Robot cabin

Abstract

The utility model discloses a robot cabin, which is applied to the technical field of medical instruments and comprises a fixed cover (1) with an opening in the side wall, a door cover (2) connected to the opening, and a door opening and closing mechanism (26) for connecting the fixed cover (1) and the door cover (2), one end of the bearing connecting rod (267) is connected with the main shaft (266), the other end of the bearing connecting rod (267) is connected with the door cover (2), one end of the connecting rod (264) is connected with the rack (262), the other end of the connecting rod (264) is connected with the door cover (2), the driving device (261) drives the main shaft (266) to rotate, the main shaft (266) drives the bearing connecting rod (267), the bearing connecting rod (267) drives the door cover (2), the door cover (2) drives the connecting rod (264), a double-rocker mechanism is formed, and the action of the door cover (2) is completed. The cabin body of the robot is opened outwards without occupying internal space, so that the capacity of the cabin body is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a robot cabin. Background Technology

[0002] The logistics industry is showing diversified development trends. In the manufacturing sector, the trend towards de-manufacturing and automation is gradually advancing to improve production efficiency and reduce costs. Meanwhile, hospitals are increasingly adopting intelligent robotic cabins to replace some tasks in order to reduce infection risks and alleviate the workload of staff. These robotic cabins not only improve work efficiency but also effectively reduce the risk of cross-infection.

[0003] However, hospital spaces are typically limited, especially narrow corridors, which places higher demands on the design of robotic pods. The robotic pod needs to be small, compact, flexible, and intelligent, while also possessing sufficient loading capacity. Therefore, designing a robotic pod with a large loading capacity and wide door opening distance is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a robot cabin that opens outwards without occupying internal space, thereby increasing the cabin's capacity.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A robot cabin includes a fixed cover with an opening in the side wall, a door cover connected to the opening, and an opening and closing mechanism connecting the fixed cover and the door cover. The opening and closing mechanism includes a main shaft, a load-bearing connecting rod connected at one end to the main shaft and at the other end to the door cover, a connecting rod connected at one end to the frame and at the other end to the door cover, and a drive device for driving the main shaft to rotate. The main shaft drives the load-bearing connecting rod, the load-bearing connecting rod drives the door cover, and the door cover drives the connecting rod, forming a double rocker mechanism to complete the door cover operation.

[0007] Optionally, it also includes two limit switches respectively installed in the closed position and the fully open position of the door cover, and a controller connected to the limit switches and the drive device. The controller is used to control the drive device to stop rotating after receiving the closed or open signal of the limit switches.

[0008] Optionally, the limit switch is a photoelectric switch, the bracket is connected to the frame, the photoelectric switch is connected to the mounting hole of the bracket, the mounting angle between the photoelectric switch and the bracket can be adjusted, and the end of the connecting rod near the photoelectric switch has a sensing part that bends toward the photoelectric switch.

[0009] Optionally, the door cover includes horizontally arranged horizontal covers, each of the horizontal covers includes two vertically arranged vertical covers, and there are gaps between the vertical covers and between the horizontal covers. Each vertical cover is equipped with a set of the door opening and closing mechanism. The fixed cover is provided with a positioning block. When the door cover is closed, the inner wall of the door cover fits against the positioning block and all the surfaces of the door cover are flush. The edge of the door cover is provided with a sealing strip.

[0010] Optionally, a main beam is provided between the bottom plate and the top cover of the fixed cover, and the two ends of the main shaft are connected to the main beam through bearings. The inner ends of the main shafts of the two sets of door opening and closing mechanisms share a common bearing connection, and the two ends of the connecting rod are connected to the frame and the main body of the door cover through bearings.

[0011] Optionally, the fixed cover is provided with multiple partitions, the bottom plate of the fixed cover is connected to the robot chassis assembly, the chassis assembly is provided with a navigation control device, the navigation control device is provided with navigation routes from each path to each service point within the service area, and the navigation control device can control the chassis assembly to move to the target position according to the navigation route corresponding to the current position and the input target position.

[0012] Optionally, the fixed cover is provided with a vertical decorative baffle, and there is a cavity between the decorative baffle and the fixed cover. The wire is hidden in the cavity. The decorative baffle and the partition are connected by a right-angle plate. The decorative baffle is disconnected at the partition and is sandwiched between the upper partition and the lower partition.

[0013] Optionally, the fixing cover is provided with a screw rod, a nut is connected to the screw rod, the partition plate overlaps the nut, and the nut is screwed along the screw rod to adjust the layer height of the partition plate.

[0014] Optionally, the cabin is cylindrical in shape, the inner wall of the fixed cover is provided with an arc groove in the circumferential direction, the edge of the partition is engaged in the arc groove, and can rotate along the arc groove.

[0015] Optionally, the inner wall of the fixed cover is provided with a vertical guide groove, and a plurality of arc grooves are provided along the vertical direction. The guide groove and the plurality of arc grooves are in cross communication. The edge of the partition is provided with a slider that matches the guide groove and the arc groove.

[0016] The beneficial effects of this utility model are as follows: The robot cabin provided by this utility model has a drive device connected to the main shaft, driving the main shaft to rotate. One end of the load-bearing connecting rod is connected to the main shaft, and the other end is connected to the door cover. The rotation of the main shaft is transmitted to the door cover through the load-bearing connecting rod, driving the door cover to open and close. One end of the connecting rod is connected to the frame, such as to the fixed cover, and the other end is connected to the door cover. The connecting rod assists the movement of the door cover, ensuring that the door cover remains stable during opening and closing, and preventing items from falling or being damaged due to the shaking of the door cover. Through the linkage of the main shaft, the load-bearing connecting rod, the door cover, and the connecting rod, a double rocker mechanism is formed, with the load-bearing connecting rod as the first rocker, the door cover as the second rocker, and the connecting rod as the link, realizing the complex movement trajectory of the door cover.

[0017] When the door is opened, the drive unit starts, causing the main shaft to rotate. The rotation of the main shaft is transmitted to the door cover through the load-bearing connecting rod, causing the door cover to begin moving outward. The movement of the door cover drives the connecting rod, and the movement of the connecting rod further assists in the opening and closing action of the door cover, forming the action of the double rocker mechanism, and the door cover gradually opens. Finally, the door cover is fully opened, revealing the opening of the fixed cover, making it convenient for operators to retrieve and place items.

[0018] When the door closes, the drive unit rotates in the opposite direction, causing the main shaft to rotate in the opposite direction as well. The reverse rotation of the main shaft is transmitted to the door cover through the load-bearing connecting rod, causing the door cover to begin moving in the opposite direction. The reverse movement of the door cover drives the connecting rod, and the movement of the connecting rod further assists in the closing action of the door cover, causing the door cover to gradually close. Finally, the door cover and the opening of the fixed cover are tightly fitted together, protecting the items inside the cabin.

[0019] The robot cabin provided by this utility model has an outward-opening door that does not occupy the internal space of the cabin during opening and closing, thus maximizing the cabin's capacity. The opening and closing action of the door is achieved through a double rocker mechanism, allowing the door to open at a large angle and with a wide gap, making it convenient for operators to pick up and put down items, while also accommodating the storage of larger items. The entire opening and closing mechanism has a compact structure, making it suitable for use in narrow environments such as hospital corridors. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the robot cabin provided in a specific embodiment of this utility model;

[0022] Figure 2 A schematic diagram showing the robot's cabin door open;

[0023] Figure 3 Another illustration showing the robot's cabin door open;

[0024] Figure 4 for Figure 3 A schematic diagram of the central door opening and closing mechanism;

[0025] Figure 5 for Figure 3 A schematic diagram of the opening and closing mechanism of the central door.

[0026] Figure label:

[0027] 1-Fixed cover; 2-Door cover; 11-Left side cover; 12-Lower left door cover; 13-Upper left door cover; 14-Rear cover; 15-Top cover; 16-Front screen cover; 17-Rear screen cover; 18-Screen; 19-Lower screen cover; 110-Upper right door cover; 111-Lower right door cover; 112-Right side cover; 21-Base plate; 22-Partition plate; 23-Main beam; 24-Decorative baffle; 25-Right angle plate; 26-Door opening and closing mechanism; 260-Bearing seat; 261-Drive device; 262-Frame; 263-Photoelectric switch; 264-Connecting rod; 265-Coupling; 266-Main shaft; 267-Bearing connecting rod; 268-Clamping plate; 269-Bearing. Detailed Implementation

[0028] The core of this utility model is to provide a robot cabin that opens outwards without occupying internal space, thereby increasing the cabin's capacity.

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please refer to Figures 1 to 5 , Figure 1 A schematic diagram of the structure of the robot cabin provided in a specific embodiment of this utility model; Figure 2 A schematic diagram showing the robot's cabin door open; Figure 3 Another illustration showing the robot's cabin door open; Figure 4 for Figure 3 A schematic diagram of the central door opening and closing mechanism; Figure 5 for Figure 3 A schematic diagram of the opening and closing mechanism of the central door.

[0031] In one specific embodiment, the robot cabin provided by this utility model includes a fixed cover 1 with an opening on the side wall, a door cover 2 connected to the opening, and an opening and closing mechanism 26 connecting the fixed cover 1 and the door cover 2. The opening and closing mechanism 26 includes a main shaft 266, a load-bearing connecting rod 267 with one end connected to the main shaft 266 and the other end connected to the door cover 2, a connecting rod 264 with one end connected to the frame 262 and the other end connected to the door cover 2, and a driving device 261 that drives the main shaft 266 to rotate. The main shaft 266 drives the load-bearing connecting rod 267, the load-bearing connecting rod 267 drives the door cover 2, and the door cover 2 drives the connecting rod 264 to form a double rocker mechanism to complete the action of the door cover 2.

[0032] In the above structure, the fixed cover 1 is the main structure of the cabin. The interior space of the fixed cover 1 is used for loading goods, and its side walls have openings for the entry and exit of goods. The door cover 2 is connected to the opening of the fixed cover 1 and is used to close and open the cabin. The size and shape of the door cover 2 should match the opening of the fixed cover 1 to ensure that it can completely cover the opening when closed. The gap between the door cover 2 and the opening of the fixed cover 1 is small to ensure that the door cover 2 and the opening can be smoothly installed and operated relative to each other; it also reduces the entry of dust into the cabin.

[0033] The drive unit 261 provides power for the opening and closing of the door cover 2. The drive unit 261 can be a motor, cylinder, etc., and achieves smooth opening and closing of the door cover 2 through precise control. The output shaft of the drive unit 261 and the main shaft 266 are connected via a coupling 35, and the drive unit 261 drives the main shaft 266 to rotate. One end of the load-bearing connecting rod 267 is connected to the main shaft 266, and the other end is connected to the door cover 2. The rotation of the main shaft 266 is transmitted to the door cover 2 through the load-bearing connecting rod 267, causing the door cover 2 to open and close. One end of the connecting rod 264 is connected to the frame 262, such as to the fixed cover 1, and the other end is connected to the door cover 2. The connecting rod 264 assists in the movement of the door cover 2, ensuring that the door cover 2 remains stable during opening and closing, and preventing items from falling or being damaged due to shaking of the door cover 2. The main shaft 266, the load-bearing connecting rod 267, the door cover 2 and the connecting rod 264 are linked together to form a double rocker mechanism. The load-bearing connecting rod 267 is the first rocker, the door cover 2 is the second rocker, and the connecting rod 264 is the connecting rod, which realizes the complex movement trajectory of the door cover 2. At the same time, it occupies little space and is suitable for use in narrow spaces.

[0034] When the door is opened, the drive unit 261 starts, driving the main shaft 266 to rotate. The rotation of the main shaft 266 is transmitted to the door cover 2 through the load-bearing connecting rod 267, causing the door cover 2 to begin moving outward. The movement of the door cover 2 drives the connecting rod 264, and the movement of the connecting rod 264 further assists the opening and closing action of the door cover 2, forming the action of the double rocker mechanism, and the door cover 2 gradually opens. Finally, the door cover 2 is fully opened, revealing the opening of the fixed cover 1, making it convenient for the operator to take out and put in items.

[0035] When the door closes, the drive unit 261 rotates in the reverse direction, causing the main shaft 266 to rotate in the reverse direction as well. The reverse rotation of the main shaft 266 is transmitted to the door cover 2 through the load-bearing connecting rod 267, causing the door cover 2 to begin moving in the reverse direction. The reverse movement of the door cover 2 drives the connecting rod 264, and the movement of the connecting rod 264 further assists in the closing action of the door cover 2, and the door cover 2 gradually closes. Finally, the door cover 2 fits tightly against the opening of the fixed cover 1, protecting the items inside the cabin.

[0036] The robot cabin provided by this utility model has an outward-opening door 2. The door 2 does not occupy the internal space of the cabin during opening and closing, thus maximizing the capacity of the cabin. The opening and closing action of the door 2 is realized by a double rocker mechanism. When the door 2 is opened, it achieves a large opening angle and spacing, which facilitates the operation of operators to pick up and put down items, while also accommodating the storage of larger items. The entire opening and closing door mechanism 26 has a compact structure and is suitable for use in narrow environments such as hospital corridors.

[0037] Based on the above specific embodiments, it also includes two limit switches installed in the closed position and the fully open position of the door cover 2, respectively, and a controller connected to the limit switches and the drive device 261. The controller is used to control the drive device 261 to stop rotating after receiving the closed or open signal of the limit switches.

[0038] In one specific embodiment, a closed position limit switch and an open position limit switch are installed in the closed position and the fully open position of the door cover 2, respectively. The limit switches are used to detect the position status of the door cover 2 and transmit signals to the controller. Specifically, when the door cover 2 is fully closed, the closed position limit switch is triggered, sending a closed signal to the controller. When the door cover 2 is fully open, the open position limit switch is triggered, sending an open signal to the controller.

[0039] The controller is connected to the limit switch and the drive unit 261. The controller receives signals from the limit switch and controls the drive unit 261 to stop according to the signals. Specifically, when the controller receives a closing signal, it controls the drive unit 261 to stop rotating, ensuring that the door cover 2 is accurately closed. When the controller receives an opening signal, it controls the drive unit 261 to stop rotating, ensuring that the door cover 2 is fully open.

[0040] In one specific embodiment, during the door opening process, the drive device 261 is activated, the main shaft 266 rotates, and the load-bearing connecting rod 267 drives the door cover 2 to open outward. The movement of the door cover 2 drives the connecting rod 264, and the door cover 2 gradually opens. When the door cover 2 reaches the fully open position, the open position limit switch is triggered, sending an open signal to the controller. After receiving the open signal, the controller controls the drive device 261 to stop rotating, completing the door opening action.

[0041] During the closing process, the drive unit 261 rotates in the reverse direction, and the main shaft 266 drives the load-bearing connecting rod 267 to move in the reverse direction, causing the door cover 2 to close inward. The movement of the door cover 2 is linked by the connecting rod 264, gradually closing the cabin opening. When the door cover 2 reaches the closed position, the closed position limit switch is triggered, sending a closing signal to the controller. After receiving the closing signal, the controller controls the drive unit 261 to stop rotating, completing the door closing action.

[0042] In this embodiment, precise control of door opening and closing is achieved through limit switches and controllers, improving the system's automation level and safety.

[0043] Based on the above specific embodiments, the limit switch is a photoelectric switch 263, the bracket is connected to the frame 262, the photoelectric switch 263 is connected to the mounting hole of the bracket, the mounting angle between the photoelectric switch 263 and the bracket can be adjusted, and the end of the connecting rod 264 near the photoelectric switch 263 has a sensing part that bends toward the photoelectric switch 263.

[0044] In one specific embodiment, two photoelectric switches 263 are installed in the closed position and the fully open position of the door cover 2, respectively. The photoelectric switch 263 is a non-contact sensor that determines the position of the door cover 2 by detecting the interruption of the light beam.

[0045] The photoelectric switch 263 is connected to the frame 262 via a bracket with mounting holes, into which the photoelectric switch 263 is installed. The connecting rod 264 has a sensing element that bends towards the photoelectric switch 263 at one end. When the door 2 moves, the sensing element interrupts the light beam from the photoelectric switch 263, thereby triggering a signal. The mounting angle between the photoelectric switch 263 and the bracket is adjustable to ensure that the light beam from the photoelectric switch 263 is accurately aligned with the sensing element of the connecting rod 264, adapting to different installation environments and mechanical errors to ensure accurate detection.

[0046] During the door opening process, the drive unit 261 starts, the main shaft 266 rotates, and the door cover 2 opens outward through the load-bearing connecting rod 267. The movement of the door cover 2 drives the connecting rod 264, and the door cover 2 gradually opens. When the door cover 2 reaches the fully open position, the sensing part of the connecting rod 264 interrupts the light beam of the open position photoelectric switch 263, and the photoelectric switch 263 sends an opening signal to the controller. After receiving the opening signal, the controller controls the drive unit 261 to stop rotating, completing the door opening action.

[0047] During the closing process, the drive unit 261 rotates in the reverse direction, and the main shaft 266 drives the load-bearing connecting rod 267 to move in the reverse direction, causing the door cover 2 to close inward. The movement of the door cover 2 is linked by the connecting rod 264, gradually closing the cabin opening. When the door cover 2 reaches the closed position, the sensing part of the connecting rod 264 interrupts the light beam of the photoelectric switch 263, and the photoelectric switch 263 sends a closing signal to the controller. After receiving the closing signal, the controller controls the drive unit 261 to stop rotating, completing the door closing action.

[0048] In this embodiment, the photoelectric switch 263 adopts a non-contact detection method, which avoids mechanical wear and improves the lifespan and reliability of the system.

[0049] Based on the above specific embodiments, the door cover 2 includes horizontally arranged horizontal covers, each horizontal cover includes two vertically arranged vertical covers, and each vertical cover is equipped with a door opening and closing mechanism 26.

[0050] In one specific embodiment, the door cover 2 consists of multiple horizontally arranged covers, each independently positioned in the horizontal direction. Each horizontal cover includes two vertically arranged covers, each independently positioned in the vertical direction. This separate design of the vertical and horizontal covers allows for localized control of the opening area. The door cover 2 can be opened at the appropriate location based on the size and shape of the item, maximizing the use of the limited cabin space and facilitating the handling of items, especially irregularly shaped or large items.

[0051] Each vertical cover can be equipped with an independent door opening and closing mechanism 26, including a main shaft 266, a load-bearing connecting rod 267, a connecting rod 264, and a drive device 261. Each vertical cover can be controlled independently, making control convenient; and it can achieve a large opening angle and spacing, making operation convenient. Preferably, two photoelectric switches 263 can be installed in the closed position and the fully open position of each vertical cover respectively, so as to achieve precise control of each vertical cover and ensure the uniformity of the door cover 2 when closing and opening.

[0052] Based on the above specific embodiments, the fixed cover 1 is provided with a positioning block. When the door cover 2 is closed, the inner wall of the door cover 2 is in contact with the positioning block and all the surfaces of the door cover 2 are flush. The edge of the door cover 2 is provided with a sealing strip.

[0053] In one specific embodiment, the fixed cover 1 is provided with a positioning block. When the door cover 2 is closed, the inner wall of the door cover 2 fits tightly against the positioning block, and all surfaces of the door cover 2 are flush, providing precise positioning when the door cover 2 is closed, thereby achieving good appearance consistency. The positioning block not only has a positioning function, but also helps to ensure the sealing between the door cover 2 and the fixed cover 1, sealing off some gaps between the door cover 2 and the opening, reducing the entry of dust and other substances into the cabin.

[0054] Door cover 2 consists of multiple horizontally arranged covers, each of which includes two vertically arranged covers. Gaps exist between the vertical covers and between the horizontal covers, and sealing strips are provided along the edges of door cover 2. When door cover 2 is closed, the sealing strips fit tightly against the fixed cover 1 and adjacent door covers 2, further enhancing the airtightness of the compartment. The sealing strips are typically made of flexible materials, such as rubber or silicone, to prevent dust and other contaminants from entering the compartment and maintain its cleanliness.

[0055] Based on the above specific embodiments, a main beam 23 is provided between the bottom plate 21 and the top cover of the fixed cover 1. The two ends of the main beam 23 can be connected to the bottom plate 21 and the top cover by welding or by flanges and bolts. The main beam 23 connects the bottom plate 21 and the top cover, which plays a supporting and reinforcing role and ensures the structural stability of the entire cabin.

[0056] Based on the above specific embodiments, the two ends of the main shaft 266 are connected to the main beam 23 through bearings 269. The main shaft 266 is fixedly connected to the inner ring of the bearing 269, and the outer ring is fixedly connected to the bearing seat 260, which effectively reduces the friction of the main shaft 266 during rotation and improves the transmission efficiency and service life.

[0057] Based on the above specific embodiments, each vertical cover can be equipped with an independent door opening and closing mechanism 26. The inner ends of the main shafts 266 of the two door opening and closing mechanisms 26 share a common bearing 269 for connection. The design of sharing the bearing 269 not only saves space but also reduces the number of parts, thereby reducing costs and maintenance difficulty. To facilitate connection, the height of the bearing 269 can be increased.

[0058] Based on the above specific embodiments, one end of the connecting rod 264 is connected to the frame 262 via a bearing 269, specifically, it can be connected to a bracket, which can also be used to fix the drive device 261 and the photoelectric switch 263. A column is welded onto the bracket, the column is interference-fitted with the bearing 269, and the bearing 269 and the connecting rod 264 are clearance-fitted, allowing the connecting rod 264 to rotate flexibly.

[0059] The other end of the connecting rod 264 is connected to the main body of the door cover 2 via a bearing 269. Specifically, the door cover 2 can be connected to a bearing seat 260, with the bearing 269 bolted to the bearing seat 260. The bearing 269 and the connecting rod 264 are fitted with a clearance to ensure flexible rotation.

[0060] This transmits the rotational motion of the main shaft 266 to the door cover 2, enabling the door cover 2 to open and close. The connecting rod 264 is connected via a bearing 269, making it more flexible and stable during movement and reducing mechanical wear.

[0061] Based on the above specific embodiments, the load-bearing connecting rod 267 is connected to the door cover 2 via a clamp 268. The height of the clamp 268 is not less than half the height of the door cover 2. The connection length between the load-bearing connecting rod 267 and the door cover 2 is relatively long, and the up and down movements are consistent, so the door cover 2 rotates relatively smoothly.

[0062] Based on the above specific embodiments, the fixed cover 1 is provided with multiple partitions 22, the bottom plate 21 of the fixed cover 1 is connected to the robot chassis assembly, the chassis assembly is provided with a navigation control device, the navigation control device is provided with navigation routes from each path to each service point in the service area, and the navigation control device can control the chassis assembly to move to the target position according to the navigation route corresponding to the current position and the input target position.

[0063] In one specific embodiment, the fixed cover 1 is provided with multiple partitions 22 to separate the internal space of the compartment, facilitating the categorized storage of different items. This design can effectively improve the space utilization of the compartment, while also facilitating management and retrieval of items.

[0064] The base plate 21 of the fixed cover 1 is connected to the robot chassis assembly and can be directly installed on top of the chassis assembly through threaded holes, making it highly adaptable. The chassis assembly serves as the basic support for the robot cabin, enabling the entire robot cabin to move autonomously according to a preset navigation route.

[0065] The chassis assembly is equipped with a navigation control device, which pre-stores navigation routes from various paths to various service points within the service area, i.e., it stores a detailed map of the entire service area. An interactive device is located on top of the fixed cover 1. When the operator inputs the target location through the interactive device, the navigation control device can quickly plan a suitable route from the pre-stored navigation routes based on the current location and the input target location, and control the chassis assembly to move accordingly, so that the robot cabin accurately reaches the target location.

[0066] Based on the above specific embodiments, the chassis assembly moves linearly along the navigation route, and the navigation control device includes:

[0067] Roadblock detection mechanism used to detect whether there is an overlapping area between the first edge of the chassis assembly and the second edge of the obstacle in front, or between the second edge of the chassis assembly and the first edge of the obstacle in front;

[0068] Connected to the obstacle detection mechanism, it is used to control the chassis assembly to avoid obstacles when the obstacle detection mechanism detects overlapping areas.

[0069] In one specific embodiment, the obstacle detection mechanism can employ various sensor technologies, such as laser scanners and cameras, combined with image processing and distance measurement algorithms, to monitor the relative positional relationship between the chassis assembly edge and the obstacle edge in real time, and determine whether there is an overlapping area. Specifically, it can detect whether there is a lateral overlapping area between the first edge of the chassis assembly and the second edge of the obstacle in front, or between the second edge of the chassis assembly and the first edge of the obstacle in front.

[0070] The obstacle avoidance mechanism is connected to the obstacle detection mechanism. When the obstacle detection mechanism detects an overlapping area, it controls the chassis assembly to avoid the obstacle. The obstacle avoidance mechanism can dynamically adjust the avoidance path based on real-time detection data, optimize the movement path, and improve task execution efficiency.

[0071] In one specific implementation, as the robot cabin moves along the navigation route, the obstacle detection mechanism continuously monitors the environment ahead, real-time monitoring the relative positional relationship between the edge of the chassis assembly and the edge of the obstacle ahead, and determining whether there are overlapping areas. When the obstacle detection mechanism detects an overlapping area, the obstacle avoidance mechanism is activated to ensure that the robot cabin can promptly detect and effectively avoid obstacles, maintaining smooth movement.

[0072] Based on the above specific embodiments, the obstacle avoidance mechanism includes:

[0073] The ranging unit is used to calculate either a first distance between the first edge of the chassis assembly and the second edge of the obstacle in front, or a second distance between the second edge of the chassis assembly and the first edge of the obstacle in front.

[0074] The obstacle-side determination unit, connected to the ranging unit, is used to determine the side edge of the chassis assembly corresponding to the smaller of the first distance and the second distance values ​​as the obstacle side.

[0075] The distance acquisition unit, connected to the ranging unit, is used to determine the smaller of the first distance and the second distance values ​​as the obstacle overlap distance.

[0076] The first obstacle avoidance unit, connected to the obstacle-side judgment unit and the distance acquisition unit, is used to control the chassis assembly to move laterally in a direction away from the obstacle by a distance exceeding the obstacle overlap distance.

[0077] In one specific embodiment, during the movement of the robot cabin, the ranging unit calculates a first distance between the first edge of the chassis assembly and the second edge of the obstacle in front, and a second distance between the second edge of the chassis assembly and the first edge of the obstacle in front.

[0078] The obstacle-side judgment unit receives the first and second distance data from the ranging unit. By comparing the magnitudes of the two distances, it determines which side of the robot cabin chassis assembly is closer to the obstacle, thus identifying the obstacle side.

[0079] The distance acquisition unit receives distance data from the ranging unit and finds the smaller distance value as the obstacle overlap distance, which represents the minimum distance between the obstacle side and the obstacle.

[0080] The first obstacle avoidance unit receives the obstacle side information determined by the obstacle side judgment unit and the obstacle overlap distance determined by the distance acquisition unit, and controls the chassis assembly to move laterally away from the obstacle side. The moving distance is slightly greater than the obstacle overlap distance to ensure that the robot cabin can completely avoid the obstacle.

[0081] In this embodiment, through precise measurement and judgment, the minimum distance between the robot cabin and the obstacle and the obstacle side can be effectively identified, and the chassis assembly can be controlled to move laterally beyond the obstacle overlap distance to ensure that there is a sufficient safe distance between the robot and the obstacle and reduce the risk of collision.

[0082] Based on the above specific embodiments, the obstacle avoidance mechanism also includes:

[0083] A length measuring unit used to measure the distance between the chassis assembly and an obstacle in front along the forward direction;

[0084] A unit connected to the length measurement unit and the distance acquisition unit, used to calculate the angle between the hypotenuse and the centerline of the chassis assembly, using the length distance and the distance of overlap with the road obstacle as the right-angle sides;

[0085] A second obstacle avoidance unit connected to the angle calculation unit and the obstacle side, used to control the chassis assembly to tilt and move towards the obstacle side at the angle calculated by the angle calculation unit.

[0086] In one specific embodiment, during the movement of the robot cabin, the length measurement unit monitors the distance between the chassis assembly and obstacles in front in real time, especially when encountering obstacles, providing data support for subsequent angle calculations. It should be noted that the distance measurement components such as the ranging unit and length measurement unit in this application can employ non-contact ranging technologies such as laser ranging, ultrasonic ranging, or infrared ranging. These technologies can quickly and accurately measure the distance between two objects.

[0087] The angle calculation unit receives the length and distance data from the length measurement unit and the road obstacle overlap distance data from the distance acquisition unit, and calculates the angle between the hypotenuse and the central axis of the chassis assembly using the Pythagorean theorem or trigonometric functions.

[0088] The second obstacle avoidance unit receives the included angle data from the included angle calculation unit and the obstacle side information determined by the obstacle side judgment unit, and controls the chassis assembly to tilt and move towards the obstacle side. The included angle of movement is the included angle calculated by the included angle calculation unit, ensuring that the robot cabin can safely avoid obstacles.

[0089] In this embodiment, through precise measurement and calculation, the distance and angle relationship between the robot and the obstacle can be effectively identified, the chassis assembly can be controlled to tilt and move, and sufficient safe distance between the robot cabin and the obstacle can be ensured to reduce the risk of collision.

[0090] Based on the above specific embodiments, the obstacle detection mechanism includes a camera, a laser scanner, and a pressure sensor located on the same side of the chassis assembly. The camera, laser scanner, and pressure sensor are respectively located on the upper, middle, and lower side walls of the chassis assembly. The pressure sensor is built into the anti-collision strip. The obstacle detection mechanism and the charging assembly are located at the front and rear ends of the chassis assembly, respectively.

[0091] In one specific embodiment, the obstacle detection mechanism includes a camera, a laser scanner, and a pressure sensor, which are respectively installed on the upper, middle, and lower side walls of the chassis assembly to form an all-around obstacle detection system.

[0092] Cameras are used to capture visual information in front of the robot, identifying the shape, size, and location of obstacles. Cameras can provide high-resolution image data, aiding the robot in visual analysis and path planning. Typically, high-definition cameras are used, combined with image recognition algorithms, to identify and track obstacles in real time, providing visual basis for obstacle avoidance decisions.

[0093] Laser scanners are used to measure the distance between robots and obstacles, providing accurate ranging data. They can quickly scan the environment ahead, generating outlines of obstacles to help the robot determine their position and shape. Laser scanners calculate distance by emitting a laser beam and measuring the time of flight of the reflected light, offering high precision, high resolution, and fast response.

[0094] Pressure sensors are used to detect pressure changes when a robot comes into contact with an obstacle, providing feedback information on the physical contact. When the robot experiences a minor collision with an obstacle, the pressure sensor can promptly detect the pressure change and convert the pressure signal into an electrical signal, which is then transmitted to the control unit to achieve real-time collision monitoring. The pressure sensor is built into the anti-collision strip, which provides cushioning protection for the pressure sensor.

[0095] In this embodiment, the obstacle detection mechanism achieves omnidirectional obstacle detection, effectively identifying obstacles of different heights and positions. It determines the obstacle's position and distance in real time, and combined with physical contact feedback from pressure sensors, controls the robot's cabin to perform obstacle avoidance maneuvers via an obstacle avoidance mechanism, ensuring the robot safely avoids obstacles.

[0096] Based on the above specific embodiments, anti-tilt directional wheels are provided at both the front and rear ends of the central axis of the chassis assembly.

[0097] During robot movement, the anti-tilt wheels remain in contact with the ground, providing stable support. When the robot brakes or starts, the anti-tilt wheels effectively prevent the robot from tilting forward or backward, especially when passing through elevator gaps or uneven ground, playing a role in auxiliary stability.

[0098] Based on the above specific embodiments, the battery assembly is installed in the center of the chassis assembly. The battery assembly includes a base and a battery body fixed on the base. The bottom surface of the base is provided with a slider, and the surface of the chassis assembly is provided with a transverse track. The slider is connected to the transverse track and can slide along the transverse track to adjust the left and right balance of the chassis assembly.

[0099] In one embodiment, the battery pack is mounted in the center of the chassis assembly to maintain the robot's center of gravity balance and improve its stability during movement. The battery itself is fixed to the base and provides power to the robot. The base is the supporting structure for the battery pack, fixed to the chassis assembly, and provides a stable mounting foundation.

[0100] The bottom surface of the base is equipped with a slider, and the surface of the chassis assembly is equipped with a transverse track. The slider is connected to the transverse track and can slide along the transverse track, thereby enabling the battery assembly to slide left and right on the chassis assembly.

[0101] Depending on the actual usage of the robot cabin, such as load distribution or terrain conditions, the operator or automatic control system can adjust the position of the battery pack. By sliding a slider within a transverse track, the battery pack can move left and right on the chassis assembly, thereby adjusting the robot's center of gravity and ensuring the robot cabin's lateral balance under different conditions, effectively improving the robot cabin's stability and adaptability.

[0102] Based on the above specific embodiments, a vertical decorative baffle 24 is provided inside the fixed cover 1. There is a cavity between the decorative baffle 24 and the fixed cover 1. The wires are hidden in the cavity. The decorative baffle 24 and the partition 22 are connected by a right-angle plate 25. The decorative baffle 24 is disconnected at the partition 22. The decorative baffle 24 is sandwiched between the upper partition 22 and the lower partition 22.

[0103] In one specific embodiment, a decorative baffle 24 is provided inside the fixing cover 1. The decorative baffle 24 is vertical and located inside the fixing cover 1, forming a cavity between it and the fixing cover 1. The wires are hidden inside the cavity, protecting them, preventing them from being exposed, and reducing damage from collisions with objects. At the same time, the decorative baffle 24 conceals messy wiring and improves the neatness of the appearance.

[0104] To enhance the connection strength of the partition 22, it can be fixed to the main beam 23 using a support frame. Preferably, the partition 22 is horizontal and perpendicular to the decorative baffle 24, and can be connected to the partition 22 using a right-angle plate 25. One side of the right-angle plate 25 is connected to the partition 22, and the other side is connected to the decorative baffle 24, providing a direct and convenient connection. At the same time, the right-angle plate 25 ensures a firm connection between the decorative baffle 24 and the partition 22, maintaining the stability of the structure.

[0105] The decorative baffle 24 is broken at the partition 22 and sandwiched between the upper partition 22 and the lower partition 22. The lower end of the partition 22 abuts against the top surface of the decorative baffle 24 to support the partition 22. This transforms the suspended connection of the partition 22 into a lower support connection, providing stable support for the partition 22 and reducing the swaying or deformation that may occur due to suspension.

[0106] Based on the above specific embodiments, a screw is provided inside the fixed cover 1, a nut is connected to the screw, the partition 22 is connected to the nut, and the nut is screwed along the screw to adjust the layer height of the partition 22.

[0107] In one specific embodiment, the screw is fixed inside the fixing cover 1. The screw can be fixed to the base plate 21 or side wall of the fixing cover 1 by welding, threaded connection, or flange to ensure its stability. To simplify the structure, the main beam 23 can be set as a screw structure.

[0108] A nut is connected to the screw, and the partition 22 is connected to the nut. At this time, the partition 22 and the nut are independently connected, without a physical connection. For example, the partition 22 overlaps the nut without affecting the rotation of the nut. The nut is threadedly engaged with the screw. By turning the nut, the partition 22 can be moved up and down along the screw, thereby adjusting the height of the compartment to accommodate items of different heights and improve the space utilization of the compartment.

[0109] The nut can be adjusted manually or via a control device. Adjusting the height of the partition 22 by manually tightening the nut is a simple and reliable method. After adjusting to the appropriate position, a lock nut or other locking device can be used to secure the nut and prevent it from loosening.

[0110] To ensure that the partition 22 remains horizontal during adjustment, a guide rod can be installed next to the screw. The partition 22 has a guide hole, and the guide rod slides into the guide hole. The guide rod does not interfere with the up-and-down movement of the partition 22, but guides the up-and-down movement of the partition 22, restricts the circumferential rotation of the partition 22, and ensures the stability of the adjustment of the partition 22.

[0111] Of course, the guide rod can also be replaced by a guide groove. For example, a vertical guide groove can be provided on the inner wall of the fixed cover 1, and a slider matching the guide groove can be provided on the outer periphery of the partition 22. The slider is connected in the guide groove, and the guide groove guides the vertical movement of the partition 22 and restricts the circumferential rotation of the partition 22. In order to reduce the sliding friction, a ball bearing can be used instead of a slider.

[0112] Based on the above specific embodiments, the cabin is cylindrical in shape, the inner wall of the fixed cover 1 is provided with an arc groove in the circumferential direction, the edge of the partition 22 is stuck in the arc groove, and can rotate along the arc groove.

[0113] In one specific embodiment, the inner wall of the fixed cover 1 is provided with an arcuate groove in the circumferential direction, and the axial direction of the arcuate groove is along the axis of the cylindrical cabin. The edge of the partition 22 is engaged in the arcuate groove, or the edge of the partition 22 is provided with a slider that matches the arcuate groove. The slider is engaged in the arcuate groove, so that the partition 22 can rotate in the circumferential direction of the arcuate groove to adjust the position of the partition 22. After being adjusted to a suitable position, the partition 22 can be fixed in the arcuate groove by a locking device such as a positioning pin or hook to prevent the partition 22 from continuing to rotate when stationary.

[0114] In this embodiment, the partition 22 can rotate freely along the circumference of the arc groove via a slider, and the angle of the partition 22 can be adjusted as needed to optimize the utilization of the internal space of the cabin.

[0115] Based on the above specific embodiments, the inner wall of the fixed cover 1 is provided with a vertical guide groove, and multiple arc grooves are provided along the vertical direction. The guide groove and the multiple arc grooves are cross-connected. The edge of the partition 22 is provided with a slider that matches the guide groove and the arc groove.

[0116] In a preferred embodiment, when the partition 22 needs to rotate, the guiding device can be designed as a vertical guide groove on the inner wall of the fixed cover 1. The main function of these guide grooves is to guide the partition 22 to move vertically, thereby achieving flexible height adjustment. Simultaneously, multiple arc-shaped grooves are also provided along the vertical direction, distributed at different heights, to guide the partition 22 to rotate circumferentially. Depending on the height requirements of the items, the partition 22 can be connected to arc-shaped grooves at different heights to achieve optimal space utilization.

[0117] The partition 22 has sliders along its edges that match the vertical guide grooves and the arc grooves. These sliders are designed to allow the partition 22 to move vertically along the guide grooves and to rotate along the arc grooves. Multiple guide grooves and arc grooves are connected in a cross-shaped configuration, meaning the guide grooves connect arc grooves at different heights. At the cross-shaped connection points, the sliders can freely switch between the vertical guide grooves and the arc grooves. This design not only allows the partition 22 to move vertically but also allows it to remain stationary within the arc groove or rotate circumferentially, thus enabling the partition 22 to freely switch between arc grooves at different heights.

[0118] In this embodiment, the height of the partition 22 can be easily adjusted by moving the slider up and down within the vertical guide groove. When the position of the partition 22 needs to be fixed, simply switch the slider to the arc groove, which provides fixed support for the partition 22. When the angle of the partition 22 needs to be adjusted, simply rotate the slider within the arc groove, allowing the partition 22 to rotate circumferentially. This function allows the internal space of the cabin to be flexibly partitioned according to different item requirements. Furthermore, by moving the slider from one arc groove to another via the guide groove, the partition 22 can be easily switched to be connected to arc grooves of different heights, thereby achieving the fixation of the partition 22 at different height positions. This design not only improves the flexibility of space utilization but also enhances the adaptability of the internal layout of the cabin, enabling it to better meet diverse usage needs.

[0119] In one specific embodiment, the outer cover of the cabin includes a fixed cover 1, a door cover 2, and an interaction device.

[0120] The fixed cover 1 includes a left cover 11, a right cover 112, a rear cover 14, and a top cover 15. The left cover 11 and the right cover 112 are fixed to the main beam 23. The left and right sides of the rear cover 14 are fixed to the left cover 11 and the right cover 112 respectively. The top cover 15 is fastened to the left cover 11 and the right cover 112 and fixed with bolts.

[0121] The door cover 2 includes a lower left door cover 12, an upper left door cover 13, an upper right door cover 110, and a lower right door cover 111, all of which are fixed to the inner door connecting rod 264.

[0122] The interactive device includes a screen 18, a front screen cover 16, a rear screen cover 17, and a lower screen cover 19. The front screen cover 16 and the rear screen cover 17 securely fix the screen 18, the rear screen cover 17 and the lower screen cover 19 are bolted together, and the lower screen cover 19 is fixed to the top cover 15.

[0123] The installation methods for the outer cover include:

[0124] The left cover 11 and the right cover 112 are spliced ​​together, and the inside is fixed to the main beam 23 with bolts. The outside is spliced ​​together and then fixed with bolts.

[0125] The rear cover 14 is fastened to the mounting holes of the left cover 11 and the right cover 112 and fixed to the left cover 11 and the right cover 112 with bolts;

[0126] Fix the front cover 16, screen 18, and rear cover 17 together, and fix the lower part to the lower cover 19 to complete the assembly of the interactive device.

[0127] Secure the assembled interactive device to the top cover 15;

[0128] Attach the assembled components that have been fixed in the previous step to the left cover 11 and the right cover 112, and then use external mounting bolts to connect and fix them to the left cover 11 and the right cover 112.

[0129] It should be noted that the disassembly method can be the reverse of the installation method.

[0130] The outer cover is secured with external screws, making it easy to assemble. It is made of flame-retardant ABS material, facilitating maintenance. When maintaining the equipment, the corresponding outer cover can be directly disassembled based on the component's installation location, eliminating the need to remove other outer covers and improving both assembly and maintenance efficiency.

[0131] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0132] The robot cabin provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model. Therefore, this utility model is not limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot cabin, characterized in that, The device includes a fixed cover (1) with an opening on the side wall, a door cover (2) connected to the opening, and a door opening and closing mechanism (26) connecting the fixed cover (1) and the door cover (2). The door opening and closing mechanism (26) includes a main shaft (266), a load-bearing connecting rod (267) with one end connected to the main shaft (266) and the other end connected to the door cover (2), a connecting rod (264) with one end connected to the frame (262) and the other end connected to the door cover (2), and a drive device (261) for driving the main shaft (266) to rotate. The main shaft (266) drives the load-bearing connecting rod (267), the load-bearing connecting rod (267) drives the door cover (2), and the door cover (2) drives the connecting rod (264), forming a double rocker mechanism to complete the action of the door cover (2).

2. The robotic capsule of claim 1, wherein, It also includes two limit switches installed in the closed position and the fully open position of the door cover (2) respectively, and a controller connected to the limit switches and the drive device (261). The controller is used to control the drive device (261) to stop rotating after receiving the closed or open signal of the limit switches.

3. The robotic capsule of claim 2, wherein, The limit switch is a photoelectric switch (263), the bracket is connected to the frame (262), the photoelectric switch (263) is connected to the mounting hole of the bracket, the mounting angle of the photoelectric switch (263) and the bracket can be adjusted, and the end of the connecting rod (264) near the photoelectric switch (263) has a sensing part that bends toward the photoelectric switch (263).

4. The robotic capsule of claim 1, wherein, The door cover (2) includes horizontally arranged horizontal covers, each of the horizontal covers includes two vertically arranged vertical covers, and each of the vertical covers is equipped with a set of the door opening and closing mechanism (26); the fixed cover (1) is provided with a positioning block, and when the door cover (2) is closed, the inner wall of the door cover (2) is in contact with the positioning block and all the surfaces of the door cover (2) are flush, there are gaps between the vertical covers and between the horizontal covers, and the edge of the door cover (2) is provided with a sealing strip.

5. The robotic capsule of claim 4, wherein, A main beam (23) is provided between the bottom plate (21) and the top cover of the fixed cover (1). The two ends of the main shaft (266) are connected to the main beam (23) through bearings (269). The inner ends of the main shafts (266) of the two sets of door opening and closing mechanisms (26) are connected by a bearing (269). The two ends of the connecting rod (264) are connected to the frame (262) and the main body of the door cover (2) through bearings (269).

6. The robotic capsule of claim 1, wherein, The fixed cover (1) is provided with multiple partitions (22). The bottom plate (21) of the fixed cover (1) is connected to the robot chassis assembly. The chassis assembly is provided with a navigation control device. The navigation control device is provided with navigation routes from each path to each service point within the service area. The navigation control device can control the chassis assembly to move to the target position according to the navigation route corresponding to the current position and the input target position.

7. The robotic capsule of claim 6, wherein, The fixed cover (1) is provided with a vertical decorative baffle (24). There is a cavity between the decorative baffle (24) and the fixed cover (1). The wire is hidden in the cavity. The decorative baffle (24) and the partition (22) are connected by a right-angle plate (25). The decorative baffle (24) is disconnected at the partition (22). The decorative baffle (24) is sandwiched between the upper partition (22) and the lower partition (22).

8. The robotic capsule of claim 6, wherein, The fixing cover (1) is provided with a screw rod, and a nut is connected to the screw rod. The partition (22) is attached to the nut, and the nut is screwed along the screw rod to adjust the height of the partition (22).

9. The robot cabin according to claim 8, characterized in that, The cabin is cylindrical in shape. The inner wall of the fixed cover (1) is provided with an arc groove in the circumferential direction. The edge of the partition (22) is stuck in the arc groove and can rotate along the arc groove.

10. The robotic capsule of claim 9, wherein, The inner wall of the fixed cover (1) is provided with a vertical guide groove, and a plurality of arc grooves are provided along the vertical direction. The guide groove and the plurality of arc grooves are cross-connected. The edge of the partition (22) is provided with a slider that matches the guide groove and the arc groove.

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