Carriage robot and carriage service system

Abstract

The invention discloses a carriage robot which comprises a machine shell, a feeding platform, a driving device and a driving device. The feeding mechanism comprises a feeding belt and a separation frame, the feeding belt can rotate in the machine shell, the feeding tail end of the feeding belt is located on one side of the feeding platform, a plurality of avoiding gaps are formed in the surface of the feeding belt at intervals in the length direction of the feeding belt, and the separation frame is located in a space defined by the feeding belt; partition plates extending upwards are formed in the positions, right opposite to the receding gaps, of the top side of the partition frame correspondingly. The partition frame can move upwards in the machine shell and drive the partition plates to enter and exit the receding gaps right opposite to the partition plates correspondingly. And the moving mechanism is arranged at the bottom of the machine shell and provided with a plurality of moving wheels downwards protruding out of the bottom side of the machine shell, a plurality of goods are independently separated and sent out, different goods can be sent to different positions, manual labor and the moving space needed in a compartment during goods delivery are reduced, and the goods delivery efficiency in the compartment is improved.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a carriage robot and a carriage service system. Background Art

[0002] In transport vehicles such as trains and airplanes, there are usually attendants pushing carts loaded with goods to sell goods in the carriages. Due to the limited space in the carriages, it is inconvenient for the attendants to push the carts. In addition, in order to meet the cargo needs of individual passengers, the attendants need to deliver the goods to different locations separately, which is inefficient. Therefore, there is an urgent need for a robot that can deliver goods in the carriages to improve the service efficiency for passengers. Summary of the invention

[0003] The purpose of the present invention is to provide a carriage robot and a carriage service system to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problem is:

[0005] A carriage robot comprises: a casing, one side of which is provided with a feeding platform; a feeding mechanism, comprising a feeding belt and a partition frame, the feeding belt being capable of rotating in the casing, the feeding end of the feeding belt being located at one side of the feeding platform, a plurality of avoidance gaps being arranged at intervals on the surface of the feeding belt along its length direction, the partition frame being located in a space formed by the feeding belt, and upwardly extending partitions are respectively formed on the top side of the partition frame facing the plurality of avoidance gaps, the partition frame being capable of moving upward in the casing and driving the plurality of partitions to enter and exit the facing avoidance gaps respectively; a moving mechanism being arranged at the bottom of the casing, the moving mechanism having a plurality of moving wheels protruding downward from the bottom side of the casing.

[0006] This technical solution has at least the following beneficial effects: multiple moving wheels in the moving mechanism protrude downward from the casing for ground support. When working, the moving mechanism can drive the whole to move, and multiple partitions on the top side of the partition frame extend upward from multiple avoidance gaps directly opposite to the loading belt, dividing the top side of the loading belt into multiple independent areas for loading along the front and rear directions. At this time, different goods are loaded into multiple independent areas according to the needs of different passengers. When the carriage robot reaches the set position, the loading belt rotates to push the goods in the independent area closest to the loading platform onto the loading platform. At this time, multiple partitions can first move down and exit from the avoidance gaps respectively to avoid interfering with the movement of the loading belt, or multiple partitions and the loading belt can move together towards the loading platform. , in order to keep the goods in the next independent area blocked and separated. After the passenger takes the required goods from the loading platform, the car robot can continue to move to the next position to deliver the goods. During this process, the partition frame moves up directly so that multiple partitions can be re-extended from multiple avoidance gaps to the loading belt, or the partition frame moves down first so that multiple partitions can exit the avoidance gaps, and then reset in the opposite direction of the movement of the loading belt to re-extend the loading belt from multiple avoidance gaps, thereby maintaining the separation of the goods. This is beneficial to avoid the situation where the goods on the loading belt are confused with each other during the movement of the car robot. In this way, different goods can be delivered to different locations by independently separating and delivering multiple goods, reducing manual labor and the space required for activities in the car during delivery, and improving the delivery efficiency in the car.

[0007] As a further improvement of the above technical solution, the housing includes a main housing, a sub-housing detachably connected to the rear side of the main housing, a material trough is arranged on the front side of the main housing, the lower side wall of the material trough forms the loading platform, the bottom of the material trough is arranged with a hole, the loading mechanism is arranged on the front side of the sub-housing, the loading end of the loading belt extends to the hole, and the moving mechanism is arranged at the bottom of the main housing. The main housing is the main body, the moving mechanism for walking and moving is arranged at the bottom of the main housing, and the sub-housing is a part that can be disassembled, replaced or supplemented with goods. When the main housing and the sub-housing are used in combination, the loading platform is formed by the lower side wall of the material trough on the front side of the main housing, the goods are in the loading mechanism on the front side of the sub-housing, and the loading belt in the loading mechanism pushes the goods into the material trough. When the upper feeding mechanism needs to be refilled with goods, the sub-housing can be removed from the main housing, and the loading mechanism is moved out of the main housing together. At this time, the upper feeding belt can be replenished with goods to prepare for the next transfer of goods.

[0008] As a further improvement of the above technical solution, a mounting frame is formed on the front side of the sub-shell, and the mounting frame is located in the main shell. The loading mechanism includes a translation drive member, a slide and a lifting drive member. The translation drive member is connected in the mounting frame, and the translation drive member is driven to connect to the slide, and the translation drive member can drive the slide to move forward and backward. The lifting drive member is connected to the slide, and the lifting drive member is driven to connect to the partition frame, and the lifting drive member can drive the partition frame to move up and down. The translational drive component and the lifting drive component can respectively provide the partition frame with movable driving force along the front and rear and up and down directions. When it is necessary to separate the space above the loading belt, the lifting drive component drives the partition frame to move upward, so that the multiple partitions on the partition frame protrude upward from the multiple avoidance gaps facing the loading belt respectively. When the loading belt moves, the translational drive component can provide a translational driving force to the partition frame, so that the multiple partitions always maintain the space separation above the loading belt when the loading belt moves. After pushing out the goods in the independent space closest to the loading platform, the lifting drive component drives the lifting frame to move downward, and the translational drive component drives the lifting frame to return and reset, so that the multiple partitions on the lifting frame face the multiple avoidance gaps again. Finally, the lifting frame drives the multiple partitions to move upward again and protrude from the opposite avoidance gaps.

[0009] As a further improvement of the above technical solution, a conveying group is respectively arranged on the front and rear sides of the mounting frame, each of the conveying groups includes a plurality of synchronous wheels connected to the mounting frame for rotation along the left and right axes, and a synchronous belt connected to the plurality of synchronous wheels for transmission, and the feeding belt is connected between two of the synchronous belts. In each conveying group, the synchronous belt is supported and guided by multiple synchronous wheels to form a rotatable structure. The feeding belt is connected between the two synchronous belts, and the two synchronous belts provide stable support for both sides of the feeding belt. When the feeding belt needs to transfer goods, the translation drive directly drives the lifting frame to move in translation. Since multiple partitions pass through multiple avoidance gaps on the feeding belt respectively, power is transmitted through the partitions, which can drive the feeding belt to move synchronously. When the feeding belt moves the goods out, the lifting drive drives the lifting frame to move downward, and the translation drive drives the lifting frame to return and reset, so that the multiple partitions on the lifting frame face the multiple avoidance gaps again. Finally, the lifting frame drives the multiple partitions to move up again and protrude from the opposite avoidance gaps. In this way, there is no need to configure an independent driving source for the feeding belt, which simplifies the overall structure, ensures the synchronization of the activities of the feeding belt and the partition, and improves the operating stability of the whole machine.

[0010] As a further improvement of the above technical solution, a lever is connected between the two synchronous belts, and the levers are respectively arranged at both sides of the plurality of avoidance gaps. The levers located at both sides of the avoidance gap can improve the structural strength of the feeding belt. When the feeding belt is driven to move by the partition, the lever can be against the partition to provide support, thereby enhancing the structural stability of the feeding belt, so that the feeding belt is not easily deformed when the partition drives the feeding belt to move.

[0011] As a further improvement of the above technical solution, all the levers are located on the inner side of the feeding belt. The levers are located on the inner side of the feeding belt and are not directly exposed, and the feeding belt itself can be closer to the feeding platform, so as to better push the goods to the feeding platform and reduce the gap between the feeding belt and the feeding platform.

[0012] As a further improvement of the above technical solution, baffles are connected to the left and right sides of the mounting frame, respectively, and both baffles are located above the feeding belt. The two baffles can shield both sides of the independent area formed between the feeding belt and the partition, thereby providing position limiting protection for the goods and effectively reducing the problem of goods falling during movement.

[0013] As a further improvement of the above technical solution, the main housing is connected to a telescopic drive member at a position above the material taking trough, and the telescopic drive member is drivably connected to a cover plate, and the telescopic drive member can drive the cover plate to cover the material taking trough downward or to open the material taking trough upward. Under normal circumstances, the telescopic drive member drives the cover plate to move downward to cover the material taking trough, thereby reducing the exposure of the material taking trough and better protecting the loading belt and the goods. When the loading belt pushes the goods to the loading platform, the telescopic drive member drives the cover plate to move upward, thereby opening the material taking trough, and passengers can take out the goods on the loading platform.

[0014] A carriage service system comprises: a base station; the above-mentioned carriage robot; a positioning unit, comprising a positioning base plate, a linear drive component and a disassembly and assembly fixture, the positioning base plate is connected to the bottom side of the base station, the linear drive component is connected to the base station, the linear drive component drives the disassembly and assembly fixture, and the disassembly and assembly fixture is detachably connected to the sub-shell.

[0015] This technical solution has at least the following beneficial effects: the base station is the starting point of the carriage robot. After the carriage robot sends out the goods, it returns to the base station, first moves to the positioning base plate and is fixed, and then the linear drive component drives the disassembly and assembly fixture to extend from the base station and connect to the sub-shell. The sub-shell can be removed from the main shell. At this time, the goods can be replenished on the upper material belt, and then the linear drive component re-installs the sub-shell into the main shell through the disassembly and assembly fixture, and then the disassembly and assembly fixture is separated from the sub-shell. This greatly improves the convenience of disassembly and assembly of the main shell and the sub-shell, and replenishment of goods, and improves the overall automation level.

[0016] As a further improvement of the above technical solution, the number of the positioning units and the number of the carriage robots are respectively multiple. After the sub-shell of a carriage robot is removed from a positioning unit, the main shell can be moved to another positioning unit and connected and paired with the sub-shell loaded with goods in the positioning unit, which can reduce the time required to replenish goods to the upper material belt. Through the modular design, the carriage robot can quickly replenish goods, further improving the overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0018] Figure 1 It is a three-dimensional diagram of the car robot.

[0019] Figure 2 This is the front view of the car robot.

[0020] Figure 3 yes Figure 2 Schematic diagram of the AA cross-section structure.

[0021] Figure 4 yes Figure 3 B is a partial enlarged schematic diagram.

[0022] In the accompanying drawings: 100-casing, 110-feeding platform, 120-main shell, 130-sub-shell, 131-mounting frame, 132-baffle, 210-feeding belt, 220-partition frame, 221-partition, 230-translational drive member, 240-lifting drive member, 251-synchronous wheel, 252-synchronous belt, 253-dial rod, 300-moving wheel, 410-telescopic drive member, 420-cover plate. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and 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 orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0026] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0027] Reference Figure 1 and Figure 2 , a carriage robot, comprising a casing 100, a loading mechanism and a moving mechanism, wherein a loading platform 110 is provided on one side of the casing 100; the loading mechanism comprises a loading belt 210 and a partition frame 220, the loading belt 210 can rotate in the casing 100, the loading end of the loading belt 210 is located on one side of the loading platform 110, a plurality of avoidance gaps are arranged at intervals on the surface of the loading belt 210 along its length direction, the partition frame 220 is located in the space surrounded by the loading belt 210, and upwardly extending partitions 221 are respectively formed at the positions of the plurality of avoidance gaps on the top side of the partition frame 220, the partition frame 220 can move upward in the casing 100 and drive the plurality of partitions 221 to enter and exit the facing avoidance gaps respectively; the moving mechanism is arranged at the bottom of the casing 100, and the moving mechanism has a plurality of moving wheels 300 protruding downward from the bottom side of the casing 100.

[0028] As can be seen from the above, the multiple moving wheels 300 in the moving mechanism protrude downward from the casing 100 for ground support. When working, the moving mechanism can drive the whole to move, and the multiple partitions 221 on the top side of the partition frame 220 extend upward from the multiple avoidance gaps directly opposite to the loading belt 210, and divide the top side of the loading belt 210 into multiple independent areas for loading along the front and rear directions. At this time, different goods are loaded into multiple independent areas according to the needs of different passengers. When the car robot reaches the set position, the loading belt 210 rotates to push the goods in the independent area closest to the loading platform 110 onto the loading platform 110. At this time, the multiple partitions 221 can first move down and exit from the avoidance gaps respectively to avoid interfering with the movement of the loading belt 210, or the multiple partitions 221 and the loading belt 210 can move closer to the loading platform 110 together. The carriage robot 220 moves to the next location to deliver the goods. In this process, the partition frame 220 moves up directly to allow multiple partitions 221 to extend upward from multiple avoidance gaps to the feeding belt 210, or the partition frame 220 moves down first to allow multiple partitions 221 to exit the avoidance gaps, and then reset in the opposite direction of the movement of the feeding belt 210 to extend upward from multiple avoidance gaps to the feeding belt 210, thereby maintaining the separation of the goods. This is beneficial to avoiding the situation where the goods on the feeding belt 210 are confused with each other during the movement of the carriage robot. In this way, different goods can be delivered to different locations by independently separating and delivering multiple goods, thereby reducing manual labor and the space required for activities in the carriage during delivery, thereby improving the efficiency of delivery in the carriage.

[0029] The mobile mechanism is mainly used to drive the whole to achieve straight-line walking and steering. For example, there are 6 moving wheels 300, which are divided into three groups: front, middle and rear. Each group has two moving wheels 300, and each moving wheel 300 is equipped with a driving motor for driving the moving wheel 300 to rotate. The front and rear groups of moving wheels 300 are used for steering respectively, and the middle group of moving wheels 300 is used for straight-line walking. When straight-line walking is required, the middle group of moving wheels 300 is controlled to be used for straight-line walking to achieve forward and backward movement. When steering is required, the motors of the front and rear groups of moving wheels 300 can be controlled separately, with the front group of moving wheels 300 or the rear group of moving wheels 300 as the rotating fulcrum to achieve left and right steering. When self-rotation is required, the motors of the front and rear groups of moving wheels 300 are controlled to rotate in opposite directions to achieve self-rotation. In this way, the whole machine can be moved flexibly.

[0030] The casing 100 can be an integrated structure, and a detachable cover 420 can be set on the casing 100 at a position opposite to the loading belt 210. When it is necessary to replenish goods, the cover 420 can be opened to replenish the goods inside. In order to realize the modular replacement of the loading mechanism part, in this embodiment, the casing 100 includes a main shell 120 and a sub-shell 130 detachably connected to the rear side of the main shell 120, and a material trough is set on the front side of the main shell 120. The lower side wall of the material trough forms the loading platform 110, and the bottom of the material trough is set with a hole. The loading mechanism is set on the front side of the sub-shell 130, and the loading end of the loading belt 210 extends to the hole. The movable mechanism is set at the bottom of the main shell 120. The main shell 120 is the main body, and a moving mechanism for walking and moving is arranged at the bottom of the main shell 120, and the sub-shell 130 is a part that can be disassembled to replace or replenish goods. When the main shell 120 and the sub-shell 130 are used in combination, the lower side wall of the material trough on the front side of the main shell 120 is used to form a loading platform 110. The goods are in the loading mechanism on the front side of the sub-shell 130, and the loading belt 210 in the loading mechanism pushes the goods into the loading trough. When the loading mechanism needs to be replenished with goods, the sub-shell 130 can be removed from the main shell 120, and the loading mechanism can be moved out of the main shell 120 together. At this time, the loading belt 210 can be replenished with goods to prepare for the next transfer of goods.

[0031] There are many ways to detachably connect the main shell 120 and the sub-shell 130. For example, the main shell 120 and the sub-shell 130 are connected by snaps or screws. In order to achieve automated replacement, an automatic connection structure can be set between the main shell 120 and the sub-shell 130. For example, the main shell 120 and the sub-shell 130 are connected to each other by an electromagnetic lock. When the main shell 120 and the sub-shell 130 need to be disassembled from each other, the electric lock that locks the connection between the main shell 120 and the sub-shell 130 can be released.

[0032] The feeding mechanism has a driving force that can drive the partition frame 220 to move in the up-down and front-back directions. There are many structural forms, such as Figure 3As shown, in the present embodiment, a mounting frame 131 is formed on the front side of the sub-shell 130, and the mounting frame 131 is located in the main shell 120. The loading mechanism includes a translation drive member 230, a slide and a lifting drive member 240. The translation drive member 230 is connected in the mounting frame 131, and the translation drive member 230 is driven to connect to the slide, and the translation drive member 230 can drive the slide to move forward and backward. The lifting drive member 240 is connected to the slide, and the lifting drive member 240 is driven to connect to the partition frame 220, and the lifting drive member 240 can drive the partition frame 220 to move up and down. Both the translation drive member 230 and the lifting drive member 240 are driving sources for providing driving force in a linear direction, and there are various structural forms, such as a cylinder, an electric screw and a hydraulic cylinder. The translation drive member 230 and the lifting drive member 240 can respectively provide the partition frame 220 with movable driving force along the front and rear and up and down directions. When it is necessary to separate the space above the loading belt 210, the lifting drive member 240 drives the partition frame 220 to move upward, so that the multiple partitions 221 on the partition frame 220 respectively protrude upward from the multiple avoidance gaps facing the loading belt 210. When the loading belt 210 moves, the translation drive member 230 can provide the partition frame 220 with a translation driving force, so that the multiple partitions 221 always maintain the space separation above the loading belt 210 when the loading belt 210 moves. After pushing out the goods in the independent space closest to the loading platform 110, the lifting drive member 240 drives the lifting frame to move downward, and the translation drive member 230 drives the lifting frame to return and reset, so that the multiple partitions 221 on the lifting frame are facing the multiple avoidance gaps again. Finally, the lifting frame drives the multiple partitions 221 to move up again and protrude from the opposite avoidance gaps.

[0033] In the above embodiment, the feeding belt 210 can be driven by a motor through the synchronous wheel 251 to drive its rotational motion. In order to reduce the driving source and simplify the structure of the feeding mechanism, as shown in FIG. Figure 4As shown, in this embodiment, a transmission group is respectively arranged on the front and rear sides of the mounting frame 131, each of the transmission groups includes a plurality of synchronous wheels 251 connected to the mounting frame 131 along the left-right axis, and a synchronous belt 252 connected to the plurality of synchronous wheels 251 for transmission, and the feeding belt 210 is connected between two of the synchronous belts 252. In actual applications, for each transmission group, the number of synchronous wheels 251 can be four, and the four synchronous wheels 251 are distributed in a rectangular shape. The feeding belt 210 bypasses the four synchronous wheels 251, and the inner side of the feeding belt 210 is meshed with the four synchronous wheels 251 to realize power transmission. In each conveyor group, the synchronous belt 252 is supported and guided by a plurality of synchronous wheels 251, thereby forming a structure capable of rotatable movement. The feeding belt 210 is connected between the two synchronous belts 252, and the two synchronous belts 252 provide stable support for both sides of the feeding belt 210. When the feeding belt 210 needs to transfer goods, the translation drive member 230 directly drives the lifting frame to translate. Since the plurality of partitions 221 respectively pass through the plurality of avoidance gaps on the feeding belt 210, the power is transmitted through the partitions 221, and the lifting frame can be driven. The dynamic loading belt 210 moves synchronously. When the loading belt 210 moves the goods out, the lifting drive 240 drives the lifting frame to move downward, and the translation drive 230 drives the lifting frame to return and reset, so that the multiple partitions 221 on the lifting frame are re-aligned with the multiple avoidance gaps. Finally, the lifting frame drives the multiple partitions 221 to move up again and protrude from the opposite avoidance gaps. In this way, there is no need to configure an independent driving source for the loading belt 210, which simplifies the overall structure, ensures the synchronization of the activities of the loading belt 210 and the partition 221, and improves the operating stability of the whole machine.

[0034] When the partition 221 drives the synchronous belt 252 to move, it can be directly inserted into the avoidance gap to apply force to the synchronous belt 252. In order to better protect the synchronous belt 252, in this embodiment, a lever 253 is connected between two synchronous belts 252, and the levers 253 are respectively arranged on both sides of the plurality of avoidance gaps. The levers 253 located on both sides of the avoidance gap can improve the structural strength of the feeding belt 210. When the partition 221 is used to drive the feeding belt 210 to move, the lever 253 can be against the partition 221 to provide support, thereby enhancing the structural stability of the feeding belt 210, so that when the partition 221 drives the feeding belt 210 to move, the feeding belt 210 is not easily deformed.

[0035] The lever 253 can be arranged outside the feeding belt 210. In this case, the lever 253 will be directly exposed. When the feeding belt 210 rotates to be close to the feeding platform 110, it is difficult to push the goods to the feeding platform 110. Therefore, in this embodiment, all the levers 253 are located inside the feeding belt 210. The lever 253 is located inside the feeding belt 210 and is not directly exposed. The feeding belt 210 itself can be closer to the feeding platform 110, so as to better push the goods to the feeding platform 110 and reduce the gap between the feeding belt 210 and the feeding platform 110.

[0036] In some embodiments, baffles 132 are connected to the left and right sides of the mounting frame 131, respectively, and the two baffles 132 are both located above the feeding belt 210. The two baffles 132 can shield the two sides of the independent area formed between the feeding belt 210 and the partition 221, thereby providing position protection for the goods and effectively reducing the problem of goods falling during movement.

[0037] In order to better protect the position of the loading mechanism and the loading platform 110, in the present embodiment, the main shell 120 is connected to a telescopic driving member 410 at a position above the feeding trough, and the telescopic driving member 410 is drivingly connected to a cover plate 420. The telescopic driving member 410 can drive the cover plate 420 to cover the feeding trough downward or to open the feeding trough upward. The telescopic driving member 410 is mainly used to provide a driving force for reciprocating movement in a linear direction, and its structural forms include various forms. For example, the telescopic driving member 410 adopts a cylinder, an electric screw or a hydraulic cylinder. In order to improve the stability of the movement of the cover plate 420, a sliding connection structure may be provided between the cover plate 420 and the main shell 120. For example, a slide rail is provided on the inner side of the main shell 120, and a slide groove that cooperates with the slide rail is provided on the cover plate 420. Under normal circumstances, the telescopic drive member 410 drives the cover plate 420 to move downward to cover the material chute, thereby reducing the exposure of the material chute and better protecting the loading belt 210 and the cargo. When the loading belt 210 pushes the cargo to the loading platform 110, the telescopic drive member 410 drives the cover plate 420 to move upward, thereby opening the material chute, and passengers can take out the cargo from the loading platform 110. In order to better store the cover plate 420, the cover plate 420 can be made of an elastically deformable material, and can be stored in the groove opened in the main shell 120 when moving upward.

[0038] A carriage service system comprises: a base station; the above-mentioned carriage robot; a positioning unit, comprising a positioning base plate, a linear drive member and a disassembly and assembly fixture, the positioning base plate is connected to the bottom side of the base station, the linear drive member is connected to the base station, the linear drive member drives and connects the disassembly and assembly fixture, similarly, the drive member is mainly used to provide a driving force for reciprocating motion in a linear direction, and its structural forms are various, for example, the telescopic drive member 410 adopts a cylinder, an electric screw or a hydraulic cylinder, etc., and the disassembly and assembly fixture is detachably connected to the sub-shell 130.

[0039] The base station is the starting point of the carriage robot. After the carriage robot sends out the goods, it returns to the base station, first moves to the positioning base plate and is fixed, and then the linear drive drives the disassembly and assembly fixture to extend from the base station and connect to the sub-shell 130. The sub-shell 130 can be removed from the main shell 120. At this time, the goods can be replenished from the upper material belt 210, and then the linear drive component re-installs the sub-shell 130 into the main shell 120 through the disassembly and assembly fixture, and then the disassembly and assembly fixture is separated from the sub-shell 130. This greatly improves the convenience of disassembly and assembly of the main shell 120 and the sub-shell 130, and replenishing goods, thereby improving the overall automation level.

[0040] For the detachable connection between the disassembly fixture and the sub-shell 130, an automatic connection and locking structure, such as an electromagnetic lock, can also be provided between the two, so that after the disassembly fixture and the sub-shell 130 are aligned with each other, the two are fixed to each other by the electromagnetic lock.

[0041] In some embodiments, there are multiple positioning units and multiple carriage robots. After the sub-shell 130 of a carriage robot is removed from a positioning unit, the main shell 120 can be moved to another positioning unit and connected to the sub-shell 130 loaded with goods in the positioning unit, which can reduce the time required to replenish goods to the upper material belt 210. Through the modular design, the carriage robot can quickly replenish goods, further improving the overall work efficiency.

[0042] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A carriage robot, characterized in that: include: The casing (100) has a loading platform (110) disposed on one side; A feeding mechanism, comprising a feeding belt (210) and a partition frame (220), wherein the feeding belt (210) can rotate in the housing (100), the feeding end of the feeding belt (210) is located on one side of the feeding platform (110), a plurality of avoidance gaps are arranged at intervals on the surface of the feeding belt (210) along its length direction, the partition frame (220) is located in a space surrounded by the feeding belt (210), and upwardly extending partitions (221) are respectively formed at the top side of the partition frame (220) facing the plurality of avoidance gaps, and the partition frame (220) can move upward in the housing (100) and drive the plurality of partitions (221) to respectively enter and exit the facing avoidance gaps; The moving mechanism is arranged at the bottom of the housing (100), and the moving mechanism has a plurality of moving wheels (300) protruding downward from the bottom side of the housing (100).

2. A carriage robot according to claim 1, characterized in that: The casing (100) comprises a main shell (120), a sub-shell (130) detachably connected to the rear side of the main shell (120), a material taking trough is arranged on the front side of the main shell (120), the lower side wall of the material taking trough forms the loading platform (110), a hole is arranged at the bottom of the material taking trough, the loading mechanism is arranged on the front side of the sub-shell (130), the loading end of the loading belt (210) extends to the hole, and the moving mechanism is arranged at the bottom of the main shell (120).

3. A compartment robot according to claim 2, characterized in that: A mounting frame (131) is formed on the front side of the sub-shell (130), and the mounting frame (131) is located in the main shell (120). The loading mechanism includes a translation driving member (230), a slide and a lifting driving member (240). The translation driving member (230) is connected to the mounting frame (131), and the translation driving member (230) is driven to connect to the slide, and the translation driving member (230) can drive the slide to move forward and backward. The lifting driving member (240) is connected to the slide, and the lifting driving member (240) is driven to connect to the partition frame (220), and the lifting driving member (240) can drive the partition frame (220) to move up and down.

4. A compartment robot according to claim 3, characterized in that: Conveying groups are respectively arranged on the front and rear sides of the mounting frame (131), each of the conveying groups comprising a plurality of synchronous wheels (251) rotatably connected to the mounting frame (131) along a left-right axis, and a synchronous belt (252) drivingly connected to the plurality of synchronous wheels (251), and the feeding belt (210) is connected between two of the synchronous belts (252).

5. A compartment robot according to claim 4, characterized in that: A shifting rod (253) is connected between the two synchronous belts (252), and the shifting rods (253) are respectively arranged at the two side positions of the plurality of avoidance gaps.

6. A compartment robot according to claim 5, characterized in that: All of the levers (253) are located on the inner side of the loading belt (210).

7. The compartment robot according to claim 3, characterized in that: The left and right sides of the mounting frame (131) are respectively connected to baffles (132), and the two baffles (132) are both located above the loading belt (210).

8. The compartment robot according to claim 2, characterized in that: The main shell (120) is connected to a telescopic driving member (410) at a position above the material taking trough. The telescopic driving member (410) is drivingly connected to a cover plate (420). The telescopic driving member (410) can drive the cover plate (420) to cover the material taking trough downwards or to open the material taking trough upwards.

9. A carriage service system, characterized in that: include: Base station; The vehicle compartment robot according to any one of claims 2 to 8; The positioning unit comprises a positioning base plate, a linear drive component and a disassembly and assembly fixture, wherein the positioning base plate is connected to the bottom side of the base station, the linear drive component is connected to the base station, the linear drive component drives and connects the disassembly and assembly fixture, and the disassembly and assembly fixture is detachably connected to the sub-housing (130).

10. A carriage service system according to claim 9, characterized in that: The number of the positioning units and the number of the carriage robots are respectively plural.

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