Goods stacking optimization system for goods distribution robot

Abstract

The invention discloses a cargo stacking optimization system for a cargo distribution robot, which comprises a cargo robot body, a movement system, a gravity center adjusting system and a control system, and is characterized in that the gravity center adjusting system comprises an adjusting mechanism which can rotate relative to the cargo robot body so as to be close to or far away from the cargo robot body. The adjusting mechanism can adjust the inclination angle of the cargo robot transportation table by adjusting the landing height of the adjusting wheel so as to adjust the position of the cargo A, so that the gravity center of the cargo A coincides with the gravity center of the cargo robot body, and stable transportation of the robot is facilitated; a goods shelf capable of sliding back and forth relative to the goods robot conveying table to adjust the position is further arranged in the second embodiment of the invention and used for containing goods, and the stability of the goods distribution robot is adjusted together with the gravity center adjusting mechanism. Therefore, the cargo stacking optimization system of the cargo distribution robot, which can be self-optimized and adjusted in real time, is formed.

Description

Technical Field

[0001] The present application relates to the field of cargo stacking optimization of cargo robots, and specifically to a cargo stacking optimization system for cargo delivery robots. Background Art

[0002] Driven by various factors, my country's logistics robot industry has been booming, the market scale has expanded rapidly, and the technology has developed by leaps and bounds. Both product research and development and market application have made great breakthroughs. Facing the inevitable development trend of smart logistics, digitalization, intelligence and flexibility are important goals. Environmental perception, multi-machine collaboration, and technical platforms will become important directions for innovation in logistics robot technology.

[0003] In recent years, driven by the demand for innovative development of emerging business models such as e-commerce and new retail, guided by development concepts such as intelligent manufacturing and smart logistics, and driven by new technologies such as artificial intelligence, the Internet of Things, and big data, my country's logistics robot industry has been booming. Not only has the market scale expanded rapidly, but technological development has also advanced by leaps and bounds. Both hardware such as the robot body, drive device, transmission system, etc., and software such as control systems, navigation technology, visual perception, and scheduling systems have made great progress.

[0004] However, the cargo transport robots in the prior art do not have an optimization system for cargo stacking and placement, and cannot adjust the center of gravity of the cargo during transportation. As a result, the center of gravity of the cargo does not coincide with the center of gravity of the delivery robot during cargo transportation, which may cause the center of gravity of the delivery robot to be unstable during the delivery of cargo, leading to rollover, etc. Summary of the invention

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A cargo stacking optimization system for a cargo delivery robot, characterized in that it includes a cargo robot body, a motion system, a center of gravity adjustment system and a control system, wherein the center of gravity adjustment system includes an adjustment mechanism that can rotate relative to the cargo robot body to approach or move away from the cargo robot body.

[0007] Furthermore, the cargo robot body includes a cargo robot transport platform and a cargo robot front baffle and a cargo robot rear baffle. The cargo robot front baffle and the cargo robot rear baffle are respectively arranged at the front and rear ends of the cargo robot transport platform and are rotatably connected to the cargo robot transport platform.

[0008] Furthermore, a level meter is provided on the cargo robot transport platform, and the level meter can detect the levelness of the cargo robot transport platform and feed back the information to the control system.

[0009] Furthermore, the motion system includes a front drive wheel, a rear drive wheel, a front drive structure and a rear drive structure, and the front drive wheel and the rear drive wheel are respectively connected to the front drive structure and the rear drive structure in driving connection.

[0010] Furthermore, the adjustment mechanism includes an adjusting wheel, which is rotatably arranged on the cargo robot transport platform through a rotating rod, and the adjusting wheel has a driving motion structure for driving it to rotate, and the driving structure is fixedly arranged at the bottom of the cargo robot transport platform and fixedly connected to the cargo robot transport platform. The driving structure can drive the rotating rod to rotate along the rotating shaft to make the adjusting wheel approach or move away from the cargo robot body. When the adjusting wheel is close to the cargo robot body, the cargo robot body is driven by the motion system, and when the adjusting wheel is away from the cargo robot body, the cargo robot body is driven together with the front driving wheel or the rear driving wheel of the motion system and the adjusting wheel, and the adjusting wheel can adjust the inclination angle of the cargo robot transport platform.

[0011] Furthermore, the rotating rod is in an asymmetric broken line shape, the rotating shaft of the rotating rod is arranged on one side of the turning point, the adjusting wheel is connected to one end of the rotating rod, and the rear driving wheel is connected to the other end of the rotating rod.

[0012] Furthermore, tire pressure sensors are provided in the front drive wheels and the rear drive wheels, and the tire pressure sensors are communicatively connected with the control system and can transmit the tire pressures of the front drive wheels and the rear drive wheels to the control system in real time.

[0013] Furthermore, the cargo robot transport platform also includes a slide rail structure and a shelf that can be slidably connected to the slide rail structure, and goods are stored in the shelf. The shelf includes a rectangular frame and a support structure arranged at the four corners of the frame. The support structure includes a first support leg, a second support leg, a third support leg, and a fourth support leg. The first support leg, the second support leg, the third support leg, and the fourth support leg are respectively slidably arranged on the frame, and the first support leg, the second support leg, the third support leg, and the fourth support leg can slide up and down relative to the frame.

[0014] Furthermore, the cargo robot transport platform also includes a slider, by which the shelf can be fixed on the slide rail structure, the slide rail structure includes a movable rail and a fixed rail, the fixed rail is fixedly arranged on the upper surface of the cargo robot transport platform, the movable rail can slide along the fixed rail to ensure that the shelf can slide along the slide rail structure, the slider includes an upper fixed block, a lower fixed block and upper and lower pins, the upper fixed block can be fixed to the lower fixed block by screws, the upper fixed block and the lower fixed block are symmetrically arranged on the upper and lower sides of the movable rail respectively, the upper fixed block includes a first through hole and an upper fixed hole, the movable rail includes a second through hole, the lower fixed block includes a third through hole and a lower fixed hole, and the upper fixed hole and the lower fixed hole can be fixed by screws.

[0015] Furthermore, the shelf includes a clamping and fixing device and a fixing rod. The clamping and fixing device is slidably arranged on a bracket in the shelf through a slide rail. The bracket can be slid up and down in the shelf. By moving the clamping and fixing device, the goods placed in the shelf can be clamped between the clamping and fixing device and the fixing rod.

[0016] Beneficial Effects

[0017] (1) In the prior art, the center of gravity of cargo A and the cargo transport robot can only be adjusted by adjusting the position of the manipulator during loading. The cargo robot itself cannot adjust its center of gravity in real time during loading, unloading and transportation, resulting in different load-bearing capacity of the front and rear wheels, which weakens the grip or makes the cargo robot prone to tipping over. In the present invention, the position of the cargo can be adjusted in real time to adjust the center of gravity of the cargo and the center of gravity of the robot, which is beneficial to the stable transportation of the robot.

[0018] (2) The present invention also provides an original adjustment mechanism that can adjust the tilt angle of the cargo robot transport platform and then adjust the position of cargo A by adjusting the ground height of the adjustment wheel, so that the center of gravity of cargo A coincides with the center of gravity of the cargo robot body, and automatically optimizes the center of gravity of cargo stacking to eliminate unstable factors in cargo robot transportation. At the same time, in a climbing area with a slight tilt angle, the adjustment mechanism in the present invention can adjust the tilt angle of the cargo robot transport platform by adjusting the ground height of the adjustment wheel to ensure that the angle between the cargo robot transport platform and the horizontal plane is always zero, thereby improving the transportation stability of the cargo robot. Furthermore, in the second embodiment of the present invention, a shelf that can slide back and forth relative to the cargo robot transport platform to adjust its position is also provided for placing goods. After adjusting the position of the shelf in real time according to actual conditions, the position of the shelf can be further fixed by a suction cup, and the stability of the cargo delivery robot can be adjusted together with the center of gravity adjustment mechanism of the present invention, thereby forming a cargo stacking optimization system for a cargo delivery robot that can be self-optimized and adjusted in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The overall structure of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 1 ;

[0020] Figure 2 The overall structure of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 2 ;

[0021] Figure 3 The overall structure of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 3 ;

[0022] Figure 4 A structural diagram of a cargo robot body according to Embodiment 2 of the cargo stacking optimization system for a cargo delivery robot of the present invention;

[0023] Figure 5 The shelf structure of the second embodiment of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 1 ;

[0024] Figure 6 The shelf structure of the second embodiment of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 2 (The frame and cargo structures are removed for easy display);

[0025] Figure 7 It is a partial enlarged schematic diagram of the clamping and fixing device of the present invention;

[0026] Figure 8 The shelf structure of the second embodiment of the cargo stacking optimization system for cargo delivery robots of the present invention Figure 3 (Goods removed for display purposes);

[0027] Fig. 9 Schematic diagram of the support structure fixing and slide rail connection structure of the present invention Figure 1 ;

[0028] Fig.10 Schematic diagram of the support structure fixing and slide rail connection structure of the present invention Figure 2 (The slide rail structure is removed for easy display); DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] like Figure 1-3 , which is Embodiment 1 of the present invention:

[0032] A cargo stacking optimization system for a cargo delivery robot includes a cargo robot body 1, a motion system 2, a center of gravity adjustment system 3 and a control system 4, wherein the center of gravity adjustment system 3 includes an adjustment mechanism 5 that can rotate relative to the cargo robot body 1 to approach or move away from the cargo robot body 1.

[0033] Preferably, the cargo robot body 1 includes a cargo robot transport platform 101 and a cargo robot front baffle 102 and a cargo robot rear baffle 103, wherein the cargo robot front baffle 102 and the cargo robot rear baffle 103 are respectively arranged at the front and rear ends of the cargo robot transport platform 101 and are rotatably connected to the cargo robot transport platform 101. When the cargo robot loads cargo, the cargo robot front baffle 102 can be rotated until the end away from the cargo robot transport platform 101 contacts the ground. At this time, the loading robot arm can push the cargo A along the loading direction until all the cargo A is located on the cargo robot transport platform 101, and the cargo robot front baffle 102 is rotated and closed to prevent the cargo A from falling. When unloading, the cargo robot front baffle 102 can be rotated until the end away from the cargo robot transport platform 101 contacts the ground, so as to facilitate the unloading robot arm to push the cargo A along the loading direction until all the cargo A is located on the ground or other supporting structures. The loading and unloading directions of the cargo robot are from the cargo robot front baffle 102 to the cargo robot rear baffle 103 along the cargo robot transport platform 101 in sequence.

[0034] Preferably, the motion system 2 includes a front drive wheel 201, a rear drive wheel 202, a front drive structure 203 and a rear drive structure 204, and the front drive wheel 201 and the rear drive wheel 202 are transmission-connected to the front drive structure 203 and the rear drive structure 204 respectively.

[0035] Further, the adjustment mechanism 5 includes an adjustment wheel 505, which is rotatably arranged on the cargo robot transport platform 101 through a rotating rod 501, and the adjustment wheel 505 has a driving motion structure 504 for driving the rotation thereof, and a driving structure 502 is fixedly arranged at the bottom of the cargo robot transport platform 101 and fixedly connected to the cargo robot transport platform 101, and the driving structure 502 can drive the rotating rod 501 to rotate along the rotating shaft 503 to make the adjustment wheel 505 approach or move away from the cargo robot body 1. When the adjustment wheel 505 approaches the cargo robot body 1, the cargo robot body 1 is driven by the motion system 2, and when the adjustment wheel 505 moves away from the cargo robot body 1, the cargo robot body 1 is driven together with the adjustment wheel 505 by the front driving wheel 201 or the rear driving wheel 202 of the motion system 2, and the adjustment wheel 505 can adjust the inclination angle of the cargo robot transport platform 101.

[0036] Preferably, the rotating rod 501 is in an asymmetric broken line shape, the rotating shaft of the rotating rod 501 is arranged on one side of the turning point, the adjusting wheel 505 is connected to one end of the rotating rod 501, and the rear driving wheel 202 is connected to the other end of the rotating rod 501. By providing a rotatable rotating rod 501 to connect the adjusting wheel 505 and the rear driving wheel 202, the height of the rear driving wheel 202 can be adjusted to be lower than the height of the front driving wheel 201 (when the cargo robot transport platform 101 is horizontal in the initial position, the height of the rear driving wheel 202 is equal to the front driving wheel 201, and the adjusting wheel 505 is suspended), so as to facilitate the counterclockwise rotation of the cargo robot transport platform 101.

[0037] Furthermore, as needed, the adjustment wheels 505 can be set as a pair and symmetrically arranged on the front and rear sides of the cargo robot transport platform 101 (not shown). At this time, the rotation of the cargo robot transport platform 101 can be clockwise or counterclockwise, and the clockwise rotation and the counterclockwise rotation have the same rotation angle, and the counterclockwise rotation angle of the cargo robot transport platform 101 can be greatly adjusted (relative to the above-mentioned adjustment by adjusting the height of the rear drive wheel 202 to be lower than the height of the front drive wheel 201). However, due to the transportation direction of the cargo vehicle and the usual loading direction, the center of gravity of the cargo A at this time is mostly deflected to the rear of the center of gravity of the cargo relative to the center of gravity of the cargo robot body 1. Therefore, the present invention only demonstrates the content of the present invention by setting a group of rear adjustment wheels, but the present invention can also set a symmetrical pair of front / rear adjustment wheels as needed.

[0038] Furthermore, a level meter 104 is provided on the cargo robot transport platform 101 , and the level meter 104 can detect the levelness of the cargo robot transport platform 101 and feed back the information to the control system 4 .

[0039] In combination with the accompanying drawings, it can be seen that when the length of cargo A is smaller than the length of the cargo robot transport platform 101 (in actual situations, since the cargo A to be transported is of different sizes, in order to adapt to cargo A of different sizes, in actual logistics transportation, the length of cargo A is generally smaller than the length of the cargo robot transport platform 101), assuming that the center of gravity of cargo A is located at the center of its body, the center of gravity of cargo A deviates from the center of gravity of the cargo robot body 1, and the mass of cargo A located outside the center of the front and rear moving wheels has a torsional force F at the deviation distance H. At this time, the existence of torsional force F may cause instability in the movement of the cargo robot body 1, for example, different gripping forces or easy tipping forward and backward caused by different load-bearing forces of the front and rear moving wheels. The adjustment mechanism 5 in the present invention can adjust the inclination angle of the cargo robot transport platform 101 and then adjust the position of cargo A by adjusting the ground height of the adjusting wheel 505 (the X direction in the figure is the rotation direction of the adjusting wheel), so that the center of gravity of cargo A coincides with the center of gravity of the cargo robot body 1, and automatically optimizes the center of gravity of cargo stacking to eliminate unstable factors in cargo robot transportation. At the same time, in climbing areas with a slight inclination angle, the adjustment mechanism 5 in the present invention can adjust the inclination angle of the cargo robot transport platform 101 by adjusting the ground height of the adjustment wheel 505 and the alternating ground driving movement of the rear drive wheel 202 to ensure that the cargo robot transport platform 101 always has a zero angle with the horizontal plane, thereby improving the transportation stability of the cargo robot.

[0040] Furthermore, tire pressure sensors are provided in the front driving wheels 201 and the rear driving wheels 202 . The tire pressure sensors are in communication connection with the control system 4 and can transmit the tire pressures of the front driving wheels 201 and the rear driving wheels 202 to the control system 4 in real time.

[0041] As described above, when the center of gravity of cargo A deviates, the different load-bearing forces of the front and rear moving wheels of the cargo robot result in different grip or unstable phenomena such as easy tipping over. At this time, the tire pressure inside the front driving wheel 201 and the rear driving wheel 202 will change (the initial tire pressure is the same, and after the deflection force is generated, the tire pressure on the side with increased pressure is greater than the tire pressure on the side with smaller pressure) or vibrate (due to the initial center of gravity offset or the road inclination, bumps, etc., the position of the cargo changes in real time, and the tire pressure graph vibrates at this time). The control system 4 controls the adjustment mechanism 5 to adjust the ground height of the adjustment wheel 505 to adjust the inclination angle of the cargo robot transport platform 101 and thereby adjust the position of cargo A.

[0042] like Figure 1-10 , which is the second embodiment of the present invention:

[0043] On the basis of the aforementioned cargo robot, further, the cargo robot transport platform 101 also includes a slide rail structure 6, and a shelf 7 that can be slidably connected to the slide rail structure 6, and goods are stored in the shelf 7. The shelf 7 includes a frame 701 arranged in a rectangular shape and a support structure 702 arranged at the four corners of the frame 701, and the support structure 702 includes a first support leg 7021, a second support leg 7022, a third support leg 7023, and a fourth support leg 7024. The first support leg 7021, the second support leg 7022, the third support leg 7023, and the fourth support leg 7024 are respectively slidably arranged on the frame 701, and the first support leg 7021, the second support leg 7022, the third support leg 7023, and the fourth support leg 7024 can slide up and down relative to the frame 701.

[0044] Furthermore, the shelf 7 also includes a lifting and fixing structure 703 arranged at a corner of the frame 701, and the lifting and fixing structure 703 can be lifted and lowered along the vertical direction of the frame 701, and the shelf 7 can be fixed at any position of the slide rail structure 6 by the lifting and fixing structure 703. Preferably, the lifting and fixing structure 703 is a suction cup fixing structure.

[0045] Furthermore, the slide rail structure 6 may also be disposed on the corresponding front baffle plate 102 of the cargo robot and the rear baffle plate 103 of the cargo robot.

[0046] Furthermore, the cargo robot transport platform 101 also includes a slider 8, through which the shelf 7 can be fixed on the slide rail structure 6, the slide rail structure 6 includes a movable rail 601 and a fixed rail 602, the fixed rail 602 is fixedly arranged on the upper surface of the cargo robot transport platform 101, the movable rail 601 can slide along the fixed rail 602 to ensure that the shelf 7 can slide along the slide rail structure 6, the slider 8 includes an upper fixed block 801, a lower fixed block 802 and upper and lower latches 803, the upper fixed block 801 can be fixed to the lower fixed block 802 by screws, the upper fixed block 801 and the lower fixed block 802 are symmetrically arranged on the upper and lower sides of the movable rail 601, the upper fixed block 801 includes a first through hole 8011 and an upper fixed hole 8012, the movable rail 601 includes a second through hole 6011, the lower fixed block 802 includes a third through hole 8021 and a lower fixed hole 8022, the upper fixed The fixed hole 8012 and the lower fixed hole 8022 can be fixed by screws, and the first supporting leg 7021 (the second supporting leg 7022 / the third supporting leg 7023 / the fourth supporting leg 7024 are also fixed to ensure that the supporting leg can slide up and down while being relatively fixed relative to the movable rail 601, so that the supporting leg can slide relative to the fixed rail 602) pass through the first through hole 8011, the second through hole 601 and the third through hole 8021 in sequence, and the upper and lower latches 803 are respectively inserted into the side of the first supporting leg 7021 above the upper fixed block 801 and below the lower fixed block 802 to achieve the overall relative fixation of the first supporting leg 7021 and the slider 8 structure, so that the first supporting leg 7021 can slide up and down within a limited range without falling off; through the above structure, the slider 8 is relatively fixed to the first supporting leg 7021 and the movable rail 601, and at this time the shelf 7 can slide relative to the fixed rail 602.

[0047] Preferably, the shelf 7 includes a clamping and fixing device 9 and a fixing rod 10. The clamping and fixing device 9 is slidably set on a bracket 902 in the shelf 7 through a slide rail 901. The bracket 902 can be slid up and down in the shelf 7. By moving the clamping and fixing device 9, the goods placed in the shelf 7 can be clamped between the clamping and fixing device 9 and the fixing rod 10.

[0048] Furthermore, the clamping and fixing device 9 includes a clamp 903 and a pressure sensor 904. When the cargo robot transport platform 101 has an angle with the horizontal direction (the road condition is uphill or downhill at this time), the inclination of the cargo causes its own gravity to be partially converted into pressure. Therefore, by detecting the pressure change of the pressure sensor 904, the horizontality of the cargo robot transport platform 101 can be monitored in real time, and the information can be fed back to the control system 4.

[0049] In the prior art, the center of gravity of cargo A and the cargo transport robot can only be adjusted by adjusting the position of the manipulator during loading. The cargo robot itself cannot achieve real-time center of gravity adjustment during loading and unloading and transportation, resulting in different load-bearing capacity of the front and rear moving wheels, which weakens the grip or makes the cargo robot prone to tipping forward and backward. The adjustment mechanism 5 in the present invention can adjust the inclination angle of the cargo robot transport platform 101 and then adjust the position of cargo A by adjusting the ground contact height of the adjustment wheel 505, so that the center of gravity of cargo A coincides with the center of gravity of the cargo robot body 1, and automatically optimizes the center of gravity of cargo stacking to eliminate unstable factors in cargo robot transportation. At the same time, in climbing areas with a slight inclination angle, the adjustment mechanism 5 in the present invention can adjust the inclination angle of the cargo robot transport platform 101 by adjusting the ground height of the adjustment wheel 505 to ensure that the angle between the cargo robot transport platform 101 and the horizontal plane is always zero, thereby improving the transportation stability of the cargo robot. Furthermore, in the second embodiment of the present invention, a shelf that can be slid back and forth to adjust its position relative to the cargo robot transport platform is also provided for placing goods. After adjusting the position of the shelf in real time according to actual conditions, the position of the shelf can be further fixed by a suction cup, and the stability of the cargo delivery robot can be adjusted together with the center of gravity adjustment mechanism of the present invention, thereby forming a cargo stacking optimization system for the cargo delivery robot that can be self-optimized and adjusted in real time.

[0050] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A cargo stacking optimization system for a cargo delivery robot, characterized in that: The cargo robot comprises a cargo robot body, a motion system, a gravity center adjustment system and a control system. The gravity center adjustment system comprises an adjustment mechanism which can rotate relative to the cargo robot body to approach or move away from the cargo robot body.

2. The cargo stacking optimization system for cargo delivery robots according to claim 1, characterized in that: The cargo robot body includes a cargo robot transport platform and a cargo robot front baffle and a cargo robot rear baffle. The cargo robot front baffle and the cargo robot rear baffle are respectively arranged at the front and rear ends of the cargo robot transport platform and are rotatably connected to the cargo robot transport platform.

3. The cargo stacking optimization system for cargo delivery robots according to claim 2, characterized in that: A level meter is provided on the cargo robot transport platform, and the level meter can detect the levelness of the cargo robot transport platform and feed back the information to the control system.

4. The cargo stacking optimization system for cargo delivery robots according to claim 3, characterized in that: The motion system includes a front drive wheel, a rear drive wheel, a front drive structure and a rear drive structure, and the front drive wheel and the rear drive wheel are respectively connected to the front drive structure and the rear drive structure in a transmission manner.

5. The cargo stacking optimization system for cargo delivery robots according to claim 1, characterized in that: The adjustment mechanism includes an adjusting wheel, which is rotatably arranged on the cargo robot transport platform through a rotating rod. The adjusting wheel has a driving motion structure for driving it to rotate, and the driving structure is fixedly arranged at the bottom of the cargo robot transport platform and fixedly connected to the cargo robot transport platform. The driving structure can drive the rotating rod to rotate along the rotating shaft to make the adjusting wheel approach or move away from the cargo robot body. When the adjusting wheel is close to the cargo robot body, the cargo robot body is driven by the motion system. When the adjusting wheel is away from the cargo robot body, the cargo robot body is driven together with the front driving wheel or the rear driving wheel of the motion system and the adjusting wheel. The adjusting wheel can adjust the inclination angle of the cargo robot transport platform.

6. The cargo stacking optimization system for cargo delivery robots according to claim 5, characterized in that: The rotating rod is in an asymmetric broken line shape, the rotating shaft of the rotating rod is arranged on one side of the turning point, the adjusting wheel is connected to one end of the rotating rod, and the rear driving wheel is connected to the other end of the rotating rod.

7. The cargo stacking optimization system for cargo delivery robots according to claim 6, characterized in that: Tire pressure sensors are provided in the front drive wheels and the rear drive wheels. The tire pressure sensors are communicatively connected with the control system and can transmit the tire pressures of the front drive wheels and the rear drive wheels to the control system in real time.

8. The cargo stacking optimization system for cargo delivery robots according to claim 7, characterized in that: The cargo robot transport platform also includes a slide rail structure and a shelf that can be slidably connected to the slide rail structure. Goods are stored in the shelf. The shelf includes a rectangular frame and a support structure arranged at the four corners of the frame. The support structure includes a first support leg, a second support leg, a third support leg, and a fourth support leg. The first support leg, the second support leg, the third support leg, and the fourth support leg are respectively slidably arranged on the frame. The first support leg, the second support leg, the third support leg, and the fourth support leg can slide up and down relative to the frame.

9. The cargo stacking optimization system for cargo delivery robots according to claim 8, characterized in that: The cargo robot transport platform also includes a slider, by which the shelf can be fixed on the slide rail structure, the slide rail structure includes a movable rail and a fixed rail, the fixed rail is fixedly arranged on the upper surface of the cargo robot transport platform, the movable rail can slide along the fixed rail to ensure that the shelf can slide along the slide rail structure, the slider includes an upper fixed block, a lower fixed block and upper and lower pins, the upper fixed block can be fixed to the lower fixed block by screws, the upper fixed block and the lower fixed block are symmetrically arranged on the upper and lower sides of the movable rail respectively, the upper fixed block includes a first through hole and an upper fixed hole, the movable rail includes a second through hole, the lower fixed block includes a third through hole and a lower fixed hole, and the upper fixed hole and the lower fixed hole can be fixed by screws.

10. The cargo stacking optimization system for cargo delivery robots according to claim 8, characterized in that: The shelf includes a clamping and fixing device and a fixing rod. The clamping and fixing device is slidably arranged on a bracket in the shelf through a slide rail. The bracket can be slid up and down in the shelf. By moving the clamping and fixing device, the goods placed in the shelf can be clamped between the clamping and fixing device and the fixing rod.

Images