Container and container

Abstract

The container is provided with a grabbing part, the grabbing part is used for driving the container to move under the action of external force, the container is provided with a bottom wall used for bearing goods, the bottom wall is a movable part capable of being folded and unfolded, and when the container moves to a designated position, the movable part is folded and releases the goods. According to the container, different kinds of goods can be placed in the container, the different kinds of goods can be grabbed and moved through one mechanical arm, standardized design of containers is achieved, the whole circulation process is standardized through one container, and the design cost is saved; when the container is moved to the delivery position, the movable part is folded, the goods automatically fall off to complete the delivery action, the empty container can be moved to the goods shelf again, only the goods are put at the tail end, and a container is not put at the tail end, so that the input of extra recovered containers is avoided, and the asset management problem and the container utilization rate problem caused by putting the container are avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of cargo distribution, and in particular, to a cargo box and a cargo container. Background Art

[0002] Full-link automation of automatic delivery is not just about autonomous driving in the middle of the journey, but also about automatic loading and unloading of goods at the front and back ends. Taking the automatic delivery scenario of takeout as an example, it is necessary to solve the problems of grabbing and moving goods at the front and back ends. In related technologies, manipulators are used to grab and move goods. However, with more and more types of takeout, it is impossible to grab different takeouts with one manipulator. When designing containers at the front and back ends to hold takeout, it is also necessary to consider the asset management problems caused by placing containers and the utilization rate of containers. Utility Model Content

[0003] The purpose of the present disclosure is to provide a cargo box and a container including the cargo box to solve the problem that different types of goods cannot be grabbed by a single manipulator, while avoiding asset management problems caused by placing containers.

[0004] In order to achieve the above-mentioned purpose, the present disclosure provides a cargo box, which is provided with a gripping portion, and the gripping portion is used to drive the cargo box to move under the action of an external force. The cargo box has a bottom wall for carrying goods, wherein the bottom wall is a retractable movable portion, and when the cargo box moves to a specified position, the movable portion retracts and releases the goods.

[0005] Optionally, the side wall edges opposite to the cargo box are formed with a receiving channel, the side wall edges at least include a bottom edge of the cargo box and a side edge adjacent to the bottom edge, the movable portion is a roller shutter that can move between an unfolded position and a retracted position in the receiving channel, wherein:

[0006] In the deployed position, the roller blind is at least partially located at the bottom edge, and the roller blind is capable of closing the bottom opening of the cargo box and carrying cargo;

[0007] In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box and releasing the cargo.

[0008] Optionally, the rolling shutter comprises a plurality of carbon rods arranged in sequence, the ends of two adjacent carbon rods are connected by a first fixing ring, two adjacent first fixing rings are connected by a second fixing ring, a gap is provided between two adjacent carbon rods, a power end input port is provided on the side wall of the cargo box, a power member is installed at the power end input port and has a tooth portion extending into the gap to drive the rolling shutter to move.

[0009] Optionally, magnetic components are provided in the inner cavities of the carbon rods at both ends of the rolling curtain, and the carbon rods with the magnetic components are used to determine the position of the rolling curtain in the receiving channel.

[0010] Optionally, a locking portion cooperating with the movable portion is provided on the cargo box; when the locking portion is unlocked, the rolling shutter moves within the receiving channel; when the locking portion is locked, the rolling shutter is limited to any position within the receiving channel.

[0011] Optionally, the locking portion includes a rotatable locking pin, one end of which is formed as a hook portion, and the other end is formed as a latching protrusion, the hook portion can extend into or withdraw from the gap between two adjacent carbon rods of the roller blind, an opening is provided on the side wall of the cargo box, and the latching protrusion can protrude from the opening.

[0012] Optionally, the cargo box is a square structure surrounded by a top wall, a bottom wall, a first side wall and two opposite second side walls, the gripping portion is arranged on the first side wall, and an opening for storing goods is formed at a position on the square structure opposite to the first side wall.

[0013] Optionally, a guide hole is provided on the cargo box, and the size of the guide hole gradually decreases along the moving direction of the cargo box.

[0014] Optionally, a magnetic adsorption component is provided on the cargo box.

[0015] According to a second aspect of the present disclosure, there is also provided a cargo container, comprising a shelf and a cargo box arranged on the shelf, wherein the cargo box is the above-mentioned cargo box.

[0016] Through the above technical scheme, in the cargo box provided by the present invention, different types of goods can be placed in the cargo box, and the different types of goods can be grasped and moved by a robotic arm, so as to realize the standardized design of the container, and use one cargo box to standardize the entire circulation process, thereby saving the design cost; when the cargo box moves to the distribution position, the movable part is folded, and the goods automatically fall to complete the delivery action, and the empty cargo box can be moved back to the shelf, and only the goods are placed at the end without placing the container, so as to avoid the additional investment in recycling cargo boxes and avoid the asset management problems and container utilization problems caused by placing the container.

[0017] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0019] Figure 1 It is a structural schematic diagram of an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0020] Figure 2 and Figure 3 It is a schematic diagram of the structure of a delivery vehicle provided by an exemplary embodiment of the present disclosure.

[0021] Figure 4 and Figure 5 It is a schematic diagram of the structure of a cargo container in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0022] Figures 6 to 8 It is a schematic diagram of the structure of a shelf in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0023] Figures 9 to 17 It is a schematic diagram of the structure of a cargo box in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0024] Fig.18 and Fig.19 It is a schematic diagram of the structure of a robotic arm in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0025] Fig. 20 and Fig.21 It is a schematic structural diagram of an end effector in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0026] Description of Reference Numerals

[0027] 10-Container.

[0028] 100-shelf; 110-frame structure; 120-electromagnet; 130-guide; 140-cabinet door.

[0029] 200-cargo box; 201-top wall; 202-first side wall; 203-second side wall; 2021-opening; 2022-power end input port; 210-gripping portion; 220-movable portion; 221-carbon rod; 222-first fixing ring; 230-accommodating channel; 240-locking portion; 241-locking pin; 2411-hook portion; 2412-clamping protrusion; 250-opening; 260-magnetic adsorption member; 270-guide hole.

[0030] 300-robotic arm; 310-multi-axis robotic arm; 320-end effector; 321-main body; 3210-weight reduction hole; 322-sprocket; 3220-mounting shaft; 323-power part; 324-transmission part; 325-mounting part; 326-Hall sensor; 327-clamping edge; 328-connecting hole; 329-contact part.

[0031] 400-Delivery vehicle. DETAILED DESCRIPTION

[0032] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0033] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0034] In the present disclosure, unless otherwise stated, directional words such as "up, down, left, right" are generally defined when the automatic cargo delivery device provided by the present disclosure is in normal use; "front, back, front, back" refer to the moving direction of the cargo box, which moves forward to enter the shelf grid and moves backward to exit the shelf grid; "inside and outside" refer to the inside and outside of the corresponding component contours; the terms "first", "second", etc. are used to distinguish different components and do not have order or importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0035] Taking the takeaway scenario as an example, in order to realize the automatic delivery of goods at the front and back ends, in an exemplary embodiment of the present disclosure, Figure 1 As shown, an automatic cargo delivery device is provided, which includes two parts, a container 10 and a robot arm 300. The container 10 includes a shelf 100 and a cargo box 200 arranged on the shelf 100. The robot arm 300 includes a multi-axis robot arm 310 and an end effector 320 arranged at the end of the multi-axis robot arm 310. The robot arm 300 can move the cargo box 200 between the container 10 and the delivery position through the cooperation of the end effector 320 and the cargo box 200, and automatically place the cargo at the delivery position, and then put the empty cargo box 200 back to the shelf 100 to complete the automatic delivery of the cargo. Figure 2 and Figure 3 As shown, the automatic cargo delivery device can be installed as a whole on a delivery vehicle 400. The delivery vehicle 400 can move the container 10 and the robotic arm 300 to the delivery point, while realizing automatic driving in the middle of the road and automatic loading and unloading of front and rear end cargo, thereby realizing full-link automation of automatic delivery. The present disclosure has designs for both parts, and the coordination of the above two parts and their components will be introduced in detail below in conjunction with specific embodiments.

[0036] Figure 1 An automatic cargo delivery device provided by an exemplary embodiment of the present disclosure is shown.

[0037] Figure 2 and Figure 3 A delivery vehicle 400 provided by an exemplary embodiment of the present disclosure is shown. Figure 1 The automatic cargo delivery device shown can be installed as a whole on the delivery vehicle 400. In other embodiments, the robotic arm 300 and the container 10 can also be placed on the ground or in a workshop.

[0038] Figure 4 and Figure 5 A cargo container 10 provided by an exemplary embodiment of the present disclosure is shown, comprising a shelf 100 and a plurality of cargo boxes 200 placed on the shelf 100 . The number of cargo boxes 200 on the shelf 100 is not limited and can be designed as required.

[0039] Figures 6 to 8 A shelf 100 provided by an exemplary embodiment of the present disclosure is shown. The structure of the shelf 100 is not limited and may be a frame structure 110 as shown in the figure, having a plurality of compartments.

[0040] Figures 9 to 17 A cargo box 200 provided in an exemplary embodiment of the present disclosure is shown. The cargo box 200 may exist alone or be placed on a shelf 100 as one of a plurality of cargo boxes of the shelf 100. The present disclosure does not limit this, and the latter will be described in detail below.

[0041] Fig.18 and Fig.19 A robot arm 300 provided in an exemplary embodiment of the present disclosure is shown, and the robot arm 300 includes a multi-axis robot arm 310 and an end effector 320 installed at the end of the multi-axis robot arm 310. The multi-axis robot arm 310 can be a six-axis robot arm or a robot arm in other forms, and mainly serves the function of transporting and moving a cargo box 200, and can move the cargo box 200 to a delivery position or to a shelf 100.

[0042] Fig. 20 and Fig.21 The end effector 320 provided by an exemplary embodiment of the present disclosure is shown. The end effector 320 can be installed at the end of any movable component, not limited to a robotic arm, for example, on a motion module that can perform multi-directional motion. The following will be specifically described in detail using the example of the end effector 320 being installed at the end of a multi-axis robotic arm 310.

[0043] In order to realize the grabbing action of the end effector 320 on the cargo box 200, so that the robot arm 300 drives the cargo box 200 to move between the container 10 and the delivery position, in the present disclosure, as shown in FIG. Fig.10As shown, a gripping portion 210 is provided on the cargo box 200, and the end effector 320 drives the cargo box 200 to move by gripping the gripping portion 210. The gripping portion 210 can be any appropriate structure that cooperates with the end effector 320. In an exemplary embodiment of the present disclosure, the gripping portion 210 includes two mounting seats fixed on the side walls of the cargo box 200 and a handle connected between the two mounting seats. A gripping space is formed between the handle, the mounting seat and the side wall of the cargo box 200, as shown in FIG. Fig. 20 and Fig.21 As shown, the end effector 320 includes a body 321, and a clamping edge 327 is provided on the upper side of the body 321. The clamping edge 327 can extend from bottom to top into the gripping space for clamping, so as to achieve the connection between the robot arm 300 and the cargo box 200. In other embodiments, the gripping portion 210 can also be a handle, a claw, a gripping hole, etc., and the object driving the cargo box 200 to move is not limited to the robot arm, and the cargo box can be driven to move under any external force, and can also be a drone, an operator, etc., and the present disclosure does not limit this.

[0044] like Fig. 9 As shown, the cargo box 200 has a bottom wall for carrying goods, wherein the bottom wall can be a retractable movable portion 220, and the movable portion 220 is unfolded to serve as the bottom wall of the cargo box 200, and the goods can be placed on the movable portion 220. The robot arm 300 drives the cargo box 200 containing the goods to move freely. When the cargo box 200 moves to a specified position, as shown in FIG. Fig.11 As shown, the movable portion 220 is folded and automatically released under the action of the gravity of the cargo.

[0045] In the cargo box 200 provided by the present invention, different types of goods can be placed in the cargo box 200, and the different types of goods can be grasped and moved by a robotic arm 300, thereby realizing the standardized design of containers, and using one cargo box to standardize the entire circulation process, saving design costs; when the cargo box 200 moves to the distribution position, the movable part 220 is folded, and the goods automatically fall to complete the delivery action. The empty cargo box can be moved back to the shelf 100, and only goods are placed at the end without placing containers, thereby avoiding the additional investment in recycling cargo boxes and avoiding asset management problems and container utilization problems caused by placing containers.

[0046] There are many ways to fold and unfold the movable portion 220, such as by pulling or winding. In an exemplary embodiment of the present disclosure, Fig.12 and Fig.13 As shown, the side wall edges of the cargo box 200 are formed with a receiving channel 230, and the side wall edges at least include the bottom edge of the cargo box 200 and a side edge adjacent to the bottom edge. The movable portion 220 can be a roller blind with both ends installed in the receiving channel 230, and the roller blind can move between an unfolded position and a retracted position in the receiving channel 230, wherein in the unfolded position ( Fig.12), the roller blind is at least partially located at the bottom edge, and the roller blind can close the bottom opening of the cargo box 200 and carry cargo; in the stowed position ( Fig.13 ), the roller shutter is at least partially located on the side, exposing the bottom opening of the cargo box 200 and releasing the cargo.

[0047] In this embodiment, if Fig.11 As shown, the cargo box 200 can be a square structure surrounded by a top wall 201, a bottom wall, a first side wall 202 and two opposite second side walls 203. Receiving channels 230 are provided on the bottom edge, one side edge (right side edge) and part of the top edge of the two opposite second side walls 203. The position where the receiving channel 230 is provided is designed to be thickened, and the roller shutter moves between the expanded position and the retracted position in the receiving channel 230 in an overall translational manner. Of course, in other embodiments, the receiving channel 230 can be provided only at the bottom edge. The roller shutter can be made of a flexible material and can be rolled up on one side of the bottom edge opening by winding, which can also achieve the effect of automatically releasing the goods.

[0048] There are many ways to drive the movable part 220 to expand and fold. The cargo box 200 itself may be provided with a driving member. In an exemplary embodiment of the present disclosure, when the robot arm 300 and the cargo box 200 are connected, the movable part 220 is driven to be folded and expanded by the end effector 320. Fig. 9 and Fig.14 As shown, the rolling curtain includes a plurality of carbon rods 221 arranged in parallel, the ends of two adjacent carbon rods 221 are connected by a first fixing ring 222, and two adjacent first fixing rings 222 are connected by a second fixing ring, so as to realize the connection of the plurality of carbon rods 221 to realize the overall translation of the rolling curtain. There is a gap between two adjacent carbon rods 221, and a power end input port 2022 is provided on the side wall of the cargo box 200, as shown in FIG. Fig. 20 and 21 As shown, the lower side of the main body 321 is provided with a sprocket 322 and a power member 323 for driving the sprocket 322 to rotate. The power member 323 is installed at the power end input port 2022 and has a tooth portion extending into the gap to drive the rolling shutter to move. The power member 323 can be a motor. When the rolling shutter is unfolded, it can be the bottom plate of the cargo box 200 for placing goods. When the rolling shutter is retracted, the bottom plate disappears and the goods automatically fall. In addition, the power source of the rolling shutter comes from the sprocket 322 on the end effector 320. When the end effector 320 is connected to the cargo box 200, the rolling shutter can be driven to retract. When the cargo box 200 is used alone, the rolling shutter can always be in the unfolded position to prevent the goods from falling abnormally in non-delivery situations.

[0049] To obtain the position of the rolling curtain in the receiving channel 230, in the present disclosure, as shown in FIG. Fig. 20As shown, a Hall sensor 326 is provided near the sprocket 322 on the main body 321. As shown in the figure, a slot is provided on one side edge of the main body 321. The probe of the Hall sensor 326 passes through the slot and is fixed on the upper side of the sprocket 322. The installation position of the Hall sensor 326 can be designed according to needs, and it should also avoid affecting the rotation of the sprocket 322. Magnetic parts are provided in the inner cavity of the carbon rod 221 at both ends of the rolling curtain. The Hall sensor 326 is used to determine the position of the rolling curtain in the receiving channel 230 by detecting the position of the carbon rod with the magnetic part, thereby determining whether the rolling curtain has moved into place. Fig.12 In the embodiment, the left end of the roller blind is located at the end of the receiving channel 230 and has moved to the limit position of the unfolding. Fig.13 In the embodiment, the right end of the rolling curtain is located at the end of the receiving channel 230 and has moved to the retracted limit position. The Hall sensor 326 determines whether the rolling curtain has moved to the limit position by searching the position of the carbon rod 221 with the magnetic member. Fig.12 or Fig.13 The limit position shown is used to control the start and stop of the power member 323.

[0050] Further, in order to prevent the rolling blind from being accidentally retracted when in the unfolded position, in the present disclosure, Fig.10 and Fig.15 As shown, a locking portion 240 cooperating with the movable portion 220 is provided on the cargo box 200. When the locking portion 240 is unlocked, the rolling shutter can move in the receiving channel 230. When the locking portion 240 is locked, the rolling shutter is limited to any position in the receiving channel 230. The locking portion 240 can prevent the rolling shutter from being accidentally retracted, thereby preventing the goods from accidentally falling during transportation, which is safer and more reliable.

[0051] The locking portion 240 may be any suitable structure that matches the rolling curtain. Fig.16 and Fig.17 As shown, the locking portion 240 includes a rotatable locking pin 241, one end of the locking pin 241 can be formed as a hook-shaped portion 2411, and the other end can be formed as a clamping protrusion 2412. The hook-shaped portion 2411 can extend into or out of the gap between two adjacent carbon rods 221 of the rolling curtain. An opening 2021 is provided on the side wall of the cargo box 200, and the clamping protrusion 2412 can protrude from the opening 2021. Through the cooperation between the clamping protrusion 2412 and the opening 2021, the locking pin 241 can be kept in the locked position, which plays a role in limiting the rolling curtain. By driving the locking pin 241 to rotate, the limit of the rolling curtain can be unlocked.

[0052] The power for the rotation of the lock pin 241 may come from the internal structure of the cargo box itself. In the present disclosure, the power for driving the lock pin 241 to rotate comes from the end effector 320, such as Fig. 20As shown, a contact portion 329 corresponding to the position of the opening 2021 on the cargo box 200 is provided on the lower side of the main body 321, and an elastic member (not shown in the figure) is sleeved on the rotating shaft where the locking pin 241 is located. When the end effector 320 is connected to the cargo box 200, the contact portion 329 abuts against the locking protrusion 2412 and compresses the elastic member, pressing the locking protrusion 2412 into the interior of the cargo box 200, which can drive the locking pin 241 to rotate, thereby Fig.17 The locking state shown switches to Fig.16 In the unlocked state shown in FIG. 1 , when the end effector 320 is disconnected from the cargo box 200, the lock pin 241 can be switched back to the unlocked state under the elastic force of the elastic member. Fig.17 The locked state shown prevents the goods from accidentally falling out when the roller shutter is retracted.

[0053] In the embodiment where the cargo box 200 is disposed on the shelf 100, Figure 1 As shown, the shelf 100 is a frame structure 110 with a plurality of cabinets, the cabinets are used to place the cargo box 200, the mechanical arm 300 is used to drive the cargo box 200 to move in the horizontal direction to enter or exit the cabinet, the gripping portion 210 of the cargo box 200 can be arranged on the first side wall 202, the position opposite to the first side wall 202 on the square structure is formed as an opening 250 for storing goods, and the cabinet is provided with a door 140 that can be opened and closed on the side away from the entrance of the cargo box 200 to close the opening 250. The shelf 100 and the cargo box 200 are combined to form a grid cabinet similar to a takeaway cabinet, and the cabinet door 140 can be automatically opened. On the side where the cabinet door 140 is located, the user can open the cabinet door 140 and put the goods into the cargo box 200 from the opening 250. When unloading, the mechanical arm 300 removes the cargo box 200 from the shelf 100 from the other opposite side. In addition, multiple cabinet doors 140 carry different order information respectively. When storing goods, by scanning the QR code on the delivery vehicle 400, the cabinet door 140 corresponding to the order information will automatically pop open, and the user can place the goods from the opening 250 manually or by the robotic arm 300. Of course, the cabinet door 140 that pops open by button control also falls within the protection scope of the present disclosure.

[0054] The frame structure 110 can guide the entry and exit of the cargo box 200. Figure 8 and Fig. 9As shown, each counter of the shelf 100 is provided with a guide member 130, and the cargo box 200 is provided with a guide hole 270 matching the shape of the guide member 130, and the size of the guide hole 270 gradually decreases along the moving direction of the cargo box 200 into the counter. The guide member 130 may be an arrow-shaped structure pointing in the direction of entering the counter, and the guide hole 270 may be a triangular hole. In the process of pushing the cargo box 200 back to the shelf 100, the guide member 130 gradually enters the guide hole 270, plays a guiding role in the movement of the cargo box 200, and compensates for the deviation of the cargo box 200 returning to the shelf 100. By designing the size of the guide hole 270, the deviation of ±10mm can be compensated, and the problem of the cargo box 200 not moving in place can be avoided.

[0055] A plurality of cargo boxes 200 are placed on the shelves 100 respectively, and the entire container 10 is placed on the delivery vehicle 400. During driving, in order to prevent the cargo box 200 from falling off the shelf 100, in the present disclosure, an electromagnet 120 is provided on each counter position of the shelf 100, and a magnetic adsorption component 260 is provided on the cargo box 200. The electromagnet 120 and the magnetic adsorption component 260 can be connected in an on-off manner. During the driving of the delivery vehicle 400, the electromagnet 120 is powered off and attracted to the magnetic adsorption component 260 to prevent the cargo box 200 from falling out and ensure the connection between the cargo box 200 and the shelf 100. When unloading is required, the electromagnet 120 is powered on, the magnetic force disappears, and the cargo box 200 can be easily removed from the shelf 100.

[0056] In the present disclosure, the guide hole 270 and the magnetic adsorption member 260 are both arranged on the top wall 201 of the cargo box 200, and the positions of the guide member 130 and the electromagnet 120 can be designed according to the positions of the guide hole 270 and the magnetic adsorption member 260 on the cargo box 200. The magnetic adsorption member 260 can be a thin sheet structure and will not affect the movement of the cargo box 200. In addition, the cargo box 200 provided by the present disclosure does not contain electrical parts, has higher waterproof and dustproof performance, and is easy to clean.

[0057] In addition, in the present disclosure, the clamping edge 327 extending into the gripping portion 210 is arranged on the upper side of the body portion 321, and the sprocket 322 is arranged on the lower side of the body portion 321. The teeth of the sprocket 322 can be clamped into the gap of the carbon rod 221 to connect the cargo box 200 with the end effector 320 at the upper and lower sides respectively, which can ensure the reliability and stability of the connection between the cargo box 200 and the end effector 320, thereby driving the cargo box 200 to move through the robot arm 300. The clamping edge 327 can be an arc-shaped edge with a thickness gradually decreasing in the upward direction, which is convenient for extending into the gripping space for clamping.

[0058] In this disclosure, Fig. 20 and Fig.21As shown, the sprocket 322 is arranged on the front of the main body 321, and the power member 323 is arranged on the back of the main body 321. The power member 323 and the sprocket 322 are connected through the transmission member 324. The main body 321 is provided with a through hole, and the transmission member 324 passes through the through hole. The power member 323 can be a motor, which drives the sprocket 322 to rotate through a synchronous belt. Since the sprocket 322 is meshed with the rolling curtain at this time, it can drive the rolling curtain to move and realize the opening and closing of the rolling curtain. In addition, the power member 323 and the sprocket 322 are located at the front of the main body 321 and the back of the main body 321, respectively, so as to maximize the use of the space of the main body 321 and realize the driving effect on the sprocket 322.

[0059] To ensure the driving effect of the sprocket 322 on the roller blind, Fig. 20 As shown, the front of the main body 321 is provided with ear plates arranged opposite to each other, there can be multiple sprockets 322 and they are arranged on the mounting shaft 3220, both ends of the mounting shaft 3220 are respectively mounted on the ear plates, and the transmission member 324 can be a synchronous belt, one end of the synchronous belt is sleeved on the mounting shaft 3220, and the other end is sleeved on the output shaft of the power member 323. After the end effector 320 is connected to the cargo box 200, the multiple sprockets 322 can act on the gap of the carbon rod 221 at the same time, and drive the rolling curtain to move at the same time. Specifically, in Fig.14 In the illustrated embodiment, when the rolling curtain needs to be retracted, the driving sprocket 322 rotates clockwise, at which time the power member 323 also rotates clockwise, and the rolling curtain moves upward to the retracted position; when the rolling curtain needs to be driven to unfold, the driving sprocket 322 rotates counterclockwise, at which time the power member 323 also rotates counterclockwise, and the rolling curtain moves downward to the unfolded position.

[0060] In the end effector 320 provided in the present invention, on the upper side, through the cooperation of the clamping edge 327 and the grasping part 210, and on the lower side, through the meshing action of the gap between the sprocket 322 and the carbon rod 221, a stable grasping action of the robot arm 300 and the cargo box 200 can be achieved, thereby realizing the movement and transportation of the cargo box 200, and the main body 321 moves downward and backward as a whole, and the clamping edge 327 can be easily withdrawn from the grasping part 210. After completing the delivery action, the cargo box 200 and the end effector 320 can be easily separated, and the operation is simple and convenient.

[0061] like Fig.19 and Fig.21 As shown, the main body 321 is provided with a connection hole 328 for connecting with the end of the multi-axis robot 310. The shape of the connection hole 328 can be designed according to the shape of the end of the multi-axis robot 310. Here, it is a circular connection hole and is arranged in the middle position of the main body 321. The shape and position of the connection hole 328 can be specifically designed according to actual conditions.

[0062] In addition, if Fig. 20 and Fig.21As shown, a detachable external mounting part 325 is provided on one side of the main body 321, and the external mounting part 325 can be at least one of a camera, a detection element, and an indicator light. The camera can realize the recognition of the terminal delivery point position, the grasping part 210 on the cargo box 200 and the power end input port 2022. For example, the camera can be used to detect whether the terminal delivery position is occupied, accurately locate the delivery position, etc., to ensure the accuracy of the cargo delivery position. When it is detected that the roller shutter moves to the retracted limit position and the unfolded limit position, the indicator light will also give a corresponding prompt, such as a green light, to control the start and stop of the power part 323 in time.

[0063] In the present disclosure, a plurality of weight-reducing holes 3210 are provided on the main body 321 to reduce the weight of the end effector 320 as much as possible and achieve an overall lightweight design.

[0064] Specifically, taking food delivery as an example, the working process of the automatic cargo delivery device provided by the present invention is introduced in detail.

[0065] To place the food, the rider picks up the food from the merchant and scans the QR code on the delivery vehicle 400. The cabinet door 140 of the corresponding compartment automatically pops open. The rider puts the food into the cargo box 200 and then closes the cabinet door 140 to complete the meal placement.

[0066] Delivery action: the delivery vehicle 400 automatically drives to the delivery location according to the order information, performs automatic parking, identifies the delivery point, and plans the delivery location and the movement path of the robot arm 300; the robot arm 300 grabs the cargo box 200 to be delivered on the shelf 100, the clamping edge 327 extends into the gripping part 210, the sprocket 322 engages with the rolling curtain, and the connection between the cargo box 200 and the end effector 320 is completed. At this time, the contact part 329 abuts against the clamping protrusion 2412, driving the lock pin 241 to rotate, and the hook part 2411 withdraws from the gap of the carbon rod 221 to complete the unlocking. The multi-axis robot arm 310 moves according to the specified movement path to place the cargo box 200 in the delivery area. At this time, the power part 323 is started, and the sprocket 322 is driven to rotate through the transmission part 324, driving the rolling curtain to move from the unfolded position to the retracted position, and the goods automatically fall to the delivery position. Finally, the roller shutter is driven to return to the unfolded position and the empty cargo box is placed back on the shelf 100, completing the entire automatic delivery operation.

[0067] In the automatic cargo delivery device provided by the present disclosure, the cargo box 200 can hold different types of cargo, and a cargo box is used to realize the standardized design of the circulation process. The retractable movable part 220 is designed, and the cargo automatically falls to the delivery position after the roller shutter is retracted. Only the cargo is placed at the end, avoiding the asset management problem caused by the container, and improving the utilization rate of the container. On the one hand, the end effector 320 of the mechanical arm 300 can realize the grasping of the cargo box 200, and at the same time, it can also drive the roller shutter to be retracted or unfolded through the sprocket 322. On the other hand, when the end effector 320 is connected to the cargo box 200, it can also drive the lock pin 241 to rotate to switch between the two states of locking and unlocking the roller shutter, and it can also identify whether the roller shutter has moved in place, identify whether the delivery position is occupied, etc., to ensure the accuracy of the entire delivery process. The entire automatic cargo delivery device is placed on the delivery vehicle 400, realizing automatic driving in the middle of the road, and realizing automatic loading and unloading of the front and rear ends, realizing full-link automated delivery, which will not affect the user's pickup, reducing the labor intensity of the delivery personnel, and improving the delivery efficiency.

[0068] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0069] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0070] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A cargo box, characterized in that: The cargo box is provided with a gripping portion, and the gripping portion is used to drive the cargo box to move under the action of an external force. The cargo box has a bottom wall for carrying goods, wherein the bottom wall is a retractable movable portion, and when the cargo box moves to a specified position, the movable portion retracts and releases the goods.

2. The cargo box according to claim 1, characterized in that: The side wall edges opposite to the cargo box are formed with a receiving channel, the side wall edges at least include the bottom edge of the cargo box and a side edge adjacent to the bottom edge, the movable portion is a roller shutter that can move between an unfolded position and a retracted position in the receiving channel, wherein: In the deployed position, the roller blind is at least partially located at the bottom edge, and the roller blind is capable of closing the bottom opening of the cargo box and carrying cargo; In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box and releasing the cargo.

3. The cargo box according to claim 2, characterized in that: The rolling shutter includes a plurality of carbon rods arranged in parallel in sequence, the ends of two adjacent carbon rods are connected by a first fixing ring, two adjacent first fixing rings are connected by a second fixing ring, a gap is provided between two adjacent carbon rods, a power end input port is provided on the side wall of the cargo box, a power member is installed at the power end input port and has a tooth portion extending into the gap to drive the rolling shutter to move.

4. The cargo box according to claim 3, characterized in that: Magnetic parts are arranged in the inner cavities of the carbon rods at the two ends of the rolling curtain, and the carbon rods with the magnetic parts are used to determine the position of the rolling curtain in the receiving channel.

5. The cargo box according to claim 2, characterized in that: The cargo box is provided with a locking portion cooperating with the movable portion; when the locking portion is unlocked, the rolling curtain moves in the receiving channel; when the locking portion is locked, the rolling curtain is limited to any position in the receiving channel.

6. The cargo box according to claim 5, characterized in that: The locking portion includes a rotatable locking pin, one end of which is formed as a hook-shaped portion, and the other end is formed as a latching protrusion, the hook-shaped portion can extend into or withdraw from the gap between two adjacent carbon rods of the roller blind, an opening is provided on the side wall of the cargo box, and the latching protrusion can protrude from the opening.

7. The cargo box according to claim 1, characterized in that: The cargo box is a square structure surrounded by a top wall, a bottom wall, a first side wall and two opposite second side walls. The gripping portion is arranged on the first side wall, and an opening for storing goods is formed at a position on the square structure opposite to the first side wall.

8. The cargo box according to claim 1, characterized in that: The cargo box is provided with a guide hole, and the size of the guide hole gradually decreases along the moving direction of the cargo box.

9. The cargo box according to claim 1, characterized in that: The cargo box is provided with a magnetic adsorption component.

10. A cargo container, characterized in that: It comprises a shelf and a cargo box arranged on the shelf, and the cargo box is the cargo box according to any one of claims 1-9.

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