CN108482858A - For robot storage tank and be equipped with the robot of storage tank - Google Patents
For robot storage tank and be equipped with the robot of storage tank Download PDFInfo
- Publication number
- CN108482858A CN108482858A CN201810139473.8A CN201810139473A CN108482858A CN 108482858 A CN108482858 A CN 108482858A CN 201810139473 A CN201810139473 A CN 201810139473A CN 108482858 A CN108482858 A CN 108482858A
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- control
- inflation
- deflation
- module
- storage tank
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- 238000001514 detection method Methods 0.000 claims abstract description 66
- 230000006698 induction Effects 0.000 claims abstract description 28
- 238000000465 moulding Methods 0.000 claims abstract description 11
- 230000001939 inductive effect Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 238000005273 aeration Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 5
- 238000013517 stratification Methods 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 4
- 238000005187 foaming Methods 0.000 abstract description 2
- 238000005192 partition Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000002775 capsule Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
- B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
A kind of storage tank for robot includes with the molding case ontology of EPP foaming materials, the airbag body and control module with layering clamping structure being made of more than two air bags；Control module includes main control module and inflation/deflation control and detection module；Inflation/deflation controls and detection module detects the air pressure in the airbag body, and atmospheric pressure value is transmitted to the main control module, and the main control module sends out the instruction control inflation/deflation control and detection module executes inflated for deflated action.Storage tank further include can the automatic identification storage tank need the induction module inflated or deflated.This storage tank can carry out layering clamping to contents, prevent collision and extruding between article during transport, avoid article breakage.
Description
Technical field
The present invention relates to the storage tank technical fields for robot, and in particular to one kind having layering clamping structure air bag
Storage tank and be equipped with the robot of this storage tank.
Background technology
Storage tank is the necessary component of the robot for dispatching.Robot in the process of running, encounters ground not
Rocking for itself can be caused when flat situation, may result in the damage of article in storage tank.In the prior art, it is transporting in order to prevent
The damage for leading to storage tank interior items during sending due to the shaking of babinet, the measure mainly taken at present are manually in case
Sponge or damping bubble bags are filled in son, on the one hand need certain human cost in this way, on the other hand, since these are for adding
Solid material be all disposable, cause waste and environmental pollution.
In order to overcome the above problem, gas cell can be set on the inner wall of babinet, be arranged and gas cell phase on the outside of babinet
Logical, the inflating port that can be inflated to gas cell, such babinet may be reused.However, the shortcomings that technical solution is to fill
Air bag is provided only on the inner wall of babinet and is integrated, and when babinet contents are smaller, air bag can not make full of gas
Small article is fixed, and when article is more in babinet, airbag aeration will also result in mutual between article while clamping article
It squeezes, be easy to cause breakage, the article that can not be set in guard box body well.
Invention content
The technical problem to be solved in the present invention is to avoid the deficiency of above-mentioned technical proposal, and proposes a kind of with layering
The robot storage tank of clamping structure air bag.
The present invention solves the technical problem the technical scheme adopted is that providing a kind of storage for balance car robot
Object case, including case ontology, the airbag body that is fixedly clamped for article in case and control module；The control module includes master control
Molding block and inflation/deflation control and detection module；By logical between the airbag body and inflation/deflation control and detection module
Tracheae is connected；The inflation/deflation control and detection module are used to detect the air pressure in the airbag body；The master control molding
Block is controlled according to the inflation/deflation and the detected atmospheric pressure value of detection module sends out instruction and controls the inflation/deflation control and inspection
It surveys module and executes the action inflated for deflated to the airbag body.
The case ontology inner route clapboard is separated at least two layers of material-putting space, and correspondingly, the airbag body includes quantity
Air bag identical with the case ontology inner matter space number of plies, each layer commodity that each air bag is separately positioned on the case ontology are empty
In, for the air bag for being fixedly clamped to article in case, each air bag is respectively independent or interconnected.
The inflation/deflation control and detection module include the air valve for deflation, the air pump for inflation, for detecting
State the cross four-way that the barometer of air pressure is connected with for gas circuit in airbag body；The air valve is directly connected to cross four-way
First port；The air pump is connected to by air pump hose on the 4th port of the cross four-way；The barometer passes through gas
Pressure meter hose connects perforation with the third port of the cross four-way；The second port of the cross four-way passes through snorkel and institute
State airbag body connection.
The air pump is gripped together by an air pump fixed cover and an air pump holder, and the air pump holder is fixed on
On robot body, the air pump fixed cover is connected and fixed with the air pump holder by fastener；The air valve is by a gas
Valve fixed frame and the air pump holder grip together, and the air valve fixed frame is connect with the air pump holder by fastener
It is fixed.
The air bag is U-shaped.
The airbag body is made of several interconnected described air bags, and interface is equipped on the airbag body
It is connected to the snorkel.
There are an aperture, the snorkel to fill the airbag body with described through the aperture at the top of the case ontology
Deflation control and detection module connection.
The airbag body is made of several the described air bags being respectively independently not communicated with；On each described air bag
There are one independent snorkels to connect with gas circuit selection control valve；The inflation/deflation control and detection module select to control by gas circuit
Valve processed carries out respectively independent or mutually combined inflation/deflation to multiple air bags and controls.
The storage tank for robot further includes the chamber door being connected by shaft with the case ontology；In the case
The induction module for incuding chamber door folding is provided on the inside of ontology or doorframe；The induction module and the master control molding
Block is connected, and the external signal sensed is sent to the main control module, and the main control module is according to the letter received
Corresponding inflated for deflated instruction number is sent to inflation/deflation control and detection module, the inflation/deflation control and detection module according to
The action of airbag aeration or deflation is executed according to the command information received.
The induction module is provided in an inductive switch on the case ontology doorframe；When the chamber door plays on or off
When closing, the inductive switch is triggered, the main control module detects inductive switch state, and the main control module is according to induction
On off state sends to deflate or inflate and instruct to inflation/deflation control and detection module, the inflation/deflation control and detection module
Start to deflate to the airbag body or the airbag body inflating, and arrived according to the barometric surveying in atmospheric pressure value control
The degree of inflation/deflation processed.
The induction module is provided in a camera on the case ontology doorframe；The camera will be recorded
External image information is sent to the main control module, and the main control module sends corresponding inflation according to external image information
Or instruction of deflating, to inflation/deflation control and detection module, the inflation/deflation control and detection module are according to the instruction received
Information executes the action of airbag aeration or deflation, and the atmospheric pressure value control in the airbag body arrived according to the barometric surveying
The degree of inflation/deflation processed.
The induction module is the multiple infrared cameras being separately positioned on the inside of the chamber door, each is described infrared to take the photograph
As the position of head corresponds to the intrinsic each stratification object space of the case；After the chamber door is closed, according to air bag in babinet
Judge degree of inflation with the image of article；The image information that each infrared camera will be recorded, is sent to the master control
Molding block, the main control module according to image information send corresponding inflation or instruction of deflating to inflation/deflation control and
The air bag that detection module, the inflation/deflation control and detection module are executed according to the command information received in corresponding material-putting space fills
The action of gas or deflation.
The invention also includes the robots for being equipped with the storage tank, including are used to house storage tank, the robot body
Including trunk module, control-moment gyro device and for the main drive module of driving, the storage tank is arranged in the trunk
Inside modules；The control-moment gyro device includes two control-moment gyros, controls the beat motor that gyro actively deflects
With for controlling two reverse sync mechanisms that control-moment gyro beat speed is identical but beat direction is opposite；The machine
Human agent both sides are installed with axletree, and main drive module couples by transmission mechanism with axletree；The main drive module driving
When, it is rotated around axletree through transmission mechanism band motor car wheel；Or the robot body is driven to be revolved around axletree through transmission mechanism
Turn, and then drive is installed in inside the robot body and all components thereon lean forward or swing back, i.e., described in drive
Inside robot body and all component relative wheel axis thereon lean forward or swing back；The robot body lean forward or
Gravitational moment caused by layback makes gyro nature beat and the gyroscopic couple that generates, and/or control beat motor driving gyro makes
The gyroscopic couple for obtaining gyro active beat and generating, the balance for two-wheel dispensing machine people and motion control.
The invention also includes the control methods of storage tank, include the following steps：
The step of placing an article within storage tank：
Step A1：It places an article in storage tank；
Step A2：Induction module will sense object placement status information, be sent to main control module；
Step A3：Main control module sends corresponding instruction to inflation/deflation control and detection module according to object placement status information
Airbag body is inflated, inflation/deflation control and detection module detect the real-time atmospheric pressure value in airbag body and be sent to described
Main control module, when atmospheric pressure value reaches preset inflation threshold value, the main control module sends instructions to the charge and discharge
Gas control system and detection module are allowed to stop inflation；
The step of article is taken out from storage tank：
Step B1：Induction module senses that article needs the signal being removed and is sent to main control module；
Step B2：Main control module sends instruction of deflating to inflation/deflation control and detection module, and the inflation/deflation controls and detection
Module gives the airbag body of storage tank to deflate on one side, and the atmospheric pressure value in the airbag body measured is sent to institute in real time on one side
Main control module is stated, when atmospheric pressure value reaches preset deflation threshold value, the main control module sends instructions to described fill
Deflation control and detection module are allowed to stop deflating.
In the control method of the storage tank, when the airbag body is several described gas by being respectively independently not communicated with
When capsule forms, the inflation/deflation control and detection module further include gas circuit selection control valve；There are one on each air bag
Independent snorkel is connect with gas circuit selection control valve；The inflation/deflation control and detection module select control valve by gas circuit
Multiple air bags are carried out with respectively independent or mutually combined inflation/deflation control；
In step A3 or B2, object placement status information that the main control module is transmitted according to induction module controls gas circuit
Control valve is selected, corresponding air bag is selected to be inflated or deflate.
Compared with the existing technology compared with, the beneficial effects of the invention are as follows：1, layering clamping structure air bag is used in storage tank,
So that the article being placed in storage tank is layered placement, fastened respectively by air bag, during transport, article phase can be prevented
Collision and extruding between mutually, avoid causing breakage；2, the air bag in the present invention is reusable, reduces common consumptive material and is produced
Raw wastes and pollution.
Description of the drawings
Fig. 1 is the general assembly drawing of one of preferred embodiment of the present invention, does not include chamber door 400 in figure；
Fig. 2 is the structural schematic diagram of the case ontology 100 of one of preferred embodiment of the present invention；
Fig. 3 is that the airbag body 200 of one of preferred embodiment of the present invention and the structure of inflation/deflation control and detection module 320 are shown
It is intended to；
Fig. 4 is the inflation/deflation control and the decomposition texture schematic diagram of detection module 320 of one of preferred embodiment of the present invention；
Fig. 5 is the operation principle schematic diagram of one of preferred embodiment of the present invention；
Fig. 6 is one of the embodiment of induction module 600 of the present invention, and the inductive switch 130 on 100 doorframe of case ontology shows
It is intended to；
Fig. 7 is the two of the embodiment of induction module 600 of the present invention, is mounted on the signal of the camera 140 on 100 doorframe of case ontology
Figure；
Fig. 8 is the three of the embodiment of induction module 600 of the present invention, and multiple infrared cameras 150 on chamber door 400 show
It is intended to；
Fig. 9 is the structural schematic diagram of second embodiment of airbag body 200 of the present invention；
Figure 10 is the schematic diagram for the robot for being equipped with one of preferred embodiment of the present invention storage tank.
In figure：100 it is case ontology, 110 be partition board, 111 be bulkhead bracket, 120 be aperture, 130 be inductive switch, 140 is
Camera, 150 be infrared camera, 170 be fixing bracket, 200 be airbag body, 210 be air bag, 220 be snorkel, 300
In order to control module, 310 be main control module, 320 be inflation/deflation control and detection module, 321 be air valve, 322 be air pump, 323
For barometer, 324 be cross four-way, 324a is the first port of cross four-way, 324b is the second port of cross four-way, 324c
For the 4th port that the third port of cross four-way, 324d are cross four-way, 325 be air pump hose, 326 be barometer hose,
330 be gas circuit select control valve, 400 be chamber door, 410 be shaft, 510 be air pump holder, 520 be air pump fixed cover, 530
It is induction module for air valve fixed frame, 600,700 be robot body, 710 be trunk module, 720 is main drive module, 730
Moment gyro device in order to control.
Specific implementation mode
Embodiments of the present invention are further described below in conjunction with each attached drawing.
A kind of embodiment of the present invention for the storage tank of robot, is shown in attached drawing 1 and attached drawing 2, including with EPP foaming materials
Inflation/deflation control in molding case ontology 100, partition board 110, airbag body 200, control module 300 and detection module 320, case
Door 400 and fixing bracket 170.Several bulkhead brackets 111 are fixed in case ontology 100, partition board 110 can be inserted into bulkhead bracket
In 111, several small spaces will be divided into inside case ontology 100.Be inserted into partition board 110 quantity can according to contents number and
Size determines.The bulkhead bracket 111 is two rectangular slats, is fixed on the two side in the case ontology 100 symmetrical
Position, the distance between two rectangular slats can just be such that the partition board 110 is inserted into.The partition board 110 is a rectangular slab, on plate
There are at least two rectangular openings to mitigate the total weight of storage tank to greatest extent.
As shown in Fig. 3, the airbag body 200 is made of more than two U-shaped air bags 210, is constituted layering and is clamped
Structure.The quantity of the air bag 210 is identical as the 100 inner matter space number of plies of the case ontology, and each air bag 210 is respectively set
In each stratification object space of the case ontology 100, the air bag 210 is for being fixedly clamped to article in case.The gas
There are two types of embodiments for the tool of capsule ontology 200, and embodiment one communicates between each air bag 210 as shown in Fig. 3, whole
It sets on a airbag body 200 and is connected to the snorkel 220 there are one interface；As shown in Fig. 2, the case ontology 100
There are an aperture 120, snorkel 220 that the airbag body 200 and the inflation/deflation are controlled and examined through the aperture 120 above
Module 320 is surveyed to be connected to.The present invention airbag body 200 second of embodiment, as shown in figure 9, the airbag body 200 be by
Two or more is respectively independent to be not attached to the logical composition of air bag 210 each other, and one is installed on each air bag 210 and is individually led to
Tracheae 230, these independent snorkels 230 are connected respectively in gas circuit selection control valve 330, then select to control by the gas circuit
Valve 330 processed is connected on inflation/deflation control and detection module 320, and as shown in Fig. 5, the present embodiment can more flexible basis
The size of article and the position placed carry out each air bag 210 respectively independent or mutually combined charge and discharge gas control in babinet
System.Compared with the existing technology compared with, the beneficial effects of the invention are as follows：Using layering clamping structure air bag in storage tank, make placement
Article in storage tank can be layered placement, be fastened respectively by air bag, during transport, article can be prevented mutual
Collision and extruding, avoid causing breakage；Air bag in the present invention is reusable, reduces waste caused by common consumptive material
With pollution.
The inflation/deflation control and detection module 320 are located on the head cover of case ontology 100, concrete composition part such as attached drawing
Include the air valve 321 for deflation, the air pump 322 for inflation and for detecting air pressure in the airbag body 200 shown in 4
Barometer 323；The air valve 321 is directly connected to the first port 324a of cross four-way 324；The air pump 322 passes through gas
Pump hose 325 is connected to the 4th port 324d of cross four-way 324；The barometer 323 is tucked into barometer hose 326, institute
The other end for stating barometer hose 326 is connected to the third port 324c of cross four-way 324；The other end of the barometer 323
It is connected to external main control module 310, makes the atmospheric pressure value real-time delivery measured to main control module 310.The snorkel
220 are connected to the second port 324b of the cross four-way 324.
The inflation/deflation control and detection module 320 further include three components for playing fixed function：Air pump holder 510, gas
Pump fixed cover 520 and air valve fixed frame 530.When installation, air pump 322 is caught in corresponding recess on the air pump holder 510
Position, then held tightly with the air pump fixed cover 520, air pump fixed cover 520 and air pump holder 510 are fastenedly connected with bolt,
To fixed air pump 322；Likewise, the air valve 321 is pressed from both sides together by the air valve fixed frame 530 and the air pump holder 510
Holding is held, is bolted connection between air valve fixed frame 530 and air pump holder 510.The air pump holder 510 is finally fixed
It is connected on robot body.
The storage tank of the present invention can both trigger charging-discharging function by hand, can also be triggered and be filled by way of detecting automatically
Deflation function.Whether need the component of inflation/deflation for induction module 600 for incuding, shares specific three embodiments.
One of the embodiment of induction module 600 of the present invention, as shown in Fig. 6, for the sense on 100 doorframe of case ontology
Inductive switch 130, at this point, chamber door 400 is connect by rotary shaft 410 with case ontology 100.
The work step of the present embodiment is as follows：
When being put into object：First, the partition board quantity and the position that need to be put into case ontology 100 are determined according to the size for being put into object
It sets；Secondly, it places an article within and closes chamber door 400；Inductive switch 130 is oppressed by chamber door 400 and is triggered, and inductive switch 130 is by case
The object placement status information that door compressing is sensed as it, inductive switch 130 send the object placement status information to master
Control module 310, main control module 310 send inflation instruction to inflation/deflation control and detection module 320, and inflation/deflation controls and inspection
It surveys the control air pump 322 of module 320 to start to inflate, pressure real-time delivery is to master control in the airbag body 200 that barometer 323 detects
Molding block 310, when atmospheric pressure value reaches preset inflation threshold value, main control module 310 sends instructions to inflation/deflation control
And detection module 320 makes air pump 322 be stopped, inflation finishes.
When taking out object：First, chamber door 400 is opened, inductive switch 130 is released at this time, and inductive switch 130 is released work
For the object placement status information that it is sensed, inductive switch 130 sends the object placement status information to main control module
310, main control module 310 sends instructions to inflation/deflation control and detection module 320, and inflation/deflation control and detection module 320 will
Air valve 321 is opened, and the gas in airbag body 200 is released from air valve 321,200 internal pressure of airbag body that barometer 323 detects
Power real-time delivery is to main control module 310, and when atmospheric pressure value reaches preset deflation threshold value, main control module 310 is sent
Instruct makes air valve 321 close to inflation/deflation control and detection module 320, stops deflating.
In the present embodiment, the barometer 423 is baroceptor, and the air valve 421 is solenoid valve, modules it
Between work relationship it is as shown in Fig. 5.The preset inflation threshold value and deflation threshold value can be in the master control moldings
It is adjusted according to actual needs in block 310.
The two of the embodiment of induction module 600 of the present invention install on the doorframe of the case ontology 100 as shown in Fig. 7
There is camera 140, judge to inflate by identifying the action of people or deflates.For example, inflation is represented when people stretches out a finger,
Deflation is then represented when people stretches out two fingers.The object placement status information that camera 140 senses identifies for the camera 140
The human action arrived, the camera 140 send the object placement status information to main control module 310, and main control module 310 is again
It sends inflated for deflated instruction and carries out inflation/deflation, the air bag sheet that barometer 323 detects to inflation/deflation control and detection module 320
Pressure real-time delivery is to main control module 310 in body 200, main when atmospheric pressure value reaches preset inflated for deflated threshold value
Control module 310, which sends instructions to inflation/deflation control and detection module 320, keeps its stopping inflated for deflated.Compared with the existing technology
Compared with the further advantageous effect of the present invention is：Whether need to inflate or deflate by induction module automatic sensing airbag body,
Keep inflation/deflation process more intelligent.
The three of the embodiment of induction module 600 of the present invention correspond to partition board on the chamber door 400 as shown in Fig. 8
Several infrared cameras 150 are set on the 110 each layer position separated, after chamber door 400 is closed, infrared camera 150 is clapped
The object placement status information that the image of air bag and article is sensed as the infrared camera 150 in the babinet taken the photograph.It is infrared
Camera 150 sends the object placement status information to main control module 310, and main control module 310 retransmits inflated for deflated
It instructs and carries out inflation/deflation to inflation/deflation control and detection module 320, pressure is real in the airbag body 200 that barometer 323 detects
When pass to main control module 310, when atmospheric pressure value reaches preset inflated for deflated threshold value, main control module 310 send out
Instruction is sent to keep its stopping inflated for deflated to inflation/deflation control and detection module 320.In the three of the present embodiment, main control module
310 simultaneously the image informations that are sensed according to infrared camera 150 judge the degree of inflation/deflation, especially when the air bag system
System by it is more than two respectively it is independent be not attached to logical air bag 210 each other and form when, main control module 310 can be according to infrared photography
The image of article selects control valve 330 to control gas circuit on the first 150 each layers sensed, to filling to each air bag 210
Deflation degree is respectively controlled.Such as：First layer does not place article in storage tank, and the second layer has placement, and there are one big objects
Product, third layer are placed there are one small article, and just control gas circuit selects control valve 330 not to first layer gas to main control module 310
Capsule is inflated, and main control module 310 is that lower inflation threshold value is arranged in second layer air bag, and higher inflation is arranged for third layer air bag
Threshold value.Compared with the existing technology compared with the further advantageous effect of the present invention is：It is used as induction by camera and infrared camera
Module when judging the deflation degree to airbag body, can not first open chamber door, to can avoid article in deflation course
It inadvertently falls off outside case
Embodiment two and embodiment three can deflate to airbag body 200 under the premise of not opening chamber door 400, can keep away
Exempt from article to fall to outside case outside deflation course is favorite.
As shown in Fig. 10, entire storage tank is fixedly attached to by fixing bracket 170 on robot body 700.This hair
Bright storage tank can also be applied in addition to robot other use the field of storage tank.
As shown in Fig. 10, the invention also includes the robots for being equipped with the storage tank, including are used to house storage tank
100 robot body 700, the robot body include trunk module 710 and the main drive module 720 for driving, storing
Case 100 is arranged inside the trunk module 710, and control moment is provided between the storage tank 100 and main drive module 720
Gyroscopic apparatus 730；The control-moment gyro device 730 includes two control-moment gyros, controls the inclined of gyro active deflection
Pendulum motor with for controlling two reverse sync mechanisms that control-moment gyro beat speed is identical but beat direction is opposite；It is described
Robot body both sides are installed with axletree, and main drive module 720 couples by transmission mechanism with axletree；The main driving mould
When block 720 drives, rotated around axletree through transmission mechanism band motor car wheel；Or through transmission mechanism drive the robot body around
Axletree rotates, and then drive is installed in 700 inside of the robot body and all components thereon lean forward or swing back,
700 inside of the robot body and all component relative wheel axis thereon is driven to lean forward or swing back；The machine
Human agent 700 lean forward or swing back caused by gravitational moment make gyro nature beat and the gyroscopic couple that generates, and/or control
Beat motor driving gyro makes gyro active beat and the gyroscopic couple that generates, is used for the balance and fortune of two-wheel dispensing machine people
Dynamic control.Compared with the existing technology compared with the further advantageous effect of the present invention is：Being assembled with the robot of the storage tank can keep away
Exempt from the shaking due to robot in moving process and cause article breakage in case so that the delivery process of robot more may be used
It leans on.Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize description of the invention
And equivalent structure or equivalent flow shift made by accompanying drawing content, it is applied directly or indirectly in other relevant technical fields,
It is included within the scope of the present invention.
Claims (15)
1. a kind of storage tank for robot, it is characterised in that：
Including case ontology（100）, the airbag body that is fixedly clamped for article in case（200）And control module（300）；The control
Molding block（300）Including main control module（310）With inflation/deflation control and detection module（320）；
The airbag body（200）With inflation/deflation control and detection module（320）Between pass through snorkel（220）It is connected
It connects；
The inflation/deflation control and detection module（320）For detecting the airbag body（200）Interior air pressure；The main control
Module（310）According to inflation/deflation control and detection module（320）Detected atmospheric pressure value is sent out to be filled described in instruction control
Deflation control and detection module（320）It executes to the airbag body（200）Inflated for deflated action.
2. storage tank according to claim 1, it is characterised in that：
The case ontology（100）Inner route clapboard（110）It is separated at least two layers of material-putting space, correspondingly, the airbag body
（200）Including quantity and case ontology（100）The identical air bag of the inner matter space number of plies（210）, each air bag（210）It sets respectively
It sets in the case ontology（100）Each stratification object space in, the air bag（210）For being fixedly clamped to article in case,
Each air bag（210）It is respectively independent or interconnected.
3. storage tank according to claim 1, it is characterised in that：
The inflation/deflation control and detection module（320）It include the air valve for deflation（321）, for the air pump of inflation（322）、
For detecting the airbag body（200）The barometer of interior air pressure（323）The cross four-way connected with for gas circuit（324）；
The air valve（321）It is directly connected to cross four-way（324）First port (324a)；The air pump（322）Pass through gas
Pump hose（325）It is connected to the cross four-way（324）The 4th port (324d) on；The barometer（323）Pass through air pressure
Count hose（326）With the cross four-way（324）Third port (324c) connection perforation；The cross four-way（324）
Two-port netwerk (324b) passes through snorkel（220）With the airbag body（200）Connection.
4. storage tank according to claim 3, it is characterised in that：
The air pump（322）By an air pump fixed cover（520）With an air pump holder（510）It grips together, the gas
Pump holder（510）It is fixed on robot body, the air pump fixed cover（520）With the air pump holder（510）Pass through fastening
Part is connected and fixed；
The air valve（321）By an air valve fixed frame（530）With the air pump holder（510）It grips together, the gas
Valve fixed frame（530）With the air pump holder（510）It is connected and fixed by fastener.
5. storage tank according to claim 4, it is characterised in that：
The air bag（210）For U-shaped.
6. storage tank according to claim 5, it is characterised in that：
The airbag body（200）It is by several interconnected described air bags（210）Composition, in the airbag body
（200）It is equipped with interface and the snorkel（220）Connection.
7. storage tank according to claim 6, it is characterised in that：
The case ontology（100）Top have an aperture（120）, the snorkel（220）Through the aperture（120）It will be described
Airbag body（200）With inflation/deflation control and detection module（320）Connection.
8. storage tank according to claim 1, it is characterised in that：
The airbag body（200）It is several described air bags by being respectively independently not communicated with（210）Composition；
Each described air bag（210）On all there are one independent snorkel（230）Control valve is selected with gas circuit（330）Connection；
The inflation/deflation control and detection module（320）Control valve is selected by gas circuit（330）To multiple air bags（210）It carries out
Respectively independent or mutually combined inflation/deflation control.
9. storage tank according to claim 2, it is characterised in that：
Further include and the case ontology（100）Pass through shaft（410）The chamber door being connected（400）；In the case ontology（100）'s
The induction module for incuding chamber door folding is provided on internal or doorframe（600）；The induction module（600）With the master control
Molding block（310）It is connected, and the external signal sensed is sent to the main control module（310）, the master control molding
Block（310）Corresponding inflated for deflated instruction is sent to inflation/deflation control and detection module according to the signal received（320）, institute
State inflation/deflation control and detection module（320）The action of airbag aeration or deflation is executed according to the command information received.
10. storage tank according to claim 9, it is characterised in that：
The induction module（600）It is provided in the case ontology（100）An inductive switch on doorframe（130）；
When the chamber door（400）When opening or closing, the inductive switch is triggered（130）, the main control module（310）Detection
To inductive switch（130）State, the main control module（310）According to inductive switch（130）State, which sends to deflate or inflate, to be referred to
It enables to inflation/deflation control and detection module（320）, the inflation/deflation controls and detection module（320）Start to the air bag
Ontology（200）It deflates or inflates, and according to the barometer（323）The airbag body measured（200）Interior atmospheric pressure value
Control the degree of inflation/deflation.
11. storage tank according to claim 9, it is characterised in that：
The induction module（600）It is provided in the case ontology（100）A camera on doorframe（140）；The camera shooting
Head（140）The external image information being recorded is sent to the main control module（310）, the main control module（310）According to
It sends corresponding inflation according to external image information or deflates and instruct to inflation/deflation control and detection module（320）, described
Inflation/deflation controls and detection module（320）The action of airbag aeration or deflation is executed according to the command information received, and according to institute
State barometer（323）The airbag body measured（200）The degree of interior atmospheric pressure value control inflation/deflation.
12. storage tank according to claim 9, it is characterised in that：
The induction module（600）It is to be separately positioned on the chamber door（400）Multiple infrared cameras of inside（150）, each
A infrared camera（150）Position correspond to the case ontology（100）Interior each stratification object space；
When the chamber door（400）After closing, degree of inflation is judged according to the image of air bag in babinet and article；It is each described infrared
Camera（150）The image information that will be recorded is sent to the main control module（310）, the main control module（310）According to
It sends corresponding inflation according to image information or deflates and instruct to inflation/deflation control and detection module（320）, the charge and discharge
Gas control system and detection module（320）The dynamic of airbag aeration in corresponding material-putting space or deflation is executed according to the command information that receives
Make.
13. a kind of robot including storage tank described in claim 1 to 12 any one,
Including being used to house storage tank（100）Robot body（700）, the robot body（700）Including trunk module
（710）, control-moment gyro device（730）With the main drive module for driving（720）, it is characterised in that：
The storage tank（100）It is arranged in the trunk module（710）It is internal；The control-moment gyro device（730）Including
The beat motor and be used to control two control-moment gyro beat speed that two control-moment gyros, control gyro actively deflect
Reverse sync mechanism identical but that beat direction is opposite；
The robot body（700）Both sides are installed with axletree, main drive module（720）Join by transmission mechanism and axletree
It connects；The main drive module（720）When driving, rotated around axletree through transmission mechanism band motor car wheel；Or through transmission mechanism band
Move the robot body（700）It is rotated around axletree, and then drives and be installed in the robot body（700）It is internal and its
On all components lean forward or swing back, that is, drive the robot body（700）All components internal and thereon are opposite
Axletree leans forward or swings back；
The robot body（700）Gravitational moment caused by leaning forward or swinging back makes gyro nature beat and the gyro that generates
Torque, and/or control beat motor driving gyro make gyro active beat and the gyroscopic couple that generates, are used for two-wheel dispensing machines
The balance of device people and motion control.
14. a kind of storing box control method based on storage tank described in claim 9,
It is characterised in that it includes following steps：
The step of placing an article within storage tank：
Step A1：It places an article in storage tank；
Step A2：Induction module（600）It will sense object placement status information, and be sent to main control module（310）；
Step A3：Main control module（310）Corresponding instruction is sent according to object placement status information to control and examine to inflation/deflation
Survey module（320）To airbag body（200）It is inflated, inflation/deflation control and detection module（320）Detect airbag body（200）
Interior real-time atmospheric pressure value is simultaneously sent to the main control module（310）, when atmospheric pressure value reaches preset inflation threshold value, institute
State main control module（310）Send instructions to the inflation/deflation control and detection module（320）It is allowed to stop inflation；
The step of article is taken out from storage tank：
Step B1：Induction module（600）Sense that article needs the signal being removed and is sent to main control module（310）；
Step B2：Main control module（310）Instruction of deflating is sent to inflation/deflation control and detection module（320）, the inflation/deflation
Control and detection module（320）The airbag body of storage tank is given on one side（200）It deflates, the airbag body that will be measured on one side
（200）Interior atmospheric pressure value is sent to the main control module in real time（310）, when atmospheric pressure value reaches preset deflation threshold value
When, the main control module（310）Send instructions to the inflation/deflation control and detection module（320）It is allowed to stop deflating.
15. a kind of storing box control method according to claim 14, it is characterised in that：
When the airbag body（200）It is several described air bags by being respectively independently not communicated with（210）When composition, the charge and discharge
Gas control system and detection module（320）It further include gas circuit selection control valve（330）；Each air bag（210）On all there are one single
Only snorkel（230）Control valve is selected with gas circuit（330）Connection；The inflation/deflation control and detection module（320）Pass through gas
Road selects control valve（330）To multiple air bags（210）Carry out respectively independent or mutually combined inflation/deflation control；
In step A3 or B2, the main control module（310）According to induction module（600）The object placement status information transmitted
Control valve is selected to control gas circuit（330）, select corresponding air bag（210）It is inflated or deflates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810139473.8A CN108482858B (en) | 2018-02-11 | 2018-02-11 | For robot storage tank and be equipped with the robot of storage tank |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810139473.8A CN108482858B (en) | 2018-02-11 | 2018-02-11 | For robot storage tank and be equipped with the robot of storage tank |
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| CN108482858B CN108482858B (en) | 2019-08-20 |
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| CN108482858B (en) | 2019-08-20 |
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Effective date of registration: 20231008 Address after: 518000 Wanke Yuncheng Phase 4, Dashi 1st Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province (Centralized Commercial Project) A08 (12-08) Patentee after: Kandra (Shenzhen) Intelligent Technology Co.,Ltd. Address before: 20 / F, sannuo wisdom building, 3012 Binhai Avenue, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: CANDELA (SHENZHEN) TECHNOLOGY INNOVATION Co.,Ltd. |