Goods stacking stable distribution robot and goods stacking optimization method

Abstract

The invention discloses a distribution robot capable of stably stacking goods and a goods stacking optimization method. The distribution robot comprises a distribution robot body and a stabilization robot body. The distribution robot comprises a cabinet body, a goods shelf system arranged in the cabinet body and used for containing goods, a loading system arranged in the cabinet body and used for loading goods, and a first walking mechanism arranged at the lower end of the cabinet body; the stable robot comprises a machine body, a lifting mechanism, a stable frame body arranged at the upper end of the machine body and installed at one end of the lifting mechanism, the lower end of the stable frame body is open, the size of the stable frame body is matched with that of the cabinet body, and when the distribution robot loads goods, the stable frame body is buckled at the upper end of the cabinet body; the second walking mechanism is arranged at the lower end of the machine body. When the distribution robot loads goods, the stable frame body is moved to the position above the cabinet body, then the stable frame body descends to be buckled to the upper end of the cabinet body, movement and shaking generated when the distribution robot loads the goods are effectively prevented, and the goods loading system can stably stack the goods on the goods shelf system; and the stability of goods stacking during loading of the distribution robot is ensured.

Description

Technical Field

[0001] The present invention relates to the field of delivery robots, and in particular to a delivery robot with stable cargo stacking and a cargo stacking optimization method. Background Art

[0002] With the development of robotics technology, various types of robots are being used more and more widely in various fields. For example, delivery robots can be used to provide automatic delivery services to customers. As the last link in the entire logistics system, delivery robots have the advantages of high load, all-weather operation, and intelligence, which will bring new solutions to the "last mile" of the logistics industry.

[0003] The delivery robots in the prior art still have the following shortcomings: First, the delivery robots are prone to movement and shaking due to their own and external factors when loading, which affects the stability and accuracy of the cargo stacking; second, the cargo is placed directly on the cargo board, resulting in unstable cargo stacking and easy confusion of the cargo; third, the driving structure of the robotic arm is complex, the control program is cumbersome, and it is easy to increase the shaking of the delivery robot and reduce the stability of the cargo stacking during loading; fourth, the cost is high to avoid clamping the cargo too tightly when stacking by setting sensors to monitor the clamping force of the robotic arm. Summary of the invention

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

[0005] A delivery robot with stable cargo stacking, comprising a delivery robot and a stabilizing robot;

[0006] Wherein, the delivery robot comprises: a cabinet,

[0007] The shelf system is arranged inside the cabinet and is used to hold goods.

[0008] A loading system is arranged inside the cabinet and is used for loading goods.

[0009] A first walking mechanism is arranged at the lower end of the cabinet;

[0010] The stable robot comprises: a body,

[0011] A lifting mechanism is arranged at the upper end of the machine body.

[0012] A stabilizing frame is installed at one end of the lifting mechanism, the lower end of the stabilizing frame is open, and the size matches the cabinet. When the delivery robot loads the goods, the stabilizing frame is buckled on the upper end of the cabinet;

[0013] The second walking mechanism is arranged at the lower end of the machine body.

[0014] Preferably, the lifting mechanism comprises a lifting motor, a screw rod, a lifting plate and a plurality of guide columns, the lifting motor is arranged at the upper end of the machine body, the screw rod is vertically arranged at the upper end of the lifting motor and is drivingly connected with the output shaft of the lifting motor, a plurality of guide columns are installed at the upper end of the machine body and are distributed on the outer peripheral side of the screw rod, a threaded hole and a plurality of guide holes are opened on the lifting plate, the threaded hole matches the screw rod, and a plurality of guide holes match a plurality of guide columns;

[0015] Wherein, the stabilizing frame is detachably mounted on one end of the lifting plate.

[0016] Preferably, the shelf system includes a rectangular bottom plate and a frame mechanism installed on the upper end of the bottom plate, a plurality of cargo plates are installed in the frame mechanism, and the cargo plates are evenly distributed in the height direction; a plurality of cargo baskets are arranged on each layer of the cargo plates, and the cargo baskets are evenly distributed in the transverse direction; the first walking mechanism is arranged at the lower end of the bottom plate, and the loading system is installed on the frame mechanism.

[0017] Preferably, the frame mechanism includes a first vertical pole, a cross pole, an upper longitudinal pole, a lower longitudinal pole and a second vertical pole; the number of the first vertical poles is four, which are vertically installed at the four corners of the base plate; the number of the cross poles is two, and both ends of the cross poles are installed at the top ends of the first vertical poles; the number of the upper longitudinal poles is two, and both ends of the upper longitudinal poles are installed at the top ends of the first vertical poles; the number of the lower longitudinal poles is two, and both ends of the lower longitudinal poles are installed below the first vertical poles and parallel to the upper longitudinal poles; the second vertical pole is located in the center of the two first vertical poles, and the upper end is installed in the center of the upper longitudinal pole, and the lower end is installed in the center of the lower longitudinal pole; the four corners of the cargo board are respectively fixedly connected to two second vertical poles and two first vertical poles located at the rear end.

[0018] Preferably, the loading system includes a longitudinal displacement mechanism and a clamping mechanism, the longitudinal displacement mechanism includes a driving mechanism and a loading system base plate, the driving mechanism is installed on the frame mechanism, the loading system base plate is fixedly installed on the driving mechanism, and the clamping mechanism can be laterally movably installed on the upper end of the loading system base plate.

[0019] Preferably, the driving mechanism comprises a driving motor, an output wheel, a passive wheel, a mobile frame, an upper conversion wheel, a lower conversion wheel and a belt, wherein the driving motor is provided with two, which are fixedly mounted on the left and right sides of the upper end of the base plate; the output wheels are provided with two, which are respectively connected to the output shafts of the two driving motors; the passive wheels are provided with two, which are respectively located directly above the two output wheels and are respectively installed on the two upper longitudinal rods; the mobile frame is provided with two, and is located between the output wheel and the passive wheel; the upper conversion wheels are provided with two, which are respectively installed on the upper ends of the two mobile frames; the lower conversion wheels are provided with two, which are respectively installed on the lower ends of the two mobile frames; the belt drive connects the two output wheels, the two passive wheels, the two upper conversion wheels and the two lower conversion wheels, the output wheel and the passive wheel are located on the inner side of the belt, and the upper conversion wheel and the lower conversion wheel are located on the outer side of the belt; the loading system baseboard is fixedly installed between the two mobile frames.

[0020] Preferably, the movable frame is provided with a plurality of guide through holes, the frame mechanism is provided with a plurality of guide rods, and the guide through holes match the guide rods.

[0021] Preferably, the clamping mechanism includes a clamping base plate, a clamping drive mechanism and a clamping plate mechanism. The clamping base plate can be installed on the upper end of the loading system base plate in a transversely displaceable manner through an electric slider mechanism. The clamping drive mechanism is installed on the upper end of the clamping base plate. The clamping plate mechanism is arranged above the clamping drive mechanism and is spatially moved by the clamping drive mechanism.

[0022] Preferably, the clamping plate mechanism comprises a pair of outer clamping plates and a pair of inner clamping plates, wherein the pair of outer clamping plates can be installed on the upper end of the clamping drive mechanism in a transversely displaceable manner and move closer to or farther from each other under the action of the clamping drive mechanism; the pair of inner clamping plates can be installed on the inner side of the pair of outer clamping plates in a forward and backward direction, wherein the pair of inner clamping plates are installed on the upper end of the clamping drive mechanism and slide relative to the pair of outer clamping plates under the action of the clamping drive mechanism;

[0023] Among them, the driving mode of the clamping drive mechanism is configured as follows: when a pair of inner clamps slide relative to a pair of outer clamps, the pair of outer clamps approach or move away from each other; and when a pair of inner clamps slide relative to a pair of outer clamps, the distance between the pair of outer clamps remains unchanged.

[0024] Preferably, a plurality of limit blocks are provided on the inner side of the outer clamping plate, a dovetail groove is provided on the inner end of the limit block, and a plurality of sliding rails are provided on the outer side of the inner clamping plate, the sliding rails are installed inside the dovetail groove, and the cross-sectional shape of the sliding rails matches the dovetail groove.

[0025] Preferably, the clamping drive mechanism includes a dual-axis motor, a power shaft, a power gear and a nut block, the dual-axis motor is installed in the center of the clamping base plate; two power shafts are provided, which are respectively connected to the two output shafts of the dual-axis motor; two power gears are provided, which are respectively connected to the two power shafts, and the two power gears are respectively located under a pair of inner clamping plates, a rack plate is installed at the lower end of the inner clamping plate, and the rack plate is meshed with the power gear; two nut blocks are provided, which are respectively connected to the two power shafts, and the two nut blocks are respectively installed at the lower end of a pair of outer clamping plates;

[0026] Wherein, the two nut blocks can move closer to or farther away from each other under the action of the power shaft; the power gear can rotate relative to the nut block, and the lateral distance between the power gear and the nut block is constant.

[0027] Preferably, a plurality of long key slots are provided on the power shaft, and a plurality of convex keys are provided on the inner hole of the power gear. The convex keys match the long key slots, and the length of the long key slots is greater than the length of the convex keys.

[0028] Preferably, a plurality of T-shaped rods are fixedly mounted on the inner end of the nut block, a T-shaped circular groove is formed on the outer end surface of the power gear, the head of the T-shaped rod is mounted in the T-shaped circular groove, and the shape of the T-shaped rod matches the T-shaped circular groove.

[0029] Preferably, a rectangular long hole is provided on the clamping substrate.

[0030] Preferably, the clamping drive mechanism further comprises an external threaded barrel, two of which are provided and respectively sleeved on the outer peripheries of the two power shafts; the outer periphery of the external threaded barrel is provided with an external thread, the nut block is provided with an internal threaded hole, the internal threaded hole matches the external thread, and the thread directions of the two external threaded barrels are opposite;

[0031] Wherein, the power shaft can drive the external threaded barrel to rotate, or the power shaft can rotate relative to the external threaded barrel.

[0032] Preferably, the inner circumferential surface of the external threaded barrel is provided with a plurality of internal tooth grooves, and the internal tooth grooves are arranged over the entire inner circumference, the internal tooth grooves are surrounded by two oblique end surfaces, and the angles formed by the two oblique end surfaces relative to the radial surface of the external threaded barrel are the same; the power shaft is provided with triangular teeth at positions corresponding to the internal tooth grooves, and the shape of the triangle ruler matches the internal tooth grooves, a through hole groove is provided in the middle of the power shaft, two triangular teeth are provided, namely a first triangular tooth and a second triangular tooth, the triangular teeth are slidably arranged in the through hole groove, and a tension spring is arranged between the first triangular tooth and the second triangular tooth;

[0033] An electromagnet block is installed at one end of the triangular tooth away from the inner tooth groove, and the magnetic poles of the electromagnet blocks installed on the first triangular tooth and the second triangular tooth are the same.

[0034] The present invention also relates to a cargo stacking optimization method, which is used for the above-mentioned cargo stacking stable delivery robot, and the method comprises the following steps:

[0035] Step 1: Lock the first walking mechanism to keep the delivery robot stationary;

[0036] Step 2: Move the stabilizing robot to the rear of the delivery robot and raise the stabilizing frame;

[0037] Step 3: Move the stabilizing frame to the top of the cabinet, lock the second travel mechanism, and then lower the stabilizing frame to buckle onto the upper end of the cabinet;

[0038] Step 4: According to the height of the cargo basket to be loaded, one of the two drive motors is controlled to work, and the clamping mechanism is raised and lowered to the corresponding height;

[0039] Step 5: According to the position of the cargo basket to be loaded, the electric slider mechanism is controlled to work and the clamping mechanism is moved horizontally to the corresponding position;

[0040] Step 6: The gripping mechanism moves the cargo basket away from the cargo plate, loads the cargo basket, then moves the cargo basket back to the cargo plate, and then restores the gripping mechanism to its initial state;

[0041] Step 7: Raise the stabilizing frame until it is out of the cabinet, and control the stabilizing robot to leave;

[0042] Step 8: After loading, unlock the first walking mechanism.

[0043] Preferably, in the above step 6, S1: control the dual-axis motor to rotate forward, and at the same time, the electromagnet block is energized to drive a pair of outer clamping plates and a pair of inner clamping plates to approach each other, and at the same time drive the pair of inner clamping plates to slide toward the direction of the cargo basket relative to the pair of outer clamping plates, and the pair of inner clamping plates clamp the cargo basket;

[0044] S2: Control the double-axis motor to reverse, and at the same time, the electromagnet block is powered off, driving a pair of inner clamping plates to slide relative to a pair of outer clamping plates in a direction away from the cargo plate, so as to move the cargo basket away from the cargo plate and load the cargo basket with goods;

[0045] S3: Control the dual-axis motor to rotate forward. At the same time, the electromagnet block is powered off, driving a pair of inner clamping plates to slide relative to a pair of outer clamping plates toward the direction of the cargo plate, and moving the cargo basket back to the cargo plate for loading;

[0046] S4: Control the double-axis motor to reverse. At the same time, the electromagnet block is energized to drive a pair of outer clamping plates and a pair of inner clamping plates away from each other, and at the same time drive a pair of inner clamping plates to slide relative to a pair of outer clamping plates in a direction away from the cargo plate until the clamping mechanism returns to its initial state and waits for the next loading of goods.

[0047] After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0048] When the delivery robot loads goods, the stabilizing frame is raised, and the stabilizing frame is moved to the top of the cabinet through the second walking mechanism, and then the stabilizing frame is lowered and buckled on the upper end of the cabinet, effectively preventing the movement and shaking caused by the delivery robot loading goods, so that the loading system can stably stack the goods on the shelf system, ensuring the stability of the stacked goods when the delivery robot is loading.

[0049] The stable robot has a simple structure, and the stable frame can be lifted up and down quickly and stably. By arranging the stable frame to be detachably mounted on one end of the lifting plate, other components can be integrated at the end of the lifting plate, thereby increasing the use scenarios of the stable robot.

[0050] Several cargo frames are set on each layer of cargo board to avoid instability caused by placing goods directly on the cargo board and to avoid confusion of goods. The same kind or category of goods can be placed in one cargo frame, which is helpful for classification and management of goods. Moreover, when loading goods, a cargo frame can be taken out through the loading system, which is convenient for loading and conducive to accurate replenishment.

[0051] By setting up a longitudinal displacement mechanism, when the clamping mechanism needs to be lowered, the drive motor on the left works to drive the synchronous belt to move. At the moment the drive motor starts, the belt at the front of the output wheel tends to relax, and the belt at the rear of the output wheel tends to be tightened. The lower conversion wheel moves downward under the action of the belt tension, and then the conversion wheel is in a balanced state of force, and moves downward under the action of inertia until the drive motor on the left stops working; similarly, when the clamping mechanism rises, the drive motor on the right works to drive the conversion wheel to move upward until the drive motor stops working. The longitudinal displacement mechanism has a simple structure and a unique driving method. After experimental testing, the position adjustment is accurate and the adjustment speed is appropriate. It is neither too slow to affect the work efficiency nor too fast to affect the stability of the delivery robot. It consumes less power and saves costs.

[0052] By configuring the driving mode of the clamping drive mechanism, when the clamping mechanism clamps the cargo frame and releases the cargo frame, a pair of inner clamps simultaneously move laterally and forward and backward, which can be completed in one control step. Compared with the existing lateral movement and forward and backward movement which are completed in two steps, the control steps are reduced, the control system is optimized, and the control cost is reduced; the number of actions of the clamping mechanism is also reduced, which is more conducive to reducing the shaking of the delivery robot and improving the stability of the cargo stacking during loading of the entire device.

[0053] The power shaft can drive the external thread barrel to rotate, and can also rotate relative to the external thread barrel. Through this arrangement, when a pair of inner clamping plates need to slide relative to a pair of outer clamping plates, and the pair of outer clamping plates are close to or away from each other, the power shaft drives the external thread barrel to rotate, thereby driving the two nut blocks to move; when a pair of inner clamping plates need to slide relative to a pair of outer clamping plates, and the distance between the pair of outer clamping plates remains unchanged, the power shaft rotates relative to the external thread barrel, and the external thread barrel does not rotate, so that the two nut blocks remain stationary. Through the external thread barrel, multiple control actions of the clamping mechanism are realized, and the structure is simple and the design is ingenious.

[0054] Through the structural design of the power shaft and the external threaded barrel, it is achieved that in the clamping mechanism, a pair of inner clamping plates can move laterally and forward and backward at the same time, or only move forward and backward without generating lateral movement, thereby reducing the control steps, optimizing the control system, and reducing the control cost; it also reduces the number of actions of the clamping mechanism, which is more conducive to reducing the shaking of the delivery robot and improving the stability of the cargo stacking during loading of the entire device; at the same time, it can automatically prevent the pair of inner clamping plates from clamping the cargo frame too much, thereby avoiding damage to the pair of inner clamping plates or the cargo frame due to excessive force. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is an overall structural diagram of the delivery robot with stable cargo stacking according to the present invention;

[0056] Figure 2 This is a structural diagram of the coordinated state of the delivery robot for stable cargo stacking according to the present invention;

[0057] Figure 3 This is the overall structure diagram of the stable robot of the present invention;

[0058] Figure 4 This is a diagram showing the internal structure of the delivery robot cabinet of the present invention;

[0059] Figure 5 This is a structural diagram of the delivery robot shelf system of the present invention;

[0060] Figure 6 This is a structural diagram of the delivery robot loading system of the present invention;

[0061] Figure 7 This is a structural diagram of the connection between the longitudinal displacement mechanism and the gripping mechanism of the delivery robot of the present invention;

[0062] Figure 8 This is the overall structural diagram of the longitudinal displacement mechanism of the delivery robot of the present invention;

[0063] Fig. 9 This is a schematic diagram of the working state of the longitudinal displacement mechanism of the delivery robot of the present invention;

[0064] Fig.10 This is a second schematic diagram of the working state of the longitudinal displacement mechanism of the delivery robot of the present invention;

[0065] Fig.11 This is a diagram showing the coordination structure of the gripping mechanism and the longitudinal displacement mechanism of the delivery robot of the present invention;

[0066] Fig.12 This is an overall structural diagram of the gripping mechanism of the delivery robot of the present invention;

[0067] Fig.13 This is an overall structural diagram of the gripping drive mechanism of the delivery robot of the present invention;

[0068] Fig.14 This is a front view of the power gear in the delivery robot of the present invention;

[0069] Fig.15 for Fig.13 A partial enlarged cross-sectional view at center;

[0070] Fig.16 for Fig.13 Cross-sectional view along BB direction. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0072] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0074] The terms "first", "second", etc. are only used to distinguish descriptions and should not be understood as indicating or implying relative importance. The terms "parallel", "vertical", etc. do not mean that the components must be absolutely parallel or vertical, but can be slightly tilted. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly tilted.

[0075] like Figure 1-2 As shown, a delivery robot with stable cargo stacking includes a delivery robot 1 and a stabilizing robot 2; the delivery robot 1 includes a cabinet 11, a shelf system, a loading system and a first walking mechanism 12, the shelf system is arranged inside the cabinet 11 for holding cargo; the loading system is arranged inside the cabinet 11 for loading cargo; the first walking mechanism 12 is arranged at the lower end of the cabinet 11;

[0076] The stable robot 2 includes a body 21, a lifting mechanism 22, a stable frame 23 and a second walking mechanism 24. The lifting mechanism 22 is arranged at the upper end of the body 21, and the stable frame 23 is installed at one end of the lifting mechanism 22. The lower end of the stable frame 23 is open, and the size matches the cabinet 11; the second walking mechanism 24 is arranged at the lower end of the body 21. Through the above arrangement, when the delivery robot 1 loads goods, the stable frame 23 is raised, and the stable frame 23 is moved to the top of the cabinet 11 through the second walking mechanism 24, and then the stable frame 23 is lowered and buckled on the upper end of the cabinet 11, which effectively prevents the movement and shaking of the delivery robot 1 when loading goods, so that the loading system can stably stack the goods on the shelf system, ensuring the stability of the delivery robot 1 loading goods.

[0077] Furthermore, combined with Figure 3 The lifting mechanism 22 includes a lifting motor 221, a screw rod 222, a lifting plate 223 and a plurality of guide columns 224. The lifting motor 221 is arranged at the upper end of the body 21. The screw rod 222 is vertically arranged at the upper end of the lifting motor 221 and is drivingly connected with the output shaft of the lifting motor 221. A plurality of guide columns 224 are installed at the upper end of the body 21 and are distributed on the outer peripheral side of the screw rod 222. Specifically, the number of guide columns 224 in this embodiment is four; a threaded hole and a plurality of guide holes are opened on the lifting plate 223. The threaded hole matches the screw rod 222, and a plurality of guide holes matches a plurality of guide columns 224.

[0078] The stabilizing frame 23 is detachably mounted at one end of the lifting plate 223. Through the above arrangement, the structure is simple, and the stabilizing frame 23 can be lifted up and down quickly and stably; the stabilizing frame 23 can be detachably mounted, and other components can be integrated at the end of the lifting plate 223, thereby increasing the use scenarios of the stabilizing robot 2.

[0079] Further, such as Figure 4-5 As shown, the shelf system includes a rectangular bottom plate 13 and a frame mechanism 14 installed on the upper end of the bottom plate 13, a plurality of cargo plates 131 are installed in the frame mechanism 14, a plurality of cargo baskets 132 are arranged on the cargo plates 131, the first walking mechanism 12 is arranged at the lower end of the bottom plate 13, and the loading system is installed on the frame mechanism 14;

[0080] The frame mechanism 14 includes a first vertical rod 141, a cross rod 142, an upper longitudinal rod 143, a lower longitudinal rod 144 and a second vertical rod 145; the first vertical rod 141 is four in number and vertically mounted at the four corners of the bottom plate 13; the cross rod 142 is two in number, and both ends of the cross rod 142 are mounted on the top of the first vertical rod 141; the upper longitudinal rod 143 is two in number, and both ends of the upper longitudinal rod 143 are mounted on the top of the first vertical rod 141; the lower longitudinal rod 144 The number of the cargo plates 131 is two, and the two ends of the lower longitudinal rod 144 are installed below the first column 141 and are parallel to the upper longitudinal rod 143; the second vertical rod 145 is located in the center of the two first vertical rods 141, and the upper end is installed in the center of the upper vertical rod 143, and the lower end is installed in the center of the lower vertical rod 144; the cargo plates 131 are evenly distributed in the height direction, and the four corners of the cargo plates 131 are respectively fixedly connected to the two second vertical rods 145 and the two first vertical rods 141 located at the rear end. Through the above arrangement, a plurality of cargo baskets 132 are arranged on each layer of cargo plates 131, so as to avoid instability caused by placing the cargo directly on the cargo plates 131 and avoid easy confusion of the cargo, and the same kind or the same type of cargo can be put into one cargo basket 132, which is helpful for the classification management of the cargo, and further, when loading the cargo, one cargo basket 132 can be taken out through the loading system, which is convenient for loading the cargo and conducive to accurate replenishment.

[0081] Further, such as Figure 5-6 As shown, the loading system includes a longitudinal displacement mechanism 15 and a clamping mechanism 16, the longitudinal displacement mechanism 15 includes a driving mechanism 151 and a loading system base plate 152, the driving mechanism 151 is installed on the frame mechanism 14, the loading system base plate 152 is fixedly installed on the driving mechanism 151, and the clamping mechanism 16 can be laterally movably installed on the upper end of the loading system base plate 152.

[0082] Further, such as Figure 6-8 As shown, the driving mechanism 151 includes a driving motor 1511, an output wheel 1512, a driven wheel 1513, a moving frame 1514, an upper conversion wheel 1515, a lower conversion wheel 1516 and a belt 1517. The driving motor 1511 is provided with two, which are fixedly installed on the left and right sides of the upper end of the bottom plate 13; the output wheel 1512 is provided with two, which are respectively connected to the output shafts of the two driving motors 1511; the driven wheel 1513 is provided with two, which are respectively located directly above the two output wheels 1512 and are respectively installed on the two upper longitudinal rods 143; the moving frame 1514 is provided with two, and is located between the output wheel 1512 and the driven wheel 15 13; two upper conversion wheels 1515 are provided, which are respectively installed at the upper ends of the two mobile frames 1514; two lower conversion wheels 1516 are provided, which are respectively installed at the lower ends of the two mobile frames 1514; the belt 1517 is transmission-connected with two output wheels 1512, two passive wheels 1513, two upper conversion wheels 1515 and two lower conversion wheels 1516, the output wheels 1512 and the passive wheels 1513 are located on the inner side of the belt 1517, and the upper conversion wheels 1515 and the lower conversion wheels 1516 are located on the outer side of the belt 1517; the loading system base plate 152 is fixedly installed between the two mobile frames 1514.

[0083] Combined with Figure 9-10The working principle of the longitudinal displacement mechanism 15 is as follows: when the clamping mechanism 16 needs to be lowered in order to load the cargo basket 132 at the relatively lower layer, the drive motor 1511 on the left works, and the output wheel 1512 rotates clockwise, driving the synchronous belt 1517 to move, and the drive motor 1511 on the right idles. At the moment when the drive motor 1511 on the left is started, the belt at the front section of the output wheel 1512 tends to be loose, and the belt at the rear section of the output wheel 1512 tends to be tightened. Therefore, the lower conversion wheel 1516 on the left moves downward under the action of the belt tension force, thereby driving other conversion wheels to move downward, that is, the loading system base plate 152 and the clamping mechanism 16 descend together, and then, all the conversion wheels are in a balanced state of force, and move downward under the action of inertia until the drive motor 1511 on the left stops working. Correspondingly, when the gripping mechanism 16 needs to rise in order to load the relatively upper cargo basket 132, the drive motor 1511 on the right works, and the output wheel 1512 rotates clockwise, driving the synchronous belt 1517 to move. At the moment when the drive motor 1511 is started, the belt at the front of the output wheel 1512 tends to be loose, and the belt at the rear of the output wheel 1512 tends to be tightened. Therefore, the upper conversion wheel 1515 on the right moves upward under the action of the belt tension, thereby driving other conversion wheels to move upward, and then moves upward under the action of inertia until the drive motor 1511 stops working. The longitudinal displacement mechanism 15 has a simple structure and a unique driving method. After experimental testing, the position adjustment is accurate and the adjustment speed is appropriate. It is neither too slow to affect the work efficiency nor too fast to affect the stability of the distribution robot. It consumes less power and saves costs.

[0084] Further, such as Figure 5-7 As shown, the moving frame 1514 is provided with a plurality of guide holes 15141, and a plurality of guide rods 146 are provided between the upper longitudinal rod 143 and the lower longitudinal rod 144, and the guide holes 15141 match the guide rods 146. Through this arrangement, the stability of the moving frame 1514 moving up and down is improved. Specifically, in this embodiment, the number of guide rods 146 is two, and they are respectively located on both sides of the passive wheel 1513.

[0085] Further, such as Figure 11-12 As shown, the clamping mechanism 16 includes a clamping base plate 161, a clamping drive mechanism 162 and a clamping plate mechanism 163. The clamping base plate 161 can be installed on the upper end of the loading system base plate 152 in a transversely displaceable manner through an electric slider mechanism 164. The clamping drive mechanism 162 is installed on the upper end of the clamping base plate 161. The clamping plate mechanism 163 is arranged above the clamping drive mechanism 162 and is spatially moved by the clamping drive mechanism 162.

[0086] Further, such as Fig.12As shown, the clamping plate mechanism 163 includes a pair of outer clamping plates 1631 and a pair of inner clamping plates 1632. The pair of outer clamping plates 1631 can be installed on the upper end of the clamping drive mechanism 162 in a lateral displacement manner, and are moved closer to or away from each other under the action of the clamping drive mechanism 162; the pair of inner clamping plates 1632 can be installed on the inner side of the pair of outer clamping plates 1631 in a forward and backward direction. The pair of inner clamping plates 1632 are installed on the upper end of the clamping drive mechanism 162, and slide relative to the pair of outer clamping plates 1631 under the action of the clamping drive mechanism 162.

[0087] The driving mode of the clamping drive mechanism 162 is configured as follows: when the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631, the pair of outer clamping plates 1631 approach or move away from each other; and, when the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631, the distance between the pair of outer clamping plates 1631 remains unchanged. Through the above configuration, when the clamping mechanism 16 loads the cargo basket 132, under the action of the clamping drive mechanism 162, in the first step, the pair of outer clamping plates 1631 drive the pair of inner clamping plates 1632 to approach each other, and at the same time, the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631 toward the cargo basket 132, and the pair of inner clamping plates 1632 clamp the cargo basket 132; in the second step, the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631 in the direction away from the cargo plate 131, and at the same time, the distance between the pair of outer clamping plates 1631 remains unchanged, so that the cargo basket 132 is moved away from the cargo plate 131. , load the cargo basket 132; in the third step, the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631 in the direction close to the cargo plate 131, and at the same time, the distance between the pair of outer clamping plates 1631 remains unchanged, and the cargo basket 132 is moved back to the cargo plate 131 to complete the loading of goods; in the fourth step, the pair of outer clamping plates 1631 drive the pair of inner clamping plates 1632 to move away from each other, and at the same time, the pair of inner clamping plates 1632 slide relative to the pair of outer clamping plates 1631 in the direction away from the cargo plate 131, and the pair of inner clamping plates 1632 release the cargo basket 132, and the clamping mechanism 16 returns to its initial state, waiting for the next loading of goods. In the first step of clamping the cargo basket 132 and the fourth step of releasing the cargo basket 132, the pair of inner clamping plates 1632 of the clamping mechanism 16 simultaneously move laterally and forward and backward, which can be completed in one control step. Compared with the existing lateral movement and forward and backward movement being completed in two steps, the control steps are reduced, the control system is optimized, and the control cost is reduced; the number of actions of the clamping mechanism 16 is also reduced, which is more conducive to reducing the shaking of the delivery robot and improving the stability of the cargo stacking during loading of the entire device.

[0088] Further, such as Fig.12As shown, the inner side of the outer clamping plate 1631 is provided with a plurality of limit blocks 1633. Specifically, in this embodiment, two limit blocks 1633 are provided, and the inner side end of the limit block 1633 is provided with a dovetail groove. The outer side of the inner clamping plate 1632 is provided with a plurality of sliding rails 1634, and the sliding rails 1634 are installed inside the dovetail groove, and the cross-sectional shape of the sliding rails 1634 matches the dovetail groove. Through the above arrangement, the inner clamping plate 1632 can be limited to only one degree of freedom of movement in the front-rear direction relative to the outer clamping plate 1631.

[0089] Further, such as Figure 12-13 As shown, the clamping drive mechanism 162 includes a dual-axis motor 1621, a power shaft 1622, a power gear 1623 and a nut block 1624. The dual-axis motor 1621 is installed at the center of the clamping base plate 161; two power shafts 1622 are provided, which are respectively connected to the two output shafts of the dual-axis motor 1621; two power gears 1623 are provided, which are respectively connected to the two power shafts 1622, and the two power gears 1623 are respectively located below a pair of inner clamping plates 1632, and correspondingly, a rack plate 1635 is installed at the lower end of the inner clamping plate 1632, and the rack plate 1635 is meshed with the power gear 1623; two nut blocks 1624 are provided, which are respectively connected to the two power shafts 1622, and the two nut blocks 1624 are respectively installed at the lower ends of a pair of outer clamping plates 1631;

[0090] The two nut blocks 1624 can move closer to or farther from each other under the action of the power shaft 162; the power gear 1623 can rotate relative to the nut block 1624, and the lateral distance between the power gear 1623 and the nut block 1624 is constant. Through the above arrangement, the nut block 1624 is installed at the lower end of the outer clamping plate 1631, and the power gear 1623 cooperates with the inner clamping plate 1632 for transmission. Since the distance between the inner clamping plate 1632 and the outer clamping plate 1631 is constant, the lateral distance between the power gear 1623 and the nut block 1624 is set to be constant, which can ensure that the power gear 1623 and the rack plate 1635 always maintain good meshing.

[0091] Furthermore, combined with Fig.12, the power shaft 1622 is provided with a plurality of long key slots 1625, and the inner hole of the power gear 1623 is provided with a plurality of convex keys 16231, the convex keys 16231 match the long key slots 1625, and the length of the long key slots 1625 is greater than the length of the convex keys 16231. Through the above arrangement, the power shaft 1622 can drive the power gear 1623 to rotate, and the power gear 1623 can be displaced relative to the power shaft 1622, so that the lateral distance between the power gear 1623 and the nut block 1624 can be kept constant.

[0092] Further, such as Figure 13-14 As shown, a plurality of T-shaped rods 16241 are fixedly installed on the inner end of the nut block 1624. Specifically, in this embodiment, the number of T-shaped rods 16241 is set to two, and a T-shaped circular groove 16232 is provided on the outer end surface of the power gear 1623. The head of the T-shaped rod 16241 is installed in the T-shaped circular groove 16232, and the shape of the T-shaped rod 16241 matches the T-shaped circular groove 16232, so that the lateral movement of the nut block 1624 can simultaneously drive the power gear 1623 to move, and the power gear 1623 can rotate relative to the nut block 1624.

[0093] Further, combined with Figure 7 A rectangular long hole 1611 is opened on the clamping base plate 161 so that the power gear 1623 and the nut block 1624 will not interfere with each other when they are laterally displaced.

[0094] Further, such as Fig.13 , 15 As shown, the clamping drive mechanism 162 further includes an external threaded barrel 1626, two of which are provided and respectively sleeved on the outer peripheries of the two power shafts 1622; the outer periphery of the external threaded barrel 1626 is provided with an external thread 16261, and the nut block 1624 is provided with an internal threaded hole 16242, the internal threaded hole 16242 matches the external thread 16261, and the thread directions of the two external threaded barrels 1626 are opposite;

[0095] The power shaft 1622 can drive the external threaded barrel 1626 to rotate, and the power shaft 1622 can also rotate relative to the external threaded barrel 1626. Through the above arrangement, when a pair of inner clamping plates 1632 need to slide relative to a pair of outer clamping plates 1631, and the pair of outer clamping plates 1631 are close to or away from each other, the power shaft 1622 drives the external threaded barrel 1626 to rotate, thereby driving the two nut blocks 1624 to move; when a pair of inner clamping plates 1632 need to slide relative to a pair of outer clamping plates 1631, and the distance between the pair of outer clamping plates 1631 remains unchanged, the power shaft 1622 rotates relative to the external threaded barrel 1626, and the external threaded barrel 1626 does not rotate, so that the two nut blocks 1624 remain stationary. Through the external threaded barrel 1626, multiple actions of the clamping mechanism 16 are realized, and the structure is simple and the design is ingenious.

[0096] Furthermore, combined with Fig.16 , the inner circumference of the external threaded barrel 1626 is provided with a plurality of internal tooth grooves 16262, and the internal tooth grooves 16262 are arranged on the entire inner circumference, the internal tooth grooves 16262 are surrounded by two oblique end faces 16263, and the angles formed by the two oblique end faces 16263 relative to the radial surface of the external threaded barrel 1626 are the same; the power shaft 1622 is provided with triangular teeth 16221 at the position corresponding to the internal tooth grooves 16262, and the shape of the triangle ruler matches the internal tooth grooves 16262, a through hole groove 16222 is opened in the middle of the power shaft 1622, and two triangular teeth 16221 are provided, namely a first triangular tooth 16221 and a second triangular tooth 16221, the triangular teeth 16221 are slidably arranged in the through hole groove 16222, and a tension spring 16223 is arranged between the first triangular tooth 16221 and the second triangular tooth 16221;

[0097] An electromagnet block 16224 is installed at one end of the triangular tooth 16221 away from the inner tooth groove 16262, and the magnetic poles of the electromagnet block 16224 installed on the first triangular tooth 16221 and the second triangular tooth 16221 are the same. Through the above arrangement, when a pair of inner clamping plates 1632 need to slide relative to a pair of outer clamping plates 1631, and a pair of outer clamping plates 1631 are close to or away from each other, the electromagnet block 16224 is energized, and under the action of magnetic force, the first triangular tooth 16221 and the second triangular tooth 16221 move away from each other, and the triangular tooth 16221 enters the inner tooth groove 16262 and meshes therewith. When the power shaft 1622 rotates, it can drive the outer threaded barrel 1626 to rotate, thereby driving the two nut blocks 1624 to move; when When a pair of inner clamping plates 1632 need to slide relative to a pair of outer clamping plates 1631 and the distance between the pair of outer clamping plates 1631 remains unchanged, the electromagnet block 16224 is powered off and loses its magnetic force. Under the action of the tension spring 16223, the first triangular tooth 16221 and the second triangular tooth 16221 approach each other, and the triangular tooth 16221 disengages from the inner tooth groove 16262. The rotation of the power shaft 1622 cannot drive the external threaded barrel 1626 to rotate, so that the two nut blocks 1624 remain stationary. Through this structural design, it is achieved that in the clamping mechanism 16, a pair of inner clamping plates 1632 can move both laterally and forward and backward at the same time, or can only move forward and backward without generating lateral movement, thereby reducing the control steps, optimizing the control system, and reducing the control cost; and the number of actions of the clamping mechanism 16 is reduced, which is more conducive to reducing the shaking of the delivery robot and improving the stability of the cargo stacking during the loading of the entire device; at the same time, when the pair of inner clamping plates 1632 clamp the cargo basket 132, in the case where it has been clamped, although the electromagnet block 16224 is still energized, during the rotation of the power shaft 1622, the oblique end surface 16263 The squeezing force is greater than the repulsive force between the two electromagnet blocks 16224, and the triangular teeth 16221 will move along the tooth profile from one inner tooth groove 16262 to the next inner tooth groove 16262 in sequence, and the triangular teeth 16221 will no longer push the inner tooth groove 16262 of the external threaded tube 1626 to move, that is, during the rotation of the power shaft 1622, the external threaded tube 1626 is no longer driven to rotate, and then the distance between the pair of inner clamping plates 1632 no longer changes, which automatically prevents the pair of inner clamping plates 1632 from clamping the cargo basket 132 too much, thereby avoiding damage to the pair of inner clamping plates 1632 or the cargo basket 132 due to excessive force.

[0098] like Figure 1-16 The present application also relates to a cargo stacking optimization method for the above-mentioned cargo stacking stable delivery robot, the method comprising the following steps:

[0099] S1: Lock the first walking mechanism 12 to keep the delivery robot 1 stationary;

[0100] S2: Move the stabilizing robot 2 to the rear of the delivery robot 1 and raise the stabilizing frame 23;

[0101] S3: Move the stabilizing frame 23 to the top of the cabinet 11, lock the second walking mechanism 24, and then lower the stabilizing frame 23 to buckle onto the upper end of the cabinet 11;

[0102] S4: According to the height of the cargo basket 132 to be loaded, one of the two driving motors 1511 is controlled to work, and the clamping mechanism 16 is raised or lowered to the corresponding height;

[0103] S5: According to the position of the cargo basket 132 to be loaded with goods, the electric slider mechanism 164 is controlled to work, and the clamping mechanism 16 is moved horizontally to the corresponding position;

[0104] S6: Control the dual-axis motor 1621 to rotate forward. At the same time, the electromagnet block 16224 is energized to drive the pair of outer clamping plates 1631 and the pair of inner clamping plates 1632 to approach each other, and at the same time drive the pair of inner clamping plates 1632 to slide relative to the pair of outer clamping plates 1631 toward the direction of the cargo basket 132, so that the pair of inner clamping plates 1632 clamp the cargo basket 132;

[0105] S7: Control the dual-axis motor 1621 to reverse, and at the same time, the electromagnet block 16224 is powered off, driving the pair of inner clamping plates 1632 to slide relative to the pair of outer clamping plates 1631 in a direction away from the cargo plate 131, so as to move the cargo basket 132 away from the cargo plate 131 and load the cargo basket 132 with goods;

[0106] S8: Control the dual-axis motor 1621 to rotate forward. At the same time, the electromagnet block 16224 is powered off, driving the pair of inner clamping plates 1632 to slide relative to the pair of outer clamping plates 1631 toward the cargo plate 131, and moving the cargo basket 132 to the cargo plate 131 again for loading;

[0107] S9: Control the double-axis motor 1621 to reverse, and at the same time, the electromagnet block 16224 is energized to drive the pair of outer clamping plates 1631 and the pair of inner clamping plates 1632 to move away from each other, and at the same time drive the pair of inner clamping plates 1632 to slide relative to the pair of outer clamping plates 1631 in a direction away from the cargo plate 131, until the clamping mechanism 16 returns to the initial state and waits for the next loading of goods;

[0108] S10: Raise the stabilizing frame 23 until it is separated from the cabinet 11, and control the stabilizing robot 2 to leave;

[0109] S11: After loading is completed, the first walking mechanism 12 is unlocked.

[0110] Through the above optimization method, when the delivery robot 1 loads goods, the stable frame 23 is raised, and the stable frame 23 is moved to the top of the cabinet 11 through the second walking mechanism 24, and then the stable frame 23 is lowered and buckled on the upper end of the cabinet 11, which effectively prevents the movement and shaking of the delivery robot 1 when loading goods, so that the loading system can stably stack the goods on the shelf system, ensuring the stability of the delivery robot 1 loading goods. In S6 and S9 of the clamping mechanism 16, a pair of inner clamps 1632 move horizontally and forward and backward at the same time, which only requires one control step to complete. Compared with the existing lateral movement and forward and backward movement in two steps, the control steps are reduced, the control system is optimized, and the control cost is reduced; and the number of actions of the clamping mechanism 16 is reduced, which is more conducive to reducing the shaking of the delivery robot and further improves the stability of the cargo stacking when the entire device is loaded.

[0111] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. A delivery robot with stable cargo stacking, including a delivery robot and a stabilizing robot; in, The delivery robot comprises: a cabinet, The shelf system is arranged inside the cabinet and is used to hold goods. A loading system is arranged inside the cabinet and is used for loading goods. A first walking mechanism is arranged at the lower end of the cabinet; Characterized in that the stable robot comprises: a body, A lifting mechanism is arranged at the upper end of the machine body. A stabilizing frame is installed at one end of the lifting mechanism, the lower end of the stabilizing frame is open, and the size matches the cabinet. When the delivery robot loads the goods, the stabilizing frame is buckled on the upper end of the cabinet; The second walking mechanism is arranged at the lower end of the machine body.

2. The delivery robot with stable cargo stacking according to claim 1, characterized in that: The lifting mechanism includes a lifting motor, a screw rod, a lifting plate and a plurality of guide columns, wherein the lifting motor is arranged at the upper end of the machine body, the screw rod is vertically arranged at the upper end of the lifting motor and is drivingly connected with the output shaft of the lifting motor, a plurality of guide columns are installed at the upper end of the machine body and are distributed on the outer peripheral side of the screw rod, a threaded hole and a plurality of guide holes are opened on the lifting plate, the threaded hole matches the screw rod, and a plurality of guide holes match a plurality of guide columns; Wherein, the stabilizing frame is detachably mounted on one end of the lifting plate.

3. The delivery robot with stable cargo stacking according to claim 1, characterized in that: The shelf system includes a rectangular bottom plate and a frame mechanism installed on the upper end of the bottom plate, a plurality of cargo plates are installed in the frame mechanism, and the cargo plates are evenly distributed in the height direction; a plurality of cargo baskets are arranged on each layer of the cargo plates, and the cargo baskets are evenly distributed in the transverse direction; the first walking mechanism is arranged at the lower end of the bottom plate, and the loading system is installed on the frame mechanism.

4. The delivery robot with stable cargo stacking according to claim 3, characterized in that: The loading system includes a longitudinal displacement mechanism and a clamping mechanism. The longitudinal displacement mechanism includes a driving mechanism and a loading system base plate. The driving mechanism is installed on the frame mechanism. The loading system base plate is fixedly installed on the driving mechanism. The clamping mechanism can be laterally movably installed on the upper end of the loading system base plate.

5. The delivery robot with stable cargo stacking according to claim 4, characterized in that: The clamping mechanism includes a clamping base plate, a clamping drive mechanism and a clamping plate mechanism. The clamping base plate can be installed on the upper end of the loading system base plate in a transversely displaceable manner through an electric slider mechanism. The clamping drive mechanism is installed on the upper end of the clamping base plate. The clamping plate mechanism is arranged above the clamping drive mechanism and is spatially moved by the clamping drive mechanism.

6. The delivery robot with stable cargo stacking according to claim 5, characterized in that: The clamping plate mechanism comprises a pair of outer clamping plates and a pair of inner clamping plates, wherein the pair of outer clamping plates can be installed on the upper end of the clamping drive mechanism in a transversely displaceable manner and move closer to or farther from each other under the action of the clamping drive mechanism; the pair of inner clamping plates can be installed on the inner side of the pair of outer clamping plates in a forward and backward direction, wherein the pair of inner clamping plates are installed on the upper end of the clamping drive mechanism and slide relative to the pair of outer clamping plates under the action of the clamping drive mechanism; Among them, the driving mode of the clamping drive mechanism is configured as follows: when a pair of inner clamps slide relative to a pair of outer clamps, the pair of outer clamps approach or move away from each other; and when a pair of inner clamps slide relative to a pair of outer clamps, the distance between the pair of outer clamps remains unchanged.

7. The delivery robot with stable cargo stacking according to claim 6, characterized in that: The clamping drive mechanism includes a dual-axis motor, a power shaft, a power gear and a nut block. The dual-axis motor is installed in the center of the clamping base plate; two power shafts are provided, which are respectively connected to the two output shafts of the dual-axis motor; two power gears are provided, which are respectively connected to the two power shafts, and the two power gears are respectively located under a pair of inner clamping plates, and a rack plate is installed at the lower end of the inner clamping plate, and the rack plate is meshed with the power gear; two nut blocks are provided, which are respectively connected to the two power shafts, and the two nut blocks are respectively installed at the lower ends of a pair of outer clamping plates; Wherein, the two nut blocks can move closer to or farther away from each other under the action of the power shaft; the power gear can rotate relative to the nut block, and the lateral distance between the power gear and the nut block is constant.

8. The delivery robot with stable cargo stacking according to claim 7, characterized in that: A plurality of T-shaped rods are fixedly mounted on the inner end of the nut block, a T-shaped circular groove is formed on the outer end surface of the power gear, the head of the T-shaped rod is mounted in the T-shaped circular groove, and the shape of the T-shaped rod matches the T-shaped circular groove.

9. The delivery robot with stable cargo stacking according to claim 7, characterized in that: The clamping drive mechanism further includes an external threaded barrel, two of which are provided and respectively sleeved on the outer peripheries of the two power shafts; the outer periphery of the external threaded barrel is provided with an external thread, the nut block is provided with an internal threaded hole, the internal threaded hole matches the external thread, and the thread directions of the two external threaded barrels are opposite; Wherein, the power shaft can drive the external threaded barrel to rotate, or the power shaft can rotate relative to the external threaded barrel.

10. A cargo stacking optimization method, used for the cargo stacking stable delivery robot according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step 1: Lock the first walking mechanism to keep the delivery robot stationary; Step 2: Move the stabilizing robot to the rear of the delivery robot and raise the stabilizing frame; Step 3: Move the stabilizing frame to the top of the cabinet, lock the second travel mechanism, and then lower the stabilizing frame to buckle onto the upper end of the cabinet; Step 4: According to the height of the cargo basket to be loaded, one of the two drive motors is controlled to work, and the clamping mechanism is raised and lowered to the corresponding height; Step 5: According to the position of the cargo basket to be loaded, the electric slider mechanism is controlled to work and the clamping mechanism is moved horizontally to the corresponding position; Step 6: The gripping mechanism moves the cargo basket away from the cargo plate, loads the cargo basket, then moves the cargo basket back to the cargo plate, and then restores the gripping mechanism to its initial state; Step 7: Raise the stabilizing frame until it is out of the cabinet, and control the stabilizing robot to leave; Step 8: After loading, unlock the first walking mechanism.

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