CN211970604U

CN211970604U - Robot

Info

Publication number: CN211970604U
Application number: CN202020143289.3U
Authority: CN
Inventors: 李锐
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2020-11-20
Anticipated expiration: 2030-01-22

Abstract

The utility model discloses a robot relates to intelligent robot technical field. The robot includes a moving part and a main body part. The moving part is used for driving the robot to move; the main body part comprises at least two goods bins and a sensor for detecting the positions of the goods bins, and each goods bin is provided with an independent driving device for driving the goods bins to extend out of or reset from the main body part; the driving device comprises a synchronous belt, a first connecting plate which moves synchronously with the warehouse is arranged on the warehouse, and the synchronous belt is arranged between the first connecting plate and the warehouse so as to drive the warehouse through the synchronous belt; the first connecting plate is provided with an object to be sensed, and the moving position of the object to be sensed is sensed through the sensor. The utility model provides a robot has not only improved the storehouse speed of opening and shutting, has still reduced installation space and noise of operation greatly, and the position of opening and shutting of storehouse is accurate moreover.

Description

Robot

Technical Field

The utility model relates to an intelligent robot technical field especially relates to a robot.

Background

With the popularization of mobile internet and intelligent terminals, the level of scientific and technological intelligence of various industries in China is continuously improved. Based on the improvement of intelligent equipment, mobile internet, internet of things, big data and algorithm level, advanced technologies such as robots, AR/VR, 3D printing, artificial intelligence and the like have been advanced from laboratories to various industries.

The intelligent hotel application robot has the advantages of improving the hotel image, reducing the labor cost, bringing novel experience, earning added value benefits and making network comments. At present, in the hotel robot for distributing and packaging food on the market, a plurality of single-bin robots are arranged, and the number of goods which can be stored by the single-bin robot is small, so that the working efficiency is low. The existing multi-bin robot adopts transmission forms such as gear racks, electric push rods, lead screw nuts and the like to drive the opening and closing of the cargo bin, although the opening and closing position of the cargo bin is easy to control, the opening and closing speed of the cargo bin is slow, and the generated noise is large.

Therefore, it is desirable to design a robot to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot to realize that robot warehouse opens and shuts fast, noiselessness and the control warehouse that can be accurate the position that opens and shuts.

To achieve the purpose, the utility model adopts the following technical proposal:

a robot, comprising:

a moving part for driving the robot to move;

the main body part comprises at least two cargo bins and a sensor for detecting the positions of the cargo bins, and each cargo bin is provided with an independent driving device for driving the cargo bin to extend out of or reset from the main body part;

the driving device comprises a synchronous belt, a first connecting plate which moves synchronously with the warehouse is arranged on the warehouse, and the synchronous belt is arranged between the first connecting plate and the warehouse so as to drive the warehouse through the synchronous belt; the first connecting plate is provided with an object to be sensed, and the sensor senses the moving position of the object to be sensed.

Optionally, the main body portion further includes a host support, and at least two of the cargo compartments are arranged in layers up and down and are respectively slidably disposed on the host support.

Optionally, the main body portion further includes a slide rail assembly, the slide rail assembly includes a slide rail and a slider, the slide rail with host computer support fixed connection, the slider with warehouse fixed connection, the warehouse is located through the slider cunning the slide rail.

Optionally, a sensor bracket is further disposed on the host bracket, and the sensor is adjustably mounted on the sensor bracket to adjust a mounting position of the sensor.

Optionally, the driving device includes a driving motor and a synchronous pulley, and the driving motor is fixedly connected to the host bracket; the synchronous pulley comprises a driving wheel and a driven wheel, the driving wheel is arranged at the rear part of the main body part, the driven wheel is arranged at the front part of the main body part, and the synchronous belt is connected between the driving wheel and the driven wheel.

Optionally, first connecting plate includes first diaphragm and first riser, be equipped with in the middle of the first riser and dodge the groove, the hold-in range passes dodge the groove set up in first diaphragm with between the storehouse, and then first connecting plate follows hold-in range synchronous motion.

Optionally, a second transverse plate is further arranged between the first transverse plate and the cargo bin, and the second transverse plate is fixedly connected with the cargo bin.

Optionally, the inboard of hold-in range is provided with trapezoidal tooth, be provided with on the first diaphragm with trapezoidal tooth meshing's spacing arch.

Optionally, the sensor is a light sensor, and the sensed body is a baffle plate; or

The sensor is an infrared sensor, and the sensed object is a metal sheet.

Optionally, the number of the sensors is two, and the two sensors are respectively arranged at the beginning and the end of the moving direction of the cargo compartment.

The utility model has the advantages that:

1) through set up two above storehouses and be used for detecting the sensor of storehouse position at the main part, every storehouse all is provided with independent drive arrangement to realize the independent control in a plurality of storehouses.

2) But a plurality of storehouses independent control opens and shuts, each other does not influence, stores the goods many, has not only improved work efficiency, has still brought good use for the customer and has experienced.

3) The goods warehouse is provided with the first connecting plate, the synchronous belt is arranged between the first connecting plate and the goods warehouse, and the goods warehouse is driven through the synchronous belt, so that the goods warehouse and the synchronous belt move together, the opening and closing speed of the goods warehouse is improved, the installation space and the operation noise are greatly reduced, the overload protection effect is achieved, and the shock absorption can be buffered; has the advantages of low cost, simple structure and convenient installation.

4) Set up on the first connecting plate by the inductor, when being responded to by the inductor by the sensor then, hold-in range and storehouse stop to remove for the position of opening and shutting of storehouse can accurate positioning control.

Drawings

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

fig. 2 is a first view schematic diagram of a connection structure between a cargo compartment and a driving device of a robot according to an embodiment of the present invention;

fig. 3 is a second view schematically illustrating a connection structure between a cargo compartment and a driving device of a robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a driving device according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first connecting plate according to an embodiment of the present invention.

In the figure:

1. a main body portion; 2. a moving part; 3. a warehouse; 4. a touch screen; 5. a drive device; 6. a host support; 7. a slide rail assembly; 8. a sensor; 9. an object to be sensed; 10. a base;

51. a drive motor; 52. a synchronous pulley; 53. a synchronous belt; 54. a connecting assembly; 61. a cross beam; 62. An extension plate; 63. mounting a plate; 64. a sensor holder; 71. a slide rail; 72. a slider;

521. a driving wheel; 522. a driven wheel; 541. a second connecting plate; 542. a first connecting plate;

5221. a rotating shaft; 5222. a stationary bearing assembly; 5411. a second transverse plate; 5412. a second vertical plate; 5421. A limiting bulge; 5422. a first transverse plate; 5423. a first riser.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Example one

As shown in fig. 1 to 5, the robot provided in the present embodiment includes a moving part 2 and a main body part 1, wherein the moving part 2 is used for driving the robot to move; the main body part 1 comprises at least two cargo bins 3 and a sensor 8 for detecting the positions of the cargo bins 3, and each cargo bin 3 is provided with an independent driving device 5 for driving the cargo bin 3 to extend out of or reset from the main body part 1; the driving device 5 comprises a synchronous belt 53, a first connecting plate 542 which moves synchronously with the goods bin 3 is arranged on the goods bin 3, and the synchronous belt 53 is arranged between the first connecting plate 542 and the goods bin 3 so as to drive the goods bin 3 through the synchronous belt 53; the first connection plate 542 is provided with the object 9 to be sensed, and the sensor 8 senses the movement position of the object 9 to be sensed.

The robot provided by the embodiment is provided with at least two cargo compartments 3 and a sensor 8 for detecting the positions of the cargo compartments 3, wherein each cargo compartment 3 is provided with an independent driving device 5, so that the independent control of the plurality of cargo compartments 3 is realized. The robot that this embodiment provided, but a plurality of storehouses 3 independent control opens and shuts, each other does not influence, stores the goods many, has not only improved work efficiency, has still brought good use for the customer and has experienced. The goods warehouse 3 is provided with the first connecting plate 542, the synchronous belt 53 is arranged between the first connecting plate 542 and the goods warehouse 3, and the goods warehouse 3 is driven by the synchronous belt 53, so that the goods warehouse 3 and the synchronous belt 53 move together, the opening and closing speed of the goods warehouse 3 is improved, the installation space and the operation noise are greatly reduced, the overload protection effect is achieved, and the shock absorption can be buffered; has the advantages of low cost, simple structure and convenient installation. Set up on first connecting plate 542 by the inductor 9, when being responded to by inductor 9 by sensor 8 then, hold-in range 53 and storehouse 3 stop moving for the position of opening and shutting of storehouse 3 is accurate.

Specifically, the first connecting plate 542 includes a first horizontal plate 5422 and a first vertical plate 5423, an avoiding groove is provided in the middle of the first vertical plate 5423, the timing belt 53 is disposed between the first horizontal plate 5422 and the cargo compartment 3 through the avoiding groove, and the first connecting plate 542 moves synchronously with the timing belt 53. A second transverse plate 5411 is further arranged between the first transverse plate 5422 and the cargo bin 3, and the second transverse plate 5411 is fixedly connected with the cargo bin 3. In this embodiment, the driving device 5 further includes a connecting assembly 54, and the connecting assembly 54 includes a first connecting plate 542 and a second connecting plate 541, and the first connecting plate 542 is detachably connected to the cargo compartment 3 to clamp the timing belt 53. The second connecting plate 541 comprises a second transverse plate 5411 and a second vertical plate 5412, the second transverse plate 5411 is connected with the bottom of the cargo compartment 3, and the second vertical plate 5412 is connected with the side surface of the cargo compartment 3; the first horizontal plate 5422 penetrates through the second horizontal plate 5411 to be connected with the bottom of the warehouse 3, and the first vertical plate 5423 penetrates through the second vertical plate 5412 to be fixedly connected with the side face of the warehouse 3. The connecting assembly 54 is arranged to enable the timing belt 53 to drive the cargo compartment 3 to move, so as to extend or return the cargo compartment 3 from the main body 1. Of course, in other embodiments, the first connecting plate 542 may be fixedly connected to only the second connecting plate 541; the second connecting plate 541 may only include the second horizontal plate 5411, and the first vertical plate 5423 is directly connected to the side of the cargo compartment 3.

The robot is also provided with a touch screen 4 for controlling the extension or return of each cargo compartment 3 and the movement of the moving part 2 in this embodiment. The robot that this embodiment provided is used for hotel's delivery package food, and main part 1 still includes base 10, and touch screen 4 sets up in the top of main part 1, and removal portion 2 and every drive arrangement 5 are connected with touch screen 4 electricity respectively. Base 10 is located the lower extreme of main part 1, and removal portion 2 is for setting up the walking wheel on base 10, and removal portion 2 is connected with touch-control screen 4 electricity, and the robot walks according to the route of setting for, gives the guest's delivery food of needs, has not only saved the cost of labor for the hotel, has still brought novel experience for the guest.

In this embodiment, the number of the cargo compartments 3 of the robot is two, and the volume of each of the two cargo compartments 3 is 0.01-0.02 cubic meter. Two warehouses 3 all are provided with drive arrangement 5, and every drive arrangement 5 is connected with touch-control screen 4 electricity respectively to realize two warehouses 3's independent control, can open alone and close, each other do not influence, guest can open the warehouse 3 of required food through touch-control screen 4 as required, bring good use experience for guest. Touch screen 4 sets up in the top of two warehouses 3, highly just in time being fit for the crowd's operation of height in certain extent. The opening and closing of the cargo compartment 3 and the walking of the robot are controlled by a robot central control part comprising a touch screen 4.

Optionally, as shown in fig. 2, the main body portion 1 further includes a main frame support 6, and at least two cargo compartments 3 are disposed in layers and respectively slidably disposed on the main frame support 6, so that the cargo compartments 3 can be extended or reset from the main body portion 1 under the driving of the driving device 5. Specifically, the main body portion 1 further includes a slide rail assembly 7, the slide rail assembly 7 includes a slide rail 71 and a slide block 72, the slide rail 71 is fixedly connected with the host bracket 6, the slide block 72 is fixedly connected with the cargo compartment 3, and the cargo compartment 3 is slidably disposed on the slide rail 71 through the slide block 72. In this embodiment, host computer support 6 sets up in the cavity of main part 1, there are four host computer supports 6 in the cavity of main part 1 to be used for supporting storehouse 3 and other parts, storehouse 3 sets up to the drawer structure, the drawer passes through slide rail set 7 and host computer support 6 sliding connection, slide rail set 7 includes slide rail 71 and slider 72, the side of drawer is through pressing rivet nut and slider 72 fixed connection, slide rail 71 passes through slide rail support piece and host computer support 6 fixed connection, slide rail 71 makes drawer and host computer support 6 sliding connection with the slider 72 cooperation.

Of course, in other embodiments, the cargo compartment 3 may be slidably connected to the main frame 6 by a sliding groove and pulley fit. The sliding block 72 can be further split into two parts which are sleeved with each other in a sliding manner along the length direction of the sliding block, one part of the sliding block can be fixedly connected with the cargo bin 3, and the other part of the sliding block can be fixedly arranged on the host bracket 6, so that the cargo bin 3 can horizontally slide relative to the host bracket 6.

Preferably, at least two of the bins 3 are arranged in layers above and below the host rack 6. In the present embodiment, one bin 3 is provided per floor. Of course, in other embodiments, two or three cargo compartments 3 may be provided per floor, and a corresponding number of host brackets 6 may be added as required, so as to satisfy that each cargo compartment 3 is slidably provided on the host bracket 6.

Optionally, a sensor bracket 64 is further disposed on the host bracket 6, and the sensor 8 is adjustably mounted on the sensor bracket 64 to adjust the mounting position of the sensor 8. In the present embodiment, the sensor 8 is configured as a cylinder, an oval slot is provided in the middle of the sensor holder 64, and the position of the sensor 8 in the oval slot is adjustable to an optimal position for detecting the sensed object 9. The sensed body 9 is disposed at a side of the first horizontal plate 5422 and opposite to the sensor 8, so as to ensure that the cargo compartment 3 can be sensed by the sensor 8 during the moving process.

Optionally, as shown in fig. 2 to 4, the driving device 5 further includes a driving motor 51 and a synchronous pulley 52, the driving motor 51 is fixedly connected to the main frame support 6; the timing pulley 52 includes a driving pulley 521 and a driven pulley 522, the driving pulley 521 is provided at the rear portion of the main body portion 1, the driven pulley 522 is provided at the front portion of the main body portion 1, and a timing belt 53 is connected between the driving pulley 521 and the driven pulley 522. In the present embodiment, the driving wheel 521 is disposed at the rear side of the cargo compartment 3 and connected to the output shaft of the driving motor 51, and the driven wheel 522 is disposed at the bottom of the cargo compartment 3.

According to the driving device 5 of the robot provided by the embodiment, the driving motor 51 drives the synchronous belt 53 to transmit between the driving wheel 521 and the driven wheel 522, the synchronous belt 53 drives the cargo bin 3 to move, the transmission speed is increased, the cargo bin 3 can be opened and closed within 2-3 seconds, and meanwhile, the stability of the cargo bin in the operation process is also improved.

In the moving direction of each cargo compartment 3 in the embodiment, two beams 61 are respectively arranged between the host bracket 6, each beam 61 is fixedly connected with an extension plate 62, one extension plate 62 is provided with an installation plate 63, the installation plate 63 is in an L shape, one side of the installation plate 63 is fixedly connected with the driving motor 51, the other side of the installation plate 63 is fixedly connected with the extension plate 62, and the output end of the driving motor 51 is connected with the driving wheel 521; two fixed bearing assemblies 5222 are fixedly connected to the other extension plate 62, and the driven wheel 522 is disposed between the two fixed bearing assemblies 5222 and is rotatably connected thereto via a rotating shaft 5221. The timing belt 53 cooperates with the driving pulley 521 and the driven pulley 522 to drive the cargo compartment 3 and the timing belt 53 to move together.

Preferably, as shown in fig. 5, trapezoidal teeth are provided on the inner side of the timing belt 53, and a limit protrusion 5421 engaged with the trapezoidal teeth is provided on the first cross plate 5422 to limit the sliding of the timing belt 53. In the embodiment, the XL type trapezoidal tooth synchronous pulley 52 and the synchronous belt 53 are adopted, so that the transmission stability and accuracy are effectively improved, and the transmission speed and efficiency are improved; the problems of large noise, high cost, quick abrasion, large installation space, low transmission efficiency and the like caused by using transmission forms such as gear racks, electric push rods, lead screw nuts and the like are solved. Set up spacing arch 5421 and hold-in range 53's trapezoidal tooth cooperation on first diaphragm 5422 and press from both sides tight hold-in range 53 for hold-in range 53's conveying efficiency is high, and is fast. Of course, in other embodiments, the trapezoidal tooth type of the synchronous pulley 52 and the synchronous belt 53 can be selected according to actual requirements.

Optionally, in this embodiment, the sensor 8 is an infrared sensor, and the sensed object 9 is a metal sheet. The metal sheet is fixedly attached to the side of the first cross plate 5422 opposite the sensor 8.

In other embodiments, the sensor 8 may also be a light sensor, and the sensed object 9 is a baffle.

Alternatively, two sensors 8 are provided, respectively, at the beginning and end in the moving direction of the cargo compartment 3. The cargo bin 3 moves under the driving of the driving device 5, when the cargo bin 3 is opened until the inducted body 9 reaches the tail end, the sensor 8 at the tail end detects the opening, and then the driving motor 51 is controlled to stop driving, and the cargo bin 3 stops moving; when the warehouse 3 is closed and the sensor 9 reaches the starting end, the sensor 8 at the starting end detects the arrival, and the warehouse 3 stops moving.

Example two

The difference between this embodiment and the first embodiment is: two driving devices 5 are respectively arranged at two sides of each cargo compartment 3, a slide rail 71 is arranged at the bottom of the cargo compartment 3, and a slide block 72 is fixedly connected to a cross beam 61 (not shown) of the main machine bracket 6. The arrangement mode can also improve the opening and closing speed of the cargo compartment 3 and reduce the noise; but the occupied space is large compared with the embodiment, and the robot is suitable for the robot with larger volume in the cavity of the main body part 1.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. A robot, comprising:

a moving part (2) for driving the robot to move;

the device comprises a main body part (1), wherein the main body part (1) comprises at least two cargo bins (3) and a sensor (8) for detecting the positions of the cargo bins (3), and each cargo bin (3) is provided with an independent driving device (5) for driving the cargo bin (3) to extend out of or reset from the main body part (1);

the driving device (5) comprises a synchronous belt (53), a first connecting plate (542) which moves synchronously with the goods bin (3) is arranged on the goods bin (3), and the synchronous belt (53) is arranged between the first connecting plate (542) and the goods bin (3) so as to drive the goods bin (3) through the synchronous belt (53); an object to be sensed (9) is arranged on the first connecting plate (542), and the moving position of the object to be sensed (9) is sensed by the sensor (8).

2. The robot according to claim 1, characterized in that the main body part (1) further comprises a main frame support (6), and at least two of the cargo compartments (3) are arranged in layers up and down and are respectively slidably arranged on the main frame support (6).

3. The robot according to claim 2, wherein the main body part (1) further comprises a slide rail assembly (7), the slide rail assembly (7) comprises a slide rail (71) and a slide block (72), the slide rail (71) is fixedly connected with the host bracket (6), the slide block (72) is fixedly connected with the cargo compartment (3), and the cargo compartment (3) is slidably arranged on the slide rail (71) through the slide block (72).

4. The robot according to claim 2, characterized in that a sensor bracket (64) is further provided on the host bracket (6), and the sensor (8) is adjustably mounted on the sensor bracket (64) to adjust the mounting position of the sensor (8).

5. Robot according to claim 2, characterized in that the drive means (5) further comprise a drive motor (51) and a synchronous pulley (52), the drive motor (51) being fixedly connected to the host bracket (6); the synchronous pulley (52) comprises a driving pulley (521) and a driven pulley (522), the driving pulley (521) is arranged at the rear part of the main body part (1), the driven pulley (522) is arranged at the front part of the main body part (1), and the synchronous belt (53) is connected between the driving pulley (521) and the driven pulley (522).

6. The robot as claimed in claim 1, wherein the first connecting plate (542) comprises a first horizontal plate (5422) and a first vertical plate (5423), an avoiding slot is arranged in the middle of the first vertical plate (5423), the synchronous belt (53) passes through the avoiding slot and is arranged between the first horizontal plate (5422) and the goods warehouse (3), and then the first connecting plate (542) moves synchronously with the synchronous belt (53).

7. The robot according to claim 6, characterized in that a second cross plate (5411) is further arranged between the first cross plate (5422) and the cargo compartment (3), the second cross plate (5411) being fixedly connected with the cargo compartment (3).

8. The robot as claimed in claim 6, wherein trapezoidal teeth are provided on the inner side of the timing belt (53), and a limit protrusion (5421) engaged with the trapezoidal teeth is provided on the first cross plate (5422).

9. Robot according to claim 1, characterized in that the sensor (8) is a light sensor and the sensed body (9) is a flap; or

The sensor (8) is an infrared sensor, and the sensed body (9) is a metal sheet.

10. Robot according to claim 1, characterized in that the number of sensors (8) is two, each arranged at the beginning and end of the moving direction of the cargo compartment (3).