Logistics distribution system

Abstract

The logistics distribution system comprises a moving device, a grabbing device and a monitoring control device, the grabbing device comprises a base, a mechanical arm and a grabbing assembly, the base is arranged on the moving device and can rotate in the vertical direction relative to the moving device, the mechanical arm is arranged on the base and can rotate in the first direction, and the grabbing assembly is arranged on the base and can rotate in the second direction relative to the first direction; the mechanical arm is connected with the grabbing assembly, the grabbing assembly can rotate relative to the second direction so that the mechanical arm can drive the grabbing assembly to grab goods, and the monitoring control device is arranged on the moving device and is adjacent to the grabbing device and the moving device. The monitoring control device is used for monitoring the surrounding environment of the moving device and controlling the moving device to move or controlling the grabbing device to grab goods. The logistics distribution system has the advantages of being high in distribution efficiency, suitable for various complex logistics scenes and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics robots, and in particular to a logistics distribution system. Background Art

[0002] With the rapid development of e-commerce and logistics industries, traditional logistics and distribution systems have been unable to meet modern needs due to problems such as low efficiency, high cost and high dependence on manual labor.

[0003] In the related art, goods may be placed at different angles or postures, and the logistics distribution system cannot grab the goods according to their posture and shape, resulting in low grabbing efficiency. For example, Patent No.: 202323230690.3 is an automatic omnidirectional lateral logistics sorting robot based on Mecanum wheels. The height of the mechanical claw is adjusted by the main arm and the auxiliary arm, but the grabbing angle of the mechanical claw cannot be adjusted to grab the goods. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention proposes a logistics distribution system with reasonable configuration and high grabbing efficiency.

[0006] The logistics distribution system according to an embodiment of the present invention includes: a mobile device; a grasping device, the grasping device including a base, a mechanical arm and a grasping assembly, the base is arranged on the mobile device and can rotate around the up and down directions relative to the mobile device, the mechanical arm is arranged on the base and can rotate relative to the first direction, the mechanical arm is connected to the grasping assembly and the grasping assembly can rotate relative to the second direction, so that the mechanical arm drives the grasping assembly to grasp the goods, the first direction is orthogonal to the up and down directions, and the second direction is orthogonal to the first direction and the up and down directions; a monitoring and control device, the monitoring and control device is arranged on the mobile device and connected to the grasping device and the mobile device, the monitoring and control device is used to monitor the surrounding environment of the mobile device and control the movement of the mobile device or the grasping device to grasp the goods.

[0007] The logistics distribution system of the embodiment of the present invention is provided with a mobile device, a grasping device and a monitoring and control device. Through the cooperation of the mobile device and the monitoring and control device, the grasping efficiency is improved, the damage of goods caused by improper grasping angle or uneven force is avoided, the labor cost is reduced, and the consistency and reliability of the operation are improved.

[0008] In some embodiments, the robotic arm includes a first arm, a second arm and a third arm, the lower end of the first arm is arranged on the base, the first arm extends from bottom to top and the extension direction of the first arm intersects the up and down directions at an angle, the lower end of the second arm is connected to the upper end of the first arm and is rotatable around the first direction relative to the first arm, the upper end of the second arm is connected to one end of the third arm and the third arm is rotatable around the first direction relative to the second arm, and the other end of the third arm is connected to the grabbing assembly so that the first arm, the second arm and the third arm can rotate relative to each other to drive the grabbing assembly to grab the goods.

[0009] In some embodiments, the third arm includes a mounting seat and a rotating shaft, the mounting seat is arranged above the second arm and is rotatable around the first direction relative to the second arm, one end of the rotating shaft is passed through the mounting seat and is rotatable relative to the second direction, and the other end of the rotating shaft is connected to the grabbing unit so that the grabbing component can grab the goods.

[0010] In some embodiments, the grasping device includes: a first motor, which is arranged on one side of the first arm and connected to the second arm, so that the first motor drives the second arm to rotate relative to the first arm; a second motor, a first connecting rod and a second connecting rod, wherein the second motor is arranged on the other side of the first arm, one end of the first connecting rod is connected to the second motor, the other end of the first connecting rod is connected to one end of the second connecting rod and the first connecting rod is rotatable around the first direction relative to the second connecting rod, and the other end of the second connecting rod is connected to the mounting base, so that the second motor drives the mounting base to rotate through the first connecting rod and the second connecting rod.

[0011] In some embodiments, the monitoring and control device includes a monitoring component, a transmission component and a control component. The monitoring component includes multiple cameras, a laser radar and an infrared sensor. The multiple cameras are arranged on the mobile device and are arranged at intervals around the circumference of the mobile device. The multiple cameras are arranged around the grasping device to capture the environment around the mobile device. The laser radar is arranged on the mobile device, and the laser radar is used to scan the three-dimensional environment around the mobile device to obtain accurate distance data. The infrared sensor is arranged on the mobile device, and the infrared sensor is used to sense the heat distribution in the environment to ensure that the distribution system works normally at night or in a dim environment. The transmission component and the control component are both arranged on the mobile device and connected to the monitoring component to transmit the monitoring data monitored by the monitoring device to the control component. The control component is connected to the mobile device and the grasping device so that the control component controls the movement of the mobile device or the grasping device to grasp the goods.

[0012] In some embodiments, the logistics distribution system also includes: a third motor, which is arranged on the base; a transmission shaft, which extends in the up and down directions and is rotatably arranged in the base, and the transmission shaft is connected to the robotic arm; a pair of mutually meshing turbines and worm gears, the turbine is passed through the transmission shaft, and the worm gear is passed through the base and connected to the third motor, so that the third motor drives the transmission shaft to rotate through the turbine and the worm gear.

[0013] In some embodiments, the mobile device includes: a vehicle body, the cross-sectional area of ​​the outer peripheral surface of the vehicle body gradually increases from top to bottom; a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are both arranged on the vehicle body and are spaced relative to each other along the width direction of the vehicle body; a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel are arranged on the vehicle body and are spaced relative to each other along the width direction of the vehicle body, the first driven wheel and the first driving wheel are spaced relative to each other along the length direction of the vehicle body, and the second driven wheel and the second driving wheel are spaced relative to each other along the length direction of the vehicle body.

[0014] In some embodiments, at least one of the first driven wheel and the second driven wheel includes a first wheel and a plurality of first rollers, the first wheel is rotatably disposed on the vehicle body, the outer peripheral surface of the first wheel is provided with a plurality of first mounting cavities spaced along the circumference of the first wheel, and the plurality of first rollers are rotatably disposed in the plurality of first mounting cavities in a one-to-one correspondence.

[0015] In some embodiments, at least one of the first driven wheel and the second driven wheel further includes a second wheel and a plurality of second rollers, the second wheel being arranged on the vehicle body and being arranged opposite to the first wheel at intervals along the width direction of the vehicle body, the outer peripheral surface of the second wheel being provided with a plurality of second mounting cavities arranged at intervals along the circumference of the second wheel, a plurality of second rollers being rotatably arranged in the plurality of second mounting cavities in a one-to-one correspondence, and in a projection plane orthogonal to the width direction of the vehicle body, the first rollers and the second rollers are alternately arranged at intervals around the circumference of the first wheel.

[0016] In some embodiments, the grabbing assembly includes a first claw and a second claw, the first claw and the second claw are spaced apart on the robotic arm, and the first claw and the second claw are opened or closed to grab the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a logistics distribution system according to an embodiment of the present invention.

[0018] Figure 2 It is a cross-sectional view of a logistics distribution system according to an embodiment of the present invention.

[0019] Figure 3 It is a side view of a grabbing device of a logistics distribution system according to an embodiment of the present invention.

[0020] Figure 4 It is a rear view of the grabbing device of the logistics distribution system according to an embodiment of the present invention.

[0021] Figure 5 It is a schematic structural diagram of the first driven wheel of the logistics distribution system according to an embodiment of the present invention.

[0022] Figure 6 It is a schematic diagram of the structure of the grabbing component of the logistics distribution system according to an embodiment of the present invention.

[0023] 100. Logistics distribution system; 1. Mobile device; 11. Vehicle body; 12. First driving wheel; 13. First driven wheel; 131. First wheel; 132. First roller; 133. Second wheel; 134. Second roller; 2. Grasping device; 21. Base; 22. Mechanical arm; 221. First arm; 222. Second arm; 223. Third arm; 2231. Mounting seat; 2232. Rotating shaft; 2234. Fourth motor; 23. Grasping assembly; 231. First claw; 232. Second claw; 24. First motor; 25. Second motor; 26. First connecting rod; 27. Second connecting rod; 3. Monitoring and control device; 31. Camera; 32. Laser radar; 33. Infrared sensor; 4. Third motor; 5. Transmission shaft; 6. Turbine; 7. Worm. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0025] The following describes a logistics distribution system 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0026] like Figure 1-2 As shown, the logistics distribution system 100 according to an embodiment of the present invention includes a moving device 1, a grabbing device 2 and a monitoring and control device 3.

[0027] The grabbing device 2 includes a base 21, a robotic arm 22 and a grabbing assembly 23. The base 21 is arranged on the mobile device 1 and can rotate around the up and down directions relative to the mobile device 1. The robotic arm 22 is arranged on the base 21 and can rotate relative to a first direction. The robotic arm 22 is connected to the grabbing assembly 23 and the grabbing assembly 23 can rotate relative to a second direction so that the robotic arm 22 drives the grabbing assembly 23 to grab the goods. The first direction is orthogonal to the up and down direction, and the second direction is orthogonal to the first direction and the up and down direction.

[0028] Specifically, Figure 1 As shown, the first direction is the left-right direction, the second direction is the front-back direction, the base 21 is arranged on the mobile device 1 and can rotate in the up-down direction, the lower end of the mechanical arm 22 is arranged on the base 21 and can rotate in the left-right direction, the grabbing unit is arranged on the mechanical arm 22, and the grabbing component 23 can rotate in the front-back direction, so that the position height of the grabbing unit and the grabbing angle of the grabbing component 23 can be adjusted by the mechanical arm 22. For example, when grabbing irregularly shaped or tilted goods, the grabbing component 23 can adjust the angle and height to align the goods with the best posture to ensure the stability and accuracy of the grabbing process. In addition, the multi-degree-of-freedom movement capability of the mechanical arm 22 enables the grabbing device 2 to operate flexibly in complex environments. For example, in a narrow space or a scene with many obstacles, the mechanical arm 22 can avoid obstacles by adjusting the angle and successfully complete the grabbing task. At the same time, the adjustment of the grabbing angle can also optimize the distribution of the grabbing force, avoid damage to the goods or wear of the grabbing component 23 due to excessive local force, thereby extending the service life of the equipment. Therefore, the grabbing device 2 realizes precise adjustment of the cargo position height and grabbing angle through the coordinated movement of the base 21, the robotic arm 22 and the grabbing assembly 23, which not only improves the grabbing accuracy and stability, but also enhances the adaptability of the equipment in complex environments, ensuring that the cargo remains stable during the grabbing and handling process.

[0029] The monitoring and control device 3 is arranged on the mobile device 1 and is connected to the grabbing device 2 and the mobile device 1. The monitoring and control device 3 is used to monitor the surrounding environment of the mobile device 1 and control the movement of the mobile device 1 or the grabbing device 2 to grab the goods. Specifically, the monitoring and control device 3 captures images and data of the surrounding environment to ensure that the mobile device 1 can avoid obstacles during operation and identify the location and status of the goods. The monitoring and control device 3 is connected to the mobile device 1 and the grabbing device 2. The monitoring and control device 3 can control the moving path and speed of the mobile device 1 and the grabbing action of the grabbing device 2 in real time, so that the system can realize automated and precise logistics distribution operations. Therefore, through intelligent imaging and recognition technology, combined with the coordinated work of the mobile device 1, the grabbing device 2, and the monitoring and control device 3, the tasks of grabbing, transporting and distributing goods can be completed efficiently and accurately, greatly improving the automation level and efficiency of logistics distribution.

[0030] The logistics distribution system 100 of the embodiment of the present invention is provided with a mobile device 1, a grasping device 2 and a monitoring and control device 3. The grasping device 2 is transported to the vicinity of the goods through the cooperation of the mobile device 1 and the monitoring and control device. The monitoring and control device controls the grasping device 2 to rotate according to the shape and placement angle of the goods, thereby improving the grasping efficiency and avoiding damage to the goods caused by improper grasping angles or uneven force. The entire process is completed by the system, reducing labor costs and improving the consistency and reliability of operations.

[0031] In some embodiments, the robot arm 22 includes a first arm 221, a second arm 222, and a third arm 223. The lower end of the first arm 221 is disposed on the base 21. The first arm 221 extends from bottom to top and the extension direction of the first arm 221 intersects the up-down direction to form an angle. The lower end of the second arm 222 is connected to the upper end of the first arm 221 and is rotatable relative to the first arm 221 around a first direction. The upper end of the second arm 222 is connected to one end of the third arm 223 and the third arm 223 is rotatable relative to the second arm 222 around the first direction. The other end of the third arm 223 is connected to the grabbing assembly 23 so that the first arm 221, the second arm 222, and the third arm 223 rotate relative to each other to drive the grabbing assembly 23 to grab the goods. Specifically, as Figure 1 As shown, the first arm 221 extends from bottom to top, and its extension direction forms a certain angle with the up-down direction. The first arm 221 is arranged on the base 21, so that the first arm 221 is driven to rotate around the up-down direction through the base 21. The lower end of the second arm 222 is hingedly connected to the upper end of the first arm 221, so that the second arm 222 can rotate around the left-right direction relative to the first arm 221, so that the second arm 222 can rotate in the horizontal plane, thereby expanding the up-and-down movement range of the robot arm 22. The upper end of the second arm 222 is connected to the left end of the third arm 223, and the third arm 223 rotates around the left-right direction relative to the second arm 222, so that the third arm 223 can be further adjusted up and down through the multi-joint design. Through the coordinated movement of the first arm 221, the second arm 222 and the third arm 223, the grasping component 23 can realize multi-degree-of-freedom movement in three-dimensional space, thereby accurately grasping goods located at different positions and heights.

[0032] For example, when it is necessary to grab goods located at a high place, the first arm 221 is rotated to move the grabbing component 23 to the vicinity of the goods, and the second arm 222 and the third arm 223 are lifted or lowered to a suitable height; then, the second arm 222 and the third arm 223 rotate in the head direction to accurately move the grabbing component 23 to directly above the goods. Finally, the grabbing component 23 performs the grabbing action to complete the task of grabbing the goods. The entire process can achieve efficient and precise operation through the intelligent regulation of the control component.

[0033] In some embodiments, the third arm 223 includes a mounting seat 2231 and a rotating shaft 2232. The mounting seat 2231 is arranged above the second arm 222 and is rotatable relative to the second arm 222 around a first direction. One end of the rotating shaft 2232 is passed through the mounting seat 2231 and is rotatable relative to a second direction. The second direction is orthogonal to the first direction and the up-down direction. The other end of the rotating shaft 2232 is connected to the grabbing unit so that the grabbing assembly 23 grabs the goods. Specifically, as Figure 1-Figure 4As shown, the mounting seat 2231 is arranged above the second arm 222 and rotates around the left and right directions relative to the second arm 222. The rear end of the rotating shaft 2232 is passed through the mounting seat 2231 and can rotate relative to the front and rear on the mounting seat 2231. A fourth motor 2234 is installed on the mounting seat 2231 and the fourth motor 2234 is connected to the rotating shaft 2232. The rotating shaft 2232 is driven to rotate by the fourth motor 2234. The front end of the rotating shaft 2232 is connected to the grabbing assembly 23, and the rotating shaft 2232 is driven to rotate around the left and right directions by the mounting seat 2231. The rotating shaft 2232 drives the grabbing assembly 23 to rotate. Therefore, through the coordinated movement of the mounting seat 2231 and the rotating shaft 2232, the grabbing assembly 23 can not only be rotated and adjusted in the horizontal plane, but also can be adjusted in the up and down directions, so that the grabbing angle can be adjusted according to the shape and characteristics of the goods through the grabbing assembly 23. To sum up, the design of the mounting base 2231 and the rotating shaft 2232 of the third arm 223 provides the robot arm 22 with additional degrees of freedom of movement, so that the grasping component 23 can achieve more flexible and precise movement in three-dimensional space, which not only improves the adaptability and grasping efficiency of the system, but also further enhances the intelligence level of the logistics distribution system, enabling it to cope with more complex and changeable logistics needs.

[0034] In some embodiments, the gripping device 2 includes a first motor 24 , a second motor 25 , a first connecting rod 26 , and a second connecting rod 27 .

[0035] The first motor 24 is disposed on one side of the first arm 221 and is connected to the second arm 222, so that the first motor 24 drives the second arm 222 to rotate relative to the first arm 221. Figure 1-Figure 4 As shown, the first motor 24 is disposed at the front side of the upper end of the first arm 221 , and the first motor 24 is connected to the lower end of the second arm 222 via a shaft, so that the second arm 222 is driven to rotate by the first motor 24 , providing rotational power for the second arm 222 .

[0036] The second motor 25 is disposed at the other side of the first arm 221, one end of the first connecting rod 26 is connected to the second motor 25, the other end of the first connecting rod 26 is connected to one end of the second connecting rod 27, and the first connecting rod 26 is rotatable relative to the second connecting rod 27 about a first direction, and the other end of the second connecting rod 27 is connected to the mounting seat 2231, so that the second motor 25 drives the mounting seat 2231 to rotate through the first connecting rod 26 and the second connecting rod 27. Specifically, Figure 1-Figure 4As shown, the second motor 25 is arranged on the rear side of the upper end of the first arm 221, the first connecting rod 26 and the second connecting rod 27 are both vertical rods, the lower end of the first connecting rod 26 is connected to the first arm 221 and is connected to the second motor 25, the lower end of the second connecting rod 27 is connected to the upper end of the first connecting rod 26, the upper end of the second connecting rod 27 is connected to the rear end of the mounting seat 2231, and the lower end of the mounting seat 2231 is connected to the upper end of the second arm 222, thereby, the first connecting rod 26 and the second connecting rod 27 are driven by the second motor 25 to drive the mounting seat 2231 to rotate.

[0037] In some embodiments, the monitoring and control device 3 includes a monitoring component, a transmission component and a control component, and the monitoring component includes multiple cameras 31, a laser radar 32 and an infrared sensor 33.

[0038] A plurality of cameras 31 are disposed on the mobile device 1 and are spaced around the circumference of the mobile device 1. The plurality of cameras 31 are disposed around the gripping device 2 so as to capture the environment around the mobile device 1. Specifically, Figure 1 As shown, there are four cameras 31, all of which are arranged on the base 21 and surround the grabbing device 2, so that the four cameras are respectively installed in the front, back, left and right directions of the mobile device 1, ensuring that the monitoring control device 3 can cover the entire working area of ​​the mobile device 1 and capture the dynamic changes of the surrounding environment without blind spots. The images and video data taken by the cameras 31 can be transmitted to the control component in real time for tasks such as environment recognition, obstacle detection and cargo positioning. For example, when the mobile device 1 is driving in the warehouse, the camera 31 can identify the location of the cargo on the shelf and provide accurate visual guidance for the grabbing device 2. In some embodiments, the laser radar 32 is provided on the mobile device 1, and the laser radar 32 is used to scan the three-dimensional environment around the mobile device 1 to obtain accurate distance data. Specifically, the laser radar 32 can generate a high-precision three-dimensional point cloud map of the environment by emitting a laser beam and receiving a reflected signal. The data can help the system identify the position, shape and distance of obstacles, thereby providing an important basis for path planning and obstacle avoidance of the mobile device 1. For example, in a narrow warehouse passage, the laser radar 32 can detect the shelves, walls or other equipment in front in real time to ensure that the mobile device 1 can pass safely.

[0039] In some embodiments, an infrared sensor 33 is provided on the mobile device 1, and the infrared sensor 33 is used to sense the heat distribution in the environment to ensure that the distribution system works normally at night or in a dim environment. Specifically, the infrared sensor 33 can identify heat sources in the environment, such as human bodies, mechanical equipment or other heat-generating objects, by detecting infrared radiation emitted by objects. Since traditional visual sensors may not work properly, the infrared sensor 33 can ensure that the system can still perceive the surrounding environment under low light conditions. For example, during nighttime distribution, the infrared sensor 33 can detect pedestrians or objects in front to avoid collisions. Thus, through the coordinated work of the camera 31, the laser radar 32 and the infrared sensor 33, the monitoring and control device 3 can provide comprehensive environmental perception capabilities for the logistics distribution system. The camera 31 provides visual information, the laser radar 32 provides accurate distance data, and the infrared sensor 33 supplements the environmental perception capabilities under low light conditions. The data detected by the camera 31, the laser radar 32 and the infrared sensor 33 are transmitted to the control component. After processing and analysis by the intelligent algorithm, the system can adjust the path, speed and action of the grabbing device 2 of the mobile device 1 in real time to ensure the efficient completion of the distribution task.

[0040] The transmission component and the control component are both arranged on the mobile device 1 and connected to the monitoring component, so as to transmit the monitoring data monitored by the monitoring device to the control component. The control component is connected to the mobile device 1 and the gripping device 2, so that the control component controls the mobile device 1 to move or the gripping device 2 to grip the goods. Specifically, the multiple cameras 31, the laser radar 32 and the infrared sensor 33 can all be connected to the transmission component, and the data of the multiple cameras 31, the laser radar 32 and the infrared sensor 33 are transmitted to the control component through the transmission component, and the control component controls the mobile device 1 to move or the gripping device 2 to grip the goods.

[0041] In some embodiments, the logistics distribution system 100 further includes a third motor 4 , a transmission shaft 5 , and a pair of mutually meshing turbines 6 and worm gears 7 .

[0042] The third motor 4 is disposed on the base 21, the rotation shaft extends in the up-down direction and is rotatably disposed in the base 21, and the transmission shaft 5 is connected to the mechanical arm 22. Specifically, Figure 3 As shown, the third motor 4 passes through the bearing base 21, and the transmission shaft 5 is arranged in the base 21 and rotates around the up and down directions in the base 21, and the first arm 221 of the mechanical arm 22 is arranged on the rotating shaft, thereby driving the transmission shaft 5 to rotate through the mechanical arm 22.

[0043] The turbine 6 is disposed on the transmission shaft 5, and the worm 7 is disposed in the base 21 and connected to the third motor 4, so that the third motor 4 drives the transmission shaft 5 to rotate through the turbine 6 and the worm 7. Figure 3As shown, the turbine 6 is horizontally arranged and penetrated on the rotating shaft, the worm 7 extends in the front-rear direction and penetrates in the base 21, and the worm 7 is connected to the third motor 4, thereby driving the mechanical arm 22 to rotate through the third motor 4, providing rotational power for the mechanical arm 22.

[0044] In some embodiments, the mobile device 1 includes a vehicle body 11 , a first driving wheel 12 , a second driving wheel, a first driven wheel 13 , and a second driven wheel.

[0045] The cross-sectional area of ​​the outer peripheral surface of the vehicle body 11 gradually increases from top to bottom. Figure 1 As shown, the vehicle body 11 is a four-sided pyramid structure with a cross-sectional area gradually decreasing from top to bottom, which not only enhances the structural strength of the vehicle body 11, but also lowers the center of gravity of the vehicle body 11, thereby improving the stability of the mobile device 1 during operation. In addition, the four-sided pyramid design also helps to disperse the pressure on the vehicle body 11, making it more stable when carrying heavy objects.

[0046] The first driving wheel 12 and the second driving wheel are both arranged on the vehicle body 11 and are arranged opposite to each other at intervals along the width direction of the vehicle body 11. Figure 1 As shown, the first driving wheel 12 and the second driving wheel are both arranged at the front end of the vehicle body 11, and are spaced apart on the vehicle body 11 along the front-rear direction. The first driving wheel 12 and the second driving wheel are driven by two driving motors respectively, so as to realize the forward, backward, turning and other actions of the mobile device 1.

[0047] The first driven wheel 13 and the second driven wheel are arranged on the vehicle body 11 and are spaced apart and opposite to each other in the width direction of the vehicle body 11. The first driven wheel 13 and the first driving wheel 12 are spaced apart and opposite to each other in the length direction of the vehicle body 11. The second driven wheel and the second driving wheel are spaced apart and opposite to each other in the length direction of the vehicle body 11. Specifically, Figure 1 As shown, the first driven wheel 13 and the second driven wheel are arranged at the rear end of the vehicle body 11, and the first driven wheel 13 and the first driving wheel 12 are spaced apart in the front-to-back direction, and the second driven wheel and the second driven wheel are spaced apart in the front-to-back direction. The first driven wheel 13 and the second driven wheel are auxiliary supporting parts of the vehicle body 11, and are used in conjunction with the first driving wheel 12 and the second driving wheel respectively to ensure that the vehicle body 11 maintains balance during movement.

[0048] In some embodiments, at least one of the first driven wheel 13 and the second driven wheel includes a first wheel 131 and a plurality of first rollers 132, the first wheel 131 is rotatably disposed on the vehicle body 11, the outer circumferential surface of the first wheel 131 is provided with a plurality of first installation cavities spaced along the circumference of the first wheel 131, and the plurality of first rollers 132 are rotatably disposed in the plurality of first installation cavities in a one-to-one correspondence. Figure 1 and Figure 5As shown, the number of first rollers and first mounting cavities is equal, and a first roller is provided in each mounting cavity. When the vehicle body 11 turns, the first roller rotates on the ground relative to the first wheel 131, so that the vehicle body 11 can remain stable during the turning process, reducing the risk of slipping or rolling, thereby improving the stability and safety of the turning.

[0049] In some embodiments, at least one of the first driven wheel 13 and the second driven wheel further includes a second wheel 133 and a plurality of second rollers 134, the second wheel 133 is disposed on the vehicle body 11 and is spaced apart from the first wheel 131 along the width direction of the vehicle body 11, the outer circumferential surface of the second wheel 133 is provided with a plurality of second installation cavities spaced apart along the circumference of the second wheel 133, the plurality of second rollers 134 are rotatably disposed in the plurality of second installation cavities in a one-to-one correspondence, and in a projection plane orthogonal to the width direction of the vehicle body 11, the first rollers 132 and the second rollers 134 are alternately spaced apart around the circumference of the first wheel 131. Specifically, as Figure 1 and Figure 5 As shown, the second wheel 133 is arranged at the front side of the first wheel 131, and the number of the second rollers and the second installation cavity is equal. A second roller is arranged in each second installation cavity. When the vehicle body 11 turns, the second roller rotates on the ground relative to the second wheel 133, so that the vehicle body 11 can remain stable during the turning process, reducing the risk of slipping or tilting, thereby improving the stability and safety of the turning. In the projection plane orthogonal to the left and right directions, the first roller 132 and the second roller 134 are alternately arranged at circumferential intervals around the first wheel 131, so that the first roller 132 and the second roller 134 can contact the ground in stages during the movement of the vehicle body 11, thereby providing a more stable and continuous movement effect. For example: when the first roller 132 contacts the ground, the second roller 134 is in a suspended state; as the vehicle body 11 moves, the second roller 134 gradually contacts the ground, while the first roller 132 gradually leaves the ground. This alternating contact design not only reduces the vibration of the vehicle body 11 during the movement, but also improves the adaptability of the mobile device 1 to uneven ground.

[0050] In some embodiments, the grabbing assembly 23 includes a first claw 231 and a second claw 232, the first claw 231 and the second claw 232 are spaced apart and arranged on the mechanical arm 22, and the first claw 231 and the second claw 232 are opened or closed to grab the goods. Figure 6 As shown, the first claw 231 and the second claw 232 are both disposed at the front end of the third arm 223 , and the first claw 231 and the second claw 232 are driven by a motor to open or close, so that the first claw 231 and the second claw 232 grab the goods.

[0051] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0055] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0056] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A logistics distribution system, characterized in that: include: Mobile devices; A gripping device, the gripping device comprising a base, a mechanical arm and a gripping assembly, the base being arranged on the moving device and being rotatable relative to the moving device about an up-down direction, the mechanical arm being arranged on the base and being rotatable relative to the first direction, the mechanical arm being connected to the gripping assembly and the gripping assembly being rotatable relative to a second direction, so that the mechanical arm drives the gripping assembly to grip goods, the first direction being orthogonal to the up-down direction, and the second direction being orthogonal to the first direction and the up-down direction; A monitoring and control device is arranged on the mobile device and is connected to the grabbing device and the mobile device. The monitoring and control device is used to monitor the surrounding environment of the mobile device and control the movement of the mobile device or the grabbing device to grab goods.

2. The logistics distribution system according to claim 1, characterized in that: The robotic arm includes a first arm, a second arm and a third arm, the lower end of the first arm is arranged on the base, the first arm extends from bottom to top and the extension direction of the first arm intersects the up-down direction at an angle, the lower end of the second arm is connected to the upper end of the first arm and is rotatable around the first direction relative to the first arm, the upper end of the second arm is connected to one end of the third arm and the third arm is rotatable around the first direction relative to the second arm, and the other end of the third arm is connected to the grabbing assembly so that the first arm, the second arm and the third arm can rotate relative to each other to drive the grabbing assembly to grab the goods.

3. The logistics distribution system according to claim 2, characterized in that: The third arm includes a mounting seat and a rotating shaft. The mounting seat is arranged above the second arm and is rotatable around the first direction relative to the second arm. One end of the rotating shaft is passed through the mounting seat and is rotatable relative to the second direction. The other end of the rotating shaft is connected to the grabbing unit so that the grabbing component can grab the goods.

4. The logistics distribution system according to claim 3, characterized in that: The grabbing device comprises: a first motor, the first motor being disposed at one side of the first arm and connected to the second arm so that the first motor drives the second arm to rotate relative to the first arm; A second motor, a first connecting rod and a second connecting rod, the second motor is arranged on the other side of the first arm, one end of the first connecting rod is connected to the second motor, the other end of the first connecting rod is connected to one end of the second connecting rod and the first connecting rod is rotatable around the first direction relative to the second connecting rod, and the other end of the second connecting rod is connected to the mounting base, so that the second motor drives the mounting base to rotate through the first connecting rod and the second connecting rod.

5. The logistics distribution system according to claim 1, characterized in that: The monitoring control device includes a monitoring component, a transmission component and a control component. The monitoring component includes a plurality of cameras, a laser radar and an infrared sensor. The plurality of cameras are arranged on the mobile device and are arranged at intervals around the circumference of the mobile device. The plurality of cameras are arranged around the grasping device so as to photograph the environment around the mobile device. The laser radar is arranged on the mobile device, and the laser radar is used to scan the three-dimensional environment around the mobile device to obtain accurate distance data. The infrared sensor is arranged on the mobile device, and the infrared sensor is used to sense the heat distribution in the environment to ensure that the distribution system works normally at night or in a dim environment. The transmission component and the control component are both arranged on the mobile device and connected to the monitoring component so as to transmit the monitoring data monitored by the monitoring device to the control component. The control component is connected to the mobile device and the grasping device so that the control component controls the movement of the mobile device or the grasping device to grasp the goods.

6. The logistics distribution system according to claim 1, characterized in that: Also includes: a third motor, the third motor being arranged on the base; A transmission shaft, the rotation shaft extending in the up-down direction and rotatably disposed in the base, the transmission shaft being connected to the mechanical arm; A pair of mutually meshing worm gears, the worm gear is disposed on the transmission shaft, the worm gear is disposed in the base and is connected to the third motor, so that the third motor drives the transmission shaft to rotate through the worm gear and the worm gear.

7. The logistics distribution system according to claim 1, characterized in that: The mobile device comprises: A vehicle body, wherein the cross-sectional area of ​​the peripheral surface of the vehicle body increases gradually from top to bottom; a first driving wheel and a second driving wheel, wherein the first driving wheel and the second driving wheel are both arranged on the vehicle body and are spaced and arranged opposite to each other along the width direction of the vehicle body; A first driven wheel and a second driven wheel, wherein the first driven wheel and the second driven wheel are arranged on the vehicle body and are spaced opposite to each other along the width direction of the vehicle body, the first driven wheel and the first driving wheel are spaced opposite to each other along the length direction of the vehicle body, and the second driven wheel and the second driving wheel are spaced opposite to each other along the length direction of the vehicle body.

8. The logistics distribution system according to claim 7, characterized in that: At least one of the first driven wheel and the second driven wheel includes a first wheel and a plurality of first rollers, the first wheel being rotatably disposed on the vehicle body, the outer peripheral surface of the first wheel being provided with a plurality of first mounting cavities spaced apart along the circumference of the first wheel, and the plurality of first rollers being rotatably disposed in the plurality of first mounting cavities in a one-to-one correspondence.

9. The logistics distribution system according to claim 8, characterized in that: At least one of the first driven wheel and the second driven wheel also includes a second wheel and a plurality of second rollers. The second wheel is arranged on the vehicle body and is arranged opposite to the first wheel at intervals along the width direction of the vehicle body. The outer peripheral surface of the second wheel is provided with a plurality of second mounting cavities arranged at intervals along the circumference of the second wheel. The plurality of second rollers are rotatably arranged in the plurality of second mounting cavities in a one-to-one manner. In a projection plane orthogonal to the width direction of the vehicle body, the first rollers and the second rollers are alternately arranged at intervals around the circumference of the first wheel.

10. The logistics distribution system according to claim 1, characterized in that: The grabbing assembly includes a first claw and a second claw, the first claw and the second claw are arranged on the robot arm at an interval, and the first claw and the second claw are opened or closed to grab the goods.

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