A vehicle-mounted access case robot and a method of using the same

Abstract

The application discloses a vehicle-mounted access cargo box robot, which comprises a three-axis linear guide rail, an X-axis linear guide rail, a Z-axis linear guide rail and a Y-axis linear guide rail; a cargo box docking device is arranged on the three-axis linear guide rail and is provided with an electromagnetic telescopic lock, a docking plate and a travel switch, and the electromagnetic telescopic lock is matched with a grab ear on the cargo box; wherein the docking device realizes the docking, grabbing and storage of the cargo box through the three-dimensional movement of the X-axis linear guide rail, the Z-axis linear guide rail and the Y-axis linear guide rail. The application has the advantages that the flexibility and safety of the cargo distribution are ensured, the automatic docking with a specific cargo box cabinet is realized, the specific cargo box can be completely separated from the cabinet body, and the cargo box can be used outside the vehicle after being unlocked.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing and cargo storage robot technology, and more specifically, to a vehicle-mounted cargo storage and retrieval robot and its usage method. Background Technology

[0002] Currently, intelligent and automated equipment is gradually replacing human labor in various stages of the goods circulation process, such as automated sorting robots and unmanned intelligent warehousing systems. However, in the loading and transportation stage, there is almost no intelligent and automated equipment capable of storing and distributing goods. On the other hand, traditional cargo transport vehicles require goods to be packaged and secured to the vehicle in advance, which not only consumes a lot of packaging materials but is also time-consuming and labor-intensive, and cannot achieve automatic storage and retrieval of cargo boxes. Some special cargo transport vehicles, such as fire equipment vehicles, mobile vending vehicles, mobile food trucks, and express delivery vehicles, have higher requirements for the flexibility of loading and unloading goods and require them to be retrieved and placed as needed. Currently, goods are manually secured and unloaded when needed, which is very inefficient. Therefore, there is a significant demand for vehicle-mounted cargo box storage and retrieval robots in the road transportation of goods.

[0003] In existing technologies, achieving automatic retrieval and storage of cargo containers using a vehicle-mounted cargo container robot is a major challenge in the road transportation industry. Currently, many similar robots operate on the ground, but very few can be mounted on moving vehicles. The latter require structural design to account for the impact of vehicle bumps and vibrations, while also being as miniaturized as possible to fit the vehicle's dimensions. Patent CN201821580107.8 discloses a catering container robot with a multi-layered pallet stacking design, which meets the function of transporting food indoors. However, it has poor cargo storage, retrieval, and protection capabilities for road transport, making it unsuitable for vehicle use. Patent CN201921786122.2 discloses a cargo stacking system, including a control box and one or more conveying structures stacked vertically. However, this system is enormous and cannot meet the requirements for vehicle-mounted use. Patent PCT / CN2021 / 095846 discloses a cargo handling robot and its usage method. It is in the form of an independent small vehicle, which can store and retrieve goods and has flexibility, but cannot be installed on a mobile vehicle.

[0004] In summary, at least one of the following technical problems exists:

[0005] In response to the needs of road transport, it has very poor cargo storage, retrieval and protection capabilities, and cannot be used in vehicles;

[0006] The system is too large to meet the needs of in-vehicle use;

[0007] How to develop a highly flexible, highly reliable cargo container storage and retrieval robot that can adapt to road transport conditions? Summary of the Invention

[0008] The main objective of this invention is to provide a vehicle-mounted cargo retrieval robot and its usage method, in order to solve at least one of the technical problems in the prior art that, in order to meet the needs of goods transportation on the road, the cargo retrieval and protection capabilities are very poor and cannot be used in vehicles; the system is too large and cannot meet the needs of vehicle use; and how to achieve a cargo retrieval robot with high flexibility, high reliability and adaptability to road transportation conditions.

[0009] To achieve the above objectives, according to one aspect of the present invention, a vehicle-mounted cargo box retrieval robot is provided, comprising:

[0010] A three-axis linear guide, comprising an X-axis linear guide, a Z-axis linear guide, and a Y-axis linear guide;

[0011] A cargo box docking device is mounted on a three-axis linear guide rail and includes an electromagnetic telescopic lock, a docking plate, and a limit switch. The electromagnetic telescopic lock engages with the grippers on the cargo box.

[0012] The docking device achieves docking, gripping, and storage of cargo boxes through the three-dimensional movement of the X-axis linear guide, the Z-axis linear guide, and the Y-axis linear guide.

[0013] Preferably, the X-axis linear guide rail includes a first servo motor, an X-axis linear module, and a moving platform. The first servo motor drives the moving platform to move on the X-axis linear module, and the X-axis linear guide rail is installed perpendicular to the horizontal plane along the vehicle's direction of travel.

[0014] Preferably, the Z-axis linear guide rail includes a second servo motor, a Z-axis linear module, a lifting platform, and a trolley fixing device. The second servo motor drives the lifting platform to move on the Z-axis linear module, and the Z-axis linear guide rail is installed in the vertical direction.

[0015] Preferably, the Y-axis linear guide includes a third servo motor, a Y-axis linear module, a carrier box, a moving slider, and a flow bar. The third servo motor drives the moving slider and the carrier box to move on the Y-axis linear module. The Y-axis linear guide is installed along the vehicle's travel direction, and the side of the Y-axis linear guide is connected to the lifting platform of the Z-axis linear guide.

[0016] Preferably, the bottom of the X-axis linear guide is provided with an installation interface, which is connected and fixed to the vehicle chassis, and the bottom of the Z-axis linear guide is connected to the moving platform of the X-axis linear guide.

[0017] Preferably, the vehicle fixing device extends its locking tongue upwards when the vehicle is in motion to fix the Z-axis linear guide rail to the vehicle frame.

[0018] Preferably, the flow strip supports the side rails of a specific cargo box, allowing the specific cargo box to slide along the Y-axis.

[0019] Preferably, the docking plate contacts the unlocking device of a specific cargo container to unlock the specific cargo container, while the electromagnetic telescopic lock contacts the grab ring of the specific cargo container.

[0020] According to another aspect of the present invention, a method for using a vehicle-mounted cargo container robot is provided, comprising:

[0021] Step 1: Press the unlocking device of the specific cargo container on the docking plate to unlock the specific cargo container. At the same time, the electromagnetic telescopic lock and the grab ring of the specific cargo container will come into contact with each other. After contact, it will automatically unlock. Then, it will move inward to the designated position and automatically lock. At this time, the docking device has completed the docking work with the specific cargo container, the specific cargo container is unlocked, and the electromagnetic telescopic lock is in the locked state.

[0022] Step 2: The docking device and the gripping ring of the specific cargo box are locked together. The Y-axis linear guide provides tension, and the flow strip supports the gradual pulling of the specific cargo box out of the storage compartment of the specific cargo box cabinet.

[0023] Step 3: The docking device and the gripper ring of the specific cargo box remain locked. The specific cargo box is completely removed from the storage position of the specific cargo box container. At this time, power is provided by the X-axis linear guide and the Z-axis linear guide to transport the specific cargo box to the designated position.

[0024] Step 4: Return the cargo box. The docking device and the gripper ring of the specific cargo box remain locked. Power is provided by the X-axis linear guide and the Z-axis linear guide to transport the specific cargo box to the storage location where it needs to be stored.

[0025] Step 5: When driving, after the on-board storage and retrieval robot has been moved to the designated position, push the pin of the driving fixing device upward and insert the pin of the fixing device into the fixing hole at the designated position on the vehicle;

[0026] Preferably, in step 4, the side guide rail of the specific cargo box presses the cargo box locking mechanism on the cargo box cabinet to unlock it. Then, the Y-axis linear guide rail provides thrust, and with the support of the flow strip, the specific cargo box is pushed back into the storage compartment of the specific cargo box cabinet. When the specific cargo box is pushed to the designated position of the specific cargo box cabinet, the Y-axis linear guide rail moves in the opposite direction. At this time, the specific cargo box is locked by the cargo box locking device of the specific cargo box cabinet, completing the separation of the robot from the cargo box.

[0027] The technical solution of this invention has the following technical effects:

[0028] It provides automated and intelligent solutions for the selection and storage of goods during road transportation, which can not only ensure the stability of goods during transportation, but also enable them to be picked up and used on demand, ensuring the flexibility of goods delivery. It increases the level of unmanned and intelligent operation in the loading, road transportation and unloading and sorting stages, and increases safety.

[0029] This invention can automatically dock with specific cargo containers and can unlock specific cargo containers mechanically without the need for additional electronic equipment. The robot can completely pull specific cargo containers out of the container and then unlock them, allowing the cargo containers to be used outside the vehicle.

[0030] This invention has high scalability and can be equipped with a series of sensors to identify the operating status of the cargo box, thereby determining whether any unexpected situations have occurred during operation, thus increasing the safety and unmanned intelligence level of the robot. Attached Figure Description

[0031] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0032] Figure 1 A schematic diagram of the structure of the vehicle-mounted cargo box robot according to the present invention is shown;

[0033] Figure 2 It shows Figure 1 A working view of the vehicle-mounted cargo retrieval robot;

[0034] Figure 3 It shows Figure 1 A three-dimensional structural view of the Y-axis linear guide and docking device of the vehicle-mounted cargo retrieval robot.

[0035] Figure 4 It shows Figure 1 A structural view of the docking operation status of the vehicle-mounted cargo retrieval robot.

[0036] Figure 5 It shows Figure 1 Structural view of the docking working state of the vehicle-mounted cargo retrieval robot;

[0037] Figure 6 It shows Figure 1 Three-dimensional structural view of the docking working state of the vehicle-mounted storage and retrieval robot.

[0038] The above figures include the following reference numerals:

[0039] X-axis linear guide 1; X-axis linear module 1-1; first servo motor 1-2; moving platform 1-3;

[0040] Z-axis linear guide 2; Z-axis linear module 2-1; second servo motor 2-2; lifting platform 2-3; crane fixing device 2-4;

[0041] Y-axis linear guide 3; Y-axis linear module 3-1; Third servo motor 3-2; Carrier box 3-3; Moving slider 3-4; Flow bar 3-5;

[0042] Docking device 4; Docking plate 4-1; Electromagnetic telescopic lock 4-2; Limit switch 4-3;

[0043] Specific container 5; Specific container 5-1. Detailed Implementation

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] like Figures 1 to 6 As shown, this embodiment of the invention provides a vehicle-mounted cargo box storage and retrieval robot, including: a three-axis linear guide rail, which has an X-axis linear guide rail 1, a Z-axis linear guide rail 2, and a Y-axis linear guide rail 3; a cargo box docking device 4, which is disposed on the three-axis linear guide rail and has an electromagnetic telescopic lock 4-2, a docking plate 4-1, and a limit switch 4-3, wherein the electromagnetic telescopic lock 4-2 cooperates with the gripper on the cargo box; wherein, the docking device 4 realizes the docking, gripping, and storage of the cargo box through the three-dimensional movement of the X-axis linear guide rail 1, the Z-axis linear guide rail 2, and the Y-axis linear guide rail 3.

[0046] In this embodiment, a three-axis linear guide and a cargo docking device 4 are included. The three-axis linear guide is the main support and power component for the robot's three-dimensional movement within the vehicle compartment. The cargo docking device 4 is responsible for docking with the cargo box in the vehicle's cargo compartment, unlocking and grabbing the cargo box. The movement of the three-axis linear guide can align the cargo docking device 4 with the designated cargo box in the vehicle's cargo compartment. The cargo docking device 4 has an electromagnetic lock that grips the grab ears on the cargo box. Simultaneously pressing the unlock button unlocks the cargo box, allowing the cargo docking device 4 to move away from the cargo compartment until the cargo box is completely pulled out. After the cargo box is separated, it can be transported to a designated location via a three-axis linear guide for easy retrieval by personnel. Upon return, personnel place the cargo box in the designated location, and the three-axis linear guide returns it to the designated empty space in the vehicle-mounted cargo container. Then, the cargo box docking device 4 disengages from the cargo box, and the cargo box locking device locks it in place. This invention enables highly flexible loading and unloading of vehicle-mounted goods, allowing for on-demand retrieval and high efficiency in a compact size. It provides a flexible and stable automatic cargo storage and retrieval solution for road transport, fire rescue, and mobile delivery vehicles. It is adaptable to road transport conditions, automatically storing and retrieving cargo boxes from containers, is easy to operate, and features high efficiency and flexibility, while also possessing significant industry scalability. The cargo box storage and retrieval robot can meet the installation requirements of vehicles and adapt to the bumpy conditions during vehicle transport. When parked, it can automatically grab or store cargo boxes from specific containers and transport them to a designated location. When the vehicle is moving, the Z-axis linear guide 2 can be locked to reduce the impact of vehicle vibration and bumps on the robot.

[0047] In this embodiment, a three-axis linear guide rail is used, comprising an X-axis linear guide rail 1, a Z-axis linear guide rail 2, and a Y-axis linear guide rail 3. The X-axis linear guide rail 1 includes a first servo motor 1-2, an X-axis linear module 1-1, and a moving platform 1-3. The first servo motor 1-2 drives the moving platform 1-3 to move on the X-axis linear module 1-1. The X-axis linear guide rail 1 is installed perpendicular to the horizontal plane in the direction of vehicle travel. The Z-axis linear guide rail 2 includes a second servo motor 2-2, a Z-axis linear module 2-1, a lifting platform 2-3, and a vehicle fixing device 2-4. The second servo motor 2-2 drives the lifting platform 2-3 to move on the Z-axis linear module 2-1. The Z-axis linear guide rail 2 is installed in the vertical direction. The Y-axis linear guide 3 includes a third servo motor 3-2, a Y-axis linear module 3-1, a carrier box 3-3, a moving slider 3-4, and a flow bar 3-5. The third servo motor 3-2 drives the moving slider 3-4 and the carrier box 3-3 to move on the Y-axis linear module 3-1. The Y-axis linear guide 3 is installed along the vehicle's travel direction, and its side is connected to the lifting platform 2-3 of the Z-axis linear guide 2. The X-axis linear guide 1 has an installation interface at its bottom, which is connected and fixed to the vehicle chassis. The bottom of the Z-axis linear guide 2 is connected to the moving platform 1-3 of the X-axis linear guide 1. The flow bar 3-5 supports the side rails of a specific cargo box 5-1, allowing the specific cargo box 5-1 to slide along the Y-axis. Specifically, the X-axis linear guide 1 consists of an X-axis linear module 1-1, a first servo motor 1-2, and a moving platform 1-3. Its main function is to enable the robot to move perpendicular to the vehicle's travel direction. An installation interface is provided at the bottom for connection and fixation to the vehicle chassis. The Z-axis linear guide 2 consists of a Z-axis linear module 2-1, a second servo motor 2-2, a vertical lifting platform 2-3, and a vehicle fixing device 2-4. Its main function is to enable the robot to move vertically. Its bottom is connected to the moving platform 1-3 of the X-axis linear guide 1. According to the invention, the vehicle fixing device 2-4 can extend a locking tongue upwards when the vehicle is in motion to fix the Z-axis linear guide 2 to the frame. The Y-axis linear guide 3 consists of a Y-axis linear module 3-1, a third servo motor 3-2, a carrier box 3-3, a moving slider 3-4, and a flow bar 3-5. Its main function is to enable the robot to move along the vehicle's direction of travel. Its side is connected to the lifting platform 2-3 of the Z-axis linear guide 2. The flow bar 3-5 can support the side rails of a specific cargo box 5-1, allowing the specific cargo box 5-1 to slide along the Y-axis.

[0048] In this embodiment, the cargo box docking device 4 is mounted on a three-axis linear guide rail and includes an electromagnetic telescopic lock 4-2, a docking plate 4-1, and a limit switch 4-3. The electromagnetic telescopic lock 4-2 engages with the gripper on the cargo box. The docking device 4 comprises a docking plate 4-1, an electromagnetic telescopic lock 4-2, and a limit switch 4-3, which are mounted on the docking plate 4-1. The docking device 4 achieves docking, gripping, and storage of the cargo box through the three-dimensional movement of the X-axis linear guide rail 1, the Z-axis linear guide rail 2, and the Y-axis linear guide rail 3. The docking device 4 can dock with the gripper of a specific cargo box 5-1 to achieve cargo box gripping. The electromagnetic telescopic lock 4-2, in conjunction with the mounting plate, can form a gripper that automatically docks when the gripper approaches, without the need for power. When release is required, the electromagnetic telescopic lock 4-2 is energized, the gripper opens an outlet, and the gripper can separate. The docking device 4 can press the unlocking device of a specific cargo box 5, enabling the robot to unlock the cargo box and thus achieve cargo box gripping. The docking device 4 can take many forms to achieve the above functions, adapting to different cargo box sizes, gripping directions, and usage needs. According to the present invention, the docking device 4 can achieve three-dimensional movement through the X-axis linear guide 1, Z-axis linear guide 2, and Y-axis linear guide 3, thereby realizing cargo box docking, gripping, and storage. The dimensions of the X-axis linear guide 1, Z-axis linear guide 2, and Y-axis linear guide 3 can be changed according to the vehicle's internal space or installation requirements.

[0049] This embodiment provides an automated and intelligent solution for the selection and storage of goods during road transportation. It ensures the stability of goods during transport while allowing for on-demand retrieval and flexible delivery. It increases the level of automation and intelligence in the loading, road transport, and unloading / sorting stages, enhancing safety. This invention can automatically dock with specific cargo containers. Specific containers can be unlocked mechanically without additional electronic equipment. The robot can completely detach specific containers from the container and then unlock them for use outside the vehicle. This invention has high scalability; a series of sensors can be installed to identify the operational status of the containers, thereby determining whether unexpected situations have occurred during operation, further increasing the robot's safety and level of automation.

[0050] Specifically, this embodiment includes an X-axis linear guide 1, a Z-axis linear guide 2, a Y-axis linear guide 3, and the docking device 4. Figure 1The X-axis linear guide 1 comprises an X-axis linear module 1-1, a first servo motor 1-2, and a moving platform 1-3. The Z-axis linear guide 2 comprises a Z-axis linear module 2-1, a second servo motor 2-2, a lifting platform 2-3, and a crane fixing device 2-4. The Y-axis linear guide 3 comprises a Y-axis linear module 3-1, a third servo motor 3-2, a carrier box 3-3, a moving slider 3-4, and a flow bar 3-5. (The text repeats itself here.) Figure 2 The diagram shown is a schematic representation of the vehicle-mounted cargo container robot of the present invention. During operation, the X, Y, and Z axis linear guides 2 move simultaneously, driving the docking device 4 to move in three-dimensional space. When it reaches the designated position of a specific cargo container 5, it can dock with the specific cargo container 5-1. Figure 3 As shown, this invention provides a Y-axis linear guide rail 3 and a docking device 4. The docking device 4 includes a docking plate 4-1, an electromagnetic telescopic lock 4-2, and a limit switch 4-3. The electromagnetic telescopic lock 4-2 and the mounting plate can form a ring-like gripper. The electromagnetic telescopic lock 4-2 can automatically retract when the gripper of a specific cargo box 5-1 approaches, without the need for electric drive. When it needs to be released, the electromagnetic telescopic lock 4-2 is energized, opening an outlet, and the gripper can be separated. To achieve the above functions, the docking device 4 can take many forms to adapt to different cargo box sizes, gripping directions, and usage needs. Figure 4 The diagram illustrates state one of the docking states of a vehicle-mounted cargo retrieval robot with a specific cargo container 5, as provided by this invention. In state one, the docking plate 4-1 activates the unlocking device of the specific cargo container 5, unlocking the specific cargo container 5-1. Simultaneously, the electromagnetic telescopic lock 4-2 contacts the gripping ring of the specific cargo container 5-1, automatically unlocking upon contact. After moving inward to the designated position, it automatically locks. At this point, the docking device 4 completes the docking with the specific cargo container 5-1, the specific cargo container 5-1 is unlocked, and the electromagnetic telescopic lock 4-2 is locked. Figure 5 The diagram shows a second state where a vehicle-mounted cargo retrieval robot, as provided by this invention, docks with a specific cargo container 5. In state two, the docking device 4 remains locked to the gripper ring of the specific cargo container 5-1. Pulling force is provided by the Y-axis linear guide 3, and the specific cargo container 5-1 is gradually pulled out of the storage compartment of the specific cargo container 5 by the support of the flow rails 3-5. Figure 6 The diagram shows a third state where the vehicle-mounted cargo retrieval robot of the present invention docks with a specific cargo container 5. In state three, the docking device 4 remains locked to the gripper ring of the specific cargo container 5-1, and the specific cargo container 5-1 has completely left the storage position of the specific cargo container 5. At this time, power can be provided by the X-axis linear guide 1 and the Z-axis linear guide 2 to transport the specific cargo container 5-1 to the designated position. The process of returning the cargo container is as follows... Figure 6As shown, the docking device 4 is locked to the gripper ring of the specific cargo container 5-1. Power is provided by the X-axis linear guide 1 and the Z-axis linear guide 2, which can accurately transport the specific cargo container 5 to the storage location where it needs to be stored. Figure 5 As shown, the side guide rail of the specific cargo box 5-1 can be pressed to activate the cargo box locking mechanism on the cargo box cabinet, thereby unlocking it. Then, the Y-axis linear guide rail 3 provides thrust, and with the support of the flow strip 3-5, the specific cargo box 5-1 is pushed back into the storage compartment of the specific cargo box cabinet 5. Figure 4 As shown, when the specific cargo box 5-1 is pushed to the designated position of the specific cargo box cabinet 5, the Y-axis linear guide rail 3 can move in the opposite direction. At this time, the specific cargo box 5-1 is locked by the cargo box locking device of the specific cargo box cabinet 5, completing the separation of the robot from the cargo box. During the driving process, as... Figure 1 As shown, after the vehicle-mounted cargo retrieval robot is moved to the designated position, the pins of the vehicle fixing device 2-4 can be pushed upwards, and the pins of the fixing device can be inserted into the fixing holes at the designated positions on the vehicle. This can keep the vehicle-mounted cargo retrieval robot relatively stable with the vehicle, reducing the impact of vehicle bumps and vibrations on it.

[0051] Another embodiment of the present invention provides a method for using a vehicle-mounted cargo box retrieval robot, comprising:

[0052] Step 1: Press the unlocking device of the specific cargo container 5 on the docking plate 4-1 to unlock the specific cargo container 5-1. At the same time, the electromagnetic telescopic lock 4-2 and the grab ring of the specific cargo container 5-1 come into contact with each other. After contact, it will automatically unlock. Then, it will move inward to the designated position and automatically lock. At this time, the docking device 4 completes the docking work with the specific cargo container 5-1, the specific cargo container 5-1 is unlocked, and the electromagnetic telescopic lock 4-2 is in the locked state.

[0053] Step 2: The docking device 4 is locked to the gripping ring of the specific cargo box 5-1. The Y-axis linear guide rail 3 provides tension, and the flow strip 3-5 provides support, so that the specific cargo box 5-1 is gradually pulled out of the storage compartment of the specific cargo box cabinet 5.

[0054] Step 3: The docking device 4 and the gripper ring of the specific cargo box 5-1 are locked together. The specific cargo box 5-1 is completely removed from the storage position of the specific cargo box cabinet 5. At this time, power is provided by the X-axis linear guide 1 and the Z-axis linear guide 2 to transport the specific cargo box 5-1 to the designated position.

[0055] Step 4: Return the cargo box. The docking device 4 and the gripper ring of the specific cargo box 5-1 remain locked. Power is provided by the X-axis linear guide 1 and the Z-axis linear guide 2 to transport the specific cargo box 5 to the storage position where it needs to be stored. The side guide rail of the specific cargo box 5-1 presses the cargo box locking mechanism on the cargo box to unlock it. Then, the Y-axis linear guide 3 provides thrust, and with the support of the flow bar 3-5, the specific cargo box 5-1 is pushed back into the storage compartment of the specific cargo box 5. When the specific cargo box 5-1 is pushed to the designated position of the specific cargo box 5, the Y-axis linear guide 3 moves in the opposite direction. At this time, the specific cargo box 5-1 is locked by the cargo box locking device of the specific cargo box 5, completing the separation of the robot from the cargo box.

[0056] Step 5: When driving, after the on-board storage and retrieval robot is moved to the designated position, push the pin of the driving fixing device 2-4 upward and insert the pin of the fixing device into the fixing hole at the designated position on the vehicle.

[0057] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0058] This solution provides automated and intelligent solutions for the selection and storage of goods during road transportation. It ensures the stability of goods during transport while allowing for on-demand retrieval and flexible delivery. It increases the level of automation and intelligence in the loading, road transport, and unloading / sorting stages, thereby enhancing safety.

[0059] This invention enables automatic docking with specific cargo containers. Specific containers can be unlocked mechanically without the need for additional electronic equipment. The robot can completely detach the container from the container, and then unlock it for use outside the vehicle.

[0060] This invention has high scalability and can be equipped with a series of sensors to identify the operating status of the cargo box, thereby determining whether any unexpected situations have occurred during operation, thus increasing the safety and unmanned intelligence level of the robot.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle-mounted cargo retrieval robot, characterized in that, include: A three-axis linear guide, comprising an X-axis linear guide, a Z-axis linear guide, and a Y-axis linear guide; A cargo box docking device is mounted on a three-axis linear guide rail and includes an electromagnetic telescopic lock, a docking plate, and a limit switch. The electromagnetic telescopic lock engages with the grippers on the cargo box. The Z-axis linear guide is equipped with a vehicle fixing device. When the vehicle is in motion, the vehicle fixing device extends a locking tongue upwards to fix the Z-axis linear guide to the vehicle frame. The Y-axis linear guide is equipped with a carrying box and a flow rail. The flow rail supports the side slide rail of a specific cargo box, allowing the specific cargo box to slide along the Y-axis. The docking device includes an electromagnetic telescopic lock and a limit switch mounted on the docking plate, and a mounting plate that cooperates with the electromagnetic telescopic lock. The electromagnetic telescopic lock and the mounting plate cooperate to form a ring-like gripper. When the gripper ear of the specific cargo box approaches, the electromagnetic telescopic lock automatically retracts in a de-energized state, causing the gripper to hold the gripper ear. When release is needed, the electromagnetic telescopic lock is energized to open an outlet on the gripper, allowing the gripper ear to separate from the gripper. The docking plate is arranged such that during docking, pressing the unlocking device of the specific cargo box mechanically unlocks the specific cargo box, while the electromagnetic telescopic lock contacts the gripper ear or gripper ring of the specific cargo box. The docking device is connected via the X-axis linear guide and the Z-axis linear guide. The three-dimensional motion of the Y-axis linear guide rail and the Y-axis linear guide rail enables the docking, gripping, and storage of the cargo box.

2. The vehicle-mounted cargo retrieval robot as described in claim 1, characterized in that, The X-axis linear guide includes a first servo motor, an X-axis linear module, and a moving platform. The first servo motor drives the moving platform to move on the X-axis linear module. Installed perpendicular to the horizontal plane in the direction of vehicle travel.

3. The vehicle-mounted cargo retrieval robot as described in claim 1, characterized in that, The Z-axis linear guide rail includes a second servo motor, a Z-axis linear module, and a lifting platform. The second servo motor drives the lifting platform to move on the Z-axis linear module, and the Z-axis linear guide rail is installed in the vertical direction.

4. The vehicle-mounted cargo retrieval robot as described in claim 1, characterized in that, The Y-axis linear guide includes a third servo motor, a Y-axis linear module, a carrier box, and a moving slider. The third servo motor drives the moving slider and the carrier box to move on the Y-axis linear module. The Y-axis linear guide is installed along the vehicle's travel direction, and the side of the Y-axis linear guide is connected to the lifting platform of the Z-axis linear guide.

5. The vehicle-mounted cargo retrieval robot as described in claim 1, characterized in that, The bottom of the X-axis linear guide is provided with an installation interface, which is connected and fixed to the vehicle chassis. The bottom of the Z-axis linear guide is connected to the moving platform of the X-axis linear guide.

6. A method of using a vehicle-mounted cargo retrieval robot, based on the vehicle-mounted cargo retrieval robot according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Press the unlocking device of the specific cargo container on the docking plate to unlock the specific cargo container. At the same time, the electromagnetic telescopic lock and the grab ring of the specific cargo container will come into contact with each other. After contact, it will automatically unlock. Then, it will move inward to the designated position and automatically lock. At this time, the docking device has completed the docking work with the specific cargo container, the specific cargo container is unlocked, and the electromagnetic telescopic lock is in the locked state. Step 2: The docking device and the gripping ring of the specific cargo box are locked together. The Y-axis linear guide provides tension, and the flow strip provides support to gradually pull the specific cargo box out of the storage compartment of the specific cargo box cabinet. Step 3: The docking device remains locked to the gripper ring of the specific cargo box, and the specific cargo box is completely removed from the storage position of the specific cargo box container. At this time, power is provided by the X-axis linear guide and the Z-axis linear guide to transport the specific cargo box to the designated position. Step 4: Return the cargo box. The docking device and the gripper ring of the specific cargo box remain locked. Power is provided by the X-axis linear guide and the Z-axis linear guide to transport the specific cargo box to the storage location where the specific cargo box needs to be stored. Step 5: When driving, after the on-board storage and retrieval robot has been moved to the designated position, push the pin of the driving fixing device upward and insert the pin of the fixing device into the fixing hole at the designated position on the vehicle; 7. The vehicle-mounted cargo retrieval robot as described in claim 6, characterized in that, The Step 4: Press the side guide rail of the specific cargo box to activate the cargo box locking mechanism on the cargo box cabinet to unlock it. Then, the Y-axis linear guide rail provides thrust, and with the support of the flow strip, the specific cargo box is pushed back into the storage compartment of the specific cargo box cabinet. When the specific cargo box is pushed to the designated position of the specific cargo box cabinet, the Y-axis linear guide rail moves in the opposite direction. At this time, the specific cargo box is locked by the cargo box locking device of the specific cargo box cabinet, completing the separation of the robot from the cargo box.

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