A split body bin robot and system

Abstract

This invention relates to the field of robotics, providing a split-type warehouse robot and system, comprising: multiple container units and at least one mobile robot; each container unit includes an identification element and is used to store items needed by a customer; the mobile robot includes: a device body for movement; an identification component disposed on the device body and used to identify the identification element; and a docking component disposed on the device body and detachable from or connected to one of the container units. This addresses the problems of inflexibility and inconvenience in the use of existing independent, integrated delivery robots.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a split-type warehouse robot and system. Background Technology

[0002] With the rise of intelligent building services, people have a high acceptance of intelligent robot services. For customers in hotels and office buildings, daily life involves needs such as shopping, delivering packages, sending and receiving documents, and picking up and delivering hotel items. These tasks are typically performed by building lobby staff. As labor costs rise, hotel property services have a need to reduce costs and improve service levels. However, with the widespread adoption of intelligent robots, which can act as property service personnel, labor costs can be reduced.

[0003] However, current standalone service robots are all integrated robots. Taking delivery robots as an example, the robot uses a fixed cargo hold where couriers can put packages in, and then the robot delivers them to the customer in the building. When another courier arrives while the robot is delivering an item, the courier has to wait, resulting in wasted time. This makes integrated delivery robots inflexible and inconvenient to use.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The purpose of this invention is to provide a split-type warehouse robot and system to solve the problems of insufficient flexibility and inconvenience in the use of existing independent integrated delivery robots.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] On one hand, the present invention provides a split-type warehouse robot, comprising: multiple container units, and at least one mobile robot;

[0008] The container unit includes identification elements and is used to store items needed by customers.

[0009] A mobile robot includes: a main body for movement;

[0010] An identification component, disposed on the device body, is used to identify identification elements; and

[0011] Docking assembly; the docking assembly is located on the main body of the device and can be detached from or connected to one of the container units.

[0012] In one embodiment, the docking component includes a power source, which is fixedly connected to the device body;

[0013] There are at least three lifting components, and all three lifting components are connected to a power source;

[0014] The three lifting components are evenly distributed around the power source and are raised and lowered synchronously by the power source.

[0015] In one embodiment, the lifting assembly includes: a linear drive unit connected to a power source;

[0016] A support rod, one end of which is hinged to the main body of the device;

[0017] The push link is hinged at one end to the linear drive unit and at the other end to the support rod;

[0018] The push link moves radially by being driven by the linear drive unit to push up or lower the push link.

[0019] In one embodiment, a support platform is provided at one end of the support rod away from the device body. The support platform has a first surface that extends radially by a predetermined distance. The first surface is used to abut against and support the bottom surface of the docking groove on the container device.

[0020] In one embodiment, the support platform also has a support side extending a predetermined distance in the vertical direction, and the support side is used to abut against the side wall of the docking slot on the container device.

[0021] In one embodiment, a bearing housing is provided on the device body;

[0022] The power source includes: an active motor, which is fixedly mounted on the main body of the device;

[0023] The driving bevel gear has its central axis set along the vertical direction and is connected to the driving motor, which drives it to rotate.

[0024] The linear drive unit includes: a transmission screw that extends radially and is rotatably connected to a bearing housing;

[0025] Driven bevel gear, which is connected to the transmission screw and meshes with the driving bevel gear;

[0026] Push the nut, which is screwed onto the transmission screw.

[0027] The push rod is hinged to the push nut.

[0028] In one embodiment, a groove is formed on the upper surface of the device body;

[0029] The linear drive unit and power source are located inside the settling tank.

[0030] In one embodiment, a clearance groove is provided on the support rod, and the push rod is connected to the clearance groove.

[0031] In one embodiment, the identification component includes: a vision sensor disposed on the device body, the vision sensor being used to collect identification information of the identifier to determine the container device to be docked; and

[0032] LiDAR (Light Detection and Ranging) is used to collect the location information of the container unit and to control the docking components to dock with the docking slots of the container unit.

[0033] On the other hand, the present invention also provides a split-type warehouse robot system, including a back-end control host and the split-type warehouse robot as described above.

[0034] The back-end control host is used to receive the receiving instruction from the container device and send the start instruction to the mobile robot;

[0035] The mobile robot identifies the corresponding container device through the recognition component and docks with the container device through the docking component;

[0036] The container unit is used to move to the corresponding customer location by being driven by a mobile robot.

[0037] The beneficial effects of the split-type warehouse robot and system provided by this invention are at least as follows: By setting up container units, the robot can place goods. A mobile robot can dock with or detach from the container units via docking components. Once docked, the mobile robot moves to the corresponding room in the building and delivers the goods from the container to the corresponding customer. The customer opens the container and retrieves the items, thus realizing the delivery function. While the mobile robot is delivering goods, other container units are placed in preset positions, allowing delivery personnel to place items in the containers and wait for delivery. After the mobile robot delivers items from one container unit, it moves to the corresponding position and detaches from the container unit, connecting to the next container unit to drive its movement and delivery. This split-type design allows for flexible use of the container robot and facilitates the replacement of container units. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1This is a structural schematic diagram of a split-type warehouse robot provided in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of a mobile robot of a split-type warehouse robot provided in an embodiment of the present invention;

[0041] Figure 3 A cross-sectional view of a mobile robot of a split-type warehouse robot provided in an embodiment of the present invention;

[0042] Figure 4 An exploded view of a split-type warehouse robot provided in an embodiment of the present invention.

[0043] In the figures, the following labels are used: 10, container device; 20, mobile robot; 100, identification component; 110, docking groove; 200, device body; 210, bearing seat; 220, settling tank; 300, docking assembly; 310, power source; 311, drive motor; 312, drive bevel gear; 320, lifting assembly; 321, linear drive unit; 322, support rod; 323, push linkage; 324, transmission screw; 325, driven bevel gear; 326, push nut; 327, clearance groove; 330, support platform; 331, first surface; 332, support side; 400, identification component; 410, vision sensor; 420, lidar. Detailed Implementation

[0044] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0046] Please see Figure 1 , Figure 2 , Figure 4This embodiment provides a split-type warehouse robot, including: multiple container units 10 and at least one mobile robot 20. The container units 10 are used to store items. For example, when a courier needs to make a delivery, the courier enters the customer's mobile phone number or courier number to open the container unit 10, places the item in the container unit 10, and then leaves. The mobile robot 20 can connect to the container units 10 and match the customer's identity in the building using the customer's mobile phone number or courier number entered by the courier. For example, in a hotel, it can match the customer's room number based on the mobile phone number. The mobile robot 20 moves the container units 10, carrying the items, and delivers them to the customer's room door. The mobile robot 20 can also detach from the container units 10 and connect to other container units 10, allowing it to perform other tasks, such as sending and receiving documents, and retrieving hotel items. Specifically, the container unit 10 includes an identification element 100. In this embodiment, the identification element 100 can be a QR code, symbol, character, or a mark with a specific outline shape for identification. The mobile robot 20 includes a device body 200, an identification component 400, and a docking component 300. The device body 200, as the main part of the mobile robot 20, forms its main outline. Drive wheels are located at the bottom of the device body 200, driving its movement, such as linear movement and turning. The identification component 400 is located on the device body 200 and is used to identify the identification element 100. By identifying the identification element 100 on the container device 10 and matching it with the identification in the instruction information, the identification of the container device 10 to be docked with is determined. The docking component 300 is located on the device body 200 and can be detached from or connected to the container device 10. The docking component 300 can dock with or detach from the container device 10. This allows one mobile robot 20 to dock with multiple container devices 10, which may have different functions, thus enabling multi-purpose use and increasing the practicality of the mobile robot 20. When multiple container units 10 are used to store items, one container unit 10 can be connected to first deliver the items in that container unit 10 to the corresponding customer, while the other container units 10 can remain in place to receive items delivered by couriers, etc. After receiving the items from the courier, they wait for the arrival of the mobile robot 20, and then the mobile robot 20 connects with the waiting container units 10 to deliver the items in these containers in turn.

[0047] The working principle of the split-type warehouse robot provided in this embodiment is as follows: A container device 10 is set up to place goods. A mobile robot 20 can dock with or detach from the container device 10 via a docking component 300. After docking with the container device 10, the mobile robot 20 moves to the corresponding room in the building and delivers the goods in the container to the corresponding customer location. The customer opens the container and retrieves the corresponding items, thus realizing the delivery function. While the mobile robot 20 is delivering goods, other container devices 10 are placed in preset positions, allowing delivery personnel to place items in the containers and wait for delivery. After the mobile robot 20 delivers items from one container device 10, it moves to the corresponding position and detaches from the container device 10, connecting to the next container device 10 to drive the next container device 10 to move and deliver goods.

[0048] The beneficial effects of the modular warehouse robot provided in this embodiment are at least as follows: by setting up multiple container units 10, it can receive different items. The mobile robot 20 can dock with the container units 10 through the docking component 300 to deliver goods. This modular design enables flexible use of the robot and facilitates the replacement of the container units 10. Couriers can promptly place items into the vacant container units 10, reducing waiting time, improving efficiency, and greatly enhancing the ease of use of the delivery robot.

[0049] Please see Figure 2 , Figure 3 Furthermore, the docking assembly 300 specifically includes a power source 310 and at least three lifting assemblies 320. The power source 310 is fixedly connected to the device body 200 and can be powered and controlled by a controller on the device body 200. Each of the three lifting assemblies 320 is connected to the power source 310 and moves accordingly driven by the power source 310. The three lifting assemblies 320 are evenly distributed around the power source 310 and move synchronously upwards and downwards driven by the power source 310. The three lifting assemblies 320 are arranged in a circular array, with an included angle of 120° between adjacent lifting assemblies 320. For ease of structural description, the radial direction of the circle formed is used in this robot structural description. The direction perpendicular to the radial direction is the up and down direction. Driven by the power source 310, the three lifting assemblies 320 can move synchronously upwards and downwards. Therefore, when docking with the container device 10, the three lifting assemblies 320 can move towards the docking position of the container device 10 in three directions, achieving automatic centering during the movement. Even if there is a slight deviation in position when the device body 200 moves below the container device 10, it can still be aligned with the center position of the container device 10 through the automatic centering function of the three lifting components 320, ensuring the stability of the docking.

[0050] Please see Figure 2 , Figure 3 Furthermore, the lifting assembly 320 specifically includes: a linear drive unit 321, a support rod 322, and a push link 323. The linear drive unit 321 is connected to the power source 310. The linear drive unit 321 is connected to the power source 310 through a transmission connection, thereby providing lifting power through the drive of the power source 310. One end of the support rod 322 is hinged to the device body 200, and the other end is used to abut against the container device 10 to lift the container device 10. One end of the push link 323 is hinged to the linear drive unit 321, and the other end is hinged to the support rod 322. The push link 323 moves radially through the drive of the linear drive unit 321 to push up or lower the push link 323. By moving the push link 323 in the radial direction, the support rod 322 can be lifted or lowered. The linear drive unit 321 converts the radial movement of the push link 323 into the lifting movement of the upper end of the support rod 322. The pressure from the container device 10 in the vertical direction is borne by the linear drive unit 321 and the device body 200, with only a very small portion being converted to the radial direction. Therefore, the power source 310 is not subjected to excessive pressure, thus achieving stable operation of the power source 310.

[0051] Please see Figure 2 , Figure 3 , Figure 4 Furthermore, a support platform 330 is provided at one end of the support rod 322 away from the device body 200. The support platform 330 is located at the upper end of the support rod 322 and supports and connects with the container device 10. A docking groove 110 is provided at the bottom of the container device 10, which can be circular. The support platform 330 has a first surface 331, which is the upper surface of the support platform 330. The first surface 331 extends radially by a predetermined distance, so that the first surface 331 has sufficient support contact surface and support strength. The first surface 331 is used to abut against and support the bottom surface of the docking groove 110 on the container device 10. During docking, the support rod 322, under the action of the linear drive unit 321 and the push link 323, causes the support platform 330 to be lifted and moved outward. During the lifting process, the first surface 331 of the support platform 330 abuts against the bottom surface of the docking groove 110 of the cargo frame device, and continues to lift, thereby lifting the cargo frame device.

[0052] Please see Figure 3 , Figure 4Furthermore, the support platform 330 also has a support side 332, which extends a predetermined distance vertically, thus providing sufficient working area. The support side 332 abuts against the side wall of the docking groove 110 on the container device 10. During the upward movement of the support platform 330, when it reaches a predetermined height (or maximum stroke position), the support side 332 abuts against the side of the docking groove 110. Through the combined action of the three support platforms 330, the support side 332 at all three locations applies an outward force to the side wall of the docking groove 110, thereby clamping the container device 10. This clamping also occurs during the lifting process of the container device 10, making the docking between the mobile robot 20 and the container device 10 more stable.

[0053] Please see Figure 2 , Figure 3 Furthermore, a bearing seat 210 is provided on the device body 200 for mounting the linear drive unit 321. Each lifting assembly 320 is equipped with multiple bearing seats 210, which are arranged radially at intervals. The power source 310 in this embodiment includes a drive motor 311 and a drive bevel gear 312. The drive motor 311 is fixedly mounted on the device body 200, for example, a mounting position is provided on the device body 200, which is opened in the vertical direction, and the drive motor 311 is fixed in the mounting position. The central axis of the drive bevel gear 312 is arranged in the vertical direction and connected to the drive motor 311, and rotates by the drive of the drive motor 311. The linear drive unit 321 includes a transmission screw 324, a driven bevel gear 325, and a push nut 326. The transmission screw 324 extends radially and is rotatably connected to the bearing housing 210. The bearing housing 210 supports the transmission screw 324 at both ends in the radial direction, allowing the transmission screw 324 to rotate on the bearing housing 210. The driven bevel gear 325 is connected to the transmission screw 324 and meshes with the driving bevel gear 312. The connection between the driving bevel gear 312 and the driven bevel gear 325 realizes power transmission and converts vertical rotation into horizontal rotation, which can optimize the structure and save space. The transmission method using the transmission screw 324 and the push nut 326 can achieve fine transmission under the drive of the drive motor 311, which is convenient for precise position control. The push nut 326 is sleeved on the transmission screw 324 and is threadedly connected to the transmission screw 324. The push connecting rod 323 is hinged to the push nut 326. When the transmission screw 324 rotates, the push nut 326 moves radially due to the limiting of the push link 323. Due to the movement law of the link, the support rod 322 is pushed up and lowered by the action of the push link 323.

[0054] Please see Figure 2 , Figure 3Furthermore, a clearance groove 327 is provided on the support rod 322, and the push link 323 is connected within the clearance groove 327. The upper end of the push link 323 is hinged to the middle of the support rod 322. Through the clearance groove 327 on the support rod 322, after the support rod 322 is lowered, the push link 323 can be accommodated within the clearance groove 327, thereby achieving structural optimization and saving space.

[0055] Please see Figure 2 , Figure 3 Furthermore, a recess 220 is formed on the upper surface of the device body 200, and the linear drive unit 321 and the power source 310 are disposed within the recess 220. The recess 220 occupies a relatively large area of ​​the upper surface of the device body 200, which is sufficient to accommodate the power source 310 and the lifting assembly 320. This allows the support rod 322 to be raised or lowered within the recess 220, thereby saving space. If the depth of the recess 220 is designed to be sufficient, the support rod 322 can be completely contained within the recess 220 after it is lowered, thus optimizing the shape of the device body 200.

[0056] Please see Figure 2 Furthermore, the identification component 400 includes a vision sensor 410 and a lidar sensor 420. The vision sensor 410, which can be a high-definition camera, is mounted on the device body 200 and is used to collect identification information from the identifier 100 to determine the container device 10 to be docked with. The lidar sensor 420 collects the position information of the container device 10 and is used to control the docking component 300 to dock with the docking slot 110 of the container device 10. The vision sensor 410 and lidar sensor 420 enable the mobile robot 20 to perform pathfinding and obstacle avoidance.

[0057] Example 2

[0058] Please see Figure 1 This embodiment provides a split-type warehouse robot system, including a back-end control host and a split-type warehouse robot as described above. The back-end control host is used to receive the receiving instruction sent by the container device 10 and send a start instruction to the mobile robot 20. The mobile robot 20 identifies the corresponding container device 10 through the identification component 400 and docks with the container device 10 through the docking component 300. The container device 10 is used to move to the corresponding customer location by being driven by the mobile robot 20.

[0059] Please see Figure 1 , Figure 2In the specific process, the back-end control host, as the control part of the system, can communicate with the container device 10 and the mobile robot 20, for example, using WIFI wireless communication. The back-end control host controls the container device 10 and the mobile robot 20. Multiple idle container devices 10 are placed in preset locations in the building, convenient for couriers to place packages. The courier activates the container device 10, enters the customer's mobile phone number or package number, opens the container device 10, places the item, and closes the door. The container device 10 transmits data wirelessly to the back-end control host, which receives the receiving instruction. The back-end control host matches the mobile phone number or package number to locate the customer's room and wirelessly sends a start command to the mobile robot 20. The mobile robot 20 locates the corresponding container device 10 based on the start command. The vision sensor 410 in the identification component 400 collects the identification information from the identifier 100 to determine the container device 10 to be docked, and the lidar 420 collects the position information of the container device 10, enabling the mobile robot 20 to move to the container device 10 to be delivered. The mobile robot 20 can accurately lift and transport the container unit 10. After transporting it to the appropriate room, it will remind the customer via voice or SMS via APP so that the customer can pick up the goods in time.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A split-type warehouse robot, characterized in that, include: Multiple container units, and at least one mobile robot; The container unit includes identification elements, and the container unit is used to store items needed by customers; The mobile robot includes: a device body for movement; An identification component, disposed on the device body and used to identify the identification element; and A docking assembly is provided on the device body and can be detached from or connected to one of the container devices; The docking assembly includes a power source, which is fixedly connected to the device body. At least three lifting components, all three of which are connected to the power source; The three lifting components are evenly distributed around the power source and are synchronously raised and lowered by the power source. The lifting assembly includes: a linear drive unit, which is connected to the power source; A support rod, one end of which is hinged to the device body; a support platform is provided at the end of the support rod away from the device body, the support platform having a first surface that extends radially by a predetermined distance, the first surface being used to abut against and support the bottom surface of the docking groove on the container device; A push link, one end of which is hinged to the linear drive unit and the other end of which is hinged to the support rod; The push link moves radially by being driven by the linear drive unit to push up or lower the push link; A groove is formed on the upper surface of the device body, and the linear drive unit and the power source are disposed in the groove.

2. The split-type warehouse robot as described in claim 1, characterized in that, The support platform also has a support side that extends a predetermined distance in the vertical direction and is used to abut against the side wall of the docking groove on the container device.

3. The split-type warehouse robot as described in claim 1, characterized in that, The device body is provided with a bearing seat; The power source includes an active motor, which is fixedly mounted on the device body. An active bevel gear, the central axis of which is set in the vertical direction and connected to the active motor, rotates by the drive of the active motor; The linear drive unit includes: a transmission screw that extends radially and is rotatably connected to the bearing housing; Driven bevel gear, which is connected to the transmission screw and meshes with the driving bevel gear; A push nut is screwed onto the transmission screw; The push rod is hinged to the push nut.

4. The split-type warehouse robot as described in claim 1, characterized in that, The support rod has a clearance groove, and the push rod is connected to the clearance groove.

5. The split-type warehouse robot as described in claim 1, characterized in that, The identification component includes: a vision sensor disposed on the device body, the vision sensor being used to collect identification information of the identification element to determine the container device to be docked; and A lidar is used to collect the position information of the container device and to control the docking assembly to dock with the docking slot of the container device.

6. A split-type warehouse robot system, characterized in that, Includes a back-end control host and a split-type warehouse robot as described in any one of claims 1-5; The background control host is used to receive the receiving instruction from the container device and send a start instruction to the mobile robot; The mobile robot identifies the corresponding container device through the identification component and docks with the container device through the docking component; The container unit is used to move to the corresponding customer location by being driven by the mobile robot.

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