WO2022144033A1 - Robot de distribution - Google Patents

Robot de distribution Download PDF

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Publication number
WO2022144033A1
WO2022144033A1 PCT/CN2022/075841 CN2022075841W WO2022144033A1 WO 2022144033 A1 WO2022144033 A1 WO 2022144033A1 CN 2022075841 W CN2022075841 W CN 2022075841W WO 2022144033 A1 WO2022144033 A1 WO 2022144033A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
delivery robot
cantilever beam
tray
hole
Prior art date
Application number
PCT/CN2022/075841
Other languages
English (en)
Chinese (zh)
Inventor
陈焕昌
何源
Original Assignee
深圳市普渡科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2022144033A1 publication Critical patent/WO2022144033A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present application relates to the field of robotics, and in particular, to a delivery robot.
  • the delivery robot usually uses a tray fixed on the robot body to support the items to be delivered.
  • the fixing method of the tray was complicated, and it was difficult for non-professional technicians to disassemble and assemble the tray.
  • a delivery robot is provided.
  • a delivery robot comprising:
  • the distribution robot body includes a support mechanism, and the support mechanism is provided with a connecting seat;
  • the tray mechanism includes a tray and a cantilever beam; one end of the cantilever beam is detachably connected to the connecting seat; the tray is fixedly connected to the cantilever beam.
  • FIG. 1 is a perspective view of a delivery robot provided by an embodiment
  • FIG. 2 is a schematic diagram of a part of a structure in a delivery robot provided by an embodiment
  • Fig. 3 is the exploded view of Fig. 2;
  • Fig. 4 is the partial enlarged schematic diagram of C place in Fig. 3;
  • FIG. 5 is a perspective view of a delivery robot provided by another embodiment.
  • the distribution robot provided by the present application includes a distribution robot body, the distribution robot body includes a support mechanism, and a connecting seat is provided on the support mechanism; the distribution robot further includes a tray mechanism, and the tray mechanism includes a tray and a cantilever beam, The tray is fixedly connected to the cantilever beam, and one end of the cantilever beam is detachably connected to the connection seat, so that the tray and the delivery robot can be detachably connected, with a simple structure and convenient operation.
  • the delivery robot is mainly used to provide delivery services for customers in restaurants, office buildings and hotels, the tray is used to carry the items to be delivered, and the items to be delivered are transferred to the customers through the movement of the delivery robot body.
  • a delivery robot provided in an embodiment includes a delivery robot body 10 and a tray mechanism 30 .
  • the distribution robot body 10 includes a support mechanism 20 and a walking mechanism 11 , and a connection seat 23 is provided on the support mechanism 20 .
  • the distribution robot body 10 has a navigation system that can realize autonomous navigation, an anti-collision system that can realize anti-collision function, and an interactive system that can interact with users.
  • the walking mechanism 11 may be used to provide power for the walking of the mobile robot body 10 .
  • the support mechanism 20 includes a bottom plate 21 and a support frame 22 .
  • the bottom plate 21 is fixed on the walking mechanism 11 of the distribution robot body 10
  • the support frame 22 is fixed on the bottom plate 21 along the vertical direction
  • the connecting seat 23 is fixed on the support frame 22 .
  • the tray mechanism 30 includes a tray 31 and a cantilever beam 32 .
  • One end of the cantilever beam 32 is detachably connected to the connecting base 23 , and the tray 31 is fixedly connected to the cantilever beam 32 .
  • the tray 31 fixed on the cantilever beam 32 and the cantilever beam 32 form an integral tray mechanism 30
  • the tray mechanism 30 is detachably connected to the connecting seat 23 by one end of the cantilever beam 32 .
  • a detachable connection is achieved, thereby facilitating the operator to detach the tray 31 .
  • the connecting seat 23 includes a fixing plate 231 and a positioning seat body 232 .
  • the fixing plate 231 is fixed on the support frame 22
  • the positioning base 232 is arranged on the fixing plate 231 .
  • a receiving hole 233 is formed on the positioning seat body 232 , and the receiving hole 233 penetrates the positioning seat body 232 in the height direction of the positioning seat body 232 .
  • One end of the cantilever beam 32 is provided with a positioning projection 33, which is accommodated in the accommodating hole 233, so that the tray mechanism 30 and the delivery robot body 10 can be connected together to realize delivery service.
  • the positioning seat body 232 is further provided with a via hole 234 , and the via hole 234 penetrates the width direction of the positioning seat body 232 and communicates with the accommodating hole 233 .
  • the positioning protrusion 33 is also provided with a threaded hole, and after the positioning protrusion 33 is accommodated in the receiving hole 233 , the via hole 234 provided on the positioning base 232 and the thread provided on the positioning protrusion 33 The holes 331 are coaxial. In this way, by passing the screw through the through hole 234 and screwing it into the threaded hole 331, the tray mechanism 30 can be connected with the delivery robot body 10 more firmly.
  • the aforementioned screws are quick-release screws, that is, the tray mechanism 30 further includes a quick-release screw, and the quick-release screw includes a handle and a stud fixed on the handle, and the thread on the stud is adapted to the positioning projection.
  • the threaded hole 331 on the locating block 33, the quick-release screw is passed through the through hole 234 provided on the positioning base body 232 and screwed into the threaded hole 331 provided on the positioning bump 33, so that the cantilever beam 32 is connected to the The seat 23 realizes a more stable and detachable connection.
  • the aforementioned screws can also be directly used as ordinary screws, so that the same stabilization effect can be achieved by screwing the screws into the threaded holes 331 with other tools, but the installation and disassembly are not as convenient as using the quick-release screws.
  • each fixing plate 231 is provided with two positioning bases 232 , and the two positioning bases 232 are arranged at intervals up and down along the vertical direction. It can be understood that, in other embodiments, a common side surface can also be provided on the sides of the two positioning bases 232 , so that the two positioning bases 232 are integrally formed.
  • the number of trays 31 is two, and each tray 31 corresponds to two cantilever beams 32 and two connecting seats 23 .
  • the two connecting bases 23 are fixed on the support frame 22 at the same height, so as to ensure that the tray 31 is in a horizontal state and to ensure that the items to be delivered are stably placed on the tray 31 .
  • each tray 31 corresponds to at least one cantilever beam and at least one connecting seat, and the number of them is not strictly limited. That is, one of the cantilever beams or a plurality of the cantilever beams can be correspondingly provided for each of the trays. Similarly, each of the cantilever beams may correspond to one of the connection bases, or a plurality of the cantilever beams may share one of the connection bases for connection.
  • the cantilever beam when each pallet is equipped with a cantilever beam, the cantilever beam can be arranged in the middle of the lower surface of the pallet, and a connection seat corresponding to the cantilever beam can be arranged in the middle of the support frame position, when each tray is equipped with multiple cantilever beams, the multiple cantilever beams can be evenly arranged on the lower surface of the tray; when multiple cantilever beams share one of the connecting seat,
  • the connecting seat may be arranged in a structure extending in a direction parallel to the surface of the tray and perpendicular to each of the cantilever beams.
  • a positioning structure may be provided on the tray 31 for positioning the items to be delivered, so as to prevent the items to be delivered from being displaced and toppling over.
  • the support frame 22 is disposed along a vertical direction, and the vertical direction is the height direction of the delivery robot body 10 in normal use.
  • the cantilever beam 32 is an elongated structure, and the height direction of the cantilever beam 32 is the direction along the height of the mobile robot body 10 when the tray is horizontally connected to the mobile robot body 10 , and the positioning bumps 33 protrude from the height direction of the cantilever beam 32 .
  • the height direction is the vertical direction.
  • the height of the cantilever beam 32 gradually decreases from its connection with the positioning bump 33 to the direction away from the positioning bump 33 .
  • the cantilever beam 32 includes a first beam and a second beam, the first beam being in direct contact with the tray 31 .
  • a reinforcing rib 34 is also provided between the first beam and the second beam. The cantilever beam 32 and the reinforcing rib 34 are hollowed out, which can effectively reduce overall weight.
  • a triangular-shaped reinforcing rib is also included, wherein one side of the triangular-shaped reinforcing rib is connected to the positioning projection 33, and the other side is connected to the cantilever beam 32, and the reinforcing rib 43 is connected to
  • the length of the side surface of the cantilever beam 32 is greater than the length of the side surface connected to the positioning projection 33 .
  • the length of the side surface connected to the cantilever beam 32 can be set to be twice or three times the length of the side surface connected to the positioning projection 33 , so as to effectively enhance the stability of the cantilever beam 32 .
  • the triangular-shaped reinforcing rib is directly integrated with the cantilever beam 32, which is equivalent to making the second beam an approximate arch shape.
  • an avoidance groove 332 is further provided between the positioning protrusion 33 and the reinforcing rib 34 . After the positioning protrusion 33 is accommodated in the accommodating hole 233 of the positioning base 23 , the accommodating hole 233 is avoided to be close to the cantilever beam. 32 side of the hole wall.
  • the fixing plate 231 is provided with two positioning bases 232 , and the two positioning bases 232 are arranged at intervals along the height direction of the fixing plate 231 .
  • two positioning protrusions 33 are provided at one end of the cantilever beam 33 corresponding to the two positioning bases 232 , and the two positioning protrusions 33 are also arranged in a spaced manner. The distance between the two positioning bases 232 can ensure that the two positioning protrusions 33 move to the corresponding positioning bases 232 without interfering with each other.
  • the positioning protrusions 33 are inserted in parallel above the corresponding accommodating holes 233 , and there is a certain gap between the accommodating holes 233 and the positioning protrusions 33 , and then the positioning protrusions are vertically accommodated in the accommodating holes 233 , until it fits in place, so that the via hole 234 provided on the positioning base 232 is coaxial with the threaded hole 331 provided on the positioning projection 33 , and the installation clearance is minimal at this time.
  • the quick-release screw is passed through the through hole 234 and screwed into the threaded hole 331 , so that the cantilever beam 32 is firmly fixed.
  • the support frame 22 further includes: two support rods 221 and a connecting rod 222, and the support rods 221 and the connecting rod 222 are preferably made of profiles.
  • the bottom end of the support rod 221 is fixed on the bottom plate 21 , and the two ends of the connecting rod 222 are respectively connected to the top ends of the two support rods 221 .
  • the support structure 20 further includes: two fixing bases 24, the two fixing bases 24 are fixed on the bottom plate 21, and the bottom ends of the two supporting rods 221 are respectively fixed to the two fixing bases by welding, bolting, etc. 25 on.
  • the cantilever beam 32 is provided with a plurality of first fixing positions 321 along its length direction
  • the tray 31 is provided with a plurality of second fixing positions 311 , all the first fixing positions 321 and all the second fixing positions 311
  • the positions of 321 correspond to one another, and the number is the same, and the first fixing positions 321 and the second fixing positions 311 corresponding to each other are fixedly connected. It can be understood that, in other embodiments, it is only necessary to ensure that the number of the first fixing position 321 and the second fixing position 311 is more than one.
  • the first fixing position 321 is a threaded hole provided on the cantilever beam 32
  • the second fixing position 311 is a via hole provided on the tray 31
  • the space between the first fixing position 321 and the second fixing position 311 is The connection is fixed by fasteners (screws).
  • the second fixing position 311 can be set as a countersunk hole.
  • the delivery robot provided for another embodiment is the same as the above-mentioned embodiment and will not be repeated here.
  • the tray mechanism further includes a recycling bucket 50 for placing items to be recycled or placing Some light-weight items that are easily displaced, it can be understood that they are only listed here, and there is no restriction on the items placed in the recycling bin 50 .
  • the delivery robot provided in this embodiment realizes the detachable connection with the support structure through the fixing method in which one end of the cantilever beam is detachably connected to the connecting seat, which is not only simple in structure, but also convenient for the operator. Disassemble the tray.

Abstract

L'invention concerne un robot de distribution (10), comprenant : un corps de robot de distribution (10), le corps de robot de distribution (10) comprenant un mécanisme de support (20), le mécanisme de support (20) étant pourvu de bases d'assemblage (23); et des mécanismes de plateau (30), chaque mécanisme de plateau (30) comprenant un plateau (31) et des porte-à-faux (32). Une extrémité de chaque porte-à-faux (32) est reliée de manière amovible à une base d'assemblage (23). Chaque plateau (31) est relié de manière fixe à un porte-à-faux (32). Ledit robot de distribution permet un assemblage détachable des plateaux et du robot de distribution, présente une structure simple et est facile à utiliser.
PCT/CN2022/075841 2020-12-31 2022-02-10 Robot de distribution WO2022144033A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202023306719.8 2020-12-31
CN202023306719 2020-12-31
CN202121321605.2U CN215920467U (zh) 2020-12-31 2021-06-11 配送机器人
CN202121321605.2 2021-06-11

Publications (1)

Publication Number Publication Date
WO2022144033A1 true WO2022144033A1 (fr) 2022-07-07

Family

ID=80402876

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/075841 WO2022144033A1 (fr) 2020-12-31 2022-02-10 Robot de distribution

Country Status (2)

Country Link
CN (2) CN218614066U (fr)
WO (1) WO2022144033A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206445806U (zh) * 2016-09-14 2017-08-29 深圳市普渡科技有限公司 一种托盘可以快速拆装组合的送餐机器人
CN209125860U (zh) * 2018-09-29 2019-07-19 炬星科技（深圳）有限公司 一种机器人托盘
KR20190106907A (ko) * 2019-05-31 2019-09-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN210189804U (zh) * 2019-04-30 2020-03-27 北京云迹科技有限公司 送餐机器人餐盘托架快装结构
KR20200085658A (ko) * 2019-01-02 2020-07-15 엘지전자 주식회사 서빙 모듈 및 그를 갖는 로봇
CN211220772U (zh) * 2019-08-13 2020-08-11 深圳市普渡科技有限公司 快拆托盘及机器人
CN211943569U (zh) * 2020-01-21 2020-11-17 达闼科技（北京）有限公司 一种机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206445806U (zh) * 2016-09-14 2017-08-29 深圳市普渡科技有限公司 一种托盘可以快速拆装组合的送餐机器人
CN209125860U (zh) * 2018-09-29 2019-07-19 炬星科技（深圳）有限公司 一种机器人托盘
KR20200085658A (ko) * 2019-01-02 2020-07-15 엘지전자 주식회사 서빙 모듈 및 그를 갖는 로봇
CN210189804U (zh) * 2019-04-30 2020-03-27 北京云迹科技有限公司 送餐机器人餐盘托架快装结构
KR20190106907A (ko) * 2019-05-31 2019-09-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN211220772U (zh) * 2019-08-13 2020-08-11 深圳市普渡科技有限公司 快拆托盘及机器人
CN211943569U (zh) * 2020-01-21 2020-11-17 达闼科技（北京）有限公司 一种机器人

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CN218614066U (zh) 2023-03-14
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