CN216634407U - Automatic indoor delivery robot of switch door - Google Patents
Automatic indoor delivery robot of switch door Download PDFInfo
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- CN216634407U CN216634407U CN202220001116.7U CN202220001116U CN216634407U CN 216634407 U CN216634407 U CN 216634407U CN 202220001116 U CN202220001116 U CN 202220001116U CN 216634407 U CN216634407 U CN 216634407U
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Abstract
The utility model provides an automatic indoor delivery robot of switch door, when the robot chassis walks the position that the barrier is higher and ditch, bank place, the big universal wheel of elevating system drive moves down to ground contact, and little universal wheel breaks away from with ground, and the wheel footpath of big universal wheel is great, consequently prevents to topple over when hindering more, realizes the switching of two kinds of train structures, greatly increased the static stability and the dynamic stability on chassis, applicable in the complicated ground in multiple room.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an indoor distribution robot capable of automatically opening and closing a door.
Background
With the reduction of population dividends, robots are increasingly applied to different life scenes, especially to restaurants, hotels and business office buildings. Take out in the existing market, the express delivery is not allowed to get into in the building, office staff or hotel customer, oneself get untimely again, it is inconvenient, this problem just can perfect solution to indoor delivery robot, it can shuttle in different floors, be suitable for different ground environment, can realize opening the door automatically, and robot outward appearance in the existing market is ordinary, there is not obvious pilot lamp, open the door under the circumstances of not instructing and open and touch easily and get a person or passerby, cause the unnecessary risk, so one action and the position that will be can self-perception people of robot, also need have obvious light indication, inform action on next step of client robot, avoid unpredictable danger.
The robot in the market at present has poor scene adaptability, is generally only suitable for smooth ceramic tiles and hard carpet pavements, and cannot be used if a larger groove, a cut and a barrier of more than 2cm exists, so that a client is required to refit and change the indoor environment, and the application cost of the client is increased.
Disclosure of Invention
In order to overcome the defects of the technology, the utility model provides an indoor distribution robot capable of automatically opening and closing a door, which is suitable for indoor complex environment.
The technical scheme adopted by the utility model for overcoming the technical problems is as follows:
an indoor distribution robot capable of automatically opening and closing a door comprises a chassis and a rack arranged on the chassis, wherein a plurality of drawers are arranged in the rack in a sliding manner through electric drawer guide rails;
the chassis includes:
the left end and the right end of the lower end of the bottom plate are respectively provided with a wheel, and the wheels are arranged on an outer ring of the hub motor;
the four corners of the bottom plate are respectively provided with 4 small universal wheels, the outer side of each small universal wheel is provided with a large universal wheel through a lifting mechanism, the wheel diameter of each large universal wheel is larger than that of each small universal wheel, when the lifting mechanism drives the large universal wheels to move upwards to the uppermost end, the small universal wheels are in contact with the ground, when the lifting mechanism drives the large universal wheels to move downwards to the lowermost end, the small universal wheels leave the ground, and the large universal wheels are in contact with the ground;
the damping mechanisms are respectively arranged at the left end and the right end of the bottom plate;
the damper mechanism includes:
the swing rod I and the swing rod II are respectively arranged at the front end and the rear end of the bottom plate, the inner side end of the swing rod I is hinged to the upper end of the linkage swing rod I through a pin shaft I, and the inner side end of the swing rod II is hinged to the upper end of the linkage swing rod II through a pin shaft IV;
the outer side end of the shock absorber I is hinged with the upper end of the swing rod I through a pin shaft II, and the inner side end of the shock absorber I is hinged with the upper end of the linkage swing rod I through a pin shaft III;
the outer side end of the shock absorber II is hinged with the upper end of the swing rod II through a pin shaft V, and the inner side end of the shock absorber II is hinged with the upper end of the linkage swing rod II through a pin shaft VI;
the rotating shaft of the hub motor is connected and fixed with the hub motor connecting mechanism;
the lower end of the linkage swing rod I is hinged to the lower end of the hub motor connecting mechanism, and the lower end of the linkage swing rod II is hinged to the upper end of the hub motor connecting mechanism.
Furthermore, the lifting mechanism comprises an X-shaped connecting rod lifting platform arranged on the bottom plate, the upper end of the X-shaped connecting rod lifting platform is connected with the bottom plate, and the lower end of the X-shaped connecting rod lifting platform is connected with a large universal wheel corresponding to the same side.
Further, still include 8 and set up the electromagnetic lock on the bottom plate, be provided with the locking hole in the wheel carrier of little universal wheel and big universal wheel, when the direction of rolling of little universal wheel set up along the fore-and-aft direction, the spring bolt of the electromagnetic lock that the homonymy corresponds inserts in the locking hole of the little universal wheel that corresponds, when the direction of rolling of big universal wheel sets up along the fore-and-aft direction, the spring bolt of the electromagnetic lock that the homonymy corresponds inserts in the locking hole of the big universal wheel that corresponds.
Furthermore, above-mentioned in-wheel motor coupling mechanism includes fixed arm lock I and fixed arm lock II, and the lower extreme of fixed arm lock I is connected with the lower extreme of linkage pendulum rod I through round pin axle VII is articulated, and the upper end of fixed arm lock II is connected with the lower extreme of linkage pendulum rod II through round pin axle VIII, all is provided with semicircular draw-in groove in fixed arm lock I and the fixed arm lock II, and when fixed arm lock I was connected fixedly through screw and fixed arm lock II, the circular clamp hole clamp that two semicircular draw-in grooves are constituteed was pressed from both sides and is fixed in-wheel motor's pivot.
Furthermore, a display screen is installed at the top end of the rack.
Furthermore, an advertisement screen is installed at the side end of the rack.
The utility model has the beneficial effects that: when the robot chassis walks to the position that the barrier is higher and ditch, bank place, the big universal wheel of elevating system drive moves down and contacts as for ground, and little universal wheel breaks away from with ground, and the wheel footpath of big universal wheel is great, consequently prevents to topple over when surmounting, realizes the switching of two kinds of train structures, greatly increased the static stability and the dynamic stability on chassis, applicable in multiple indoor complicated ground.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a perspective view of the internal structure of the present invention;
FIG. 3 is a perspective view of the chassis portion of the present invention;
FIG. 4 is a bottom view of the base plate of the present invention;
FIG. 5 is a front view of the chassis portion of the present invention;
FIG. 6 is a block diagram of the electromagnetic lock portion of the present invention;
FIG. 7 is a block diagram of the X-shaped linkage portion of the present invention;
in the figure, 1, a chassis 2, a display screen 3, an advertisement screen 4, a drawer 5, a rack 6, an electric drawer guide rail 11, a bottom plate 12, a large universal wheel 13, a wheel 14, a shock absorber I15, a shock absorber II 16, a small universal wheel 17, a swing rod I18, a linkage swing rod I19, a pin I110, a pin II 111, a pin III 112, a swing rod II 113, a linkage swing rod II 114, a pin IV 115, a pin V116, a pin VI 117, a fixed clamping arm I118, a pin VII 119, a fixed clamping arm II 120, a pin VIII 121, a clamping hole 122, a hub motor 123, an electromagnetic lock 124, an X-shaped connecting rod lifting platform 125 and a locking tongue are arranged.
Detailed Description
The utility model will be further described with reference to fig. 1 to 7.
An automatic door opening and closing indoor distribution robot comprises a chassis 1 and a rack 5 arranged on the chassis 1, wherein a plurality of drawers 4 are arranged in the rack 5 in a sliding manner through electric drawer guide rails 6; the chassis 1 includes: a bottom plate 11, wherein wheels 13 are respectively arranged at the left end and the right end of the lower end of the bottom plate, and the wheels 13 are arranged on the outer ring of the hub motor 122; four corners of the bottom plate 11 are respectively provided with 4 small universal wheels 16, the outer side of each small universal wheel 16 is provided with a large universal wheel 12 through a lifting mechanism, the wheel diameter of each large universal wheel 12 is larger than that of each small universal wheel 16, when the lifting mechanism drives the large universal wheels 12 to move upwards to the uppermost end, the small universal wheels 16 are in contact with the ground, when the lifting mechanism drives the large universal wheels 12 to move downwards to the lowermost end, the small universal wheels 16 are separated from the ground, and the large universal wheels 12 are in contact with the ground; the damping mechanisms are respectively arranged at the left end and the right end of the bottom plate 1; the damper includes: the swing rod I17 and the swing rod II 112 are respectively installed at the front end and the rear end of the bottom plate 11, the inner side end of the swing rod I17 is hinged to the upper end of the linkage swing rod I18 through a pin shaft I19, and the inner side end of the swing rod II 112 is hinged to the upper end of the linkage swing rod II 113 through a pin shaft IV 114; the outer end of the shock absorber I14 is hinged with the upper end of the swing rod I17 through a pin shaft II 110, and the inner end of the shock absorber I is hinged with the upper end of the linkage swing rod I18 through a pin shaft III 111; the outer side end of the shock absorber II 15 is hinged with the upper end of the swing rod II 112 through a pin shaft V115, and the inner side end of the shock absorber II is hinged with the upper end of the linkage swing rod II 113 through a pin shaft VI 116; the rotating shaft of the hub motor 122 is fixedly connected with the hub motor connecting mechanism; the lower end of the linkage swing rod I18 is hinged with the lower end of the hub motor connecting mechanism, and the lower end of the linkage swing rod II 113 is hinged with the upper end of the hub motor connecting mechanism. The drawer 4 can be opened and closed through the electric drawer guide rail 6, the use is convenient, the wheel hub motors 122 rotate to drive the wheels 13 to rotate, so that the robot chassis walks, the two wheel hub motors 122 independently act to realize the steering of the robot chassis, when the robot chassis walks, each small universal wheel 16 assists in walking on the ground, after the wheels 3 contact with obstacles, the wheels rotate relative to the linkage oscillating rod I8 and the linkage oscillating rod II, the linkage oscillating rod I8 rotates relative to the oscillating rod I7 and compresses the shock absorber I4, the linkage oscillating rod II 13 rotates relative to the oscillating rod II 12 and compresses the shock absorber II 5, so that the shock generated when the wheels 3 travel through the obstacles is effectively buffered, the static stability and the dynamic stability of the chassis are greatly increased, when the robot chassis walks to the positions where the obstacles are higher and the ditches and the ridges, the lifting mechanism drives the large universal wheel 12 to move downwards to be in contact with the ground, the small universal wheel 16 is separated from the ground, and the wheel diameter of the large universal wheel 12 is larger, so that the large universal wheel can be prevented from toppling over when crossing obstacles, the switching of two wheel train structures is realized, the static stability and the dynamic stability of the chassis are greatly increased, and the large universal wheel is suitable for various indoor complex grounds.
The lifting mechanism can be a structure comprising an X-shaped connecting rod lifting platform 124 arranged on the bottom plate 11, wherein the upper end of the X-shaped connecting rod lifting platform 124 is connected with the bottom plate 11, and the lower end of the X-shaped connecting rod lifting platform 124 is connected with the large universal wheel 12 corresponding to the same side. After the X-shaped connecting rod lifting platform 124 is unfolded, the large universal wheel 12 is driven to move downwards until the large universal wheel is contacted with the ground, and at the moment, the small universal wheel 16 is separated from the ground.
Further, 8 electromagnetic locks 123 are arranged on the bottom plate 11, locking holes are formed in wheel carriers of the small universal wheel 16 and the large universal wheel 12, when the rolling direction of the small universal wheel 16 is arranged along the front-back direction, the locking tongues 125 of the electromagnetic locks 123 corresponding to the same side are inserted into the locking holes of the corresponding small universal wheel 16, at the moment, the small universal wheel 16 cannot rotate for 360 degrees, and at the moment, the small universal wheel becomes a directional wheel, so that the flat ground and small obstacles can run stably. When the rolling direction of the large universal wheel 12 is set along the front-rear direction, the locking tongues 125 of the electromagnetic locks 123 corresponding to the same side are inserted into the locking holes of the corresponding large universal wheel 12. The large castor 12 can now not rotate 360 any more, and it now becomes a directional wheel to prevent tipping over when it is out of the way.
The hub motor connecting mechanism comprises a fixed clamping arm I117 and a fixed clamping arm II 119, the lower end of the fixed clamping arm I117 is hinged to the lower end of a linkage oscillating bar I18 through a pin shaft VII 118, the upper end of the fixed clamping arm II 119 is hinged to the lower end of a linkage oscillating bar II 113 through a pin shaft VIII 120, semicircular clamping grooves are formed in the fixed clamping arm I117 and the fixed clamping arm II 119, and when the fixed clamping arm I117 is fixedly connected with the fixed clamping arm II 119 through a screw, a circular clamping hole 121 formed by the two semicircular clamping grooves is clamped and fixed on a rotating shaft of a hub motor 122. Install hub motor 122 fixedly through fixed arm lock I117 and fixed arm lock II 119, its simple structure, it is convenient to dismantle.
Preferably, the top end of the housing 5 may be mounted with the display screen 2. The current state of the robot can be displayed through the display screen 2, and the advertisement screen 3 can be installed at the side end of the frame 5. Advertisements can be displayed through the advertisement screen 3.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an automatic indoor delivery robot of switch door, includes chassis (1) and sets up frame (5) on chassis (1), its characterized in that: a plurality of drawers (4) are arranged in the rack (5) in a sliding way through electric drawer guide rails (6);
the chassis (1) comprises:
the left end and the right end of the lower end of the bottom plate (11) are respectively provided with a wheel (13), and the wheels (13) are arranged on the outer ring of the hub motor (122);
four corners of the bottom plate (11) are respectively provided with 4 small universal wheels (16), the outer side of each small universal wheel (16) is provided with a large universal wheel (12) through a lifting mechanism, the wheel diameter of each large universal wheel (12) is larger than that of each small universal wheel (16), when the lifting mechanism drives the large universal wheel (12) to move upwards to the uppermost end, the small universal wheels (16) are in contact with the ground, when the lifting mechanism drives the large universal wheel (12) to move downwards to the lowermost end, the small universal wheels (16) leave the ground, and the large universal wheels (12) are in contact with the ground;
the damping mechanisms are respectively arranged at the left end and the right end of the bottom plate (11);
the damper mechanism includes:
the swing rod I (17) and the swing rod II (112) are respectively installed at the front end and the rear end of the bottom plate (11), the inner side end of the swing rod I (17) is hinged to the upper end of the linkage swing rod I (18) through a pin shaft I (19), and the inner side end of the swing rod II (112) is hinged to the upper end of the linkage swing rod II (113) through a pin shaft IV (114);
the outer side end of the shock absorber I (14) is hinged with the upper end of the swing rod I (17) through a pin shaft II (110), and the inner side end of the shock absorber I (14) is hinged with the upper end of the linkage swing rod I (18) through a pin shaft III (111);
the outer side end of the shock absorber II (15) is hinged with the upper end of the swing rod II (112) through a pin shaft V (115), and the inner side end of the shock absorber II (15) is hinged with the upper end of the linkage swing rod II (113) through a pin shaft VI (116);
the rotating shaft of the hub motor (122) is connected and fixed with the hub motor connecting mechanism;
the lower end of the linkage swing rod I (18) is hinged to the lower end of the hub motor connecting mechanism, and the lower end of the linkage swing rod II (113) is hinged to the upper end of the hub motor connecting mechanism.
2. The automatic door opening and closing indoor distribution robot as claimed in claim 1, wherein: the lifting mechanism comprises an X-shaped connecting rod lifting platform (124) arranged on the bottom plate (11), the upper end of the X-shaped connecting rod lifting platform (124) is connected with the bottom plate (11), and the lower end of the X-shaped connecting rod lifting platform is connected with a large universal wheel (12) corresponding to the same side.
3. The automatic door opening and closing indoor distribution robot according to claim 1, wherein: still set up electromagnetic lock (123) on bottom plate (11) including 8, be provided with the locking hole in the wheel carrier of little universal wheel (16) and big universal wheel (12), when the direction of rolling of little universal wheel (16) sets up along the fore-and-aft direction, during the locking hole of the little universal wheel (16) that corresponds is inserted in the spring bolt (125) of the electromagnetic lock (123) that the homonymy corresponds, when the direction of rolling of big universal wheel (12) sets up along the fore-and-aft direction, spring bolt (125) of the electromagnetic lock (123) that the homonymy corresponds insert in the locking hole of the big universal wheel (12) that corresponds.
4. The automatic door opening and closing indoor distribution robot according to claim 1, wherein: the hub motor connecting mechanism comprises a fixed clamping arm I (117) and a fixed clamping arm II (119), the lower end of the fixed clamping arm I (117) is hinged to the lower end of a linkage swing rod I (18) through a pin shaft VII (118), the upper end of the fixed clamping arm II (119) is hinged to the lower end of the linkage swing rod II (113) through a pin shaft VIII (120), semicircular clamping grooves are formed in the fixed clamping arm I (117) and the fixed clamping arm II (119), and when the fixed clamping arm I (117) is fixedly connected with the fixed clamping arm II (119) through a screw, a circular clamping hole (121) formed by the two semicircular clamping grooves is clamped and fixed on a rotating shaft of a hub motor (122).
5. The automatic door opening and closing indoor distribution robot according to claim 1, wherein: and the top end of the rack (5) is provided with a display screen (2).
6. The automatic door opening and closing indoor distribution robot according to claim 1, wherein: and an advertisement screen (3) is arranged at the side end of the frame (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220001116.7U CN216634407U (en) | 2022-01-04 | 2022-01-04 | Automatic indoor delivery robot of switch door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220001116.7U CN216634407U (en) | 2022-01-04 | 2022-01-04 | Automatic indoor delivery robot of switch door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216634407U true CN216634407U (en) | 2022-05-31 |
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ID=81724214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220001116.7U Active CN216634407U (en) | 2022-01-04 | 2022-01-04 | Automatic indoor delivery robot of switch door |
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| Country | Link |
|---|---|
| CN (1) | CN216634407U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116513699A (en) * | 2023-03-02 | 2023-08-01 | 广东科技学院 | Carrying and moving device |
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2022
- 2022-01-04 CN CN202220001116.7U patent/CN216634407U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116513699A (en) * | 2023-03-02 | 2023-08-01 | 广东科技学院 | Carrying and moving device |
| CN116513699B (en) * | 2023-03-02 | 2024-03-15 | 广东科技学院 | Carrying and moving device |
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