of anti-striker F2 and chassis case F1 Exterior feature adaptation, and surround chassis outer profile half cycle.There is male part at the position of the correspondence travel wheel of chassis case F1.The anticollision The symmetrical configuration positioned at the male part two sides of part, the male part is monosymmetric to be laid at least a pair of collision sense Survey device；The male part is monosymmetric to be laid at least a pair of elastic component.

Specifically, the male part is located at when at the position that the first chassis of correspondence of shell is arranged in the anti-striker Position where driven wheel on first chassis is set in diamond shape travel wheel group.Diamond shape travel wheel group, that is, above-mentioned shown in fig. 5 Comprising there are two active wheel model group and two driven wheel model groups, the four wheels of two active wheel model groups and two driven wheel model groups It is located at an apex of diamond shape.

Further, in order to avoid anti-striker is displaced excessive or displacement bias when by external impact power, this is practical new It may also include that position limiting structure in the bumper assembly that type embodiment provides.Limit hole and limit can be used in the specific position limiting structure The structure of position bar is realized, other implementations can also be used certainly, the utility model embodiment is not especially limited this.Referring to Shown in Figure 27, the anti-striker F2 is equipped with the limiting section for stretching to the traveling body, and the limiting section is equipped with limit hole；Body The correspondence limit hole position at be equipped with gag lever post F11, the gag lever post F11 protrudes into the limit hole.It is generated in collision Afterwards, the distance and direction internal shift that anti-striker is limited in position limiting structure.

Referring to fig. 2 shown in 8, when the center of anti-striker is collided power (i.e. the corresponding position of the front-wheel on chassis collides) When, the elastomer of male part two sides is compressed, and two collision sense devices are triggered simultaneously.Referring to fig. 2 shown in 9, when anti-striker Left side be collided power when, the compressed spring in left side is compressed, and the collision sense device in left side is triggered.Referring to Figure 30, when anti- When the power that is collided on the right side of striker, the compressed spring on right side is compressed, and the collision sense device on right side is triggered.

Further, the bottom of chassis case can also be equipped with bottom plate F3.The outer rim of bottom plate F3 can exceed the outer profile of shell； In the non-external impact power of the anti-striker, there are gaps with the anti-striker for the outer rim of the bottom plate F3, can be with position limiting structure The movement for limiting anti-striker jointly is limited in the movement of anti-striker in certain area.When it is implemented, the gag lever post One end and the bottom plate are hinged, and the other end is hinged with chassis case.

Above-mentioned collision sense device is not limited to magnetic induction switch, photoelectric sensor switch etc..In one embodiment, such as Shown in Figure 27, there is the collision sense device trigger arm F9, the trigger arm F9 and the anti-striker F2 to link.

Further, robot provided by the embodiment of the utility model may also include following at least one: three-dimensional laser is swept Equipment, positioning device, image capture device, ultrasonic sensor, two-dimensional laser sensor, gyroscope, communication equipment are retouched (such as day Line) and audio frequency apparatus etc..

Wherein, when the robot includes 3 D laser scanning equipment, the top surface of the body is tilting top surface, and The highest point of the tilting top surface is arranged in the 3 D laser scanning equipment.

Further, technical solution provided by the embodiment of the utility model, which may also include that, is arranged in the intracorporal control of the machine Circuit processed, and following at least one button that the body outer surface is set and is connect with the control circuit: solution band-type brake Button, switch button and scram button etc..

Further, technical solution provided by the embodiment of the utility model, which may also include that, is arranged in the body outer surface On automatic charging mouth；The battery for being additionally provided with charging circuit in the body and being connect with the charging circuit；It is described to fill automatically Power port accesses the charging circuit.

Further, technical solution provided by the embodiment of the utility model, which may also include that, is arranged in the body outer surface, For playing the suggestion device of suggesting effect；The suggestion device includes following at least one: electric quantity display device, trouble light and steering Lamp.

The multiple functions component that robot outer surface is arranged is said below with reference to a specific application example shown in FIG. 1 It is bright.

As shown in Figure 1, a kind of logistics distribution robot includes: that both ends formula chassis (is wrapped in inside body fuselage, in figure not Show) and body 400.Body is equipped with: 3 D laser scanning equipment A1, positioning device (such as GPS) A2, charge port A3, electricity Display device A4, trouble light A5, solution band-type brake button A6, switch button A7, monocular camera A8, serum cap A9, audio frequency apparatus (such as sound Ring) A10, ultrasonic sensor A11, binocular camera A12, scram button A13, automatic charging mouth A14, two-dimensional laser sensor A15, headlight A16, front directional A17, skeleton A18, freight house A19, cabinet A20, gyroscope A21, antenna A22 etc..

Body 400 is assemblied on multisection type chassis, the upper surface on second chassis on multisection type chassis have under body 400 The corresponding mounting hole in surface；Shell can be split type, and integral structure can also be used.Shell is assemblied on body 400.

Figure 32 shows robot provided by the utility model and simulates schematic diagram by deceleration strip outdoor scene.It is met when complete machine travels When to deceleration strip；Multisection type chassis adaptively rotates under driving force effect itself to cross deceleration strip.Wherein, multisection type chassis The process for how adaptively crossing deceleration strip can be found in above-mentioned attached drawing 13a, 13b and 13c and corresponding contents, herein not superfluous It states.

Figure 33 shows robot upward slope outdoor scene simulation schematic diagram provided by the utility model.When complete machine traveling encounters upward slope Lu Shi, multisection type chassis are adaptively rotated under driving force effect itself to climb.Wherein, multisection type chassis it is how adaptive on The process on slope can be found in above-mentioned attached drawing 14a, 14b and 14c and corresponding contents, not repeat herein.

Figure 34 shows robot descending outdoor scene simulation schematic diagram provided by the utility model.When complete machine traveling encounters descending Lu Shi, multisection type chassis adaptively rotate under driving force effect itself with descending.Wherein, under how adaptive multisection type chassis is The process on slope can be found in above-mentioned attached drawing 15a, 15b and 15c and corresponding contents, not repeat herein.

Robot travels to small post office or post house etc. and dispenses site, and shown robot is opened according to process as shown in figure 35 Package is placed in freight house by freight house, staff.Robot closes freight house, and robot carries cargo and travels in garden, such as schemes 32, cross deceleration strip, slope road etc. shown in 33,34, reach office building, hotel etc. downstairs, into building inside, elevator etc., reach Robot opens freight house after station, and process robot closes freight house as shown in figure 36 after consumer's picking, and robot is from office building Dispatching site is returned again to, is dispensed next time.

Figure 35 shows robot door opening procedure process schematic drawing provided by the embodiment of the utility model.Two doors During opening, first indent does reversed circular motion again, and the process of freight house opening is completed with this.

Figure 36 shows robot door closing process schematic drawing provided by the embodiment of the utility model.Two doors are first done Circular motion, after two fan fan-shaped gate contacts, fan-shaped gate evagination compensates the notch of appearance, completes freight house closing process.

Example as shown in Figure 1,3 D laser scanning equipment A1 are assemblied in body fuselage top by front position.Due to three-dimensional There are upper angle of declinations for Laser Scanning Equipment, consider the interference of laser point cloud and shell, shell upper is in 3 D laser scanning equipment A1 rear positions need to do top rake processing.3 D laser scanning equipment A1 major function is to complete all overall situation SLAM (Simultaneous Localization and Mapping, instant positioning and map structuring) and positioning function.

As shown in Figure 1, positioning device A2 may be mounted at shell upper center, since receiving antenna needs to consider big portion Divide the satellite signal receiving in day domain, therefore the disc face of positioning device A2 needs to protrude shell.Positioning device A2 major function exists In the positioning of outdoor depletion region, positioning supplement done to the region not covered 3 D laser scanning equipment A1, and with three-dimensional Global fusion is done in Laser Scanning Equipment A1 positioning.

Charge port A3, electric quantity display device A4, trouble light A5, solution band-type brake button A6, switch button A7 may be mounted at shell Position as shown in Figure 1 at.Charge port A3 is mainly used for the charging of robot lithium battery and uses.Electric quantity display device A4 is mainly used for Show robot lithium battery remaining capacity.Trouble light A5 is mainly used for indicating robot chassis malfunction.Solve band-type brake button A6 It is mainly used for robot chassis driving motor solution band-type brake, convenient for the movement of robot under case of emergency.Switch button A7 is mainly used In the power on/off of robot entirety.

As shown in Fig. 1 and Figure 16, monocular camera A8 quantity settable 4, be respectively assembled at shell all around side in Portion position, and each monocular camera is in sustained height.Monocular camera A8 is mainly used for around robot 360 ° without covering Video monitoring, and identify and detect for close-in target.

As shown in Figure 1, serum cap A9 is assemblied in shell leftward position, it can be used for covering charge port A3, electric quantity display device A4, trouble light A5, solution band-type brake button A6, the region switch button A7.

As shown in Fig. 1 and Figure 16, audio frequency apparatus A10 quantity settable 2, it is respectively assembled at position in shell right and left It sets.Audio frequency apparatus A10 can be used for the human-computer interactions, play cuing information, music etc. such as robot voice prompt.

As shown in Fig. 1 and Figure 16, ultrasonic sensor A11 quantity settable 8, forward direction 4, backward 4, assemble respectively In shell front and back bottom position.The short distance avoidance that ultrasonic sensor 11 can be used within the scope of robot front and back large area Detection.

As shown in Fig. 1 and Figure 16, binocular camera A12 quantity settable 2, forward direction 1, backward 1, it is respectively assembled at Shell front and back medium position.Binocular camera A12 can be used for robot front and back vision SLAM, middle short distance obstacle recognition With classification.

As shown in Figure 1, scram button A13 is assemblied in medium position in front of shell, it can be used for robot in emergency circumstances Hand brake.

As shown in figure 16, automatic charging mouth A14 may be mounted at shell rear medium position, can be used for robot self-navigation Lithium battery charging under mode.Figure 37 shows the robot schematic diagram mobile to charging pile 800.Figure 38 shows robot and arrives Behind position, automatic charging mouth A14 is contacted with two charging columns of charging pile 800, and robot battery charge circuit closure can give machine Device people charging.

As shown in Figure 1, two-dimensional laser sensors A 15 is assemblied in shell front lower position, can be used in robot front Apart from avoidance.Shown in Figure 40, the bottom rear of skeleton A18 is equipped with two-dimensional laser sensors A 15, can be used for robot rear portion Avoidance.

As shown in Figure 1, headlight A16, front directional A17 are respectively assembled at middle part and front lower in front of shell, can use In robot lighting effects human-computer interaction.

As shown in figure 39, cabinet A20 may be mounted at the bottom skeleton A18, can be used for collecting robot people's all the sensors data, And it makes decisions and controls according to real-time positioning and target position, and issue control instruction to related executing agency.

As shown in figure 40, gyroscope A21 is assemblied in skeleton A18 bottom front, can be used for obtaining robot currently real-time appearance State data.

As shown in figure 16, antenna A22 is settable multiple, such as quantity settable 10, is respectively assembled at the left and right of shell Side middle part can be used for robot externally long-range each wireless real time communication of frequency range.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (33)

1. a kind of robot characterized by comprising body and the multisection type chassis for driving body to advance；Wherein,

The body is equipped with the door of freight house and the closing freight house；

Control mechanism is equipped in the body, the control mechanism provides the first power for driving the door to open, and drives Move the second power that the door is closed；

The multisection type chassis includes that the upper surface at least two chassis and a chassis at least two chassis is located at In at least two chassis in addition to the chassis remaining chassis top, the body is fixed on the upper surface.

2. robot according to claim 1, which is characterized in that at least two chassis sequence arranges, two neighboring Chassis is flexibly connected.

3. robot according to claim 1, which is characterized in that further include: two be laid on the multisection type chassis A active wheel model group and two passive wheel model groups；

Projection of the four wheels of described two active wheel model groups and described two passive wheel model groups on running face is located at One apex of diamond shape.

4. robot according to claim 3, which is characterized in that

Described two passive wheel model groups include the first passive wheel model group and the second passive wheel model group；Wherein, described two driving wheels Mould group and the first passive wheel model group are arranged in the multisection type chassis on the chassis of front end；Second follower Mould group is arranged in the multisection type chassis on the chassis of rear end；Or

Comprising there are three or when three with top bottom-disc, described two driving wheels are located at the multisection type chassis on the multisection type chassis In middle chassis on；The chassis that rear and front end is in the multisection type chassis is arranged in described two follower Mo Zu respectively On.

5. robot according to claim 1, which is characterized in that the multisection type chassis includes the first chassis and the second bottom Disk；

First chassis and second chassis portion overlapping are simultaneously flexibly connected in overlapping；

Second chassis is located at the top on first chassis, and the body is fixed on the upper surface on second chassis.

6. robot according to claim 1, which is characterized in that further include damping spring；

The damping spring is equipped at least two chassis between adjacent chassis；

One end of the damping spring is flexibly connected with one in adjacent chassis, the other end with it is another in the adjacent chassis A flexible connection.

7. robot according to claim 6, which is characterized in that the damping spring it is tilting the adjacent chassis it Between.

8. robot according to any one of claim 1 to 7, which is characterized in that further including can be on stroke at least Two positions lock the self-locking device to maintain at least two locking distances；

The self-locking device is equipped at least two chassis between adjacent chassis；

One end of the self-locking device is flexibly connected with one in the adjacent chassis, in the other end and the adjacent chassis Another is flexibly connected；

When the self-locking device is in the lock state, the adjacent chassis relative position is fixed；

When the self-locking device is in the unlocked state, the adjacent chassis relative position is variable.

9. robot according to claim 8, which is characterized in that the self-locking device includes force application part and self-locking gas bullet Spring；Wherein,

The self-locking gas spring includes release pin；

The force object of the force application part is the release pin；

The force application part exerts a force so that the self-locking gas spring unlocks, and deformation occurs under the action of external deformation power；Institute When stating force application part and removing power, the self-locking gas spring locking.

10. robot according to claim 9, which is characterized in that the self-locking gas spring is inclined in the adjacent chassis Between.

11. robot according to claim 9, which is characterized in that the force application part includes electromagnet and armature, described Armature exerts a force when the electromagnet is powered to the release pin.

12. robot according to claim 11, which is characterized in that

The force side of the release pin is equipped with pressure arm；

The pressure arm is connect with armature；

The armature exerts a force to the release pin by the pressure arm when the electromagnet is powered.

13. robot according to claim 12, which is characterized in that

The self-locking nyctitropic both ends of gas spring shape are respectively equipped with a hinged seat；

Hinged seat positioned at described release pin one end is the second hinged seat；

Second hinged seat is equipped with through hole, the long axis of the hole axle of the through hole perpendicular to the self-locking gas spring；

One end of the release pin passes through second hinged seat along the direction of the long axis and puts in the through hole；

The through hole is protruded into exert a force in the through hole to the release pin in described pressure arm one end, and the other end is described the It is connect outside two hinged seats with the armature.

14. robot according to claim 13, which is characterized in that further include: swing component and the first connector；Wherein,

The swing component includes oscillation center portion, and is swung positioned at the first swing part of oscillation center portion two sides and second Portion；

The force application part is connect with first swing part, provides swing power for first swing part；

Second swing part passes through first connector and the release pin connection.

15. robot according to claim 14, which is characterized in that first connector includes wire rope casing and wears The first wirerope being located in the wire rope casing；

Wherein, the wire rope casing is stretched out at the both ends of first wirerope；

First extension end of first wirerope is connect with second swing part, and the second extension end and the release pin join It is dynamic.

16. robot according to claim 14, which is characterized in that the multisection type chassis includes the first chassis and second Chassis；The robot further include: for fixing the support of the force application part and the swing component；The support is arranged in institute It states on the first chassis or second chassis；

The support is equipped with limiting slot, interior to be equipped with the second connector that moved in the slot of the limiting slot；

The power output section for protruding into the limiting slot of the armature is flexibly connected with second connector；

First swing part is flexibly connected with second connector；

The region in the correspondence of the support oscillation center portion is equipped with slotted hole；

The oscillation center portion is equipped with the second pin shaft, and second pin shaft is placed in the slotted hole；

When first swing part of the swing component is swung, second pin shaft is on the direction that the slotted hole limits and apart from interior It is mobile.

17. robot according to any one of claim 1 to 7, which is characterized in that further include battery；

A chassis at least two chassis is equipped with accommodation groove, and the battery containing is in the accommodation groove；Wherein, The upper surface on the chassis equipped with the accommodation groove is located at least two chassis remaining chassis in addition to the chassis Top；

It is flexibly connected in the slot bottom of the accommodation groove with adjacent chassis.

18. robot according to claim 17, which is characterized in that be outward extended with installation at the notch of the accommodation groove Platform；

The first damping spring for being flexibly connected damping spring is set on the end face on the adjacent chassis of the face of the mounting platform Hinged seat and/or the first self-locking device hinged seat for being flexibly connected self-locking device.

19. robot according to any one of claim 1 to 7, which is characterized in that the door is two；The control Mechanism processed includes: two rotating devices, transmission device and the power device being used to provide power；Wherein,

Two rotating devices are separately connected door different in two doors；

Transmission device is connected with two rotating devices and the power device respectively, for providing according to the power device Power, drive two rotating device constant speed to reversely rotate so that two door constant speed reversely unscrew and The reversed traling of constant speed.

20. robot according to claim 19, which is characterized in that the rotating device includes: rotating arm, the rotation Arm forms parallel four-bar linkage with the corresponding door.

21. robot according to claim 20, which is characterized in that the transmission device include: the first driven pulley and Second driven pulley；First driven pulley and second driven pulley are coaxially disposed and diameter is identical, described in realizing The constant speed of first driven pulley and second driven pulley reversely rotates；First driven pulley and second transmission are slided Any in wheel is connected with the power device；

The rotating device includes drive rod；Two drive rods for including in two rotating devices are separately mounted to described On first driven pulley and second driven pulley, and it is connected respectively from the different doors.

22. robot according to claim 21, which is characterized in that there are two hinge joints for the power device tool, respectively For tail portion hinge and head hinge；

Any formation three in the tail portion hinge and head hinge and first driven pulley and second driven pulley Hinge power mechanism, the power of the tri-joint mechanism power mechanism transmitting realize that the constant speed of described two driven pulleies reversely rotates fortune It is dynamic.

23. robot according to claim 22, which is characterized in that the driven pulley passes through wirerope trigger mechanism band Move the rotating arm rotation.

24. robot according to claim 23, which is characterized in that be connected with bullet between the rotating arm and the door Spring mechanism.

25. robot according to claim 24, which is characterized in that during two door tralings:

Not in contact with preceding, the rotary motion that the driving force of the tri-joint mechanism power mechanism is greater than the rotating arm hinders two doors The sum of power, door gravity, elastic force of the spring mechanism, and the elastic force be greater than the rotary motion resistance when, the steel wire Rope trigger mechanism is not triggered, so that two doors are in the extreme lower position of indent always during traling；

When two door contacts, the rotary motion resistance is greater than the elastic force, and the wirerope trigger mechanism is triggered, So that the driven pulley drives the wirerope trigger mechanism movement, i.e., two corresponding institutes of door are driven respectively Parallelogram lindage swing rotary is stated, realizes the evagination movement of two doors.

26. robot according to claim 24, which is characterized in that in the unthreading process of two doors:

Drive driven pulley rotation in the tri-joint mechanism power mechanism, execute the swing rotary movement of the parallel four-bar with Two doors are driven to do indent movement；

In the two door indent to extreme lower positions, two doors start under the drive of tri-joint mechanism power mechanism Speed reversely rotates the unscrewing campaign to realize two doors.

27. robot according to claim 23, which is characterized in that the wirerope trigger mechanism includes: the second steel wire Rope and wirerope regulating part；

The wirerope regulating part is hinged on the drive rod, and the tail portion of second wirerope is from the wirerope regulating part Centre bore pass through, and be tangential on the 4th pulley after the tangent winding of third pulley, and be pressed on the door door connector it On.

28. robot according to any one of claim 1 to 7, which is characterized in that it further include bumper assembly, it is described anti- Hit component be arranged in protection portion, the protection portion include: in the body outer surface and/or the multisection type chassis at least On one chassis；

The bumper assembly includes: anti-striker, elastomer and collision sense device；Wherein,

One end of the elastomer is flexibly connected with the protection portion, and the other end is flexibly connected with anti-striker；

The collision sense device is arranged in the protection portion, for be triggered when the anti-striker is by external impact power with Issue collision alarm；

The collision sense device is connect with the controller of the body, collision alarm is sent to the controller, by described Controller makes steering according to collision alarm or stagnation of movement controls.

29. robot according to any one of claim 1 to 7, which is characterized in that further include following at least one: three Dimension Laser Scanning Equipment, positioning device, image capture device, ultrasonic sensor, two-dimensional laser sensor, gyroscope, communication are set Standby and audio frequency apparatus.

30. robot according to claim 29, which is characterized in that the robot includes 3 D laser scanning equipment When, the top surface of the body is tilting top surface, and the highest point of the tilting top surface is arranged in the 3 D laser scanning equipment.

31. robot according to any one of claim 1 to 7, which is characterized in that further include being arranged in the body Control circuit, and following at least one button that the body outer surface is set and is connect with the control circuit:

Solve band-type brake button, switch button and scram button.

32. robot according to any one of claim 1 to 7, which is characterized in that further include: it is arranged in the body Automatic charging mouth on outer surface；

The battery for being additionally provided with charging circuit in the body and being connect with the charging circuit；

The automatic charging mouth accesses the charging circuit.

33. robot according to any one of claim 1 to 7, which is characterized in that further include: it is arranged in the body Outer surface, for playing the suggestion device of suggesting effect；

The suggestion device includes following at least one: electric quantity display device, trouble light and turn signal.