A driving cargo robot

Abstract

The present invention discloses a driving type freight robot, comprising a robot body, a controller installed on the robot body, mechanical arms axially installed on both sides of the robot body, a hook claw assembly installed on one side of the bottom of the robot body, and a pulley assembly installed on the other side of the bottom of the robot body, the bottoms of the two mechanical arms are both installed with hub motors, the tops of the two mechanical arms are both axially connected with push rods, and each push rod is installed with a position sensor; a radar is installed at the bottom of the hook claw assembly, and the radar and the position sensor are respectively connected to the controller through wireless transmission for data transmission, and the controller controls the connection of the hook claw assembly and the hub motor respectively; a rechargeable battery installed on the robot body is provided on the upper side of the pulley assembly; a suspended hook claw assembly and a movable mechanical arm are installed on the robot body to achieve the effect of no human intervention in the process of loading and unloading goods; a push rod is added to push to control the driving type freight robot to move forward and backward.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a driving freight robot. Background Art

[0002] Existing freight robots mostly adopt separate AGV robots, ordinary integrated freight robots, and unmanned freight vehicles. The ordinary integrated freight robots have a built-in body and the cargo compartment cannot be replaced. At present, the separated AGV robots need to be fixed on the platform. Although the cargo can be replaced, manual loading and unloading of the cargo is required. However, the separated AGV robots are only suitable for indoor warehouse environments; at the same time, unmanned freight vehicles are suitable for outdoor use, are bulky and expensive; and the existing freight robots cannot be driven, so a driving freight robot suitable for a variety of usage scenarios is needed. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the body of an ordinary integrated freight robot is built-in and the cargo bin cannot be replaced. At present, the separated AGV robot needs to be fixed on a platform. Although the cargo can be replaced, manual loading and unloading of the cargo is required. However, the separated AGV robot is only suitable for indoor warehouse environments; at the same time, unmanned freight vehicles are suitable for outdoor use, are bulky in size and expensive. The present invention provides a driving freight robot, which adopts a suspended hook assembly and a movable mechanical arm installed on the robot body to achieve the technical effect of no need for manual participation in the loading and unloading process of the cargo; a push rod is added to push the driving freight robot forward and backward; the driving freight robot is structurally designed as an off-road frame, and the chassis of the robot body is designed to be placed on the cargo bin, so that it can not only operate indoors, but also carry out freight outdoors and in off-road areas, greatly enhancing its movement passability, so as to solve the defects caused by the prior art.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] A driving freight robot, comprising a robot body and a controller mounted on the robot body, mechanical arms axially mounted on both sides of the robot body, a hook assembly mounted on one side of the bottom of the robot body, and a pulley assembly mounted on the other side of the bottom of the robot body, wherein the bottoms of the two mechanical arms are both mounted with hub motors, the tops of the two mechanical arms are both axially connected with push rods, and each of the push rods is mounted with a position sensor;

[0006] A radar is installed at the bottom of the hook assembly, and the radar and the position sensor are respectively connected to the controller wirelessly for data transmission, and the controller controls the connection of the hook assembly and the wheel hub motor respectively;

[0007] A rechargeable battery mounted on the robot body is provided on the upper side of the pulley assembly, and the rechargeable battery is electrically connected to the controller and the wheel hub motor;

[0008] The radar is used to detect the cargo around the driving freight robot in real time. When the radar detects the cargo, it feeds back to the controller, and the controller controls the wheel hub motor to move the driving freight robot to the top of the cargo to prepare to grab the cargo; then the controller controls the claw assembly to grab the cargo for freight, and then the controller controls the wheel hub motor to move the driving freight robot to a designated location, and then the controller controls the claw assembly to put down the cargo to complete the freight, and then the controller controls the wheel hub motor to leave (leave in reverse) to carry out the freight of the next cargo, thereby realizing the function of automatic loading of cargo and realizing an automated closed loop.

[0009] The above-mentioned driving freight robot, wherein mounting plates are provided on both sides of the robot body, the mechanical arm is mounted on the mounting plates, the pulley assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the rechargeable battery is arranged on the upper side of the pulley assembly and connected to the inner walls of the two mounting plates;

[0010] The hook assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the controller is arranged on the upper side of the hook assembly and connected to the inner walls of the two mounting plates.

[0011] The above-mentioned driving freight robot, wherein the hook assembly includes a hanger and a hook, the two sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hook is connected to the bottom of the hanger through a servo motor, the controller controls the connection of the electric push rods and the servo motor respectively, the electric push rods are provided with four, the hooks are provided with four, the controller controls the servo motor to control the hook to grab the goods (the hanger is generally made into the same size as the goods to be clamped, wherein the goods are generally boxes, wherein the top of the box will be reserved with a concave hole matching the hook), the hook is in an open and pop-up state when powered on, that is, separated from the concave hole on the box, and engaged with the concave hole on the box when powered off; the hanger adopts a suspension design, and is suspended below the robot body by means of two groups of front and rear electric push rods, and the hanger is pushed up and down by the electric push rod, that is, the robot body moves itself, the electric push rod pushes the hanger to move up and down, and the hook is powered on and off to realize the operation of picking up or putting down the box.

[0012] The above-mentioned driving freight robot, wherein the mechanical arm includes a forearm, a rear arm, and a shock absorber rod, a cover plate is installed on the top of the forearm, two ends of the shock absorber rod are axially connected to the cover plate and the rear arm respectively, the hub motor is connected to the other end of the rear arm, and a spring is sleeved on the shock absorber rod.

[0013] In the above-mentioned driving freight robot, the pulley assembly includes a pulley bracket and a universal wheel, the pulley bracket is arranged between the two mounting plates and axially connected to the inner walls of the two mounting plates, and the universal wheel is connected to the bottom of the pulley bracket.

[0014] In the above-mentioned driving freight robot, the pulley bracket includes a connecting rod and a connecting plate, both sides of the connecting plate are axially connected to the connecting rod axially connected to the connecting plate, and the hub motor is connected to the bottom of the connecting plate.

[0015] In the above-mentioned driving freight robot, the radar is a SLAM radar.

[0016] In the above-mentioned riding freight robot, a locking piece is provided at the connection between the push rod and the mechanical arm.

[0017] In existing freight robots, the cargo compartment is above the robot, and the placement and extraction of goods require human participation. In fact, there is no truly unmanned solution. After delivery to the destination, personnel need to be notified to extract the goods. If there is no manual extraction, the robot will not be able to continue to obtain and transport the next batch. The driving freight robot provided by the present technical solution adopts a claw-type grabbing design of the claw assembly to automatically grab the target goods and transport them to the designated place for release. No human participation is required in the entire process, and continuous loading and unloading of goods can be achieved, greatly improving freight efficiency.

[0018] The current robots adopt a low chassis design, which has limited ability to pass obstacles and is only suitable for indoor or flat roads. The driving cargo robot structure of the present technical solution is designed as an off-road frame, and the chassis of the robot body is designed to be placed on the cargo warehouse. It can not only operate indoors, but also carry cargo outdoors and in off-road areas, greatly enhancing its mobility. The technical solution provided by the driving cargo robot of the present invention has the following technical effects:

[0019] The driving freight robot provided by the technical solution adopts a hanging claw assembly and a mobile mechanical arm installed on the robot body to achieve the technical effect of loading and unloading goods without manual intervention;

[0020] A push rod is added to push the driving cargo robot forward and backward;

[0021] A driving cargo robot structure of the present technical solution is designed as an off-road frame, and the chassis of the robot body is designed to be placed on the cargo warehouse. It can not only operate indoors, but also transport cargo outdoors and in off-road areas, which greatly enhances its mobility. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a driving freight robot of the present invention;

[0023] Figure 2 This is a schematic diagram of the automatic driving structure of a driving freight robot according to the present invention;

[0024] Figure 3 This is a schematic diagram of the cart-shaped structure of a driving freight robot of the present invention;

[0025] Figure 4 The present invention is a schematic diagram of the storage structure of a driving freight robot.

[0026] The reference numerals are as follows:

[0027] Robot body 101, robotic arm 102, claw assembly 103, pulley assembly 104, hub motor 105, radar 106, rechargeable battery 107, mounting plate 108, hanger 109, hook 110, forearm 111, rear arm 112, shock absorbing rod 113, cover plate 114, spring 115, universal wheel 116, connecting rod 117, connecting plate 118, cargo 119, push rod 120. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects of the invention easy to understand, the technical solutions in the embodiments of the present invention are clearly and completely described below in combination with specific diagrams. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0029] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0030] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0031] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0032] A preferred embodiment of the present invention is to provide a driving freight robot, the purpose of which is to achieve the technical effect of not requiring human intervention during the loading and unloading of goods by installing a suspended hook assembly and a movable mechanical arm on the robot body; a push rod is added to push the driving freight robot forward and backward; the driving freight robot is structurally designed as an off-road frame, and the chassis of the robot body is designed to be placed on the cargo warehouse, so that it can not only operate indoors, but also transport freight outdoors and in off-road areas, greatly enhancing its mobility.

[0033] like Figure 1 As shown, a driving freight robot comprises a robot body 101 and a controller mounted on the robot body 101, mechanical arms 102 axially mounted on both sides of the robot body 101, a claw assembly 103 mounted on one side of the bottom of the robot body 101, and a pulley assembly 104 mounted on the other side of the bottom of the robot body 101, the bottoms of the two mechanical arms 102 are both mounted with wheel hub motors 105, the tops of the two mechanical arms are both axially connected with push rods 120, and each push rod 120 is mounted with a position sensor;

[0034] A radar 106 is installed at the bottom of the hook assembly 103. The radar 106 and the position sensor are respectively connected to the controller through wireless communication for data transmission. The controller controls the connection of the hook assembly 103 and the hub motor 105 respectively.

[0035] A rechargeable battery 107 mounted on the robot body 101 is provided on the upper side of the pulley assembly 104 , and the rechargeable battery 107 is electrically connected to the controller and the wheel hub motor 105 ;

[0036] The radar 106 is used to detect the cargo 119 around the driving freight robot in real time. When the radar 106 detects the cargo 119, it is fed back to the controller, and the controller controls the wheel hub motor 105 to move the driving freight robot to the top of the cargo 119, ready to grab the cargo 119; then the controller controls the claw assembly 103 to grab the cargo 119 for freight, and then the controller controls the wheel hub motor 105 to move the driving freight robot to the designated location, and then the controller controls the claw assembly 103 to put down the cargo 119 to complete the freight, and then the controller controls the wheel hub motor 105 to leave (leave in reverse) to carry out the freight of the next cargo 119, thereby realizing the function of automatic loading of cargo 119 and realizing an automated closed loop.

[0037] Wherein, mounting plates 108 are provided on both sides of the robot body 101, the robot arm 102 is installed on the mounting plates 108, the pulley assembly 104 is arranged between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108, and the rechargeable battery 107 is arranged on the upper side of the pulley assembly 104 and connected to the inner walls of the two mounting plates 108;

[0038] The hook assembly 103 is disposed between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108 . The controller is disposed on the upper side of the hook assembly 103 and connected to the inner walls of the two mounting plates 108 .

[0039] The hook assembly 103 includes a hanger 109 and a hook 110. Both sides of the hanger 109 are connected to the inner wall of the mounting plate 108 through electric push rods. The hook 110 is connected to the bottom of the hanger 109 through a servo motor. The controller controls the electric push rods and the servo motors respectively. There are four electric push rods and four hooks 110. The controller controls the servo motor to control the hook 110 to grab the goods 119 (the hanger 109 is generally made into the same size as the goods 119 to be clamped, and the goods 119 are generally boxes. , where a concave hole matching the claw is reserved on the top of the box), the claw is in an open and popped-up state when powered on, that is, separated from the concave hole on the box, and engages with the concave hole on the box when powered off; the hanger 109 adopts a suspension design, and is suspended below the robot body 101 by means of two sets of front and rear electric push rods. The hanger 109 is pushed up and down by the electric push rod, that is, the robot body 101 moves itself, the electric push rod pushes the hanger 109 to move up and down, and the claw is powered on and off to realize the operation of picking up or putting down the box.

[0040] Among them, the mechanical arm 102 includes a forearm 111, a rear arm 112, and a shock absorber rod 113. A cover plate 114 is installed on the top of the forearm 111. Both ends of the shock absorber rod 113 are axially connected to the cover plate 114 and the rear arm 112 respectively. The hub motor 105 is connected to the other end of the rear arm 112, and a spring 115 is sleeved on the shock absorber rod 113.

[0041] The pulley assembly 104 includes a pulley bracket and a universal wheel 116 . The pulley bracket is disposed between the two mounting plates 108 and axially connected to the inner walls of the two mounting plates 108 . The universal wheel 116 is connected to the bottom of the pulley bracket.

[0042] The pulley bracket includes a connecting rod 117 and a connecting plate 118 , both sides of the connecting plate 118 are axially connected with the connecting rod 117 axially connected to the connecting plate 118 , and the hub motor 105 is connected to the bottom of the connecting plate 118 .

[0043] The radar 106 is a SLAM radar.

[0044] Among them, a locking piece is provided at the connection between the push rod 120 and the mechanical arm 102, and the locking piece can lock the push rod 120 and the mechanical arm 102. The push rod 120 can be rotated to any angle by adjusting the locking piece and then locked by the locking piece.

[0045] In the existing freight robots, the cargo warehouse is above the robot, and the placement and extraction of the goods 119 require human participation. In fact, there is no truly unmanned solution. After delivery to the destination, personnel need to be notified to extract the goods. If there is no manual extraction, the robot will not be able to continue to obtain and transport the next batch. The driving freight robot provided by the present technical solution adopts a claw-type claw component 103 grasping design, which automatically grabs the target goods 119 and transports it to a designated place for release. No human participation is required throughout the process, and continuous loading and unloading of the goods 119 is achieved, greatly improving the freight efficiency.

[0046] The current robot adopts a low chassis design and has limited ability to pass through obstacles, and is only suitable for indoors or on flat roads. A driving cargo robot structure of the present technical solution is designed as an off-road frame, and the chassis of the robot body 101 is designed to be placed on the cargo warehouse 119. It can not only operate indoors, but also carry cargo outdoors and in off-road areas, greatly enhancing its mobility.

[0047] The driving freight robot provided by this technical solution has the following characteristics:

[0048] Deformable: The driving freight robot provided by this technical solution can be transformed into four forms, which can adapt to more application scenarios and greatly enhance the practicality of multiple scenarios. The four forms include an autonomous driving robot, a manually driven single-person vehicle mode, a shopping cart mode, and a storable mode. It can automatically switch according to different scenarios, and more application cases are derived through the changes in various forms, as follows:

[0049] 1. As Figure 2As shown, the autonomous driving forms (security inspection, freight robot, freight transport):

[0050] It has the functions of automatic loading and unloading of goods. In the state of multiple goods, it uses its own radar 106 to realize the function of autonomous navigation. It is a service robot that can be placed for inspection and freight. Different from ordinary freight robots, it adopts a cargo hanging structure to place the main cargo 119 under the robot body, so that the robot body 101 can automatically grab the cargo 119 on the ground and place it to another place, without the need for human intervention throughout the process; in addition, in the automatic driving mode, it can load up to 2 cargoes 119, one on the top and one on the bottom.

[0051] 2. If Figure 1 As shown, single-driver vehicle form (drivable):

[0052] The robot body is equipped with two push rods 120 on the left and right sides, so that it can become a single-person drivable vehicle. The two wheel hub motors 105 adopted by the robot body 101 have a differential motion mode. Through the innovative push rod design, the push rod 120 on one side is pushed forward, and the position sensor transmits it to the controller after sensing. The controller controls the wheel hub motor 105 on one side to roll forward, and the other side is the same. The driving freight robot can be controlled by pushing the push rods 120 forward or forward and backward at the same time. Conversely, if one side is pulled backward, the wheel hub motor 105 on one side will rotate backward.

[0053] 3. Such as Figure 3 As shown, the trolley form (powered freight form, shopping trolley):

[0054] The push rod 120 can be folded backward to become a trolley, which is used to transport goods 119 in warehouses, shopping malls, supermarkets and other places. In this form, the two hub motors 105 will provide assistance to facilitate the transportation of goods 119.

[0055] 4. Such as Figure 4 As shown, storage form (two-wheel balance car):

[0056] The push rod 120 and the wheel hub motor 105 are flipped to both sides at the same time, realizing a two-wheel balancing vehicle. The vehicle can move while maintaining balance through the two wheel hub motors 105, and is suitable for movement in a small space.

[0057] Drivability: Drivability is a highlight of this product. Unlike other service robots, it is also a service robot that can take into account both automatic navigation and manually driven single-person transport functions. Through changes in form, it can provide users with a driving experience. Users can freely control the robot and use it as a means of transportation, which enhances the interactive experience of the robot. This human-computer interactive operation can make up for some technical pain points of the robot itself, and at the same time enhance the product's applicability. This controllable robot can be used in shopping malls or parks as a short-distance personal transportation tool. It is light, safe, and saves physical energy. After arriving at the destination, the robot can return to the starting point by itself. Security personnel can use this robot to perform security patrols in parks or shopping malls; freight personnel can use this robot to transport large and heavy goods, etc.

[0058] Automatic loading: This technology robot can automatically locate the cargo, and locate the position of the cargo 119 through the object recognition system, and move to the top to release the hook 110 to lift and grab the cargo 119, and transport it to the designated place, and finally automatically unload the cargo 119. This is different from other freight robots. We store the cargo 119 under the robot, which can quickly load and unload the cargo 119. At the same time, it lowers the center of gravity of the robot and obtains better passing ability. Finally, this way of lifting cargo can truly realize unmanned operation, and no longer requires people to place the cargo.

[0059] Variable cart mode: In special or high-demand environments, the robot can adapt to user requirements and become a freight cart mode, which can enter and exit difficult venues, double the loading capacity, and provide maximum convenience for users.

[0060] Strong load-bearing capacity.

[0061] In summary, a driving freight robot of the present invention adopts a suspended hook assembly and a movable mechanical arm installed on the robot body to achieve the technical effect of not requiring human intervention during the loading and unloading of goods; a push rod is added to push to control the driving freight robot to move forward and backward; the driving freight robot structure is designed as an off-road frame, and the chassis of the robot body is designed to be placed on the cargo warehouse, which can not only operate indoors, but also transport freight outdoors and in off-road areas, greatly enhancing its mobility.

[0062] The above describes the specific embodiments of the invention. It should be understood that the invention is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood to be implemented in a common manner in the art; those skilled in the art can make various modifications or modifications within the scope of the claims, and make some simple deductions, deformations or substitutions, which does not affect the essence of the invention.

Claims

1. A driving cargo robot, characterized in that: It comprises a robot body and a controller mounted on the robot body, mechanical arms axially mounted on both sides of the robot body, a hook assembly mounted on one side of the bottom of the robot body, and a pulley assembly mounted on the other side of the bottom of the robot body, the bottoms of the two mechanical arms are both mounted with hub motors, the tops of the two mechanical arms are both axially connected with push rods, and each push rod is mounted with a position sensor; A radar is installed at the bottom of the hook assembly, and the radar and the position sensor are respectively connected to the controller wirelessly for data transmission, and the controller controls the connection of the hook assembly and the wheel hub motor respectively; A rechargeable battery mounted on the robot body is provided on the upper side of the pulley assembly, and the rechargeable battery is electrically connected to the controller and the wheel hub motor; Mounting plates are provided on both sides of the robot body, the robot arm is mounted on the mounting plates, the pulley assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the rechargeable battery is arranged on the upper side of the pulley assembly and connected to the inner walls of the two mounting plates; The hook assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the controller is arranged on the upper side of the hook assembly and connected to the inner walls of the two mounting plates; The hook assembly comprises a hanger and a hook, both sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hook is connected to the bottom of the hanger through a servo motor, and the controller controls the electric push rod and the servo motor respectively; There are four electric push rods in total, and four hooks in total; The mechanical arm comprises a forearm, a rear arm, and a shock absorber rod. A cover plate is installed on the top of the forearm. Both ends of the shock absorber rod are axially connected to the cover plate and the rear arm respectively. The wheel hub motor is connected to the other end of the rear arm. A spring is sleeved on the shock absorber rod. The pulley assembly comprises a pulley bracket and a universal wheel, wherein the pulley bracket is arranged between the two mounting plates and axially connected to the inner walls of the two mounting plates, and the universal wheel is connected to the bottom of the pulley bracket; The pulley bracket comprises a connecting rod and a connecting plate, both sides of the connecting plate are axially connected to the connecting rod axially connected to the connecting plate, and the wheel hub motor is connected to the bottom of the connecting plate; A locking piece is provided at the connection between the push rod and the mechanical arm; A driving freight robot includes four modes: automatic driving mode, single-driver vehicle mode, cart mode, and storage mode, which can be switched according to different scenarios.

2. A driving cargo robot as claimed in claim 1, characterized in that: The radar is a SLAM radar.

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