Distribution robot based on multiple sensors

Abstract

The invention relates to the technical field of manipulators, in particular to a multi-sensor-based delivery robot which comprises a delivery robot chassis, a mechanical arm is mounted at the top end of the delivery robot chassis, a fixing plate is fixedly connected to the other end of the mechanical arm, and a four-corner clamping mechanism and a fixing and limiting mechanism are arranged at the bottom end of the fixing plate. An expansion mechanism is arranged on the fixed limiting mechanism; the four-corner clamping mechanism comprises fixing columns fixedly connected to the four corners of the bottom end of the fixing plate, grooves are formed in the bottom ends of the four fixing columns, through holes are formed in the two ends of the four grooves in a penetrating mode, and first toothed plates are slidably connected to the bottom ends of the four through holes. More supporting points can be provided for the rolled preservative film, so that the stability of the preservative film is enhanced, adjustment can be performed through the electric telescopic cylinder according to the outer diameter of the rolled preservative film, the preservative film rolling device can be suitable for preservative films with different diameters, and the practicability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a delivery robot based on multiple sensors. Background Art

[0002] Rolled-up plastic wrap means that the plastic wrap is folded, wrapped or curled into a continuous roll shape, which is usually for easy storage, carrying and use. The rolled-up plastic wrap not only saves space, but also allows users to tear off the appropriate length of plastic wrap to cover or wrap food as needed. Therefore, when delivering these plastic wraps, the plastic wrap can be grabbed by a robotic arm and delivered by a delivery robot. The delivery robot may encounter obstacles of different types and heights in different scenarios. Therefore, multiple ultrasonic sensors need to be installed around the delivery robot to detect the surrounding environment to avoid collisions.

[0003] In the prior art, when grabbing a rolled-up commercial plastic bag, only the middle part is grabbed, resulting in fewer support points for grabbing. Therefore, the rolled-up commercial plastic bag will shake during the movement, making it very unstable during the entire delivery process. In addition, the grabbing pressure during the grabbing process will act on the middle part of the rolled-up commercial plastic bag, which may cause excessive pressure to damage or deform the rolled-up commercial plastic bag. The clamping force during grabbing cannot be reduced, resulting in excessive clamping force, which may cause the plastic bag to be punctured, affecting subsequent use. If the clamping force is too small, the rolled-up commercial plastic bag may spread out, and the bag may slide down in a direction perpendicular to the clamping direction, affecting delivery efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose a delivery robot based on multiple sensors.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a multi-sensor based delivery robot, comprising a delivery robot chassis, a mechanical arm is installed on the top of the delivery robot chassis, a fixed plate is fixedly connected to the other end of the mechanical arm, a four-corner clamping mechanism and a fixed limiting mechanism are arranged at the bottom of the fixed plate, and an expansion mechanism is arranged on the fixed limiting mechanism;

[0006] The four-corner clamping mechanism comprises fixed columns fixedly connected to the four corners of the bottom end of the fixed plate, the bottom ends of the four fixed columns are each provided with a groove, both ends of the four grooves are each provided with a through hole, the bottom ends of the four groups of through holes are each slidably connected to a first tooth plate, one end of the four first tooth plates close to each other is each fixedly connected to an electric telescopic cylinder, and the telescopic ends of the four electric telescopic cylinders are each fixedly connected to an arc-shaped clamping claw for clamping the rolled-up cling film;

[0007] The four-corner clamping mechanism also includes a second tooth plate slidably connected to the inner wall of the groove on a side away from each other, four groups of the second tooth plates are slidably connected to a connecting rod at one end close to each other, four groups of the second tooth plates are fixedly connected to a fixed block at the top of one end close to each other, and eight groups of reset springs for reducing the clamping force are fixedly connected between the fixed blocks and the connecting rods.

[0008] Preferably, the clamping mechanisms at the four corners further include a rotating shaft rotatably connected to the bottom of the inner wall of the groove, and the middle of the outer walls of the four rotating shafts are fixedly connected with a first gear, and the four first gears are meshedly connected with the four first tooth plates respectively.

[0009] Preferably, the outer walls of the four rotating shafts are fixedly connected with second gears on both sides corresponding to the first gear, the four groups of the second gears and the four groups of the second tooth plates are respectively meshed and connected, the four fixed columns are each close to one end and are provided with square holes on both sides, and the four groups of square holes are respectively in contact with the four groups of connecting rods.

[0010] Preferably, the four-corner clamping mechanism also includes an electric push rod fixedly connected to the middle part of the bottom end of the fixed plate, the telescopic end of the electric push rod is fixedly connected to a lifting plate, the lifting plate and four groups of connecting rods are fixedly connected, and a high-definition camera is fixedly connected to the middle part of the bottom end of the lifting plate.

[0011] Preferably, the fixed limiting mechanism includes limiting vertical plates fixedly connected to the bottom end of the fixed plate on both sides of the corresponding electric push rod, the two limiting vertical plates are close to each other and are slidably connected to movable plates on both sides, and the bottom ends of the two movable plates are fixedly connected to circular plates.

[0012] Preferably, both sides of the two limit vertical plates close to each other are fixedly connected with square plates, and the two ends of the two square plates away from each other are fixedly connected with return springs, and the two return springs are fixedly connected to the two movable plates respectively.

[0013] Preferably, the two limiting vertical plates are fixedly connected to a fixed shaft on one side of the square plate corresponding to one end thereof, the outer walls of the two fixed shafts are rotatably connected to fixed pulleys, the outer walls of the two fixed pulleys are provided with ropes, the two ends of the two ropes are respectively fixedly connected to the lifting plate and the two movable plates, and the material of the two ropes is set to be steel wire.

[0014] Preferably, the expansion mechanism comprises a fixing rod fixedly connected to one end of the circular plate close to each other, two groups of fixing rods are fixedly connected to one end close to each other with a fixing disk, and a plurality of first guide holes are pierced through the two fixing disks.

[0015] Preferably, the expansion mechanism also includes a motor fixedly connected to the end of the circular plate away from each other, the two motor driving ends are fixedly connected to a driving shaft, the two driving shafts are fixedly connected to a rotating disk at one end close to each other, and the two rotating disks are each provided with a plurality of second guide holes, and the inner walls of the plurality of groups of the second guide holes and the first guide holes are each provided with limiting columns, and the two groups of limiting columns and the two circular plates are respectively slidably connected.

[0016] Preferably, ultrasonic sensors for detecting the distance between the delivery robot chassis and obstacles are fixedly connected to the four ends of the delivery robot chassis.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Through the setting of the four-corner clamping mechanism, the arc-shaped clamping claws can contact and clamp the rolled cling film from two sides, thereby providing more support points for the rolled cling film, thereby enhancing its stability, and the electric telescopic cylinder can be adjusted according to the outer diameter of the rolled cling film, so that it can be suitable for cling films of different thicknesses, improving practicality;

[0019] 2. The clamping force can be reduced during the clamping process, thereby preventing the rolled commercial plastic bags from being punctured by excessive clamping force, thereby protecting the rolled commercial plastic bags and facilitating subsequent use operations;

[0020] 3. By setting a fixed limiting mechanism, the rolled-up cling film can be clamped from both sides, which can effectively fix the rolled-up cling film and prevent the cling film from falling off from both sides during the delivery process, thereby improving the delivery efficiency;

[0021] 4. By setting up the expansion mechanism, the thickness of the rolled-up cling film can be adjusted, thereby increasing the supporting force of the cling film to be more stable, thereby improving the stability during the delivery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of a multi-sensor based delivery robot of the present invention;

[0023] Figure 2 A schematic bottom view of a multi-sensor based delivery robot according to the present invention;

[0024] Figure 3 A delivery robot based on multiple sensors of the present invention Figure 2 Enlarged view of point A in the middle;

[0025] Figure 4 A cross-sectional view of a fixed column of a multi-sensor-based delivery robot according to the present invention;

[0026] Figure 5 A delivery robot based on multiple sensors of the present invention Figure 4 Enlarged view of point B in the middle;

[0027] Figure 6 A further cross-sectional view of a fixed column of a multi-sensor based delivery robot according to the present invention;

[0028] Figure 7 A cross-sectional view of a fixing plate of a multi-sensor-based delivery robot according to the present invention;

[0029] Figure 8 A structural diagram of a circular plate of a multi-sensor-based delivery robot according to the present invention;

[0030] Fig. 9 This is a structural diagram between the limiting vertical plates of a multi-sensor-based delivery robot of the present invention;

[0031] Fig.10 It is a partial structural diagram of an expansion mechanism of a multi-sensor-based delivery robot of the present invention;

[0032] Fig.11 This is a disassembled diagram of an expansion mechanism of a multi-sensor-based delivery robot according to the present invention;

[0033] Fig.12 This is a grasping operation diagram of a multi-sensor based delivery robot according to the present invention.

[0034] In the figure: 1. distribution robot chassis; 2. mechanical arm; 3. fixed plate; 4. fixed column; 5. moving plate; 6. circular plate; 7. ultrasonic sensor; 9. groove; 10. connecting rod; 11. arc-shaped clamp; 12. high-definition camera; 13. lifting plate; 14. limit vertical plate; 15. reset spring; 16. square hole; 17. first gear; 18. second gear; 19. rotating shaft; 20. first tooth plate; 21. second tooth plate; 22. fixed block; 23. fixed shaft; 24. rope; 25. reset spring; 26. square plate; 27. fixed pulley; 28. electric push rod; 29. ​​motor; 30. rotating disk; 31. limit column; 32. fixed disk; 33. fixed rod; 34. driving shaft; 35. first guide hole; 36. second guide hole; 37. through hole; 38. electric telescopic cylinder. DETAILED DESCRIPTION

[0035] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0036] like Figure 1-Figure 12A multi-sensor-based delivery robot shown in the figure comprises a delivery robot chassis 1, a mechanical arm 2 is mounted on the top of the delivery robot chassis 1, a fixing plate 3 is fixedly connected to the other end of the mechanical arm 2, a four-corner clamping mechanism and a fixed limiting mechanism are arranged at the bottom of the fixing plate 3, an expansion mechanism is arranged on the fixed limiting mechanism, and a rolled commercial plastic bag can be clamped and fixed at the four corners through the four-corner clamping mechanism, and can be clamped and fixed again from the circular surface through the fixed limiting mechanism to improve stability;

[0037] like Figure 3-Figure 6 As shown, the four-corner clamping mechanism includes a fixed column 4 fixedly connected to the four corners of the bottom end of the fixed plate 3, the bottom ends of the four fixed columns 4 are each provided with a groove 9, both ends of the four grooves 9 are penetrated with a through hole 37, the bottom ends of the four groups of through holes 37 are slidably connected with a first tooth plate 20, the four first tooth plates 20 are each fixedly connected with an electric telescopic cylinder 38 at one end close to each other, the telescopic ends of the four electric telescopic cylinders 38 are each fixedly connected with an arc-shaped clamping claw 11 for clamping the rolled-up cling film, and guide columns are provided on both sides of the electric telescopic cylinder 38;

[0038] like Figure 5 , Figure 6 As shown, the four-corner clamping mechanism also includes a second tooth plate 21 slidably connected to the inner wall of the groove 9 on the side away from each other, the four groups of second tooth plates 21 are slidably connected to the connecting rod 10 at one end close to each other, the four groups of second tooth plates 21 are fixedly connected to the top of one end close to each other with a fixed block 22, and a reset tension spring 15 for reducing the clamping force is fixedly connected between the eight groups of fixed blocks 22 and the connecting rod 10.

[0039] like Figure 5 As shown, the clamping mechanism at the four corners also includes a rotating shaft 19 rotatably connected to the bottom of the inner wall of the groove 9, and the middle of the outer wall of the four rotating shafts 19 is fixedly connected with the first gear 17, and the four first gears 17 are respectively meshed and connected with the four first tooth plates 20. The first gear 17 is limited by the rotating shaft 19, so that the first gear 17 and the first tooth plate 20 are closely meshed together to ensure the meshing effect and improve the transmission efficiency.

[0040] like Figure 5 As shown, the second gears 18 are fixedly connected to both sides of the outer walls of the four rotating shafts 19 corresponding to the first gears 17, and the four groups of second gears 18 are meshed and connected with the four groups of second tooth plates 21 respectively, and the four fixed columns 4 are respectively provided with square holes 16 on both sides of one end close to each other, and the four groups of square holes 16 are respectively in contact with the four groups of connecting rods 10. Since the second gear 18 is fixed on the rotating shaft 19, the second gear 18 can be rotated by the rotating shaft 19, and the second tooth plate 21 can be moved, and the connecting rod 10 can be limited by the square holes 16.

[0041] like Figure 3 , Figure 7As shown, the four-corner clamping mechanism also includes an electric push rod 28 fixedly connected to the middle of the bottom end of the fixed plate 3, the telescopic end of the electric push rod 28 is fixedly connected to the lifting plate 13, the lifting plate 13 and the four groups of connecting rods 10 are fixedly connected, and the middle of the bottom end of the lifting plate 13 is fixedly connected to the high-definition camera 12. The lifting plate 13 is pushed up and down by the electric push rod 28, thereby moving the connecting rod 10 up and down to complete the clamping operation, and the high-definition camera 12 can be used to position the rolled-up cling film, and the visual sensing technology used is the existing technology.

[0042] like Figure 7 , Figure 8 , Fig. 9 As shown, the fixed limiting mechanism includes limiting upright plates 14 fixedly connected to the bottom end of the fixed plate 3 corresponding to both sides of the electric push rod 28, and the two limiting upright plates 14 are slidably connected to the two sides of one end close to each other with the moving plate 5, and the bottom ends of the two moving plates 5 are fixedly connected with the circular plate 6. The moving plate 5 is limited by the limiting upright plates 14, and the moving plate 5 can be moved on the limiting upright plates 14, and the cling film is further clamped and fixed by the circular plate 6.

[0043] like Figure 7 , Figure 8 , Fig. 9 As shown, two end portions of the two limit vertical plates 14 close to each other are fixedly connected with square plates 26, and two end portions of the two square plates 26 far from each other are fixedly connected with return springs 25, and the two return springs 25 are respectively fixedly connected to the two movable plates 5. The elastic action of the return springs 25 can make the movable plates 5 perform return motion.

[0044] like Figure 7 , Fig. 9 As shown, the two limiting upright plates 14 are fixedly connected to a fixed shaft 23 on one side of the corresponding square plate 26 at one end close to each other, and the outer walls of the two fixed shafts 23 are rotatably connected to fixed pulleys 27. The outer walls of the two fixed pulleys 27 are provided with ropes 24. The two ends of the two ropes 24 are respectively fixedly connected to the lifting plate 13 and the two moving plates 5. The material of the two ropes 24 is set to steel wire. The ropes 24 bypass the fixed pulleys 27 and rotate the fixed pulleys 27, thereby increasing the length in the vertical direction and reducing the length in the horizontal direction, thereby carrying the moving plates 5 to move in the direction of approaching each other.

[0045] like Figure 8 , Fig.10 , Fig.11 As shown, the expansion mechanism includes a fixing rod 33 fixedly connected to one end of the circular plate 6 close to each other, and two sets of fixing rods 33 are fixedly connected to one end close to each other with a fixing plate 32, and a plurality of first guide holes 35 are pierced on the two fixing plates 32. The fixing plates 32 are fixed to the circular plate 6 by the fixing rod 33, which is convenient for subsequent adjustment operations.

[0046] like Figure 8 , Fig.10 , Fig.11 As shown, the expansion mechanism also includes a motor 29 fixedly connected to the end of the circular plate 6 that is far away from each other, and the driving ends of the two motors 29 are fixedly connected to the driving shaft 34, and the ends of the two driving shafts 34 that are close to each other are fixedly connected to the rotating disk 30, and the two rotating disks 30 are pierced with a plurality of second guide holes 36, and the inner walls of the plurality of groups of second guide holes 36 and the first guide holes 35 are provided with limiting posts 31, and the two groups of limiting posts 31 are respectively slidably connected to the two circular plates 6. The rotating disk 30 can be rotated by the motor 29 driving the driving shaft 34 to rotate, and since the limiting posts 31 are in the second guide holes 36 and the first guide holes 35, the distance between the limiting posts 31 can be adjusted, and then can be adjusted according to the inner diameter of the rolled-up cling film, so that it can be suitable for different cling films.

[0047] like Figure 1 , Figure 2 As shown, the four ends of the delivery robot chassis 1 are fixedly connected with ultrasonic sensors 7 for detecting the distance between the delivery robot chassis 1 and obstacles. The ultrasonic sensors 7 can detect the distance of obstacles around the delivery robot chassis 1 in real time from four directions, thereby ensuring that no collision occurs during the delivery movement.

[0048] Working principle: First, start the electric push rod 28 to push the lifting plate 13 downward and move the connecting rod 10 downward. During the movement, the connecting rod 10 will stretch the reset spring 15 to put it in a stretched state and generate tension. First, start the electric push rod 28 to push the lifting plate 13 downward and move the connecting rod 10 downward. During the movement, the connecting rod 10 will stretch the reset spring 15 to put it in a stretched state and generate tension. At this time, it will move the fixed block 22 downward, thereby moving the second tooth plate 21 downward. Since the second tooth plate 2 1 and the second gear 18 are meshed and connected, so that the second gear 18 can rotate and drive the rotating shaft 19 to rotate. Since the first gear 17 is fixed on the rotating shaft 19, the first gear 17 can rotate and drive the first tooth plate 20 to move, so that they move in the direction of approaching each other, and the rolled-up cling film is clamped and fixed by the arc-shaped clamping claw 11, which can provide more support points for the rolled-up cling film, thereby enhancing its stability, and by grasping at four corners, the grasping pressure can be more evenly distributed to four points, avoiding damage or deformation of the cling film caused by excessive pressure at a single point;

[0049] Furthermore, when the lifting plate 13 moves downward, the rope 24 will be stretched, so that the movable plate 5 and the circular plate 6 can be moved in a direction close to each other, and the two sides of the rolled-up plastic wrap can be clamped and fixed by the circular plate 6, and the driving shaft 34 can be rotated by starting the motor 29, and the driving shaft 34 can rotate the rotating disk 30. Since the limiting column 31 is in the second guide hole 36 and the first guide hole 35, the limiting column 31 can be moved outward when the second guide hole 36 rotates, so that the distance between the limiting columns 31 can be adjusted, and the inner wall of the rolled-up plastic wrap can be supported and fixed to prevent it from being deformed by external force, and after being clamped, it can be distributed and processed by the distribution robot chassis 1, which is convenient and quick.

[0050] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-sensor based delivery robot, comprising a delivery robot chassis (1), a mechanical arm (2) being mounted on the top of the delivery robot chassis (1), characterized in that: The other end of the mechanical arm (2) is fixedly connected to a fixing plate (3), the bottom end of the fixing plate (3) is provided with a four-corner clamping mechanism and a fixing limit mechanism, and the fixing limit mechanism is provided with an expansion mechanism; The four-corner clamping mechanism comprises fixed columns (4) fixedly connected to the four corners of the bottom end of the fixed plate (3), the bottom ends of the four fixed columns (4) are each provided with a groove (9), both ends of the four grooves (9) are each provided with a through hole (37), the bottom ends of the four groups of through holes (37) are each slidably connected to a first tooth plate (20), the four first tooth plates (20) are each fixedly connected to an electric telescopic cylinder (38) at one end close to each other, and the telescopic ends of the four electric telescopic cylinders (38) are each fixedly connected to an arc-shaped clamping claw (11) for clamping the rolled-up cling film; The four-corner clamping mechanism also includes a second tooth plate (21) slidably connected to a side of the inner wall of the groove (9) away from each other, four groups of the second tooth plates (21) are slidably connected to a connecting rod (10) at one end close to each other, and the tops of the four groups of the second tooth plates (21) are fixedly connected to a fixing block (22) at one end close to each other, and a reset tension spring (15) for reducing the clamping force is fixedly connected between the eight groups of the fixing blocks (22) and the connecting rod (10).

2. A multi-sensor based delivery robot according to claim 1, characterized in that: The clamping mechanism at the four corners also includes a rotating shaft (19) rotatably connected to the bottom of the inner wall of the groove (9), and the middle of the outer wall of the four rotating shafts (19) is fixedly connected with a first gear (17), and the four first gears (17) and the four first toothed plates (20) are respectively meshed and connected.

3. A multi-sensor based delivery robot according to claim 2, characterized in that: The outer walls of the four rotating shafts (19) are fixedly connected with second gears (18) on both sides corresponding to the first gears (17); the four groups of the second gears (18) and the four groups of second toothed plates (21) are respectively meshed and connected; the four fixed columns (4) are respectively provided with square holes (16) on both sides of one end close to each other; the four groups of the square holes (16) and the four groups of connecting rods (10) are respectively in contact.

4. The multi-sensor based delivery robot according to claim 1, characterized in that: The four-corner clamping mechanism also includes an electric push rod (28) fixedly connected to the middle of the bottom end of the fixed plate (3); the telescopic end of the electric push rod (28) is fixedly connected to a lifting plate (13); the lifting plate (13) and four groups of connecting rods (10) are all fixedly connected; and a high-definition camera (12) is fixedly connected to the middle of the bottom end of the lifting plate (13).

5. A multi-sensor based delivery robot according to claim 4, characterized in that: The fixed limiting mechanism comprises a limiting vertical plate (14) fixedly connected to the bottom end of the fixed plate (3) on both sides of the corresponding electric push rod (28); the two limiting vertical plates (14) are close to each other and are slidably connected to a movable plate (5) on both sides of one end; and the bottom ends of the two movable plates (5) are fixedly connected to a circular plate (6).

6. A multi-sensor based delivery robot according to claim 5, characterized in that: The two limiting upright plates (14) are fixedly connected to square plates (26) on both sides of one end close to each other, and the two square plates (26) are fixedly connected to one end away from each other. The two return springs (25) are fixedly connected to the two movable plates (5) respectively.

7. A multi-sensor based delivery robot according to claim 6, characterized in that: The two limiting upright plates (14) are fixedly connected to a fixed shaft (23) on one side of the corresponding square plate (26) at one end close to each other, the outer walls of the two fixed shafts (23) are rotatably connected to fixed pulleys (27), the outer walls of the two fixed pulleys (27) are provided with ropes (24), the two ends of the two ropes (24) are respectively fixedly connected to the lifting plate (13) and the two movable plates (5), and the material of the two ropes (24) is set to be steel wire.

8. The multi-sensor based delivery robot according to claim 5, characterized in that: The expansion mechanism comprises a fixing rod (33) fixedly connected to one end of the circular plate (6) close to each other, two sets of fixing rods (33) are fixedly connected to one end close to each other with a fixing disk (32), and a plurality of first guide holes (35) are penetrated on the two fixing disks (32).

9. A multi-sensor based delivery robot according to claim 8, characterized in that: The expansion mechanism further comprises a motor (29) fixedly connected to one end of the circular plate (6) away from each other, the driving ends of the two motors (29) are fixedly connected to a driving shaft (34), the ends of the two driving shafts (34) close to each other are fixedly connected to a rotating disk (30), a plurality of second guide holes (36) are pierced through the two rotating disks (30), and the inner walls of the plurality of groups of the second guide holes (36) and the first guide holes (35) are provided with limiting columns (31), and the two groups of the limiting columns (31) and the two circular plates (6) are respectively slidably connected.

10. The multi-sensor based delivery robot according to claim 1, characterized in that: The four ends of the delivery robot chassis (1) are all fixedly connected with ultrasonic sensors (7) for detecting the distance between the periphery of the delivery robot chassis (1) and obstacles.

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