CN211415152U

CN211415152U - Robot

Info

Publication number: CN211415152U
Application number: CN201922219036.XU
Authority: CN
Inventors: 崔博宇; 王帅
Original assignee: Cloudminds Shenzhen Robotics Systems Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-09-04
Anticipated expiration: 2029-12-11

Abstract

The utility model relates to a commodity circulation technical field discloses a robot. The utility model discloses in, the robot, include: the dispensing bracket comprises a fixed bracket and at least one detachable bracket detachably arranged on the fixed bracket along a first direction; and the movable base, wherein the fixed support is fixed above the movable base. This embodiment enables the dispensing support to be adjusted or replaced.

Description

Robot

Technical Field

The utility model relates to a commodity circulation technical field, in particular to robot.

Background

To reduce labor costs and further free labor, various industries often use delivery robots to transport goods. The delivery robot may transport the goods to a designated location.

The inventor finds that at least the following problems exist in the prior art: the delivery bracket of the delivery robot on the market at present cannot be replaced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot for can adjust or replace the delivery support.

In order to solve the above technical problem, an embodiment of the present invention provides a robot, including: the dispensing bracket comprises a fixed bracket and at least one detachable bracket detachably arranged on the fixed bracket along a first direction; and the movable base, wherein the fixed support is fixed above the movable base.

The utility model discloses embodiment is for prior art, and the delivery support of robot includes fixed bolster and detachable support, when the type that needs to change detachable support or maintenance detachable support, can take off detachable support. This makes it possible to adjust or replace the dispensing carriages without replacing other hardware structures of the robot, reducing the maintenance and use costs of the robot.

In addition, the robot further comprises a display device fixedly connected with the distribution support. In this example, the user is enabled to know the item on which the dispensing support is placed via the display device or to interact with the robot via the display device.

In addition, a slide rail is arranged on the fixed support, a slide rail is arranged on the detachable support, the slide rail and the slide rail are arranged oppositely, and the detachable support is fixed on the fixed support through the cooperation of the slide rail and the slide rail.

In addition, one end of the slideway of the fixed bracket is open, the other end of the slideway is closed, one end of the opening of the slideway is provided with a groove for placing a fixing piece, and the height of the fixing piece is higher than the height of the downward recess of the groove; or one end of the slideway is provided with a groove, and the sliding rail is provided with a clamping block matched with the groove; or, one end of the slide rail is provided with a groove, and the slide rail is provided with a clamping block matched with the groove. In this example, the stability of the article during the robotic delivery is improved.

In addition, the fixed support and the detachable support are connected through a sucker or a magnet.

In addition, the number of types of detachable brackets is more than 2. In this example, the dispensing support is made adaptable to the dispensing of different items, reducing costs.

In addition, the detachable bracket may be of any combination of tray type, cabinet type and drawer type.

In addition, the detachable support is provided with N object placing components, the bottom of each object placing component is provided with a gravity detection module, the robot further comprises at least one processor in communication connection with the gravity detection module, N is a positive integer, and the at least one processor monitors the object placing components according to data fed back by the gravity detection module and the preset relation between the type and the weight of an object. In this example, the intelligence of the robot is improved.

In addition, the robot further comprises a prompting device which is in communication connection with the at least one processor, and the prompting device prompts a user that the article is abnormally placed under the control of the at least one processor.

In addition, at least one detachable support is a cabinet type detachable support, the cabinet type detachable support comprises a cabinet body, a cabinet door and a locking piece, one side of the cabinet body is movably connected with one side of the cabinet door, the locking piece comprises a locking rod and a locking seat, one of the locking rod and the locking seat is positioned on the cabinet body, and the other one of the locking rod and the locking seat is positioned on the cabinet door.

In addition, at least one detachable support is a drawer-type detachable support, and each drawer of the drawer-type detachable support is provided with a lock.

In addition, the display device includes a touch screen display.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural view of a robot according to a first embodiment of the present invention;

fig. 2 is a schematic view of the relationship between the slide rail and the slide rail according to the first embodiment of the present invention;

fig. 3 is a schematic view of the position relationship of the fixing member, the slide rail and the groove according to the first embodiment of the present invention;

fig. 4 is a schematic view showing another positional relationship of the fixing member, the slide rail and the groove according to the first embodiment of the present invention;

5a-5b are schematic position diagrams of the slide rail, the slide way, the groove and the fixture block of the first embodiment of the present invention;

fig. 6a-6c are schematic views of another position of the slide rail, the slide way, the groove and the latch according to the first embodiment of the present invention;

fig. 7 is a schematic view of a cabinet according to a second embodiment of the present invention;

fig. 8 is a front view of a drawer-type detachable stand according to a second embodiment of the present invention;

fig. 9 is a schematic structural view of a robot according to a second embodiment of the present invention;

fig. 10a-10f are schematic views of a robot corresponding to a tray-type detachable stand according to a second embodiment of the present invention;

fig. 11 is a partial schematic view of a tray according to a second embodiment of the present invention;

fig. 12a to 12g are schematic diagrams of a robot corresponding to a cabinet type detachable bracket according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following will explain in detail each embodiment of the present invention with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the invention, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

A first embodiment of the present invention relates to a robot, as shown in fig. 1, comprising a distribution frame 10, wherein the distribution frame 10 comprises a fixed frame 11 and at least one detachable frame 12 detachably mounted on the fixed frame along a first direction; and a moving base 13, wherein the fixed bracket is fixed above the moving base 13.

It should be noted that fig. 1 illustrates the structure of the dispensing rack by taking the tray-type detachable rack 12 as an example, and in practical applications, the detachable rack may also be other types of racks, such as a cabinet-type detachable rack or a drawer-type detachable rack, and fig. 1 is only an example.

The connection of the fixed bracket 11 and the detachable bracket 12 will be described below by way of example.

Case 1: as shown in fig. 2, a slide rail 111 is disposed on the fixed bracket 11, a slide rail 121 is disposed on the detachable bracket 12, the slide rail 121 is disposed opposite to the slide rail 111, and the detachable bracket 12 is fixed on the fixed bracket 11 through the slide rail 121 and the slide rail 111.

It should be noted that fig. 2 is only an example, and in practical applications, the slide rail and the slide way may have other shapes, and the shape of the slide rail and the slide way is not limited in this embodiment.

In one embodiment, the slide rail 111 of the fixing bracket 11 has an open end and a closed end, and the open end of the slide rail 111 is provided with a groove for placing a fixing member, and the height of the fixing member is higher than the height of the downward recess of the groove. Specifically, the fixing member may be a sheet having hardness, such as an iron sheet, the height of the fixing member may be 2 cm to 5 cm higher than the height of the downward recess of the groove, and the width of the fixing member is slightly smaller than the size of the groove, for example, the width of the fixing member and the width of the groove in the direction of the slideway are smaller than 1 mm.

The positional relationship of the fixing member, the slide and the groove will be exemplified below.

The assumption is that the fixed support comprises a first frame, a second frame, a third frame and a fourth frame which are sequentially connected in an end-to-end manner, the first frame and the third frame are arranged oppositely, the shape and the length of the first frame and the third frame are the same, the second frame and the fourth frame are arranged oppositely, and the shape and the length of the second frame and the fourth frame are the same. The included angle between the first frame and the third frame and the ground is more than 80 degrees and less than 100 degrees, and if the included angle between the first frame and the third frame and the ground is 90 degrees, the first frame and the third frame are vertical. The inner side of the first frame and the inner side of the third frame are respectively provided with a slide way, the included angle between the slide way and the ground is less than 10 degrees, preferably 0 degree, namely the slide way is horizontal (hereinafter, the slide way arranged on the first frame is referred to as the first slide way for short, and the slide way arranged on the third frame is referred to as the second slide way for short). One end of the first slide is closed, the other end of the first slide is open, one end of the second slide is closed, and the other end of the second slide is open. And the length of the slide way is greater than that of the slide rail.

In a first example, as shown in fig. 3, a groove 1113 is provided at one end of the opening of each of the first slideway 1111 and the second slideway 1112, and the angle between the concave direction of the groove 1113 and the ground is greater than 80 degrees and less than 100 degrees, preferably 90 degrees. The detachable bracket 12 is provided with a first slide rail (not shown) and a second slide rail (not shown), the position of the first slide rail corresponds to the position of the first slide 1111, and the position of the second slide rail corresponds to the position of the second slide 1112. After the detachable bracket 12 is fixed to the fixed bracket 11 by the cooperation of the slide rail and the slide rail, the fixing member 1114 is placed in the recess 1113. Since the fixing member 1114 is disposed at one end of the opening of the first slide 1111 and the second slide 1112. The first slide rail is fastened in the first slideway 1111 and the second slide rail is fastened in the second slideway 1112 so that the detachable bracket 12 and the fixed bracket 11 are relatively fixed. When the detachable bracket 12 needs to be replaced, the fixing member 1114 is removed, and the detachable bracket 12 can be slid out of the fixed bracket 11.

In a second example, as shown in fig. 4, one end of the fixing member 1114 is movably connected to the open end of the first sliding channel 1111, a groove 1113 is formed at the open end of the second sliding channel 1112, and the groove 1113 is opposite to the connection position of the fixing member 1114 and the first sliding channel 1111. The detachable bracket 12 is provided with a first slide rail (not shown) and a second slide rail (not shown), the position of the first slide rail corresponds to the position of the first slide 1111, and the position of the second slide rail corresponds to the position of the second slide 1112. After the detachable bracket 12 is fixed to the fixed bracket 11 by the cooperation of the slide rails and the slide rails, the unfixed end of the fixing member 1114 is placed in the groove 1113, so that the end of the fixing member 1114, which is not connected to the first slide 1111, is placed in the groove 1113 of the second slide rail 1112. Since the fixing member 1114 is disposed at one end of the opening of the first slide 1111 and the second slide 1112. When the detachable support 12 needs to be replaced, the end of the fixing member which is not fixed is pulled up from the groove 1113, and the detachable support 12 can slide out of the fixed support 11. As can be seen from fig. 4 and 3, the first example and the second example are different in that in the second example, one end of the fixing member 1114 is movably connected to the first slide 1111, and in fig. 4, one end of the fixing member 1114 is movably connected to the first slide 1111 through the hinge 1115.

It is worth mentioning that the detachable support is fixed on the fixed support through the fixing piece, so that the condition that the article is unstable due to the fact that the detachable support and the fixed support are displaced relatively in the delivery process is avoided, and the stability of the article in the delivery process of the robot is improved.

In another embodiment, as shown in fig. 5a and 5b, or as shown in fig. 6a to 6c, one end of the sliding rail 111 is provided with a groove 113, the sliding rail 112 is provided with a latch 114 matching with the groove 113, and the sliding rail 111 and the sliding rail 112 are connected by the latch 114 and the groove 113.

In another embodiment, a groove is formed at one end of the sliding rail 112, and a latch matched with the groove is arranged on the sliding rail 111. The arrangement of the latch and the groove can refer to fig. 5a and 5b, or fig. 6a to 6 c.

It should be noted that, those skilled in the art can understand that the slide rail and the slide way can also be fixed by screws, for example, screw holes are respectively arranged on the same side of the slide rail and the slide way, the size of the screw hole matches with that of the screw, when the screw hole of the slide rail and the screw hole of the slide way are overlapped, the screw is placed in the screw hole, and the slide rail is fixed on the slide way. The slide rail and the slide way can be fixed through magnets, for example, magnets are arranged on the same sides of the slide rail and the slide way respectively, when the magnets of the slide rail and the magnets of the slide way are close to each other, the magnets attract each other, the slide rail is fixed on the slide way through magnetic force, and the fixing mode between the slide rail and the slide way is not limited by the embodiment.

Case 2: the fixed bracket 11 and the detachable bracket 12 are connected by a suction cup. For example, suction cups are provided on the fixed bracket 11 or the detachable bracket 12. When the suction cup is sucked on the bracket without the suction cup, the positions of the fixed bracket 11 and the detachable bracket 12 are relatively fixed.

Case 3: the fixed bracket 11 and the detachable bracket 12 are connected by a magnet. For example, one of the fixed bracket 11 and the detachable bracket 12 is a ferrous bracket, and a magnet is disposed on a contact surface of the other contacting the ferrous bracket. When the detachable bracket 12 is placed on the fixed bracket, the two are relatively fixed by the attraction of the magnet.

It should be noted that, the above detachable connection manner is only an example, and in practical applications, the fixed bracket and the detachable bracket may be detachably connected in other manners, which are not listed here.

In one example, the number of types of detachable stand is greater than 2. In particular, the dispensing racks of robots currently on the market are all fixed non-removable racks, so that there are great restrictions on the types and sizes of the items to be dispensed. In this embodiment, the dispensing rack includes a fixed rack and a plurality of types of detachable racks. Therefore, the user can determine the type of the detachable bracket to be used according to the type or size of the currently distributed articles, and the selected detachable bracket is fixed on the fixed bracket to be used. When other types of articles need to be delivered, the type of the bracket can be replaced, so that the delivery bracket can be matched with the delivery of different articles, and the cost is reduced.

For example, the type of the detaching bracket includes at least any one or a combination of a tray type, a cabinet type, and a drawer type. When the robot needs to dispense drinks or portable objects, a tray type detachable support can be selected. When the robot needs to distribute articles with high privacy, a cabinet type detachable support or a drawer type detachable support can be selected. By analogy, the user may select the detachable stand 12 based on the nature and shape of the item. Because other hardware structures of the robot do not need to be replaced, the whole framework does not need to be changed, and therefore different articles can be delivered by replacing the middle detachable support, and the cost is reduced.

In one example, the cabinet-type detachable support comprises a cabinet body, a cabinet door and a locking member, one side of the cabinet body is movably connected with one side of the cabinet door, the locking member comprises a locking rod and a locking seat, one of the locking rod and the locking seat is positioned on the cabinet body, and the other one of the locking rod and the locking seat is positioned on the cabinet door. The cabinet 20 is partially shown in fig. 7, and can be used for placing articles such as file bags 21. The outer side walls of the left side and the right side of the cabinet body of the cabinet type detachable support are respectively provided with M sliding rails, and M is a positive integer. M slideways are respectively arranged on the inner walls of the left side and the right side of the fixed support, and the sliding rails and the slideways are oppositely arranged so as to enable the cabinet type detachable support and the fixed support to be detachably connected.

In one example, a drawer-style removable rack includes a cabinet having a plurality of drawers disposed therein. Each drawer is provided with a lock. The outer side walls of the left side and the right side of the cabinet body of the drawer type detachable support are respectively provided with M sliding rails, and M is a positive integer. A front view of a drawer-style removable rack 100 is shown in fig. 8, where each drawer may be used to hold items. M slideways are respectively arranged on the inner walls of the left side and the right side of the fixed support, and the sliding rails and the slideways are oppositely arranged so as to enable the cabinet type detachable support and the fixed support to be detachably connected.

It should be noted that the above type of detachable support is only an example, and in practical applications, the robot may also be configured with other types of detachable supports.

In one example, the detachable support is provided with N object placing components, a gravity detection module is arranged at the bottom of each object placing component, the robot further comprises at least one first processor in communication connection with the gravity detection module, and N is a positive integer. And the at least one first processor monitors the object component according to the data fed back by the gravity detection module and the preset relation between the type and the weight of the object. Wherein, at least one first processor can be arranged in the fixed bracket 11 or the detachable bracket 12, and also can be arranged on other structures of the robot besides the fixed bracket and the detachable bracket. The first processor and the gravity detection module can be connected in a wired mode, for example, one surface of the detachable support 12, which is in contact with the fixed support 11, is provided with a metal elastic sheet, the output end of the gravity detection module is connected with the metal elastic sheet, one surface of the fixed support, which is connected with the detachable support, is provided with a contact element, when the detachable support 12 is installed on the fixed support 11, the metal elastic sheet is electrically connected with one end of the contact element, the other end of the contact element is connected with the signal input end of the at least one first processor through a signal line, and therefore the output end of the gravity detection module is connected with the signal input end of the at. The first processor and the gravity detection module can also be connected in a wireless manner. For example, the gravity detection module includes a gravity sensor and a first communication component connected to the gravity sensor, the first processor is disposed on the fixed bracket or other structures of the robot, and the other structures are further provided with a second communication component connected to the first processor. The gravity detection module and the first processor communicate through the first communication component and the second communication component.

In one example, the robot further comprises a prompting device connected to the at least one first processor, the prompting device prompting a user for an item placement anomaly under control of the at least one first processor. When the at least one first processor determines that the article of the article placing component is placed abnormally according to the data fed back by the gravity detection module and the preset relationship between the type and the weight of the article, the at least one first processor sends a control signal to the prompting device, and the prompting device prompts a user that the article is placed abnormally. The prompting device can be various devices such as a buzzer, a display and the like.

In one example, the robot is provided with an external input device, wherein the at least one first processor is connected to the external input device, or the robot is provided with a communication component, wherein the at least one first processor is communicatively connected to the communication component. The at least one first processor determines the target weight of the object placing component according to the data detected by the external input device or the data received by the communication component and the preset relation between the type and the weight of the object; and comparing the target weight of the object placing component with the weight fed back by the gravity detection module, and if the difference value between the target weight of the object placing component and the weight fed back by the gravity detection module is greater than a preset value, determining that the object placing of the object placing component is abnormal. The preset value may be set according to the requirement of the user for fault tolerance and the characteristic of the article, for example, 500 g.

Alternatively, at least one external input device may be disposed above the stationary support and the communication assembly may be disposed inside the mobile base.

In one example, at least one drive wheel is provided within the mobile base 13 of the robot. Optionally, at least one second processor is also provided in the mobile base 13. The at least one driving wheel is in communication with the at least one second processor and drives the at least one driving wheel to move the robot according to the received movement instructions. Wherein the movement instruction may indicate a movement direction and a movement distance of the robot.

It is worth mentioning that the second processor controls the movement of the driving wheel so that the delivery robot can automatically deliver the goods.

It should be noted that the second processor and the first processor may be the same processor or different processors, and this embodiment is not limited thereto.

The above description is only for illustrative purposes and does not limit the technical solution of the present invention.

Compared with the prior art, the robot provided in the embodiment has the advantages that the distribution support of the robot comprises the fixed support and the detachable support, and the detachable support can be taken down when the detachable type needs to be replaced or the detachable support needs to be maintained. This makes it possible to adjust or replace the dispensing carriages without replacing other hardware structures of the robot, reducing the maintenance and use costs of the robot.

A second embodiment of the present invention relates to a robot. The second embodiment is substantially the same as the first embodiment, and mainly differs therefrom in that: in this embodiment, the robot further includes a display device.

Specifically, as shown in FIG. 9, the robot further includes a display device 14 fixedly attached to the dispensing support 10.

In one embodiment, the robot further comprises at least one third processor (not shown in the figures) communicatively connected to the display device 14.

In one example, the display device includes a touch screen display. The user can interact with the robot through the touch screen.

It should be noted that, the at least one third processor and the at least one first processor may be the same processor or different processors, and when the at least one third processor and the at least one first processor are the same processor, the processors may be disposed inside the mobile base 13, the display device 14, or the fixed bracket 11. When the at least one third processor and the at least one first processor are different processors, the mounting position of the third processor may be inside the display device 14, and the mounting position of the first processor may be any one of the fixed bracket 11, the detachable bracket 12, and the mobile base 13, and the present embodiment does not limit the number of processors and the arrangement position of the processors.

In one example, the robot may use a tray-type removable rack when the articles to be dispensed are bottled articles. After the tray-type detachable stand 12 is fixed to the fixed stand 11, the robot is shown in a front view in fig. 10a, a left view in fig. 10b, a right view in fig. 10c, a rear view in fig. 10d, a top view in fig. 10e, a bottom view in fig. 10f, and a partial schematic view in fig. 11 of the tray 30. When the articles to be distributed are relatively private articles, the robot may use the cabinet type detachable bracket, after the cabinet type detachable bracket 12 is fixed to the fixed bracket 11, the robot has a perspective view as shown in fig. 12a, a front view as shown in fig. 12b, a left view as shown in fig. 12c, a right view as shown in fig. 12d, a rear view as shown in fig. 12e, a top view as shown in fig. 12f, and a bottom view as shown in fig. 12 g.

Compared with the prior art, the robot provided by the embodiment is further provided with the display device, so that a user can know articles in a delivery support mode through the display device or interact with the robot.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims

1. A robot, comprising:

a dispensing frame comprising a fixed frame and at least one removable frame removably mounted to the fixed frame in a first direction; and

the base is moved, and the base is moved,

wherein, the fixed bolster is fixed in the top of moving the base.

2. The robot of claim 1, further comprising:

and the display device is fixedly connected with the distribution bracket.

3. A robot according to claim 1 or 2, characterized in that a slide is arranged on the fixed support, a slide rail is arranged on the detachable support, the slide rail is arranged opposite to the slide rail, and the detachable support is fixed on the fixed support through the slide rail and the slide rail in a matching manner.

4. The robot of claim 3, wherein one end of the slide way of the fixed bracket is open, and the other end is closed, and one end of the opening of the slide way is provided with a groove for placing a fixing piece, and the height of the fixing piece is higher than the height of the downward depression of the groove; or,

a groove is formed in one end of the slide rail, and a clamping block matched with the groove is arranged on the slide rail; or,

one end of the sliding rail is provided with a groove, and the sliding rail is provided with a clamping block matched with the groove.

5. A robot as claimed in claim 1 or 2, wherein the fixed support and the detachable support are connected by a suction cup or a magnet.

6. A robot as claimed in claim 1, characterised in that the number of types of detachable supports is greater than 2.

7. A robot according to claim 6, characterized in that the detachable rack is of a type comprising at least any one or a combination of tray, cabinet and drawer type.

8. The robot according to claim 1, wherein N placement members are disposed in the detachable stand, a gravity detection module is disposed at a bottom of each placement member, the robot further comprises at least one processor in communication with the gravity detection module, N is a positive integer;

and the at least one processor monitors the object placing component according to the data fed back by the gravity detection module and the preset relationship between the type and the weight of the object.

9. The robot of claim 8, further comprising a prompting device communicatively coupled to the at least one processor, the prompting device under control of the at least one processor prompting a user for an item placement anomaly.

10. The robot of claim 2, wherein the display device comprises a touch screen display.