CN209240036U - A kind of boxlike mobile robot - Google Patents
A kind of boxlike mobile robot Download PDFInfo
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- CN209240036U CN209240036U CN201820992664.4U CN201820992664U CN209240036U CN 209240036 U CN209240036 U CN 209240036U CN 201820992664 U CN201820992664 U CN 201820992664U CN 209240036 U CN209240036 U CN 209240036U
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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
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;The underrun rotational structure of the storage structures part is connect with second support plate, and the storage structures part is by outer
Power is rotated by the rotational structure relative to second support plate, and the boxlike mobile robot further includes being arranged in the machine
Radar module outside device human body, the radar module are connect with the control module by data line, the radar module
For to emit radar system of the basis from the reflected signal detection clarification of objective amount of target after laser beam, the characteristic quantity
Including following one or more:
Target range, orientation, height, speed, posture, shape.
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.The cambered surface can be with
It is arc surface.Revolving part and the cambered surface of door body cambered surface and storage structures part are concentric.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
In the mating surface to the horizontal distance of the revolving part, the storage structures part 2b is by can be freely relatively described after external force
Door body 2c rotation, and the storage structures part 2b can be with the door body 2c tight closure.
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 (9)
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
It is mobile to control the boxlike mobile robot;The underrun rotational structure of the storage structures part and second support plate connect
It connects, the storage structures part is rotated by the rotational structure relative to second support plate by external force, and the boxlike is mobile
Robot further includes the radar module being arranged in outside the robot body, and the radar module passes through with the control module
Data line connection, the radar module are to emit after laser beam according to from the reflected signal detection clarification of objective of target
The radar system of amount, the characteristic quantity include following one or more:
Target range, orientation, height, speed, posture, shape.
2. boxlike mobile robot as described in claim 1, which is characterized in that branch is arranged in the lower surface of second support plate
Fagging structural member, first connector setting are connected to the upper surface of first support plate, the supporting plate structure part with
First connector, which is nested, to be connected.
3. boxlike mobile robot as claimed in claim 2, which is characterized in that 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.
4. boxlike mobile robot as claimed in claim 2, which is characterized in that the lower surface setting of second support plate is fixed
Position column, the upper surface of first support plate offer the location hole being cooperatively connected with the positioning column.
5. the boxlike mobile robot as described in claim 1-4 is any, 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.
6. boxlike mobile robot as claimed in claim 5, 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.
7. boxlike mobile robot as claimed in claim 6, which is characterized in that first support base and second support
Seat respectively includes the first column and deviates from the first flange side of center of circle extension with the end face of first column, and described first
The first flange side of support base is provided with first via hole, the first flange side of first support base and second support
Plate is connect by the first threaded connector cooperated with first via hole, and the first flange side of second support base is provided with
The underrun and second mistake of second via hole, the first flange side of second support base and the storage structures part
The second threaded connector connection of hole cooperation, the first column of first support base are closely filled with the inner ring of the revolving part
Match, the first column of second support base and the outer ring close fit of the revolving part.
8. boxlike mobile robot as claimed in claim 7, which is characterized in that the rotational structure further include the first retaining ring and
Second retaining ring, first retaining ring and second retaining ring respectively include the second column and the end face with second column
The second flange side extended away from the center of circle, the second flange of the end face of second support base and first retaining ring
While it is provided with corresponding third via hole, the second flange side setting of the end face of first support base and second retaining ring
Have corresponding 4th via hole, the end face of the second flange side of first retaining ring and second support base by with it is described
The third threaded connector connection of third via hole cooperation, the institute on the second flange side of second retaining ring and first support base
It states end face to connect by the 4th threaded connector cooperated with the 4th via hole, the second column of first retaining ring and institute
The cycle surface cooperation of revolving part is stated, the second column of second retaining ring and the inner ring end face of the revolving part cooperate.
9. boxlike mobile robot as claimed in claim 8, which is characterized in that the radar module is set to the chassis
Between upper surface and the lower surface of the robot body.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201820992664.4U CN209240036U (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201820992664.4U CN209240036U (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
Publications (1)
Publication Number | Publication Date |
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CN209240036U true CN209240036U (en) | 2019-08-13 |
Family
ID=67516284
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201820992664.4U Active CN209240036U (en) | 2018-06-26 | 2018-06-26 | A kind of boxlike mobile robot |
Country Status (1)
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CN (1) | CN209240036U (en) |
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2018
- 2018-06-26 CN CN201820992664.4U patent/CN209240036U/en active Active
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