CN216841150U

CN216841150U - Robot delivery storehouse and robot

Info

Publication number: CN216841150U
Application number: CN202220347832.0U
Authority: CN
Inventors: 鲁伟; 王珏
Original assignee: Shanghai Yunshen Intelligent Technology Co ltd
Current assignee: Shanghai Hongxing Cloud Computing Technology Co ltd
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2022-06-28
Anticipated expiration: 2032-02-21

Abstract

The utility model relates to a robot delivery bin and a robot, wherein the robot delivery bin comprises a delivery bin body, an installation platform and a containing cavity arranged in the installation platform; the driving piece is arranged on the distribution bin body; the gear assembly is connected with the driving piece and arranged on the mounting table of the distribution bin body; the bin gate bracket comprises a first bin gate bracket and a second bin gate bracket, and is provided with a fixed end and a free end, wherein the fixed end is fixedly connected with the gear assembly, and the free end can rotate around the fixed end; the bin gate comprises a first bin gate and a second bin gate, the first bin gate is connected to the free end of the first bin gate support, and the second bin gate is connected to the free end of the second bin gate support. The driving piece drives the gear assembly to rotate, so that the first bin door support and the second bin door support are driven to rotate, and the first bin door and the second bin door are synchronously opened and closed. The device has the advantages of ingenious structure, less driving pieces, less bin gate stroke and convenient control.

Description

Robot delivery storehouse and robot

Technical Field

The utility model relates to the technical field of robot, indicate a robot delivery storehouse and robot especially.

Background

In recent years, with the development of artificial intelligence, robots play an important role, and are particularly common in industrial production, particularly in storage and transportation. And in the process of robot storage and transportation, the automatic opening and closing of the storage bin door are involved.

In the prior art, the storage bin of the transportation robot adopts a side-opening or top-opening mode, the main side-opening mode is mainly the side-opening mode, and the single-side opening mode has the problems of jamming, abnormal sound and the like in the sliding process due to the fact that the opening angle of the door is large, the stroke of the bin door is long, and the shape of a sliding rail of the bin door has higher requirements. In the door opening mechanism, a complicated door opening mechanism is often required to control the two doors to open, and the number of control units is large, so that the structural complexity is greatly increased and the cost is high.

SUMMERY OF THE UTILITY MODEL

To the technical problem, an object of the utility model is to provide a delivery storehouse of robot and robot, it is big to solve the single side door turned angle among the prior art, and two control unit that open the door are many, the structure is complicated, with high costs scheduling problem.

In order to achieve the above object, an object of the present invention is to provide a robot delivery bin and a robot, the robot delivery bin includes:

the distribution bin body is provided with a mounting table, and an accommodating cavity is formed in the distribution bin body;

the driving piece is arranged on the distribution bin body;

the gear assembly is connected with the driving piece and arranged on the mounting table of the distribution bin body;

the bin gate bracket comprises a first bin gate bracket and a second bin gate bracket, and is provided with a fixed end and a free end, wherein the fixed end is fixedly connected with the gear assembly, and the free end can rotate around the fixed end;

the bin gate comprises a first bin gate and a second bin gate, the first bin gate is connected to the free end of the first bin gate support, and the second bin gate is connected to the free end of the second bin gate support.

In some real-time modes, the gear assembly includes first driving gear, second driving gear, first driven gear, second driven gear and reversing gear, first driving gear and first driven gear meshing, reversing gear respectively with second driving gear and second driven gear meshing, the stiff end of first door support connect in first driven gear, the stiff end of second door support connect in second driven gear.

In some embodiments, the first driving gear and the second driving gear are coaxially fixed to a first fixed shaft, the first fixed shaft drives the first driving gear and the second driving gear to rotate, and the first driven gear and the second driven gear are rotatably fixed to a second fixed shaft.

In some real-time modes, the first bin gate and the second bin gate are both arc-shaped bin gates, and the bending radius of the first bin gate and the bending radius of the second bin gate are equal to the rotating radius of the first bin gate and the rotating radius of the second bin gate.

In some real-time modes, the mounting table is located at the top of the distribution bin body, an arc-shaped sliding groove is formed in the mounting table, an arc-shaped sliding block which is matched with the arc-shaped sliding groove is arranged in the arc-shaped sliding groove, the arc-shaped sliding block is respectively connected to the bin gate and the bin gate support, and the bin gate is driven to open and close through movement of the arc-shaped sliding block.

In some real-time modes, a slide block pressing strip is arranged on the upper side of the arc-shaped sliding groove and used for fixing the arc-shaped slide block.

In some real-time modes, the delivery storehouse body is provided with a door locking mechanism on a mounting platform, the door locking mechanism comprises a stop block positioned on a storehouse door, an electromagnetic lock positioned on the mounting platform and a lock tongue arranged on the electromagnetic lock, the lock tongue naturally extends forwards and is abutted against the stop block of the lock tongue when the electromagnetic lock is not powered on, the storehouse door is locked, and when the electromagnetic lock is powered on, the lock tongue retreats and the storehouse door is unlocked.

In some real-time modes, the lock tongue and/or the stop block are provided with guide surfaces, and the guide surfaces can realize automatic locking through collision of the lock tongue and the stop block when the door is closed.

In some real-time modes, a driven synchronous belt wheel is arranged on the first fixed shaft, a driving belt wheel is arranged at the output end of the driving piece, and the driven belt wheel is connected with the driving belt wheel through a synchronous belt to realize power transmission.

In some real-time modes, the present invention also resides in providing a robot, comprising:

a robot body;

in the robot delivery box according to each of the above embodiments, the robot delivery box is provided in the robot body.

Compared with the prior art, the utility model discloses the beneficial effect who brings is:

1. set up door bracket component and gear assembly through the delivery storehouse top, correspond gear control and correspond the door bracket and carry out the fixed point rotation, convert the horizontal slip among the prior art into the fixed point rotation, the stroke is short when opening the door, and turned angle is little, compares prior art and only needs a driving piece to carry out the transmission.

2. The parameters of the first driving gear and the second driving gear, the first driven gear and the second driven gear are set to be the same, the parameter of the reversing gear is set to be the same as the parameter of the second driven gear, when the gear reversing is ingeniously realized, the angles of the first driven gear and the second driven gear which rotate are the same through the setting of the parameters of the gear assembly, and therefore the synchronous control of the first bin door and the second bin door is realized.

3. Set up arc spout and arc slider at robot delivery storehouse top, be connected door and door support through arc slider to support the door, reduce the intensity requirement to door support.

4. Through set up the electromagnetic lock in the delivery storehouse of robot, set up corresponding dog on the door, under the on-state, the spring bolt of electromagnetic lock retreats, can open the door, when the electromagnetic lock is not electrified, closes through the door and slides, and the spring bolt collides with the dog and carries out the auto-lock.

Drawings

The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments in a clearly understandable manner, in conjunction with the accompanying drawings.

Fig. 1 is a schematic perspective view of a robot delivery bin according to the present invention;

fig. 2 is an exploded schematic view of a robotic dispensing bin of the present invention;

fig. 3 is an enlarged schematic view of a gear assembly of a robotic dispensing cartridge according to the present invention;

fig. 4 is a schematic structural diagram of a door locking mechanism of a robot delivery bin of the present invention.

The reference numbers illustrate: 100-dispensing bin body, 101-dispensing bin base, 102-dispensing bin upper cover, 1021-electromagnetic lock, 10211-lock tongue, 1022-arc chute, 10221-stopper, 1023-arc slider, 1024-slider hold-down bar, 1025-LED light bar, 1026-LED heat sink bar, 200-driving piece, 201-driving motor, 2011-driving pulley, 2012-synchronous belt, 2013-driven pulley, 202-motor driving plate, 300-gear assembly, 301-first driving gear, 302-second driving gear, 303-reversing gear, 304-first driven gear, 305-second driven gear, 306-first fixed shaft, 307-second fixed shaft 400-bin gate bracket, 500-bin gate, 501-first bin gate, 5011-stop block, 5012-cushion rubber strip, 502-second bin gate.

Detailed Description

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, only the parts related to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present application, the terms "first," "second," and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In one embodiment, as shown in fig. 1-4, a robotic dispensing cartridge for the purposes of the present invention includes a dispensing cartridge body 100, a driving member 200, a gear assembly 300, a door bracket 400, and a door 500. The dispensing cartridge body 100 has a mounting platform for providing a mounting location for the door bracket 400 and the gear assembly 300, and a receiving cavity is provided therein for storing items. Specifically, the mounting platform is placed on top of the pod body 100. In this embodiment, the distribution box body 100 is divided into two parts, namely, a distribution box upper cover 102 and a distribution box base 101, and the mounting table is disposed on the distribution box upper cover 102. By disassembling the distribution bin body 100, the gear assembly 300 on the mounting table, the bin door bracket 400 and parts on each part are convenient to mount. The driver 200 includes a drive motor 201 and a motor drive plate 202. In this embodiment, as a preferred embodiment, the driving motor 201 is installed at a side of the dispensing chamber body 100, specifically, on a side wall of the dispensing chamber base 101 close to the dispensing chamber upper cover 102, and an output shaft thereof is parallel to an installation direction of the gear assembly 300 and is connected to the gear assembly 300 for power transmission. The motor driving board 202 is disposed on a side wall of the dispensing bin base 101, is close to the driving motor 201, and is configured to control the driving motor 201, specifically, to forward and reverse rotation directions, rotation speeds, and start and stop of the driving motor 201. The door bracket 40 includes a first door bracket 401 and a second door bracket 402, both having a fixed end and a free end, wherein the fixed end is movably fixed on the mounting platform at the upper part of the distribution chamber body 100, and the free end can rotate around the fixed end at a certain angle. The bin gate 500 is arranged at the free end of the bin gate support 400, the bin gate 500 comprises a first bin gate 501 and a second bin gate 502, the upper end of the first bin gate 501 and the upper end of the second bin gate 502 are respectively and correspondingly fixedly connected to the free ends of the first bin gate support 401 and the second bin gate 402, and the first bin gate 501 and the second bin gate 502 are driven to rotate through rotation of the bin gate support 400, so that opening and closing of the bin gate 500 are realized. In this embodiment, the synchronous rotation of the bin gate 500 is realized by combining the transmission of the gear assembly 300 and the transmission of the bin gate bracket 400 and skillfully utilizing the transmission characteristic and the reversing characteristic of the gear assembly 300. At the same time, only one driving member 200 is required to achieve opening and closing of the side-by-side door.

In one embodiment, the gear assembly 300 includes a first driving gear 301, a second driving gear 302, a first driven gear 304, a second driven gear 305, and a reversing gear 303, the first driving gear 301 is engaged with the first driven gear 304, the reversing gear 303 is respectively engaged with the second driving gear 302 and the second driven gear 305, a fixed end of the first door support 401 is connected to the first driven gear 304, and a fixed end of the second door support 402 is connected to the second driven gear 305. Specifically, in this embodiment, the gear assembly 300 is disposed on a mounting support, the mounting support is fixed on the upper portion of the distribution chamber body 100, a support cover having a similar shape to the mounting support is disposed on the upper portion of the mounting support, so as to cover and protect the gear assembly 300, and a certain space is left between the support cover and the mounting support, so that the first chamber door support 401 and the second chamber door support 402 can rotate. A fixed shaft is provided on the mounting support, the first driving gear 301, the second driving gear 302, the first driven gear 304, the second driven gear 305 and the reversing gear 303 are respectively fixed on the corresponding fixed shaft, and the first driven gear 304 and the second driven gear 305 are symmetrically mounted. Further, to reduce the number of the driving members 200, the first driving gear 301 and the second driving gear 302 are coaxially fixed to the first fixed shaft 306, and the first driven gear 304 and the second driven gear 305 are coaxially fixed to the second fixed shaft 307. The first fixed shaft 306 is rotatably disposed on the mounting support, and the first driving gear 301 and the second driving gear 302 rotate along with the first fixed shaft 306. The second fixed shaft 307 is fixedly disposed on the mounting bracket, and the first driven gear 304 and the second driven gear 305 are rotatably disposed thereon relative to the second fixed shaft 307. The first driving gear 301 is directly engaged with the first driven gear 304, and the second driving gear 302 and the second driven gear 305 are engaged with each other by the reversing gear 303. In this embodiment, as an optimal implementation manner, for facilitating material selection and manufacturing, the parameters of the first driving gear 301 and the second driving gear 302 are the same, the parameters of the first driven gear 304 and the second driven gear 305 are the same, and the parameters of the reversing gear 303 and the second driven gear 305 are the same, which only implements the steering process of the second driven gear 305, thereby ensuring that the rotation angles of the first driven gear 304 and the second driven gear 3005 are the same, that is, the rotation angles of the first door support 401 and the second door support 402 are the same, and implementing synchronous opening and closing of the first door 501 and the second door 502. Alternatively, the parameters of the second driving gear 302, the reversing gear 303 and the second driven gear 305 may be different from those of the first driving gear 301 and the first driven gear 304, and it is only necessary to ensure that the reduction ratio between the second driving gear 302, the reversing gear 303 and the second driven gear 305 is the same as that between the first driving gear 301 and the first driven gear 304.

In one embodiment, since the robot dispensing bin has a cylindrical symmetrical structure as a whole and the bin opening has an arc-shaped structure, the first bin gate 501 and the second bin gate 502 are provided as arc-shaped bin gates, so that the utilization space of the robot dispensing bin as a whole is maximized. In this embodiment, the bending radius of the first door 501 and the second door 502 is equal to the rotation radius of the first door 501 and the second door 502, so that the movement space occupied by the door 500 is the minimum during the rotation process of the first door 501 and the second door 502. Specifically, the first bin gate 501 and the second bin gate 502 have the same size and structure, and are symmetrically arranged at the bin openings, and the bin gates 500 are symmetrically arranged, so that the problems that the single bin gate 500 has an excessively large rotation angle, a long stroke and instability are avoided, and the bin gates 500 are synchronously controlled by combining the first bin gate support 401 and the second bin gate support 402 which are positioned at the same rotation center.

In one embodiment, to reduce the rigidity requirement of the first door support 401 and the second door support 402, an arc chute 1022 is disposed on the mounting platform at the top of the dispensing bin body 100, and a corresponding arc slide 1023 is disposed in the arc chute 1022, and the arc slide 1023 is fixedly connected to the door support 400 and the door 500, respectively, so as to support the door 500, so that the door support 400 is not affected by the gravity of the door, but only by the force of rotation in the horizontal direction. In this embodiment, the arc sliding chute 1022 is divided into a left section and a right section, and symmetrically arranged on the mounting table along the symmetric centers of the first bin gate bracket 401 and the second bin gate bracket 402, and the length of the arc sliding block 1023 is close to the width of the bin gate 500, so as to ensure that the arc sliding block 1023 stably supports the whole bin gate 500. Further, to facilitate the detachment and installation of the arc-shaped slider 1023, the arc-shaped slider 1023 is non-embedded. Therefore, a slider pressing strip 1024 is arranged on the side of the arc-shaped sliding groove 1022. Specifically, the slider bead 1024 is installed along the periphery of the arc-shaped sliding groove 1022, so that the arc-shaped slider 1023 is always pressed by the slider bead 1024 in the moving process, the slider bead 1024 is limited in the vertical direction, and the slider bead 1024 is prevented from being separated from the arc-shaped sliding groove 1022. Further, a limiting block 10221 is disposed on the arc-shaped sliding groove 1022 to limit the arc-shaped sliding block 1023, so as to prevent the rotation angle of the bin gate 500 from exceeding the actual rotation angle. Further, the two sides of the bin door 500 are provided with buffering rubber strips, so that a buffering effect is realized when the bin door 500 is closed, and direct collision is avoided. Similarly, when the door 500 is fully opened, the buffering rubber strip abuts against and collides with the stopper 10221 to perform buffering.

In one embodiment, a door locking mechanism is provided on the mounting platform of the dispensing cartridge body 100, including a stop 5011 on the cartridge door 500 and an electromagnetic lock 1021 on the mounting platform. By providing the door locking mechanism, the door 500 is locked when the door 500 is closed. Specifically, a latch 10211 is provided on the electromagnetic lock 1021, when the electromagnetic lock is not powered on, the latch 10211 extends forward under the action of a spring, when the door 500 is closed, the stopper 5011 presses the latch 10211 to contract, when the door 500 is completely closed, the latch 10211 rebounds to be clamped with the stopper 5011, and the door 500 is locked. When the power is on, the latch 10211 compresses the spring to contract, the latch 10211 is separated from the stopper 5011, and the bin door 500 can be opened through the gear assembly. Further, in order to facilitate smooth abutting and pressing of the stopper 5011 against the latch 10211 when the door 500 is closed, the latch 10211 and/or the stopper 5011 is provided with a guide surface which can automatically lock the door 500 by collision between the latch 10211 and the stopper 5011 when the door is closed. Specifically, the guide surface may be provided only on the stopper 5011 of the door 500, only on the latch bolt 10211, or both the stopper 5011 and the latch bolt 10211 may be provided with guide surfaces that cooperate with each other. In this embodiment, both stopper 5011 and latch 10211 have guide surfaces. Further, the guide surface in this embodiment is a slope structure. Alternatively, the guide surface may be an arcuate surface structure. Further, a lighting assembly is also provided on the mounting table, including an LED light bar 1025 and an LED heat sink bar 1026. The LED light bars 1025 provide illumination within the dispensing bin and the LED heat sink bars 1026 provide heat dissipation for the LED light bars 1025.

In one embodiment, since the first driving gear 301 and the second driving gear 302 are coaxially fixed to the first fixed shaft 306, the driven pulley 2013 is disposed on the first fixed shaft 306, and the driven pulley 2013 is fixedly connected to the first fixed shaft 306. The output end of the driving piece 200 is provided with a driving pulley 2011, and the driven pulley 2013 is connected with the driving pulley 2011 through a synchronous belt 2012, so that the bin gate 500 is driven to open and close through power transmission. Alternatively, the transmission between the synchronous belt and the synchronous pulley may be realized by a gear chain, or may also be realized by a gear engagement, and the specific transmission form is not limited thereto, and it is sufficient that the power of the driving member 200 is transmitted to the first transmission shaft 306 and drives the first transmission shaft 306 to rotate.

In one embodiment, the utility model also provides a robot, which comprises a robot body; and the robot delivery bin in the embodiments, wherein the robot delivery bin is arranged on the robot body.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A robotic dispensing cartridge, comprising:

the driving piece is arranged on the distribution bin body;

2. A robotic dispensing cartridge as defined in claim 1,

the gear assembly includes first driving gear, second driving gear, first driven gear, second driven gear and reversing gear, first driving gear and first driven gear meshing, reversing gear respectively with second driving gear and second driven gear meshing, the stiff end of first door support connect in first driven gear, the stiff end of second door support connect in second driven gear.

3. A robotic dispensing cartridge as defined in claim 2,

the first driving gear and the second driving gear are coaxially fixed on a first fixed shaft, the first fixed shaft drives the first driving gear and the second driving gear to rotate, and the first driven gear and the second driven gear are rotatably fixed on a second fixed shaft.

4. A robotic dispensing cartridge as defined in claim 1,

the first bin gate and the second bin gate are both arc-shaped bin gates, and the bending radius of the first bin gate and the bending radius of the second bin gate are equal to the rotating radius of the first bin gate and the rotating radius of the second bin gate.

5. A robotic dispensing cartridge as defined in claim 4,

the mounting table is located delivery storehouse body top be equipped with the arc spout on the mounting table be equipped with the arc slider of looks adaptation in the arc spout, the arc slider connect respectively in the door with the door support, through the arc slider removes the drive the switch of door.

6. A robotic dispensing cartridge as defined in claim 5,

and a slide block pressing strip is arranged on the upper side of the arc-shaped sliding groove and used for fixing the arc-shaped slide block.

7. A robotic dispensing cartridge as claimed in claim 6,

the delivery storehouse is characterized in that a door locking mechanism is arranged on a mounting table of the delivery storehouse body, and comprises a stop block positioned on a storehouse door, an electromagnetic lock positioned on the mounting table is provided with a lock tongue, the electromagnetic lock is in a non-electrified state, the lock tongue naturally extends forwards and is abutted against the stop block of the lock tongue, the storehouse door is locked, and when the electromagnetic lock is electrified, the lock tongue retreats and the storehouse door is unlocked.

8. A robotic dispensing cartridge as defined in claim 7,

the lock tongue and/or the stop block are/is provided with guide surfaces, and the guide surfaces can realize automatic locking through collision of the lock tongue and the stop block when the bin door is closed.

9. A robotic dispensing cartridge as claimed in claim 3,

the first fixing shaft is provided with a driven synchronous belt wheel, the output end of the driving piece is provided with a driving belt wheel, and the driven belt wheel is connected with the driving belt wheel through the synchronous belt to realize power transmission.

10. A robot, comprising:

a robot body;

the robotic dispensing cartridge of any of claims 1-9, the robotic dispensing cartridge disposed on the robot body.