CN213136770U - Robot - Google Patents
Robot Download PDFInfo
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- CN213136770U CN213136770U CN202022112005.7U CN202022112005U CN213136770U CN 213136770 U CN213136770 U CN 213136770U CN 202022112005 U CN202022112005 U CN 202022112005U CN 213136770 U CN213136770 U CN 213136770U
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- bin gate
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Abstract
本实用新型公开了一种机器人，涉及物联网技术领域，主要目的是提高机器人的使用方便性。该机器人包括主体，所述主体上设置有具有开口的仓体，所述开口位于所述主体的侧部；仓门，所述仓门转动连接于所述开口处，且其可向上朝向所述开口转动，或向下远离所述开口转动；驱动机构，所述驱动机构设置于所述主体上，且与所述仓门连接，用于驱动所述仓门转动预设角度。
The utility model discloses a robot, which relates to the technical field of the Internet of Things, and the main purpose is to improve the use convenience of the robot. The robot includes a main body, on which is provided a warehouse body with an opening, the opening is located at the side of the main body; The opening rotates, or rotates downwardly away from the opening; and a driving mechanism, the driving mechanism is arranged on the main body and connected with the warehouse door, and is used for driving the warehouse door to rotate by a preset angle.
Description
Technical Field
The utility model belongs to the technical field of the internet of things technique and specifically relates to a robot.
Background
With the rapid development of the internet of things and artificial intelligence, the demand of indoor intelligent distribution business is gradually increased, and services such as intelligent robot meal delivery and express delivery are provided in indoor places such as office buildings, shopping malls and hotels.
At present, the robot usually has a storehouse body that is used for placing article such as express delivery, still is provided with the door that is used for opening or closing the storehouse body, and when the robot arrived appointed place, generally required the user to open the door, in will putting into the storehouse body from intelligent cabinet or the article that other places were taken out again, could realize the express delivery service of robot, and it is inconvenient to use.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a robot, and the main purpose is to improve the convenience of the robot.
In order to achieve the above object, the embodiment of the present invention mainly provides the following technical solutions:
an embodiment of the utility model provides a robot, include:
the device comprises a main body, a first clamping device and a second clamping device, wherein a bin body with an opening is arranged on the main body, and the opening is positioned on the side part of the main body;
the bin door is rotatably connected to the opening and can rotate upwards towards the opening or rotate downwards away from the opening;
and the driving mechanism is arranged on the main body, is connected with the bin gate and is used for driving the bin gate to rotate by a preset angle.
Further, the bin gate comprises a connecting end, and the connecting end is rotatably connected with the position, close to the bottom of the main body, of the opening;
the bin gate comprises two side ends adjacent to the connecting end, and the two side ends are respectively connected with guide edges extending outwards in the direction of the inner wall of the bin gate.
Further, the side end of the bin gate is in smooth transition connection with the guide edge.
Further, the door includes a free end opposite the connected end; the opening has a first end corresponding to the free end; the free end and/or the first end is provided with a first flexible part; and/or the presence of a gas in the gas,
the main body comprises a side wall, and the side wall is provided with a second end corresponding to the guide edge; a second flexible part is arranged on the guide edge and/or the second end; and/or the presence of a gas in the gas,
the opening is provided with a third end corresponding to the connecting end; and a third flexible piece is arranged at the connecting end and/or the third end.
Further, the bin gate is of a rubber coating structure, and a framework is arranged in the rubber coating structure;
the backbone does not extend to the edges of the encapsulated structure.
Further, the driving mechanism comprises a driving part and a transmission part connected with the driving part, and the transmission part is connected with the bin gate.
Further, the transmission part comprises a first transmission part connected with the driving part and a second transmission part connected with the first transmission part, and the second transmission part is connected with the bin gate.
Further, the first transmission part comprises a driving gear connected with the driving part and a driven gear in meshed connection with the driving gear;
the second transmission part comprises a first connecting rod connected with the driven gear and a second connecting rod, one end of the second connecting rod is rotatably connected with the first connecting rod, and the other end of the second connecting rod is rotatably connected with the bin gate.
Further, the number of the second transmission parts is at least two;
the driving mechanism further comprises a rotating shaft which can rotate and is connected with the driven gear;
the first connecting rods of the at least two second transmission parts are respectively connected with two ends of the rotating shaft, and the second connecting rods of the at least two second transmission parts are respectively rotatably connected with two sides of the bin door.
Further, the robot further includes:
the detection module is arranged on the main body and used for detecting whether the bin door is opened or closed.
Further, the detection module comprises a first limit switch and a second limit switch which are arranged on the side part of the main body;
the first limit switch and the second limit switch are respectively positioned on two sides of the first connecting rod and are respectively used for being abutted against the first connecting rod.
Borrow by above-mentioned technical scheme, the utility model discloses following beneficial effect has at least:
the embodiment of the utility model provides a robot, connect the position that is close to the main part bottom at storehouse body opening part through rotating the door, and it can move towards or keep away from the opening and rotate, actuating mechanism can drive the door and rotate preset angle, so that the turned angle of the door of this robot is controllable, contained angle when between actuating mechanism drive door and the horizontal plane is the acute angle, the door is in the open mode of tilt up promptly, article that flow from the discharge gate of the downward sloping of intelligence cabinet can be under the guide effect of door, it is internal along the door inner wall through the direct storehouse of sliding in of opening, the automatic butt joint of robot and intelligence cabinet has been realized, thereby it is internal to need not the manual storehouse of putting article into of user, it is more convenient to use.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
fig. 3 is a schematic structural diagram of another robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent cabinet provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. 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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present embodiment, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present embodiment.
As shown in fig. 1, 2, 3 and 4, an embodiment of the present invention provides a robot, which includes a main body 1, a cabin body having an opening 11 is disposed on the main body 1, and the opening 11 is located at a side portion of the main body 1; the bin door 2 is rotatably connected to the position, close to the bottom of the main body 1, of the opening 11 and can rotate upwards towards the opening 11 or rotate downwards away from the opening 11; and the driving mechanism is arranged on the main body 1, is connected with the bin gate 2 and is used for driving the bin gate 2 to rotate by a preset angle.
The robot that this embodiment provided can be used for carrying out automatic butt joint with intelligent cabinet 20, specifically, this intelligent cabinet 20's discharge gate 201 can be the discharge gate 201 of downward sloping setting to make the material can follow discharge gate 201 roll-off. When this robot docks with intelligent cabinet 20, can rotate through actuating mechanism drive door 2, make door 2 be the acute angle with ground, or be the acute angle between door 2 and the main part 1, even make door 2 be in tilt up's the open mode, and relative with intelligent cabinet 20's discharge gate 201, at this moment, the material of discharge gate 201 roll-off from intelligent cabinet 20 can be along 2 internal walls of door opening 11 slides in the storehouse body in footpath storehouse body, that is to say, door 2 at this moment can play the guide effect to the material, through door 2 automatically with the material direction to the internal of storehouse, it is internal to need not the manual storehouse of putting into of material of user, convenient operation is swift.
The bin door 2 can be rotationally connected with the layer plate of the bin body through a hinge, so that the bin door can rotate towards or away from the opening 11 to open or close the opening 11 of the bin body. And actuating mechanism drive door 2 rotates and predetermines the angle, should predetermine the angle and can be for the arbitrary angle between 0 to 90 degrees for main part 1, and when door 2 rotated 90 degrees, door 2 was opened completely, door 2 is in the horizontality, when door 2 rotated 0 degrees, door 2 was closed completely, door 2 is in vertical state, and when door 2 rotated 0 to 90 degrees between the angle, for example 60 degrees, door 2 was opened, door 2 is in the oblique tilt up state, at this moment, can realize with intelligent cabinet 20 automatic butt joint, so that the material can be internal through the automatic storehouse of sliding in of door 2. The driving mechanism may be any type of driving mechanism that can be installed on the main body 1 and can drive the door 2 to rotate by a preset angle, for example, the driving mechanism may include a controller and a cylinder that are connected to each other, a piston rod of the driving mechanism is connected to the door 2, and the controller controls the amount of extension and retraction of the piston rod to control the rotation angle of the door 2.
The embodiment of the utility model provides a robot, connect the position that is close to main part 1 bottom in storehouse body opening 11 department through rotating door 2, and it can move towards or keep away from opening 11 and rotate, actuating mechanism can drive door 2 and rotate preset angle, so that the turned angle of door 2 of this robot is controllable, contained angle between actuating mechanism drive door 2 and the horizontal plane is the acute angle, door 2 is in the open mode of tilt up promptly, article that flow out from the discharge gate 201 of intelligent cabinet 20's downward sloping can be under door 2's guide effect, it is internal that the direct storehouse that slides in through opening 11 along door 2 inner wall, robot and intelligent cabinet 20's automatic butt joint has been realized, thereby it is internal to need not the manual storehouse of putting into with article of user, it is more convenient to use.
In an alternative embodiment, referring to fig. 2, the door 2 may comprise a connecting end 21, the connecting end 21 being rotatably connected to the opening 11 near the bottom of the body 1; the door 2 may further comprise two side ends 22 adjacent to the connecting end 21, and the two side ends 22 are respectively connected with guiding edges 24 extending outwards in the direction of the inner wall of the door 2. In this embodiment, the guiding edges 24 are arranged at the two side ends 22 of the bin gate 2, so that the material is prevented from sliding out from the two side ends 22 in the process of sliding in the bin body in the inner wall of the bin gate 2, namely, the guiding edges 24 can also play a role in guiding the material, and the material can slide into the bin body more smoothly. Wherein the guide edge 24 can be extended and arranged on the whole side end 22 of the door 2.
In an alternative embodiment, the lateral end 22 of the door 2 may be smoothly transitionally connected with the guiding edge 24. Specifically, at the inner wall surface and the outer wall surface of the bin gate 2, the side end 22 and the guide edge 24 of the bin gate 2 can be in smooth transition connection, on one hand, the inner wall surface of the bin gate 2 can be prevented from damaging materials in the sliding process; on the other hand, the outer wall surface of the door 2 can prevent damage to external objects such as a user, and the robot has an overall beautiful appearance. Wherein, the guiding edge 24 and the bin gate 2 can be an integrated structure.
In an alternative embodiment, see fig. 3, the door 2 may comprise a free end 23 opposite the connecting end 21; the opening 11 of the cartridge body has a first end 12 corresponding to the free end 23; the free end 23 and/or the first end 12 is provided with a first flexible element 3; and/or, the body 1 comprises a side wall 13, the side wall 13 having a second end 131 corresponding to the guiding edge 24; the guiding rim 24 and/or the second end 131 may be provided with a second flexible member 4; and/or the opening 11 has a third end 14 corresponding to the connection end 21; the connection end 21 and/or the third end 14 may be provided with a third flexible element 5.
In the above embodiment, the flexible member is disposed on the outer edge of the door 2 and/or the edge of the opening 11, so that the outer edge of the door 2 and/or the edge of the opening 11 form a soft edge, and thus, if the finger of the user is located at the position of the opening 11 when the door 2 is closed, the closed door 2 will not damage the hand of the user due to the existence of the soft edge, and the use safety of the robot is improved. The flexible member may be made of rubber or silica gel, and may be fixed to the door 2 or the opening 11 by bonding or encapsulating.
Of course, in order to prevent the hand of the user from being damaged, the embodiment of the present invention is not limited to the above-mentioned manner of disposing the flexible member at the outer edge of the door 2 and/or the edge of the opening 11, in an alternative embodiment, the door 2 may be an integral rubber-coated structure, and in order to ensure the strength of the door 2, a skeleton may be disposed in the rubber-coated structure, and the skeleton may be made of a metal material or a plastic material.
It should be noted that, in the above rubber coating structure, the skeleton does not extend to the edge of the rubber coating structure, so that the skeleton does not exist inside the outer edge of the bin gate 2, and thus the softness of the outer edge of the bin gate 2 is improved, the damage to the hand of the user when the door is closed is better avoided, and the use safety of the robot is improved. Wherein, the rubber coating material of the bin gate 2 can be rubber or silica gel and the like.
The driving mechanism may have various structural forms as long as the driving mechanism can be mounted on the main body 1 and can drive the door 2 to rotate by a preset angle, and in an alternative embodiment, referring to fig. 2, the driving mechanism may include a driving portion 6 and a transmission portion connected to the driving portion 6, and the transmission portion is connected to the door 2. In this embodiment, the driving portion 6 transmits the driving force to the transmission portion, and the transmission portion transmits the driving force to the door 2, so that the door 2 rotates relative to the main body 1, and the structure is simple and the use is reliable.
In an alternative embodiment, referring to fig. 2, the transmission part may include a first transmission part 7 connected with the driving part 6, and a second transmission part 8 connected with the first transmission part 7, the second transmission part 8 being connected with the door 2.
In the above embodiment, the first transmission part 7 may include a driving gear 71 fixed on the top of the main body 1 and connected to the driving part 6, and a driven gear 72 engaged with the driving gear 71; the second transmission part 8 may include a first link 81 connected to the driven gear 72, and a second link 82 having one end rotatably connected to the first link 81 and the other end rotatably connected to the door 2. In this embodiment, the driving gear 71 is driven by the driving portion 6 to rotate, so as to drive the driven gear 72 to rotate, and the driving gear 71 transmits the torque to the first connecting rod 81 through the driven gear 72, and since the two ends of the second connecting rod 82 are respectively connected with the first connecting rod 81 and the door 2 in a rotating manner, after the driven gear 72 transmits the torque to the first connecting rod 81, the first connecting rod 81 can drive the door 2 to rotate by a preset angle through the second connecting rod 82.
In an alternative embodiment, with reference to fig. 2, the number of second transmission portions 8 may be at least two; the driving mechanism may further include a rotating shaft 9 rotatably disposed at the top of the main body 1 and connected with the driven gear 72; the first connecting rods 81 of the at least two second transmission parts 8 can be respectively connected with two ends of the rotating shaft 9, and the second connecting rods 82 of the at least two second transmission parts 8 can be respectively rotatably connected with two sides of the bin gate 2, and particularly can be rotatably connected with two guide edges 24 of the bin gate 2. In this embodiment, by providing the rotatable rotating shaft 9, the two second transmission parts 8 can be driven to move simultaneously by one driving part 6 and a pair of mutually meshed gear sets, so that the structure of the driving mechanism is simpler, and the cost is reduced. Wherein, both ends of the rotation shaft 9 can be disposed on the top of the main body 1 through the bearing seats 91 so that the rotation shaft 9 can be smoothly rotated by the driven gear 72.
In an alternative embodiment, the driving portion 6 may be a speed reduction motor, and it may be disposed at the top of the main body 1, the speed reduction motor is provided with an encoder for detecting a rotation position of the motor, so as to determine a rotation position of the door 2, and the door 2 motion controller may determine whether the door 2 is to be closed according to the rotation position information of the door 2 fed back by the motor encoder. And when the door 2 is about to be closed, the current and/or voltage of the control motor is reduced, so that the door 2 can be slowly closed, the hands of a user are further prevented from being pinched, and the use safety of the robot is further improved.
In an optional embodiment, the robot may further include a detection module, which is disposed on the main body 1 and is used to detect whether the door 2 is opened or closed, so as to determine whether the door 2 is opened or closed in place.
In the above embodiment, the detection module may include a first limit switch 101 and a second limit switch 102 disposed at the side of the main body 1; the first limit switch 101 and the second limit switch 102 can be respectively located on two sides of the first connecting rod 81 and are respectively used for abutting against the first connecting rod 81, so that when the bin door 2 is completely opened, the first limit switch 101 can be in contact with the first connecting rod 81, the first limit switch 101 sends a signal that the bin door 2 is opened in place, and the signal can be sent to a control system of the robot, so that the control system can know that the bin door 2 is opened in place; when the door 2 is fully closed, the second limit switch 102 may contact the first link 81, so that the second limit switch 102 signals that the door 2 is closed in place, which may be sent to the control system of the robot, so that the control system knows that the door 2 is closed in place. The robot may further include an alarm module, such as a speaker or an indicator light, and when the second limit switch 102 is not in contact with the first link 81, that is, the control system does not receive a signal indicating that the door 2 is closed in place, which is detected by the second limit switch 102, the alarm module may be controlled to send an alarm to prompt a user that the door 2 is not closed in place.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (11)
1. A robot, comprising:
the device comprises a main body, a first clamping device and a second clamping device, wherein a bin body with an opening is arranged on the main body, and the opening is positioned on the side part of the main body;
the bin door is rotatably connected to the opening and can rotate upwards towards the opening or rotate downwards away from the opening;
and the driving mechanism is arranged on the main body, is connected with the bin gate and is used for driving the bin gate to rotate by a preset angle.
2. The robot of claim 1,
the bin gate comprises a connecting end which is rotatably connected with the position, close to the bottom of the main body, of the opening;
the bin gate comprises two side ends adjacent to the connecting end, and the two side ends are respectively connected with guide edges extending outwards in the direction of the inner wall of the bin gate.
3. The robot of claim 2,
the side end of the bin gate is in smooth transition connection with the guide edge.
4. The robot of claim 2,
the bin gate includes a free end opposite the connected end; the opening has a first end corresponding to the free end; the free end and/or the first end is provided with a first flexible part; and/or the presence of a gas in the gas,
the main body comprises a side wall, and the side wall is provided with a second end corresponding to the guide edge; a second flexible part is arranged on the guide edge and/or the second end; and/or the presence of a gas in the gas,
the opening is provided with a third end corresponding to the connecting end; and a third flexible piece is arranged at the connecting end and/or the third end.
5. The robot of claim 2,
the bin gate is of a rubber coating structure, and a framework is arranged in the rubber coating structure;
the backbone does not extend to the edges of the encapsulated structure.
6. The robot of claim 1,
the driving mechanism comprises a driving part and a transmission part connected with the driving part, and the transmission part is connected with the bin gate.
7. A robot as claimed in claim 6,
the transmission part comprises a first transmission part connected with the driving part and a second transmission part connected with the first transmission part, and the second transmission part is connected with the bin gate.
8. The robot of claim 7,
the first transmission part comprises a driving gear connected with the driving part and a driven gear in meshed connection with the driving gear;
the second transmission part comprises a first connecting rod connected with the driven gear and a second connecting rod, one end of the second connecting rod is rotatably connected with the first connecting rod, and the other end of the second connecting rod is rotatably connected with the bin gate.
9. A robot as claimed in claim 8,
the number of the second transmission parts is at least two;
the driving mechanism further comprises a rotating shaft which can rotate and is connected with the driven gear;
the first connecting rods of the at least two second transmission parts are respectively connected with two ends of the rotating shaft, and the second connecting rods of the at least two second transmission parts are respectively rotatably connected with two sides of the bin door.
10. The robot of claim 8, further comprising:
the detection module is arranged on the main body and used for detecting whether the bin door is opened or closed.
11. The robot of claim 10,
the detection module comprises a first limit switch and a second limit switch which are arranged on the side part of the main body;
the first limit switch and the second limit switch are respectively positioned on two sides of the first connecting rod and are respectively used for being abutted against the first connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022112005.7U CN213136770U (en) | 2020-09-23 | 2020-09-23 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022112005.7U CN213136770U (en) | 2020-09-23 | 2020-09-23 | Robot |
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| Publication Number | Publication Date |
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| CN213136770U true CN213136770U (en) | 2021-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022112005.7U Active CN213136770U (en) | 2020-09-23 | 2020-09-23 | Robot |
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| CN (1) | CN213136770U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230160251A1 (en) * | 2021-11-22 | 2023-05-25 | Yandex Self Driving Group Llc | Opening mechanism for actuating a lid of a robotic vehicle |
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2020
- 2020-09-23 CN CN202022112005.7U patent/CN213136770U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230160251A1 (en) * | 2021-11-22 | 2023-05-25 | Yandex Self Driving Group Llc | Opening mechanism for actuating a lid of a robotic vehicle |
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