CN209739205U - Robot for distributing goods - Google Patents
Robot for distributing goods Download PDFInfo
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- CN209739205U CN209739205U CN201920399787.1U CN201920399787U CN209739205U CN 209739205 U CN209739205 U CN 209739205U CN 201920399787 U CN201920399787 U CN 201920399787U CN 209739205 U CN209739205 U CN 209739205U
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Abstract
The utility model relates to the technical field of intelligent machines, and provides a robot for delivering goods, which comprises a box body, a connecting plate and at least two foot structures, wherein the box body and the foot structures are positioned at two opposite sides of the connecting plate; any one of the foot structures comprises a first support arm, a second support arm and a connecting rod; the first end part of the first support arm is connected with the connecting plate, and the second end part of the first support arm is rotatably connected with the first end part of the second support arm; the first end part of the connecting rod is telescopically connected to the connecting plate, and the second end part of the connecting rod is rotatably connected with the first end part of the second support arm. The utility model discloses a robot for delivery goods, its simple structure can adapt to complicated road conditions better.
Description
Technical Field
The utility model relates to an intelligent machine technical field, concretely relates to robot for delivery goods.
Background
A robot is a machine device that automatically performs work, and is a machine that realizes various functions by its own power and control capability. The command for automatically executing the work can be a command for receiving human commands or a program which is programmed in advance; actions can also be drawn according to principles formulated by artificial intelligence techniques. Which, acting on the power element in accordance with command signals issued by the control system, can assist or replace the work of human work, such as production, construction, or dangerous work. Robots can be classified into two categories according to different application environments: industrial robots and specialty robots. The special robot has prominent performances in the fields of service, underwater, entertainment, agriculture and the like.
The robot is a product of advanced integrated control theory, mechano-electronics, computers, materials and bionics, and has important application in the fields of industry, medicine, agriculture, construction industry, even military and the like. Currently, robots are applied to the field of intelligent freight. In the delivery process, when the road conditions are complex, for example, the road conditions such as multi-stage steps, hollow terrains and water accumulation road surfaces are met, the motion performance of the delivery machine is greatly influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot for delivery goods to solve among the prior art robot can not well adapt to complicated road conditions and lead to the not strong technical problem of adaptability.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
According to a first aspect of embodiments of the present invention, a robot for delivering goods comprises a box body, a connecting plate, and at least two foot structures, wherein the box body and the foot structures are located on opposite sides of the connecting plate; any one of the foot structures comprises a first support arm, a second support arm and a connecting rod;
The first end part of the first support arm is connected with the connecting plate, and the second end part of the first support arm is rotatably connected with the first end part of the second support arm; the first end part of the connecting rod is telescopically connected to the connecting plate, and the second end part of the connecting rod is rotatably connected with the first end part of the second support arm.
Furthermore, one side of the box body is provided with an induction unit for acquiring the road condition information of the robot.
Furthermore, the first end of the first support arm is connected with a driving shaft of a driving mechanism through a support rod, and the support rod and the driving shaft are arranged perpendicular to each other.
further, the first end of the first support arm is fixedly or rotatably connected with the connecting plate.
Furthermore, a foot pad is connected to the second end of the second support arm.
Further, the foot pad comprises a first side plate, a second side plate, a foot pad and a first rotating shaft; the first side plate and the second side plate are respectively connected with the second end of the second support arm, and the first side plate and the second side plate are arranged in parallel; the foot pad is sleeved on the first rotating shaft, one end of the first rotating shaft is connected with the first side plate, and the other end of the first rotating shaft is connected with the second side plate.
Further, the foot pad also comprises a first elastic piece; the first side plate and the second side plate are both provided with a groove channel, one end of the first rotating shaft is clamped in the groove channel of the first side plate, and the other end of the first rotating shaft is clamped in the groove channel of the second side plate; one end of the first elastic piece is connected with the first rotating shaft, and the other end of the first elastic piece is connected with the second end of the second support arm.
Further, the foot pad is an elastic foot pad.
Further, the foot pad comprises a third side plate, a fourth side plate, a roller and a second rotating shaft; the third side plate and the fourth side plate are respectively connected with the second end part of the second support arm, and the third side plate and the fourth side plate are arranged in parallel; the roller is sleeved on the second rotating shaft, one end of the second rotating shaft is connected with the third side plate, and the other end of the second rotating shaft is connected with the fourth side plate.
further, the foot pad also comprises a second elastic piece; the third side plate and the fourth side plate are both provided with a groove channel, one end of the second rotating shaft is clamped in the groove channel of the third side plate, and the other end of the second rotating shaft is clamped in the groove channel of the fourth side plate; one end of the second elastic piece is connected with the second rotating shaft, and the other end of the second elastic piece is connected with the second end part of the second support arm.
The embodiment of the utility model provides a have following advantage:
Through setting up the box in one side of connecting plate, the opposite side sets up the foot structure, the foot structure is through setting up first support arm and the second support arm that the rotation of each other is connected, first support arm is connected with the connecting plate, connecting rod one end is rotated with the second support arm and is connected, the connecting rod other end is connected with the connecting plate telescopically, reciprocating motion through the connecting rod drives the second support arm, or drives first support arm and second support arm and rotates, thereby realize the state of walking about the palm, can adapt to complicated road conditions betterly.
Through setting up the pad foot, can avoid second support arm direct contact ground, avoid the wearing and tearing of second support arm. The first support plate and the second support plate are provided with the channels, and the elastic pieces are correspondingly arranged, so that impact force borne by the foot structure in the motion process can be reduced, and the motion stability is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic structural diagram of a robot for distributing goods according to an embodiment of the present invention;
Fig. 2 is a schematic structural view of a foot structure of a robot for distributing goods according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a foot structure of a robot for distributing goods according to an embodiment of the present invention;
In the figure, 1-connecting plate, 2-first supporting arm, 3-second supporting arm, 4-connecting rod, 5-roller, 6-foot pad, 7-first side plate, 8-second side plate, 9-box, 10-sensing unit and 11-bracket.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a robot for delivering goods, including a box 9, a connecting plate, and at least two foot structures, where the box 9 and the foot structures are located at two opposite sides of the connecting plate; any foot structure comprises a first support arm, a second support arm and a connecting rod;
The first end part of the first support arm is connected with the connecting plate, and the second end part of the first support arm is rotatably connected with the first end part of the second support arm; the first end of the connecting rod is telescopically connected to the connecting plate, and the second end of the connecting rod is rotatably connected with the first end of the second support arm.
The box 9 is used to contain goods to be distributed. The structure of the box 9 is not particularly limited, as long as it is convenient to set and accommodate objects. The box 9 may be provided in a generally cubic configuration with a hollow interior. The box body 9 can be provided with an openable door plate on the side or provided with an openable door plate on the top for taking/placing objects; the openable door plate can be opened/closed by adopting a coded lock or two-dimensional code identification or other intelligent opening/closing modes as long as the specific object can be conveniently taken/placed.
the following description will be given by taking the above and below structure as an example. The box 9 can be fixed above the connecting plate 1, and the foot structure can be arranged below the connecting plate 1. Wherein there are at least two foot structures. For example, referring to FIG. 1, four foot structures may be provided, with four corner positions of the four foot structures being rectangular. Specifically, the structure of the connection plate 1 may not be particularly limited as long as the arrangement of the box 9 and the foot structure is facilitated. Typically, the foot structure stands on the ground or other structure. In the embodiment of the present invention, the structure in which the foot structure is vertically arranged is taken as an example for explanation.
Referring to fig. 2 and 3, each of the first arm 2 and the second arm 3 may be a rod-like structure. The first end of the first support arm 2 is arranged below the connecting plate 1 and is connected with the connecting plate 1. The second end of the first arm 2 is rotatably connected to the first end of the second arm 3, and the first arm 2 is located above the second arm 3. The second end part of the connecting rod 4 is rotatably connected with the first end part of the second support arm 3, and the first end part of the connecting rod 4 is connected with the connecting plate 1; and the first end of the connecting rod 4 is telescopically connected with the connecting plate 1. The position where the connecting rod 4 is connected to the second arm 3 and the position where the first arm 2 is connected to the second arm 3 may be the same or different.
wherein, the connecting plate 1 can be arranged horizontally, and the first support arm 2 can be arranged at a certain included angle with the connecting plate 1; the included angle is not generally a right angle. The second arm 3 may be disposed at an angle to the first arm 2. When connecting rod 4 reciprocating motion, connecting rod 4 can drive the first end of second support arm 3 and rotate the position of connecting around first support arm 2 and second support arm 3 and rotate, makes the contained angle grow or diminish of second support arm 3 and vertical direction, and then the process of simulation people or animal walking, can directly stride across the obstacle, can adapt to complicated road conditions better.
It will be appreciated that the robot also includes a micro-control unit or system for sending commands to the drive structure which drives the connecting rod 4 or other structure in motion to move the robot. The micro-control unit, each driving structure and the information acquisition unit are connected or set according to the conventional setting mode at present. Brackets 11 may also be provided on both sides of the connecting plate 1. The structure of the bracket 11 may not be particularly limited. When the robot is in a stationary state, it can be supported on the ground by the support 11.
The first support arm 2 and the connecting plate 1 can be fixedly connected or rotatably connected. When the first arm 2 is fixedly connected to the connecting plate 1, only the second arm 3 is rotated relative to the first arm 2. When the first support arm 2 is rotatably connected with the connecting plate 1, when the connecting rod 4 drives the second support arm 3 to rotate, the first support arm 2 can also rotate relative to the connecting plate 1, so that the flexibility of the movement of the foot structure can be enhanced.
In a specific embodiment, a sensing unit 10 is disposed at one side of the box body, and is used for acquiring the information about the road condition of the robot. On the basis of the above embodiments, the present embodiment specifically describes the arrangement of the sensing unit 10. Wherein, the sensing unit 10 can be arranged above the box body 9; the sensing unit 10 may be connected to the micro-control unit, and is configured to transmit the acquired traffic information to the micro-control unit. The sensing unit 10 may be a laser radar or other sensing element as long as it can conveniently acquire the traveling road condition information.
In a particular embodiment, the first end of the first arm 2 is connected to the drive shaft of the drive mechanism by means of a strut, which is arranged perpendicular to the drive shaft. On the basis of the above embodiments, the present embodiment specifically describes the connection structure of the first arm 2 and the connection plate 1.
The driving mechanism may be provided on the connection plate 1. The drive mechanism is used to drive the reciprocating movement of the connecting rod 4. The supporting rod is perpendicular to a driving shaft of the driving mechanism and is fixedly connected with the driving shaft. The strut is fixedly connected with the first end of the connecting rod 4. Wherein the connecting plate 1 is also arranged perpendicular to the drive shaft. When the driving shaft rotates, the supporting rod is driven to rotate. The driving mechanism can be a motor or other driving structures as long as the driving mechanism can drive the support rod to rotate.
When the drive shaft drives branch to the direction motion of keeping away from 4 second tip of connecting rod, can drive connecting rod 4 to the direction motion of being close to connecting plate 1, then can drive the contained angle reduction of second support arm 3 and vertical direction. When the drive shaft drives the branch to the direction motion of being close to the second tip of connecting rod 4, can drive connecting rod 4 to the direction motion of keeping away from connecting plate 1, then can drive the contained angle increase of second support arm 3 and vertical direction. The actions are repeated continuously, so that the walking process of the human or the animal is simulated.
In a specific embodiment, a foot pad is attached to the second end of the second arm 3. On the basis of the above embodiments, the present embodiment specifically describes the arrangement of the foot pad. The foot pad is arranged, so that the second support arm 3 can be prevented from directly contacting with the ground in the walking process of the foot structure, and the abrasion of the second support arm 3 is avoided or reduced.
in a specific embodiment, referring to fig. 2, the foot pad comprises a first side plate 7, a second side plate 8, a foot pad 6 and a first rotating shaft; the first side plate 7 and the second side plate 8 are respectively connected with the second end of the second support arm 3, the first side plate 7 and the second side plate 8 are arranged in parallel, the foot pad 6 is sleeved on the first rotating shaft, one end of the first rotating shaft is connected with the first side plate 7, and the other end of the first rotating shaft is connected with the second side plate 8. On the basis of the above embodiments, the present embodiment specifically describes the structure of the foot pad.
The first side plate 7 and the second side plate 8 are arranged parallel to each other and spaced apart by a certain distance. The structure of the foot pad 6 is not particularly limited, and the foot pad can be a three-dimensional block structure, and can also be a sphere or hemisphere structure; preferably a spherical or hemispherical structure. When the foot pad 6 is a hemisphere, its spherical surface faces the ground. When the foot structure is in motion, the footpad 6 is in direct contact with the ground and the second arm 3 need not be in contact with the ground. Specifically, the first rotating shaft can rotate relative to the first side plate 7 and the second side plate 8, and may be fixedly connected. The foot pad 6 is preferably an elastic foot pad, that is, the foot pad 6 is made of an elastic material, so as to reduce the impact force when the foot structure contacts with the ground.
In a specific embodiment, the foot pad further comprises a first elastic member; the first side plate 7 and the second side plate 8 are both provided with a groove channel, one end of the first rotating shaft is clamped in the groove channel of the first side plate 7, and the other end of the first rotating shaft is clamped in the groove channel of the second side plate 8; one end of the first elastic element is connected with the first rotating shaft, and the other end of the first elastic element is connected with the second end part of the second support arm 3. On the basis of the above embodiments, the present embodiment specifically describes the arrangement of the elastic member.
The direction of the grooves on the first side plate 7 and the second side plate 8 can be the same as or different from the length direction of the second arm 3. The channel on the first side plate 7 faces the second side plate 8, and the channel on the second side plate 8 faces the first side plate 7; and the channel on the first side plate 7 and the channel on the second side plate 8 are parallel to each other and have corresponding positions, so that the first rotating shaft can be conveniently arranged. The first shaft is slidable in the channels of the first and second side plates 7, 8 along the length of the channels.
one end of the first elastic element is fixedly connected with the first rotating shaft, and the other end of the first elastic element is fixedly connected with the second end part of the second support arm 3. The first elastic piece and the first rotating shaft are arranged perpendicularly to each other. When the foot pad 6 contacts with the ground, after the stress, the first elastic piece is compressed, and the first rotating shaft slides in the channels of the first side plate 7 and the second side plate 8, so that the impact force borne by the foot structure can be reduced. The first elastic member may be a spring or an elastic rod made of elastic material, and the like, and has an elastic structure as long as the function of buffering can be conveniently achieved.
In a specific embodiment, referring to fig. 3, the foot pad comprises a third side plate, a fourth side plate, a roller 5 and a second rotating shaft; the third side plate and the fourth side plate are respectively connected with the second end of the second support arm 3 and are arranged in parallel, the roller 5 is sleeved on the second rotating shaft, one end of the second rotating shaft is connected with the third side plate, and the other end of the second rotating shaft is connected with the fourth side plate. On the basis of the above embodiments, the present embodiment specifically describes another structure of the foot pad.
The second shaft can be sleeved with a roller 5. The roller 5 is rotatable with respect to the second rotation axis. Two ends of the second rotating shaft are respectively connected with the third side plate and the fourth side plate, so that the foot structure can move relative to the ground in a rolling mode of the roller 5, and the foot structure can realize two different running modes of walking and rolling by the roller 5. It will be appreciated that the channel may also extend through the side plates such that the second axle passes through the respective side plate, one roller 5 being provided at each end of the second axle, the two side plates being located in front of the two rollers 5.
In a specific embodiment, the foot pad further comprises a second elastic member; the third side plate and the fourth side plate are both provided with a channel, one end of the second rotating shaft is clamped in the channel of the third side plate, the other end of the second rotating shaft is clamped in the channel of the fourth side plate, one end of the second elastic piece is connected with the second rotating shaft, and the other end of the second elastic piece is connected with the second end part of the second support arm 3.
The direction of the groove channels on the third side plate and the fourth side plate can be the same as or different from the length direction of the second support arm 3. The channel on the third side panel faces the fourth side panel, and the channel on the fourth side panel faces the third side panel; and the groove channel on the third side plate and the groove channel on the fourth side plate are parallel to each other and have corresponding positions, so that the second rotating shaft can be conveniently arranged. The second rotating shaft can slide in the channels on the third side plate and the fourth side plate along the length direction of the channels.
One end of the second elastic element is fixedly connected with the second rotating shaft, and the other end of the second elastic element is fixedly connected with the second end part of the second support arm 3. The second elastic piece and the second rotating shaft are perpendicular to each other. When the roller 5 contacts with the ground, after being stressed, the second elastic piece is compressed, and the second rotating shaft slides in the channels of the third side plate and the fourth side plate, so that the impact force borne by the foot structure can be reduced. The second elastic member may be a spring or an elastic rod made of elastic material, and the like, and has an elastic structure as long as the function of buffering can be conveniently achieved.
The utility model discloses a robot for delivery goods, through set up the box in one side of connecting plate, the opposite side sets up the foot structure, the foot structure is through setting up first support arm and the second support arm that the rotation is connected each other, first support arm is connected with the connecting plate, connecting rod one end is rotated with the second support arm and is connected, the connecting rod other end is connected with the connecting plate telescopically, reciprocating motion through the connecting rod drives the second support arm, or drives first support arm and second support arm and rotate, thereby realize the state of walking about.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A robot for distributing goods, comprising a box body, a connecting plate and at least two foot structures, wherein the box body and the foot structures are positioned at two opposite sides of the connecting plate; any one of the foot structures comprises a first support arm, a second support arm and a connecting rod;
The first end part of the first support arm is connected with the connecting plate, and the second end part of the first support arm is rotatably connected with the first end part of the second support arm; the first end part of the connecting rod is telescopically connected to the connecting plate, and the second end part of the connecting rod is rotatably connected with the first end part of the second support arm.
2. The robot of claim 1, wherein a sensing unit is disposed at one side of the box body for acquiring information about a road condition on which the robot travels.
3. The robot of claim 1, wherein the first end of the first arm is coupled to a drive shaft of the drive mechanism by a strut, the strut and the drive shaft being disposed perpendicular to each other.
4. The robot of claim 1, wherein the first end of the first arm is fixedly or rotatably coupled to the connecting plate.
5. The robot of claim 1, wherein a foot pad is attached to the second end of the second arm.
6. The robot of claim 5, wherein the footpad comprises a first side plate, a second side plate, a foot pad, and a first shaft; the first side plate and the second side plate are respectively connected with the second end of the second support arm, and the first side plate and the second side plate are arranged in parallel; the foot pad is sleeved on the first rotating shaft, one end of the first rotating shaft is connected with the first side plate, and the other end of the first rotating shaft is connected with the second side plate.
7. The robot of claim 6, wherein said footpad further comprises a first elastic member; the first side plate and the second side plate are both provided with a groove channel, one end of the first rotating shaft is clamped in the groove channel of the first side plate, and the other end of the first rotating shaft is clamped in the groove channel of the second side plate; one end of the first elastic piece is connected with the first rotating shaft, and the other end of the first elastic piece is connected with the second end of the second support arm.
8. the robot of claim 6, wherein said footpad is an elastic footpad.
9. the robot of claim 5, wherein the foot pad comprises a third side plate, a fourth side plate, a roller and a second rotating shaft; the third side plate and the fourth side plate are respectively connected with the second end part of the second support arm, and the third side plate and the fourth side plate are arranged in parallel; the roller is sleeved on the second rotating shaft, one end of the second rotating shaft is connected with the third side plate, and the other end of the second rotating shaft is connected with the fourth side plate.
10. The robot of claim 9, wherein said footpad further comprises a second elastic member; the third side plate and the fourth side plate are both provided with a groove channel, one end of the second rotating shaft is clamped in the groove channel of the third side plate, and the other end of the second rotating shaft is clamped in the groove channel of the fourth side plate; one end of the second elastic piece is connected with the second rotating shaft, and the other end of the second elastic piece is connected with the second end part of the second support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920399787.1U CN209739205U (en) | 2019-03-27 | 2019-03-27 | Robot for distributing goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920399787.1U CN209739205U (en) | 2019-03-27 | 2019-03-27 | Robot for distributing goods |
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| CN209739205U true CN209739205U (en) | 2019-12-06 |
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| CN201920399787.1U Active CN209739205U (en) | 2019-03-27 | 2019-03-27 | Robot for distributing goods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823436A (en) * | 2019-03-27 | 2019-05-31 | 北京真机智能科技有限公司 | For dispensing the robot of cargo |
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2019
- 2019-03-27 CN CN201920399787.1U patent/CN209739205U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823436A (en) * | 2019-03-27 | 2019-05-31 | 北京真机智能科技有限公司 | For dispensing the robot of cargo |
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