CN209240030U - A kind of boxlike mobile robot - Google Patents

Abstract

The application provides a kind of boxlike mobile robot, including control module, robot body, universal wheel, driving wheel and chassis, and chassis includes the first support plate, and universal wheel and driving wheel are connect with chassis.Robot body includes door body, the second support plate, and the storage structures part with door body composition storage space.Door body, storage structures part are connect with the second support plate respectively, and the second support plate is connect with the first support plate by the first connector.Robot body controls the rotation direction of the driving wheel by the control module and velocity of rotation controls the boxlike mobile robot movement.The underrun rotational structure of storage structures part is connect with second support plate.The storage structures part and the door body are closed to form closing storage space, and storage space is avoided to be externally exposed in environment, so that the article placed in storage space be avoided to slide on the ground or by artificial destruction, take away, improve the safety of robotic conveyance article.

Description

A kind of boxlike mobile robot

Technical field

This application involves robot fields, and in particular to a kind of boxlike mobile robot.

Background technique

With development in science and technology, modernization is accelerated, people for get rid of it is simple, repeat, the need of low technical content labour It asks and increases, robot gradually enters among people's life and helps through corresponding work.Present catering industry is typical Labour intensive profession works heavy, and intensity is big, and repeatability is high, inefficiency.To solve the above-mentioned problems, many food and drink enterprises Industry selection is replaced manually with intelligent robot.Meal delivery robot can expedite the emergence of Restaurant Operation new model, and dining room utilizes advanced skill The interest that art improves efficiency of service, increases dining in restaurant, in comparison it is more economical to employ waiter for meal delivery robot ratio Efficiently.

Existing mobile meal delivery robot includes the pallet for carrying object to be transported, and pallet is exposed in air, is prevented Dirt effect is poor.Robot is easy to jolt travelings because encountering barrier during traveling, the article in pallet in turn by Lower tray is easily slid after jolting.And robot, since the article on pallet is exposed in air, is easy during traveling Artificially taken away.Such pallet, which is exposed to the meal delivery robot in air, reduces the safety of palletized transport article.

Utility model content

The problems such as the application is poor for the safety of existing meal delivery robot local environment complex transportation article, provides one The boxlike robot of kind high reliablity.

In a first aspect, the application provides a kind of boxlike mobile robot, comprising: control module, robot body, universal Wheel, driving wheel and chassis, the chassis include the first support plate, and the universal wheel and the driving wheel are connect with the chassis； The robot body includes door body, the second support plate, and the storage structures part of storage space is constituted with the door body, described Door body, the storage structures part are connect with second support plate respectively, and second support plate and first support plate are logical Cross the connection of the first connector；The outside or inside of the robot body, the robot body is arranged in the control module The rotation direction of the driving wheel is controlled by the control module and velocity of rotation controls the boxlike mobile robot and moves It is dynamic；Automatically controlled pin, another side setting is arranged in one side in the upper surface of second support plate and the bottom surface of the storage structures part Pin hole corresponding with the automatically controlled pin, the automatically controlled pin are connect with the control module by bus, second support plate Infrared receiving tube is arranged in one side in upper surface and the bottom surface of the storage structures part, and another side is provided with and the infrared receiver Corresponding infrared transmitting tube is managed, the infrared receiving tube is connect with the control module, the storage structures part and the door body The infrared receiving tube and the infrared transmitting tube are in the state of penetrating when closure, and the control module detects described infrared connect Closed tube receives infrared signal and is inserted into the pin hole, the storage structures by the bolt of automatically controlled pin described in the bus marco The underrun rotational structure of part is connect with second support plate, and the control module is according to unlock instruction and by described total The bolt of automatically controlled pin described in line traffic control is detached from the pin hole, and the storage structures part is opposite by the rotational structure by external force The second support plate rotation.

In boxlike robot provided by the present application, the robot body includes door body, the second support plate, and with it is described The storage structures part of door body composition storage space.Door body, storage structures part are connect with the second support plate respectively, the second support plate with First support plate is connected by the first connector, and the storage structures part and the door body are closed to form closing storage space, into And storage space is avoided to be externally exposed in environment, so that it is on the ground or artificial to avoid the article placed in storage space from sliding It destroys, take away, improve the safety of robotic conveyance article.

Based in a first aspect, the rotational structure includes the first support base, rotation in the first optional implementation Part and the second support base, first support base are connect with second support plate, second support base and the storing knot The bottom surface of component connects, the inner ring close fit of first support base and the revolving part, second support base with it is described The outer ring close fit of revolving part, the close fit include interference fit or transition fit.

The first optional implementation based on first aspect, in second of optional implementation, described first Support base and second support plate are respectively arranged with corresponding first via hole, first support base and second support plate It is connect by the first threaded connector cooperated with first via hole, the bottom of second support base and the storage structures part Face is respectively arranged with corresponding second via hole, the underrun and described second of second support base and the storage structures part The second threaded connector connection of via hole cooperation.

Second of optional implementation based on first aspect, in the third optional implementation, described first Support base and second support base respectively include the first column and extend with the end face of first column away from the center of circle First flange side, the first flange side of first support base is provided with first via hole, the of first support base One flange is connect with second support plate by the first threaded connector cooperated with first via hole, and described second The first flange side of support seat is provided with second via hole, the first flange side of second support base and the storage structures part Underrun connect with the second threaded connector that second via hole cooperates, the first column of first support base with The inner ring close fit of the revolving part, the first column of second support base are closely filled with the outer ring of the revolving part Match.

In the third optional implementation based on first aspect, in the 4th kind of optional implementation, the rotation Rotation structure further includes the first retaining ring and the second retaining ring, first retaining ring and second retaining ring respectively include the second column and Deviate from the second flange side that the center of circle extends with the end face of second column, the end face of second support base and described The second flange side of first retaining ring is provided with corresponding third via hole, the end face of first support base and described The second flange side of two retaining rings is provided with corresponding 4th via hole, the second flange side of first retaining ring and second support The end face of seat is connect by the third threaded connector cooperated with the third via hole, the second flange of second retaining ring Side is connect with the end face of first support base by the 4th threaded connector cooperated with the 4th via hole, and described Second column of one retaining ring and the cycle surface of the revolving part cooperate, the second column and the rotation of second retaining ring Turn the inner ring end face cooperation of part.

The first based on first aspect any implementation into the 4th kind of optional implementation, it is optional at the 5th kind Implementation in, between the outer ring of the revolving part and the inner ring of the revolving part row have one or at least two rolling elements.

Any realization side in optional implementation based on the first of first aspect or first aspect to the 5th kind Formula, in the 6th kind of optional implementation, the top and bottom of the storage structures part and the mating surface of the door body are distinguished For arc surface.

Any realization side in optional implementation based on the first of first aspect or first aspect to the 6th kind Formula, in the 7th kind of optional implementation, the axis of the rotational structure and the storage structures part is correspondingly arranged.

Any realization side in optional implementation based on the first of first aspect or first aspect to the 7th kind Formula, in the 8th kind of optional implementation, the storage structures part and the door body are combined into a rectangle cylinder.

Any realization side in optional implementation based on the first of first aspect or first aspect to the 7th kind Formula, in the 9th kind of optional implementation, the storage structures part and the door body are combined into a circular cylinder.

Any realization side based on the first of first aspect and first aspect into the 9th kind of optional implementation Formula, in the tenth kind of optional implementation, the storage structures part is internally provided with one or at least two pallets, adjacent institute The storage space for stating pallet composition is provided at least one ventilation device.

Any realization side based on the first of first aspect and first aspect into the tenth kind of optional implementation Formula, in a kind of the tenth optional implementation, the side of the storage structures part offers ventilation hole.

Any realization based on the first of first aspect and first aspect into a kind of the tenth optional implementation Mode, in the 12nd kind of optional implementation, the storage structures part is internally provided with ventilation device.

Any realization based on the first of first aspect and first aspect into the 12nd kind of optional implementation Mode, in the 13rd kind of optional implementation, the ventilation device includes following one or more:

Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.

Any realization based on the first of first aspect and first aspect into the 13rd kind of optional implementation Mode, in the 14th kind of optional implementation, the boxlike mobile robot further includes being arranged in the robot body External radar module, the radar module are connect with the control module by data line, and the radar module is with transmitting According to the radar system from the reflected signal detection clarification of objective amount of target after laser beam, the characteristic quantity includes as follows It is one or more:

Target range, orientation, height, speed, posture, shape.

The 14th kind of optional implementation based on first aspect, it is described in the 15th kind of optional implementation Radar module includes following one or more: laser radar module, microwave radar module.

Any realization based on the first of first aspect and first aspect into the 15th kind of optional implementation Mode, in the 16th kind of optional implementation, the automatically controlled pin, the storing is arranged in the upper surface of second support plate The bottom surface setting pin hole corresponding with the automatically controlled pin of structural member.

In other implementations, the automatically controlled pin is arranged in the bottom surface of the storage structures part, second support plate The upper surface setting pin hole corresponding with the automatically controlled pin.

Optionally, the infrared transmitting tube, the upper surface of second support plate is arranged in the bottom surface of the storage structures part It is provided with the infrared receiving tube corresponding with the infrared transmitting tube.In other implementations, second support plate The infrared transmitting tube is arranged in upper surface, and the bottom surface of the storage structures part is provided with corresponding with the infrared transmitting tube described Infrared receiving tube.

Any realization based on the first of first aspect and first aspect into the 16th kind of optional implementation Mode, in the 17th kind of optional implementation, the boxlike robot further includes being set to the robot body appearance The sensor acquisition module for ranging in face, the control module include computer control subsystem device, and the chassis is also wrapped Motor control assembly is included, the computer control subsystem, the motor control assembly and the sensor acquisition module pass through The connection of controller local area network CAN (Controller Area Network) bus, the computer control subsystem are used for basis The information of the sensor acquisition module acquisition generates control instruction, controls the active by controlling the motor control assembly The rotation direction and velocity of rotation of wheel and control the boxlike mobile robot.

The 17th kind of optional implementation based on first aspect, it is described in the 18th kind of optional implementation Sensor acquisition module includes following one or more:

Infrared distance measurement module；

RGBD (RGB-Depth) camera module；

Ultrasonic distance measuring module.

The 18th kind based on first aspect or the 17th kind of optional implementation, the 19th kind of optional realization side In formula,

The chassis further includes locating module, the locating module and the computer control subsystem, the motor control Device, the sensor acquisition module are connected by controller local area network's CAN bus, and the locating module is for realizing described The positioning of boxlike robot.

The 19th kind of optional implementation based on first aspect, it is described in the 20th kind of optional implementation Control module further includes power management module, the power management module and the computer control subsystem, the motor control Device, the sensor acquisition module are connected by controller local area network's CAN bus, and the power management module is for switching Machine management, charge control and battery detecting.Optionally, the power management module includes charge control module, power supply control Module, switching on and shutting down management module and battery detection module.Charge control module, power supply control in the power management module Module, switching on and shutting down management module and battery detection module can be realized by a control chip or multiple control chips.

Any realization based on the first of first aspect and first aspect into the 20th kind of optional implementation Mode, in a kind of the 20th optional implementation, the first connector setting is connected to the upper of first support plate Supporting plate structure part, the supporting plate structure part and first connector is arranged in the lower surface on surface, second support plate Be nested connection.

Any reality based on the first of first aspect and first aspect into a kind of the 20th optional implementation Existing mode, in the 22nd kind of optional implementation, the supporting plate structure part includes third support plate and the 4th support Plate, the third support plate and the 4th support plate and first connector, which are nested, to be connected.

Any reality based on the first of first aspect and first aspect into a kind of the 20th optional implementation Existing mode, in the 22nd kind of optional implementation, the lower surface setting positioning column of second support plate, described first The upper surface of support plate offers the location hole being cooperatively connected with the positioning column.

The 22nd kind of optional implementation based on first aspect, in the 23rd kind of optional implementation, The radar module is set between the upper surface of first support plate and the lower surface of the robot body, and described second The same side of first support plate is arranged in support plate and third support plate.

Any reality based on the first of first aspect and first aspect into the 23rd kind of optional implementation Existing mode, in the 24th kind of optional implementation, the universal wheel includes front-seat universal wheel and heel row universal wheel, described Driving wheel includes middle row's driving wheel.

The 24th kind of optional implementation based on first aspect, in the 25th kind of optional implementation, The front row universal wheel includes a universal wheel or at least two universal wheels arranged side by side.

The 24th kind based on first aspect or the 25th kind of optional implementation, it is optional at the 26th kind In implementation, the heel row universal wheel includes a universal wheel or at least two universal wheels arranged side by side.

Any reality based on the first of first aspect and first aspect into the 26th kind of optional implementation Existing mode, in the 27th kind of optional implementation, driving wheel includes at least two driving wheels arranged side by side.

Any reality based on the first of first aspect and first aspect into the 27th kind of optional implementation Existing mode, in the 28th kind of optional implementation, one or at least two ultrasounds are arranged in the outside on the chassis Away from module.

Any reality based on the first of first aspect and first aspect into the 27th kind of optional implementation Existing mode, in the 29th optional implementation, the periphery on the chassis has been alternatively arranged multiple ultrasonic distance measuring modules.

Detailed description of the invention

Fig. 1 is a kind of schematic perspective view of boxlike robot provided by the embodiments of the present application；

Fig. 2 is the present invention looks up structural representation of boxlike robot provided by the embodiments of the present application；

Fig. 3 is another schematic perspective view of boxlike robot provided by the embodiments of the present application；

Fig. 4 is the structural schematic diagram that storage structures part provided by the embodiments of the present application is connect with the second support plate；

Fig. 5 is the perspective view of the explosion of rotational structure provided by the embodiments of the present application；

Fig. 6 is the rotation angle schematic diagram that boxlike robot rotates 0 degree；

Fig. 7 is the rotation angle schematic diagram that boxlike robot rotates 45 degree；

Fig. 8 is the rotation angle schematic diagram that boxlike robot is rotated by 90 °；

Fig. 9 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application；

Figure 10 is the rear view three-dimensional structure of boxlike robot provided by the embodiments of the present application；

Figure 11 is the structural schematic diagram that the circuit module of boxlike robot provided by the embodiments of the present application connects；

Figure 12 is that the storage structures part of boxlike robot provided by the embodiments of the present application looks up angle structural schematic diagram.

Specific embodiment

Boxlike robot provided by the present application is illustrated below with reference to embodiment.

A kind of boxlike robot provided in this embodiment, comprising: robot body, chassis, man-machine interaction panel, control mould Block, universal wheel and driving wheel.Referring to Figure 1, Fig. 1 is that a kind of stereochemical structure of boxlike robot provided by the embodiments of the present application is shown It is intended to.As shown in Figure 1, robot body 2 is located at the top on the chassis 1.The chassis 1 includes the first support plate 1a, and first Support plate 1a is located at the lower section of the robot body 2, and the first support plate 1a is by being arranged in the first support plate 1a The first connector 1b of upper surface support the robot body 2.The first connection can be realized by screw locking mode Part 1b supports the structure of the robot body 2.The robot body 2 includes the second support plate 2a and supports with described second The storage structures part 2b of the composition storage space of plate 2a connection, the robot body 2 further includes door body 2c.

Fig. 2 is referred to, Fig. 2 is the present invention looks up structural representation of boxlike robot provided by the embodiments of the present application.Such as Fig. 2 institute Show, the boxlike robot further includes front-seat universal wheel 101, heel row universal wheel 102 and middle row's driving wheel 103.Middle row's driving Wheel 103 includes two driving wheels laterally arranged side by side.Front-seat universal wheel 101, heel row universal wheel 102 are located at arranged side by side two of transverse direction The front and back of the middle vertical plane of the line of centres of a driving wheel.Front-seat universal wheel 101, heel row universal wheel 102 and middle row drive Driving wheel 103 is connect with chassis 1 respectively.

In the boxlike robot, front-seat universal wheel 101, heel row universal wheel 102 quantity be respectively one.At other In implementation, the quantity of front-seat universal wheel and heel row universal wheel can be respectively multiple, such as two front rows laterally arranged side by side Universal wheel or two heel row universal wheels laterally arranged side by side.

As depicted in figs. 1 and 2, boxlike robot further includes man-machine interaction panel 3, the man-machine interaction panel 3 setting or It is embedded in the outside of the robot body 2, the man-machine interaction panel 3 is connect with the control module.In this implementation In, the control module is located at the inside of robot body 2.The robot body 2 passes through described in control module control The rotation direction and velocity of rotation of driving wheel and to control the boxlike mobile robot mobile.

In other implementations, the outside of the robot body is arranged in the control module, can be located at machine The top of human body or the periphery of robot body, the control module can be and be arranged in the robot when specific implementation The outer surface of ontology or the outside for being embedded in the robot body.

Optionally, Fig. 3 is referred to, Fig. 3 is that another stereochemical structure of boxlike robot provided by the embodiments of the present application is illustrated Figure, the chassis 1 for showing boxlike robot support the structure of robot body 2.As shown in figure 3, the second support plate 2a Supporting plate structure part is arranged in lower surface.Supporting plate structure part as shown in Figure 4 comprising third support plate 2d and the 4th support plate 2e, the third support plate 2d and the 4th support plate 2e and the first connector 1b, which are nested, to be connected.Spiral shell can be passed through Silk locking mode is realized that the third support plate 2d and the 4th support plate 2e and the first connector 1b is nested and is connected It connects.

Optionally, as shown in figure 3, positioning column 2f, first support plate is arranged in the lower surface of the second support plate 2a The upper surface of 1a offers the location hole 1c being cooperatively connected with the positioning column 2f.

Fig. 4 is referred to, Fig. 4 is the structural representation that storage structures part provided by the embodiments of the present application is connect with the second support plate Figure.As shown in figure 4, the underrun rotational structure 40 of storage structures part 2b provided by the embodiments of the present application and second support Plate 2a connection, the storage structures part 2b are rotated by the rotational structure 40 relative to the second support plate 2a by external force.

Fig. 5 is referred to, Fig. 5 is the perspective view of the explosion of rotational structure provided by the embodiments of the present application.As shown in figure 5, this Shen Please embodiment provide rotational structure include the first support base 41, revolving part 42 and the second support base 43, first support base 41 connect with the second support plate 2a, and second support base 43 is connect with the bottom surface of the storage structures part 2b, and described The inner ring close fit of one support base 41 and the revolving part 42, the outer ring of second support base 43 and the revolving part 42 are tight Close assembly, the close fit include interference fit or transition fit.

Optionally, first support base 41 and the second support plate 2a are respectively arranged with corresponding first via hole, institute It states the first support base 41 and is connect with the second support plate 2a by the first threaded connector cooperated with first via hole, institute It states the second support base 43 and is respectively arranged with corresponding second via hole, second support base with the bottom surface of the storage structures part 2b 43 connect with the underrun of the storage structures part 2b with the second threaded connector that second via hole cooperates.

Optionally, first support base 41 and second support base 43 respectively include the first column Y1 and with it is described The end face of first column Y1 deviates from the first flange side F1 that the center of circle extends, and the first flange side F1 of first support base 41 is set It is equipped with first via hole, the first flange side F1 of first support base 41 and the second support plate 2a are by with described the The first threaded connector connection of one via hole cooperation, the first flange side F1 of second support base 43 are provided with second mistake The underrun in hole, the first flange side F1 of the second support base 43 and storage structures part 2b is matched with second via hole The the second threaded connector connection closed, the inner ring of the first column Y1 and the revolving part 42 of first support base 41 are close Assembly, the first column Y1 of second support base 43 and the outer ring close fit of the revolving part 42.

The rotational structure 40 further includes the first retaining ring 44 and the second retaining ring 45, first retaining ring 44 and the second gear Circle 45 respectively includes the second column Y2 and deviates from the second flange side F2 of center of circle extension with the end face of the second column Y2, The second flange side F2 of the end face of second support base 43 and first retaining ring 44 is provided with corresponding third The second flange side F2 of via hole, the end face of first support base 41 and second retaining ring 45 is provided with the corresponding 4th Via hole, the end face of the second flange side F2 of first retaining ring 44 and second support base 43 by with the third mistake The third threaded connector connection of hole cooperation, the institute of the second flange side F2 of second retaining ring 45 and first support base 41 It states end face to connect by the 4th threaded connector cooperated with the 4th via hole, the second column Y2 of first retaining ring 44 Cooperate with the cycle surface of the revolving part 42, the second column Y2 of second retaining ring 45 and the inner ring end of the revolving part Face cooperation.

Row has one or at least two rolling elements between the outer ring of the revolving part 42 and the inner ring of the revolving part 42.

Optionally, as shown in figure 4, the mating surface of the top and bottom of the storage structures part 2b and the door body 2c are distinguished For cambered surface.Top surface to the bottom surface of the storage structures part 2b and with the mating surface of the door body 2c be cambered surface.Revolving part and door body Cambered surface and the cambered surface of storage structures part are concentric.The cambered surface can be arc surface.In other implementations, storage structures part The revolving part 42 of 2b to the storage structures part 2b top surface to bottom surface and with the horizontal distance of the mating surface of the door body 2c it is small Identical in the horizontal distance of the mating surface to the revolving part, the storage structures part 2b is by can be freely opposite after external force The door body 2c rotation, and the storage structures part 2b can be with the door body 2c clearance fit.

Optionally, the top surface of the storage structures part and at least two wheel contacts being fixed in door body, each wheel Wheel shaft it is parallel with the central axis of revolving part.

Fig. 6-Fig. 8 is referred to, the rotation angle that Fig. 6-Fig. 8 is followed successively by 0 degree, 45 degree and 90 degree of boxlike robot rotation is shown It is intended to.

Optionally, as shown in figure 4, the axis of the rotational structure and the storage structures part is correspondingly arranged.

Optionally, as shown in figure 4, the storage structures part and the door body are combined into a rectangle cylinder.

In other implementations, the storage structures part and the door body are combined into a circular cylinder or other shapes The cylinder of shape.

Fig. 9 is referred to, Fig. 9 is a kind of ventilation device structural schematic diagram of boxlike robot provided by the embodiments of the present application. As shown in figure 9, the storage structures part 2b's of boxlike robot provided by the embodiments of the present application is internally provided with ventilation device A, lead to Wind apparatus A is electric fan.As shown in figure 9, the storage structures part 2b is internally provided with one or at least two pallet B, phase The storage space C that the adjacent pallet B is constituted is provided with one or at least two ventilation device A.Such as the adjacent pallet B is constituted Storage space C be arranged two ventilation devices, it may be considered that storage space C opposite two sides or adjacent two sides are respectively set one A ventilation device.

Optionally, in other implementations, the ventilation device includes following one or more:

Electric fan, electric exhaust fan, the deodorizing device for being packaged with smell-removing material.

Optionally, the upper surface of storage structures part 2b and the pallet B structure adjacent with the upper surface of the storage structures part 2b At storage space C be provided with one or at least two ventilation device A.

Optionally, the storing of exposure after the storage structures part 2b that the implementation of support holder structure can refer to Fig. 8 is rotated by 90 ° The multiple layer tray structure of the inside of structural member 2b.

0, Figure 10 is the rear view three-dimensional structure of boxlike robot provided by the embodiments of the present application referring to Figure 1.Such as Shown in Figure 10, ventilation hole 301 is offered behind the storage structures part 2b.It optionally, for example, can be in the storage structures part The upper surface and/or lower surface of 2b and/or side open up ventilation hole.

1, Figure 11 is the structural representation of the circuit module connection of boxlike robot provided by the embodiments of the present application referring to Figure 1 Figure.As shown in figure 11, boxlike robot includes man-machine interaction panel 3 and control module 4, the man-machine interaction panel 3 with it is described Control module 4 connects, and the outside or inside of the robot body 2, the robot body 2 is arranged in the control module 4 The control instruction of user's input is received by the man-machine interaction panel 3, the robot body 2 passes through the control module 4 Control the driving wheel rotation direction and velocity of rotation and to control the boxlike mobile robot mobile.

Optionally, as shown in figure 11, the boxlike mobile robot further includes being arranged in outside the robot body 2 Radar module 5, the radar module 5 are connect with the control module 4 by data line, and the radar module 5 is to emit and swash According to the radar system from the reflected signal detection clarification of objective amount of target after light beam, the characteristic quantity includes following It is one or more:

Target range, orientation, height, speed, posture, shape.

Optionally, the radar module 5 includes following one or more: laser radar module, microwave radar module.

Optionally, the radar module 5 is set to the upper surface on the chassis 1 and the lower surface of the robot body 2 Between, the same side of the second support plate 2a is arranged in the third support plate 2d and the 4th support plate 2e.

2, Figure 12 is that the storage structures part of boxlike robot provided by the embodiments of the present application looks up angle knot referring to Figure 1 Structure schematic diagram.Optionally, as shown in Fig. 4, Figure 11 and Figure 12, the boxlike mobile robot further includes automatically controlled pin 6 and infrared connects One side in the bottom surface of closed tube 7a and infrared transmitting tube 7b, the upper surface of the second support plate 2a and the storage structures part 2b Automatically controlled pin 6 is set, and another side setting pin hole corresponding with the automatically controlled pin 6, the automatically controlled pin 6 passes through with the control module 4 Infrared receiver is arranged in one side in the bottom surface of bus connection, the upper surface of the second support plate 2a and the storage structures part 2b Pipe 7a, another side are provided with infrared transmitting tube 7b corresponding with the infrared receiving tube 7a, the infrared receiving tube 7a and described Infrared transmitting tube 7b is connect with the control module 4 respectively, and the storage structures part 2b is described red when being closed with the door body 2c The outer reception pipe 7a and infrared transmitting tube 7b is in the state of penetrating, and the control module 4 detects the infrared receiving tube 7a It receives infrared signal and the pin hole, the control module 4 is inserted by the bolt of automatically controlled pin 6 described in the bus marco The pin hole is detached from by the bolt of automatically controlled pin 6 described in the bus marco according to unlock instruction.

Optionally, the automatically controlled pin 6, the bottom surface of the storage structures part 2b is arranged in the upper surface of the second support plate 2a The setting pin hole corresponding with the automatically controlled pin 6.

In other implementations, the automatically controlled pin 6, second support plate is arranged in the bottom surface of the storage structures part 2b The upper surface setting pin hole corresponding with the automatically controlled pin 6 of 2a.

Optionally, the infrared transmitting tube 7b is arranged in the bottom surface of the storage structures part 2b, the second support plate 2a's Upper surface is provided with the infrared receiving tube 7a corresponding with the infrared transmitting tube 7b.In other implementations, described The upper surface of two support plate 2a is arranged the infrared transmitting tube 7b, the bottom surface of the storage structures part 2b be provided with it is described infrared The corresponding infrared receiving tube 7a of transmitting tube 7b.

Optionally, as shown in figure 3, the robot body receives the control that user inputs by the man-machine interaction panel 3 System instruction, for example, unlock instruction, the inserting according to unlock instruction and by automatically controlled pin 6 described in the bus marco of control module 4 Pin is detached from the pin hole.It, can be by passing through with the independent unlock control switch of human-computer interaction interface 3 in other implementations Control bus is connect with control module 4 or automatically controlled pin 6, and unlock control switch sends unlock instruction to control module 4 or automatically controlled pin 6, and then the pin hole is detached from by the bolt of automatically controlled pin 6 described in the bus marco.

Optionally, as shown in figure 11, the boxlike robot further includes sensor acquisition module 8, for example, being set to described The sensor acquisition module 8 for ranging and avoidance of 2 outer surface of robot body, the control module 4 are controlled including computer Subsystem assembly 4a, the chassis further include motor control assembly 4b, the computer control subsystem 4a, motor control dress It sets 4b and the sensor acquisition module 8 and passes through controller local area network CAN (Controller Area Network) bus Connection, the information that the computer control subsystem 4a is used to be acquired according to the sensor acquisition module 8 generate control instruction, lead to Cross control the motor control assembly 4b control the driving wheel rotation direction and velocity of rotation and to control the boxlike mobile Robot.

Optionally, as shown in figure 11, the chassis further includes locating module 4c, the locating module 4c and the computer control Subsystem 4a, the motor control assembly 4b, the sensor acquisition module 8 are connected by controller local area network's CAN bus Connect, the locating module 4c for realizing the boxlike robot positioning.

Locating module 4c includes gyroscope and/or magnetic coder and/or photoelectric encoder.

In other implementations, gyroscope be can be set in center chassis.Magnetic coder and/or photoelectric encoder can be with The back of driving wheel is set.

Optionally, as shown in figure 11, the control module 4 further includes power management module 4d, the power management module The 4d and computer control subsystem 4a, the motor control assembly 4b, the sensor acquisition module 8 pass through controller local The connection of network C AN bus, the power management module 4d are used for switching on and shutting down management, charge control and battery detecting.

In other implementations, power management module can be placed on chassis.

Optionally, the power management module 4d includes charge control module, power control module, switching on and shutting down management module And battery detection module.Charge control module, power control module, switching on and shutting down in the power management module 4d manage mould Block and battery detection module can be realized by a control chip or multiple control chips.

Optionally, the sensor acquisition module 8 includes as follows one or more:

Infrared distance measurement module；

RGBD (RGB-Depth) camera module；

Ultrasonic distance measuring module.

Optionally, one or at least two ultrasonic distance measuring modules are arranged in the outside on the chassis 1.

Optionally, as shown in figure 3, the periphery on the chassis 1 has been alternatively arranged multiple ultrasonic distance measuring module 1d.

Optionally, control module further includes human-computer interactive control module, and the human-computer interactive control module is for controlling people Machine interactive panel, the human-computer interactive control module are connect with man-machine interaction panel, the human-computer interactive control module, the electricity Source control module and the computer control subsystem, the motor control assembly, the sensor acquisition module pass through controller The connection of local area network CAN bus.

Optionally, the control module further includes first sensor control module, and the first sensor control module is used In control, the sensor acquisition module and/or automatically controlled pin and/or infrared receiving tube and/or infrared of the robot body are set Sending tube, the first sensor control module and the power management module, the computer control subsystem pass through controller The connection of local area network CAN bus.

Optionally, the chassis further includes second sensor control module, and the second sensor acquisition module is for controlling It sets up and sets in the sensor acquisition module on the chassis and/or automatically controlled pin and/or infrared receiving tube and/or infrared sending tube, institute It states second sensor acquisition module and the power management module, the computer control subsystem passes through controller local area network CAN bus connection.

Optionally, the modules in the control module can in a circuit control panel, in other implementations, Also at least two modules in different circuit boards or the control module can be set to be arranged in a circuit control panel, Specific implementation is not limited by the embodiment of the present application.

Optionally, the front of the man-machine interaction panel is provided with one group of RGB-D camera.

Optionally, front setting 1 or at least two ultrasonic distance measuring modules of the man-machine interaction panel.

Obviously, above-described embodiment is only intended to clearly illustrate the application example, and is not to the application The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this Shen The obvious changes or variations that spirit please is extended out still in the protection scope of the application among.

Claims (10)

1. a kind of boxlike mobile robot characterized by comprising

Control module, robot body, universal wheel, driving wheel and chassis, the chassis include the first support plate, the universal wheel It is connect with the driving wheel with the chassis；The robot body includes door body, the second support plate, and with the door body structure At the storage structures part of storage space, the door body, the storage structures part are connect with second support plate respectively, and described Two support plates are connect with first support plate by the first connector；The robot body is arranged in the control module Outside or inside, the robot body control the rotation direction and velocity of rotation of the driving wheel by the control module Control the boxlike mobile robot；Setting in the upper surface of second support plate and the bottom surface of the storage structures part on one side Set automatically controlled pin, another side setting pin hole corresponding with the automatically controlled pin, the automatically controlled pin and the control module pass through bus company It connects, infrared receiving tube, another side is arranged in the one side in the bottom surface of the upper surface of second support plate and the storage structures part It is provided with infrared transmitting tube corresponding with the infrared receiving tube, the infrared receiving tube is connect with the control module, described The infrared receiving tube and the infrared transmitting tube are in the state of penetrating, the control when storage structures part and the door body are closed Module detects that the infrared receiving tube receives infrared signal and is inserted by the bolt of automatically controlled pin described in the bus marco The pin hole, the underrun rotational structure of the storage structures part are connect with second support plate, the control module root The pin hole is detached from by the bolt of automatically controlled pin described in the bus marco according to unlock instruction, the storage structures part is by outer Power is rotated by the rotational structure relative to second support plate.

2. boxlike mobile robot as described in claim 1, which is characterized in that institute is arranged in the upper surface of second support plate State automatically controlled pin, the bottom surface setting of the storage structures part pin hole corresponding with the automatically controlled pin.

3. boxlike mobile robot as described in claim 1, which is characterized in that described in the bottom surface setting of the storage structures part Automatically controlled pin, the upper surface setting pin hole corresponding with the automatically controlled pin of second support plate.

4. boxlike mobile robot as claimed in claim 2, which is characterized in that described in the bottom surface setting of the storage structures part Infrared transmitting tube, the upper surface of second support plate are provided with the infrared receiving tube corresponding with the infrared transmitting tube.

5. boxlike mobile robot as claimed in claim 2, which is characterized in that institute is arranged in the upper surface of second support plate Infrared transmitting tube is stated, the bottom surface of the storage structures part is provided with the infrared receiving tube corresponding with the infrared transmitting tube.

6. boxlike mobile robot as claimed in claim 3, which is characterized in that described in the bottom surface setting of the storage structures part Infrared transmitting tube, the upper surface of second support plate are provided with the infrared receiving tube corresponding with the infrared transmitting tube.

7. boxlike mobile robot as claimed in claim 3, which is characterized in that institute is arranged in the upper surface of second support plate Infrared transmitting tube is stated, the bottom surface of the storage structures part is provided with the infrared receiving tube corresponding with the infrared transmitting tube.

8. boxlike mobile robot as claimed in claim 1, which is characterized in that the rotational structure includes first Support seat, revolving part and the second support base, first support base are connect with second support plate, second support base and institute State the bottom surface connection of storage structures part, the inner ring close fit of first support base and the revolving part, second support The outer ring close fit of seat and the revolving part, the close fit include interference fit or transition fit.

9. boxlike mobile robot as claimed in claim 8, which is characterized in that first support base and second support Plate is respectively arranged with corresponding first via hole, and first support base is with second support plate by matching with first via hole The the first threaded connector connection closed, second support base and the bottom surface of the storage structures part are respectively arranged with corresponding the Second screw thread of the underrun of two via holes, second support base and the storage structures part and second via hole cooperation connects Fitting connection.

10. boxlike mobile robot as claimed in claim 9, which is characterized in that first support base and second described Support seat respectively includes the first column and deviates from the first flange side that the center of circle extends with the end face of first column, and described the The first flange side of one support base is provided with first via hole, the first flange side of first support base with described second Fagging is connect by the first threaded connector cooperated with first via hole, the first flange side setting of second support base There are second via hole, the underrun and described second on the first flange side of second support base and the storage structures part The second threaded connector connection of via hole cooperation, the first column of first support base and the inner ring of the revolving part are close The outer ring close fit of assembly, the first column of second support base and the revolving part, the rotational structure with it is described The axis of storage structures part is correspondingly arranged.