Community express delivery robot based on unmanned aerial vehicle

Abstract

The invention discloses a community express delivery robot based on an unmanned aerial vehicle, and relates to the technical field of express delivery robots, the delivery robot comprises a shell assembly and a walking assembly, the shell assembly is internally provided with a storage assembly, the storage assembly is internally provided with a fixing assembly, and the fixing assembly is used for fixing goods in a storage bin; the walking assembly is located at the bottom end of the shell assembly, a deviation assembly is arranged on the walking assembly and used for adjusting the overall gravity center, an unmanned aerial vehicle assembly is arranged on the shell assembly, the shell assembly comprises a shell, and a control terminal is arranged on one side of the shell.

Description

Technical Field

[0001] The present invention relates to the technical field of express delivery robots, specifically a community express delivery robot based on unmanned aerial vehicles (UAVs). Background Art

[0002] Express delivery robots are increasingly used in the express delivery industry. Express delivery robots have the following advantages compared to couriers: First, the cost of express delivery is relatively low; second, the delivery volume of express delivery robots is larger and faster; third, with the gradual popularization of 5G and the Internet of Things, as well as the progress of their own technologies, their scope of use is wider. Since each express can only be retrieved by scanning a code, it is safer.

[0003] Due to the large variety and different sizes of the express deliveries transported by express delivery robots, the utilization rate of the storage space is very low. Moreover, during the movement and stop of the robot during transportation, the goods will shake, causing the goods to collide with the inner wall of the storage bin, resulting in damage to the goods, especially at the corners. In addition, before the staff place the goods, they need to weigh the goods to determine, which is time-consuming and laborious. Summary of the Invention

[0004] The purpose of the present invention is to provide a community express delivery robot based on UAVs to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A community express delivery robot based on UAVs, the delivery robot includes a housing assembly and a walking assembly. A storage assembly is provided inside the housing assembly, and a fixing assembly is provided inside the storage assembly. The fixing assembly is used to fix the goods in the storage bin. The walking assembly is located at the bottom end of the housing assembly, and an offset assembly is provided on the walking assembly. The offset assembly is used to adjust the overall center of gravity. A UAV assembly is provided on the housing assembly. The housing assembly includes a housing, and a control terminal is provided on one side of the housing.

[0006] Specifically, the delivery robot is used to transport express deliveries autonomously without human control. However, due to the variety of express deliveries and their different sizes, the utilization rate of the storage space is very low. Moreover, during the transportation process, the movement and stop of the robot will cause the goods to shake, resulting in collisions between the goods and the inner wall of the storage bin, damaging the goods, especially at the edges and corners. The housing assembly, as a housing protection component, protects the storage components inside the housing and also functions to seal the storage space. The walking assembly is located at the bottom of the housing assembly and is used to provide the ability to move. The fixing components in the storage assembly are used to fix the goods in the storage space to prevent the goods from shaking. Since there are multiple goods placed in the storage assembly, the overall weight will increase. As a result, after the delivery robot makes a turn, due to the change in its own weight, the delivery robot will experience a center of gravity shift, ultimately leading to the robot tipping over. Additionally, the different amplitudes on the left and right sides of the road will also cause the center of gravity of the delivery robot to shift. The offset component is used to adjust the center of gravity of the delivery robot. The control terminal on the housing is equipped with a control system, and among them, the drone component is used to pick up and deliver the goods in the storage assembly.

[0007] The storage assembly includes a receiving box body, which is located inside the housing and fixedly connected to the housing. The receiving box body is provided with several storage chambers. The receiving box body has a honeycomb structure. A placement groove is opened inside the storage chamber, and a telescopic through hole is opened exactly in the middle of the placement groove. There are multiple flip doors on one side of the housing, and the flip doors are rotatably connected to the housing. The storage chamber is slidably connected to the receiving box body. A pushing motor is provided between the storage chamber and the receiving box body. The output end of the pushing motor is fixedly connected to the storage chamber, and the fixed end of the pushing motor is fixedly connected to the receiving box body. A fixing component is provided inside the receiving box body.

[0008] Specifically, the storage assembly is used to store goods. One side of the housing is hollowed out as the placement side, and the opening side of the receiving box body also faces the placement side. The receiving box body has a honeycomb structure, forming a space support through multiple equidistantly arranged hexagonal units, improving the overall space utilization rate, enhancing the overall structural strength, and also increasing the load-bearing capacity. Among them, the storage chamber is a hexagonal structure. The placement groove in the storage chamber is used to place goods, and the telescopic through hole in the middle of the placement groove is used to enable the components in the fixing component to move. The flip door is used to seal a single storage chamber. The top of the storage chamber is hollowed out to enable the drone to pick up. The pushing motor serves as a power source to control the outward movement of the storage chamber.

[0009] The fixing component includes a placement plate. A vertical moving column is provided at the bottom of the placement plate, and the bottom of the placement plate is fixedly connected to the top of the vertical moving column. A sliding sleeve is sleeved at the bottom of the vertical moving column. Rotating rods are provided on both sides of the sliding sleeve. One end of the rotating rod is provided with a transmission rod, and one end of the transmission rod is provided with a horizontal moving rod. A clamping component is provided on one side of the horizontal moving rod.

[0010] Specifically, the fixing component controls the movement of parts through the extrusion of goods, controls the clamping component to fix the goods. The top of the placing plate is used to place the goods. The vertical moving column is located at the bottom of the placing plate, and the top of the vertical moving column is fixedly connected to the placing plate. When goods are placed on the top of the placing plate, the weight of the placing plate itself moves downward. The movement of the placing plate drives the vertical moving column to move, the movement of the vertical moving column drives the rotating rod to move, the movement of the rotating rod drives the transmission rod to move, the transmission rod drives the horizontal moving rod to move, and the horizontal moving rod pushes the clamping component to move, so that the clamping component contacts the goods. Among them, the clamping component contacts and adapts to the two side edge ends of the goods. The sliding sleeve is used to provide a range of movement to prevent the transmission rod from being damaged due to pressure. The transmission rod is of a telescopic rod structure.

[0011] The vertical moving column cooperates with the telescopic through hole. The middle of the rotating rod is rotatably connected to the accommodating box body. One end of the rotating rod is rotatably connected to the sliding sleeve. The other end of the rotating rod is rotatably connected to one end of the transmission rod. One end of the transmission rod is rotatably connected to the pulley. The pulley is located at one end of the transmission away from the clamping component. The pulley is rotatably connected to the horizontal moving rod. A secondary magnet is provided at the connection between the transmission rod and the pulley. A coil is provided at the bottom end of the vertical moving column, and a magnetic column is provided at the bottom end of the coil.

[0012] Specifically, the vertical moving column is slidably connected to the telescopic through hole. The middle of the rotating rod is rotatably connected to the accommodating box body. Thus, when one end of the rotating rod is pressed and moves, the other end of the rotating rod will move in the opposite direction. Furthermore, when the placing plate is pressed and drives one end of the rotating rod to move downward, the other end of the rotating rod moves upward. The other end of the rotating rod pushes the transmission rod to move. The transmission rod, as a transmission part, is used to convert the downward pressure generated by the vertical moving column into a thrust, so as to control the movement of the horizontal moving rod. The transmission rod applies force to control the rotation of the pulley, and the rotation of the pulley drives the horizontal moving rod to move. The secondary magnet on the pulley is used to control the connection between the pulley and the transmission rod to be away from the clamping component. When the vertical moving column moves, it will drive the coil to move, so that the coil contacts the magnetic column. Furthermore, when the magnetic column enters the coil, the number of magnetic induction lines passing through the coil will increase, and the coil will generate an induced current. According to the magnitude of the induced current, the moving distance of the placing plate is judged, and then the weight of the placed goods is obtained. During the express delivery process, it is judged whether the express is damaged or replaced according to the number, the appearance of the box body, and the weight of the express itself. Among them, the number and the appearance of the box body can be observed with the naked eye, but the change in weight requires long-term work experience to roughly judge. When the goods are placed in the storage chamber, the appearance is observed, the number is scanned during this period, and the weight of the goods is judged by the magnitude of the induced current.

[0013] An arc-shaped moving groove is opened in the accommodating box body. The arc-shaped moving groove is located at one end of the rotating rod. A horizontal moving groove is opened in the accommodating box body. One end of the horizontal moving rod is located in the horizontal moving groove. A main magnet is provided on the inner wall of the horizontal moving groove. The main magnet is located at one end of the horizontal moving groove away from the clamping component. A soft spring is provided between the inner wall of the horizontal moving groove and the horizontal moving rod.

[0014] Specifically, one end of the rotating rod is slidably connected to the arc-shaped moving groove, and the arc-shaped moving groove is used to limit the moving range and direction of the rotating rod, so that one end of the rotating rod moves in a circular motion. The pulley on the horizontal moving rod is slidably connected to the horizontal moving groove, and the horizontal moving groove is used to limit the moving range and direction of the horizontal moving rod, so that the horizontal moving rod moves horizontally. The main magnet is used to magnetically attract the secondary magnet, and the secondary magnet is located at the connection between the pulley and the transmission rod. When no goods are placed on the placement board, due to the attraction of the main magnet, the secondary magnet will drive the connection between the pulley and the transmission rod to approach one end of the main magnet. Then, after the goods are placed on the placement board, the vertical moving column will drive the sliding sleeve to move together, the sliding sleeve drives the rotating rod to move, and the other end of the rotating rod drives the transmission rod to move. Due to the magnet, the connection of the transmission rod will be on the side away from the clamping assembly. Under the push of the rotating rod, one end of the transmission rod drives the pulley to move and the pulley rotates. When the transmission rod moves to the bottom end of the pulley, due to the existence of the sliding sleeve, it will not cause too much pressure on the connection of the rotating rod. And due to the inertia of the transmission rod, the thrust of the rotating rod, and the attraction of the main magnet, it will continuously control the pulley to move towards the clamping assembly. The soft spring is used to control the horizontal moving rod to move back when no goods are placed on the placement board.

[0015] The clamping assembly includes hinge plates. There is a connecting piece between the hinge plates, and the connecting piece is fixedly connected to the horizontal moving rod. There are two hinge plates, and the hinge plates are hingedly connected to the connecting piece.

[0016] Specifically, the connecting piece is fixedly connected to the horizontal moving rod. One end of the two hinge plates is hingedly connected to the connecting piece, and the two hinge plates are arranged at 90°. Thus, when the horizontal moving rod pushes the connecting piece to move, the connecting piece drives the hinge plates to contact the goods. Under the push of the horizontal moving rod, the hinge plates will start to rotate, so that the entire surface of one side of the hinge plates contacts the goods, increasing the fixed contact surface, and changing the angles of the two hinge plates according to the shape of the outer surface of the goods.

[0017] The offset assembly includes an arc-shaped tube and a rotating motor. The arc-shaped tube is located at the bottom end of the walking assembly. The output end of the rotating motor is provided with a threaded rod, and the threaded rod is fixedly connected to the output end of the rotating motor. There is a gravity block on the threaded rod, and the gravity block is threadedly connected to the threaded rod.

[0018] Specifically, due to the increase in the goods, the overall weight of the delivery robot increases. The offset assembly is used to prevent the delivery robot from tilting excessively when turning due to the weight change. The walking assembly consists of a chassis and rotating wheels. The arc-shaped tube is located at the bottom end of the chassis, and the arc-shaped tube is fixedly connected to the chassis. The fixed end of the rotating motor is fixedly connected to the bottom end of the chassis. The rotating motor is used as a power source to control the rotation of the threaded rod. The rotation of the threaded rod will drive the gravity block to move, and the gravity block changes the bottom center of gravity of the express delivery robot according to its position.

[0019] The arc-shaped tube is provided with a rolling ball, and electrode needles are provided at both ends inside the arc-shaped tube. The fixed end of the rotating motor is located at the bottom end of the walking assembly.

[0020] Specifically, the rolling ball is a conductor, and due to the position of the roller being inside the arc-shaped tube, it is usually at the lowest end of the arc-shaped tube due to gravity. When the express delivery robot tilts, it will drive the center point of the arc-shaped tube to change, and the rolling ball will move towards the lower end. As a result, the capacitance value of the electrode needle close to the rolling ball will increase, and the capacitance value of the electrode needle at the other end will decrease. By controlling the operation of the rotating motor according to the change in the capacitance values of the two electrode needles, the gravity block is controlled to move in the opposite direction to the rolling ball.

[0021] The drone assembly includes a transport plane and a grasping member. A parking slot is opened at the top end of the housing. The transport plane is located inside the parking slot, and a grasping member is provided at the bottom end of the transport plane.

[0022] Specifically, when the express delivery robot transports to the designated location, the pushing motor controls the storage chamber to extend outwards. Its transport plane moves to the top of the storage chamber, and the grasping member moves downwards to contact the goods and fix them. After the grasping member fixes the goods, the drone slowly rises. The weight generated by the goods on the placement plate will decrease, and the clamping assembly will also loosen. At this time, the drone transports the goods. Therefore, the drone does not need to adopt a large structure for battery life layout. The overall structure of the drone is small and flexible, and the two cooperate to achieve long-distance transportation and fixed-point delivery. It should also be added that when the transport plane is not working, the transport plane is fixedly connected to the top end of the housing.

[0023] Compared with the prior art, the beneficial effects of the present invention are: 1. Through the control of the gravity of the goods itself in the present invention, the placement plate moves downwards. The movement of the placement plate controls the movement of the vertical moving column. The movement of the moving column drives the movement of the rotating rod. The movement of the rotating rod drives the movement of the transmission rod. The transmission rod drives the movement of the horizontal moving rod. The horizontal moving rod pushes the clamping assembly to move. Thus, the heavier the goods, the more stable the fixation, and further prevent the goods from shaking, causing the goods to collide with the inner wall of the storage bin and resulting in damage to the goods.

[0024] 2. In the present invention, the horizontal moving rod pushes the connecting member to move. The connecting member drives the hinge plate to contact the goods. Under the push of the horizontal moving rod, the hinge plate will start to rotate, making the entire surface on one side of the hinge plate contact the goods, increasing the fixed contact surface, and changing the angles of the two hinge plates according to the shape of the outer surface of the goods to prevent differences in the fixing degree due to different goods.

[0025] 3. In the present invention, the rotating motor is used to control the movement of the gravity block, changing the center of gravity at the bottom of the express delivery robot. The operation of the rotating motor is controlled according to the change in the capacitance values of the two electrode needles, and the gravity block is controlled to move in the opposite direction to the rolling ball, achieving the change of the position of the gravity block according to the condition of the delivery robot itself.

[0026] 4. In the present invention, the vertical moving column moves to drive the coil to move, so that the coil contacts the magnetic column. Then, when the magnetic column enters the coil, the coil will generate an induced current. The moving distance of the placing plate is judged according to the magnitude of the induced current, and then the weight of the placed goods is obtained, which is convenient for the staff to observe. There is no need to weigh the goods separately, improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the whole of the present invention; Figure 2 is a schematic structural diagram of the accommodating box body of the present invention; Figure 3 is a schematic structural diagram of the storage chamber of the present invention; Figure 4 is a schematic structural diagram of the clamping assembly of the present invention; Figure 5 is a schematic structural diagram of the vertical moving column of the present invention; Figure 6 of the present invention Figure 4 is an enlarged view of a partial area A in the present invention; Figure 7 of the present invention Figure 4 is an enlarged view of a partial area B in the present invention; Figure 8 is a schematic structural diagram of the offset assembly of the present invention; Figure 9 is a schematic structural diagram of the drone of the present invention.

[0028] In the figure: 1. Housing assembly; 11. Outer shell; 2. Traveling assembly; 3. Storage assembly; 31. Accommodating box body; 311. Arc-shaped moving groove; 312. Transverse moving groove; 32. Storage chamber; 321. Placing groove; 322. Telescopic through hole; 33. Pushing motor; 4. Fixing assembly; 41. Placing plate; 42. Vertical moving column; 43. Sliding sleeve; 44. Rotating rod; 45. Transmission rod; 46. Transverse moving rod; 47. Pulley; 48. Coil; 49. Magnetic column; 5. Offset assembly; 51. Arc-shaped tube; 52. Rotating motor; 53. Threaded rod; 54. Gravity block; 55. Electrode needle; 56. Ball; 6. Clamping assembly; 61. Hinged plate; 62. Connecting piece; 7. Main magnet; 8. Sub-magnet; 9. Drone assembly; 91. Transport plane; 92. Grabbing piece. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment: As Figures 1 to 9As shown in the figure, the present invention provides a technical solution for a community express delivery robot based on a drone. The delivery robot includes a housing assembly 1 and a walking assembly 2. A storage assembly 3 is provided inside the housing assembly 1, and a fixing assembly 4 is provided inside the storage assembly 3. The fixing assembly 4 is used to fix the goods in the storage bin. The walking assembly 2 is located at the bottom end of the housing assembly 1, and an offset assembly 5 is provided on the walking assembly 2. The offset assembly 5 is used to adjust the overall center of gravity. A drone assembly 9 is provided on the housing assembly 1. The housing assembly 1 includes a housing 11, and a control terminal is provided on one side of the housing 11.

[0031] Specifically, the delivery robot is used to transport express deliveries automatically without human control. However, due to the large variety and different sizes of the express deliveries transported, the utilization rate of the storage space is very low. Moreover, during the movement and stop of the robot during transportation, the goods will shake, causing the goods to collide with the inner wall of the storage bin, resulting in damage to the goods, especially at the corners. The housing assembly 1, as a housing protection part, protects the storage assembly 3 inside the housing 11, and the housing assembly 1 also functions to seal the storage space. The walking assembly 2 is located at the bottom end of the housing assembly 1 and is used to provide the ability to move. The fixing assembly 4 inside the storage assembly 3 is used to fix the goods in the storage space to prevent the goods from shaking. Since there are multiple goods placed in the storage assembly 3, its overall weight will increase. Then, after the delivery robot makes a turn, due to the change in its own weight, the delivery robot will have a center of gravity offset, which will ultimately cause the robot to tip over. Moreover, the different left and right amplitudes on the road will also cause the center of gravity of the delivery robot to offset. The offset assembly 5 is used to adjust the center of gravity of the delivery robot. The control terminal on the housing 11 is provided with a control system, and the drone assembly 9 is used to pick up and deliver the goods in the storage assembly 3.

[0032] As Figure 2 shown in the figure, the storage assembly 3 includes a containing box body 31. The containing box body 31 is located inside the housing 11 and is fixedly connected to the housing 11. A number of storage chambers 32 are provided in the containing box body 31. The containing box body 31 has a honeycomb structure. A placement groove 321 is opened inside the storage chamber 32, and a telescopic through hole 322 is opened in the exact middle of the placement groove 321. A plurality of flip doors are provided on one side of the housing 11, and the flip doors are rotatably connected to the housing 11. The storage chamber 32 is slidably connected to the containing box body 31. A pushing motor 33 is provided between the storage chamber 32 and the containing box body 31. The output end of the pushing motor 33 is fixedly connected to the storage chamber 32, and the fixed end of the pushing motor 33 is fixedly connected to the containing box body 31. The fixing assembly 4 is provided inside the containing box body 31.

[0033] Specifically, the storage component 3 is used to store goods. One side of the outer shell 11 is hollowed out as the placement side, and the side where the opening of the accommodation box body 31 faces is also the placement side. The accommodation box body 31 has a honeycomb structure, and a space support is formed by a plurality of hexagon units arranged at equal intervals, which improves the overall space utilization rate, enhances the overall structural strength, and also increases the load-bearing capacity. Among them, the storage chamber 32 has a hexagonal structure. The placement groove 321 in the storage chamber 32 is used to place goods, and the telescopic through hole 322 in the middle of the placement groove 321 is used to allow the components in the fixing component 4 to move. The flip door is used to seal a single storage chamber 32. The top of the storage chamber 32 is hollowed out to allow the drone to pick up. The pushing motor 33 is used as a power source to control the outward movement of the storage chamber 32.

[0034] As Figures 2 to 5 shown, the fixing component 4 includes a placement plate 41. A vertical moving column 42 is provided at the bottom end of the placement plate 41. The bottom end of the placement plate 41 is fixedly connected to the top end of the vertical moving column 42. A sliding sleeve 43 is sleeved at the bottom end of the vertical moving column 42. Rotating rods 44 are provided on both sides of the sliding sleeve 43. One end of the rotating rod 44 is provided with a transmission rod 45. One end of the transmission rod 45 is provided with a horizontal moving rod 46. A clamping component 6 is provided on one side of the horizontal moving rod 46.

[0035] Specifically, the fixing component 4 controls the movement of components through the extrusion of goods, and controls the clamping component 6 to fix the goods. The top end of the placement plate 41 is used to place goods. The vertical moving column 42 is located at the bottom end of the placement plate 41, and the top end of the vertical moving column 42 is fixedly connected to the placement plate 41. When goods are placed on the top end of the placement plate 41, the placement plate 41 moves downward due to its own weight. The movement of the placement plate 41 drives the movement of the vertical moving column 42. The movement of the vertical moving column 42 drives the movement of the rotating rod 44. The movement of the rotating rod 44 drives the movement of the transmission rod 45. The transmission rod 45 drives the movement of the horizontal moving rod 46. The horizontal moving rod 46 pushes the clamping component 6 to move, so that the clamping component 6 contacts the goods. Among them, the clamping component 6 contacts and adapts to the two side edges of the goods. The sliding sleeve 43 is used to provide a range of movement to prevent the transmission rod 45 from being damaged due to pressure. The transmission rod 45 has a telescopic rod structure.

[0036] As Figures 2 to 7 shown, the vertical moving column 42 cooperates with the telescopic through hole 322. The middle of the rotating rod 44 is rotatably connected to the accommodation box body 31. One end of the rotating rod 44 is rotatably connected to the sliding sleeve 43. The other end of the rotating rod 44 is rotatably connected to one end of the transmission rod 45. One end of the transmission rod 45 is rotatably connected to a pulley 47. The pulley 47 is located at the end of the transmission rod away from the clamping component 6. The pulley 47 is rotatably connected to the horizontal moving rod 46. A secondary magnet 8 is provided at the connection between the transmission rod 45 and the pulley 47. A coil 48 is provided at the bottom end of the vertical moving column 42. A magnetic column 49 is provided at the bottom end of the coil 48.

[0037] Specifically, the vertical moving column 42 is slidably connected to the telescopic through hole 322. The exact middle of its rotating rod 44 is rotatably connected to the accommodating box body 31. Thus, when one end of the rotating rod 44 is pressed and moves, the other end of the rotating rod 44 will move in the opposite direction. Furthermore, when the placing plate 41 is pressed, it drives one end of the rotating rod 44 to move downward, and the other end of the rotating rod 44 moves upward. The other end of the rotating rod 44 pushes the transmission rod 45 to move. The transmission rod 45 serves as a transmission component to convert the downward pressure generated by the vertical moving column 42 into a thrust, thereby controlling the movement of the horizontal moving rod 46. The transmission rod 45 applies force to control the rotation of the pulley 47, and the rotation of the pulley 47 drives the horizontal moving rod 46 to move. The secondary magnet 8 on the pulley 47 is used to control the connection between the pulley 47 and the transmission rod 45 to be away from the clamping assembly 6. When the vertical moving column 42 moves, it drives the coil 48 to move, causing the coil 48 to contact the magnetic column 49. Furthermore, when the magnetic column 49 enters the coil 48, the number of magnetic induction lines passing through the coil 48 will increase, and the coil 48 will generate an induced current. Then, based on the magnitude of the induced current, the moving distance of the placing plate 41 is judged, and thus the weight of the placed goods is obtained. During the express delivery process, it is judged whether the express is damaged or replaced, based on the number, the appearance of the box body, and the weight of the express itself. The number and the appearance of the box body can be observed by the naked eye, but the change in weight requires long-term working experience to roughly judge. When the goods are placed in the storage chamber 32, both the appearance is observed, and the number is scanned in the meantime, and the magnitude of the induced current judges the weight of the goods.

[0038] As Figure 2 , Figure 4 , Figure 7 shown, an arc-shaped moving groove 311 is formed in the accommodating box body 31. The arc-shaped moving groove 311 is located at one end of the rotating rod 44. A horizontal moving groove 312 is formed in the accommodating box body 31. One end of the horizontal moving rod 46 is located in the horizontal moving groove 312. A main magnet 7 is provided on the inner wall of the horizontal moving groove 312. The main magnet 7 is located at one end of the horizontal moving groove 312 away from the clamping assembly 6. A soft spring is provided between the inner wall of the horizontal moving groove 312 and the horizontal moving rod 46.

[0039] Specifically, one end of the rotating rod 44 is slidably connected to the arc-shaped moving groove 311, and the arc-shaped moving groove 311 is used to limit the moving range and direction of the rotating rod 44, so that one end of the rotating rod 44 moves in a circular motion. The pulley 47 on the horizontal moving rod 46 is slidably connected to the horizontal moving groove 312, and the horizontal moving groove 312 is used to limit the moving range and direction of the horizontal moving rod 46, so that the horizontal moving rod 46 moves horizontally. The main magnet 7 is used to magnetically attract the secondary magnet 8. The secondary magnet 8 is located at the connection between the pulley 47 and the transmission rod 45. When no goods are placed on the placement plate 41, due to the attraction of the main magnet 7, the secondary magnet 8 will drive the connection between the pulley 47 and the transmission rod 45 to approach one end of the main magnet 7. Then, after goods are placed on the placement plate 41, the vertical moving column 42 will drive the sliding sleeve 43 to move together. The sliding sleeve 43 drives the rotating rod 44 to move, and the other end of the rotating rod 44 drives the transmission rod 45 to move. Due to the magnet, the connection of the transmission rod 45 will be on the side away from the clamping assembly 6. Under the push of the rotating rod 44, one end of the transmission rod 45 drives the pulley 47 to move, causing the pulley 47 to rotate. When the transmission rod 45 moves to the bottommost end of the pulley 47, due to the existence of the sliding sleeve 43, it will not cause too much pressure on the connection of the rotating rod 44. And due to the inertia of the transmission rod 45, the thrust of the rotating rod 44, and the attraction of the main magnet 7, it will continuously control the pulley 47 to move towards the clamping assembly 6. The soft spring is used to control the horizontal moving rod 46 to move back when no goods are placed on the placement plate 41.

[0040] As Figure 4 shown, the clamping assembly 6 includes hinge plates 61. A connecting member 62 is provided between the hinge plates 61. The connecting member 62 is fixedly connected to the horizontal moving rod 46. There are two hinge plates 61, and the hinge plates 61 are hingedly connected to the connecting member 62.

[0041] Specifically, the connecting member 62 is fixedly connected to the horizontal moving rod 46. One end of the two hinge plates 61 is hinged to the connecting member 62, and the two hinge plates 61 are arranged at 90°. Thus, when the horizontal moving rod 46 pushes the connecting member 62 to move, the connecting member 62 drives the hinge plates 61 to contact the goods. Under the push of the horizontal moving rod 46, the hinge plates 61 will start to rotate, so that the entire surface of one side of the hinge plates 61 contacts the goods, increasing the fixed contact surface, and changing the angles of the two hinge plates 61 according to the shape of the outer surface of the goods.

[0042] As Figure 8 shown, the offset assembly 5 includes an arc-shaped tube 51 and a rotating motor 52. The arc-shaped tube 51 is located at the bottom end of the traveling assembly 2. The output end of the rotating motor 52 is provided with a threaded rod 53. The threaded rod 53 is fixedly connected to the output end of the rotating motor 52. A gravity block 54 is provided on the threaded rod 53, and the gravity block 54 is threadedly connected to the threaded rod 53.

[0043] Specifically, due to the increase in the goods, the overall weight of the delivery robot increases. The offset component 5 is used to prevent the delivery robot from tilting excessively when turning due to weight changes. The walking component 2 consists of a chassis and rotating wheels. The arc-shaped tube 51 is located at the bottom end of the chassis and is fixedly connected to the chassis. The fixed end of the rotating motor 52 is fixedly connected to the bottom end of the chassis. The rotating motor 52 serves as a power source to control the rotation of the threaded rod 53. The rotation of the threaded rod 53 drives the movement of the gravity block 54, and the gravity block 54 changes the center of gravity at the bottom of the express delivery robot according to its position.

[0044] As Figure 8 shown, a rolling ball 56 is provided inside the arc-shaped tube 51, electrode pins 55 are provided at both ends inside the arc-shaped tube 51, and the fixed end of the rotating motor 52 is located at the bottom end of the walking component 2.

[0045] Specifically, the rolling ball 56 is a conductor, and since the position of the roller is inside the arc-shaped tube 51, it is normally at the lowest end of the arc-shaped tube 51 due to gravity. When the express delivery robot tilts, it drives the center point of the arc-shaped tube 51 to change, and the rolling ball 56 moves towards the lower end. As a result, the capacitance value of the electrode pin 55 close to the rolling ball 56 increases, and the capacitance value of the other electrode pin 55 decreases. By controlling the operation of the rotating motor 52 according to the change in the capacitance values of the two electrode pins 55, the gravity block 54 is controlled to move in the opposite direction to the rolling ball 56.

[0046] As Figure 9 shown, the drone component 9 includes a transport plane 91 and a grasping member 92. A parking slot is opened at the top end of the outer shell 11, and the transport plane 91 is located inside the parking slot. A grasping member 92 is provided at the bottom end of the transport plane 91.

[0047] Specifically, when the express delivery robot is transported to the designated location, the pushing motor 33 controls the storage chamber 32 to extend outwards. The transport plane 91 moves to the top of the storage chamber 32, and the grasping member 92 moves downwards to contact the goods and fix them. After the grasping member 92 fixes the goods, the drone slowly rises, the weight generated by the goods on the placement plate 41 decreases, and the clamping component 6 also loosens. At this time, the drone transports the goods. Therefore, the drone does not need to adopt a large structure for the endurance layout. The overall structure of the drone is small and flexible, and the two cooperate to achieve long-distance transportation and fixed-point delivery. It should also be added that when the transport plane 91 is not working, the transport plane 91 is fixedly connected to the parking slot at the top end of the outer shell 11.

[0048] Working principle: When goods are placed on the top of the placing plate 41, the placing plate 41 moves downward. The movement of the placing plate 41 drives the vertical moving column 42 to move. The movement of the vertical moving column 42 drives the coil 48 to move, so that the coil 48 contacts the magnetic column 49. The coil 48 will generate an induced current. The moving distance of the placing plate 41 is judged according to the magnitude of the induced current, and then the weight of the placed goods is obtained. The movement of the vertical moving column 42 also drives the rotating rod 44 to move. The movement of the rotating rod 44 drives the transmission rod 45 to move. The transmission rod 45 drives the horizontal moving rod 46 to move. The horizontal moving rod 46 pushes the clamping assembly 6 to move, so that the clamping assembly 6 contacts the goods. The clamping assembly 6 contacts and adapts to the two side edge ends of the goods. The clamping assembly 6 moves the connecting piece 62 under the push of the horizontal moving rod 46. The connecting piece 62 drives the hinged plate 61 to contact the goods. Under the push of the horizontal moving rod 46, the hinged plate 61 will start to rotate, so that the whole surface of one side of the hinged plate 61 contacts the goods, improving the fixed contact surface, and the angles of the two hinged plates 61 are changed according to the shape of the outer surface of the goods. Then, during transportation, when the express delivery robot tilts, it will drive the center point of the arc-shaped tube 51 to change. The rolling ball 56 will move to the lower end. As a result, the capacitance value of the electrode needle 55 close to the rolling ball 56 will increase, and the capacitance value of the electrode needle 55 at the other end will decrease. By controlling the operation of the rotating motor 52 according to the change of the capacitance values of the two electrode needles 55, the gravity block 54 is controlled to move in the opposite direction of the rolling ball 56. Finally, when the goods are taken away by the drone, the attraction of the soft spring and the main magnet 7 controls the horizontal moving rod 46 to move back, and the coil 48 also disengages from the magnetic column 49, and finally the induced current decreases.

[0049] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drone-based community express delivery robot, characterized by: The delivery robot comprises a shell component (1) and a walking component (2); a storage component (3) is provided in the shell component (1); a fixing component (4) is provided in the storage component (3); the fixing component (4) is used to fix the goods in the storage bin; the walking component (2) is located at the bottom end of the shell component (1); an offset component (5) is provided on the walking component (2); the offset component (5) is used to adjust the overall center of gravity; a drone component (9) is provided on the shell component (1); the shell component (1) comprises an outer shell (11); a control terminal is provided on one side of the outer shell (11).

2. The community express delivery robot based on drone according to claim 1, characterized in that: The storage assembly (3) comprises a storage box (31), the storage box (31) being located in the outer shell (11), the storage box (31) being fixedly connected to the outer shell (11), a plurality of storage chambers (32) being provided in the storage box (31), the storage box (31) being located in a honeycomb structure, a placement groove (321) being provided inside the storage chamber (32), a telescopic through hole (322) being provided in the middle of the placement groove (321), a plurality of flip doors being provided on one side of the outer shell (11), the flip doors being rotatably connected to the outer shell (11), the storage chamber (32) being slidably connected to the storage chamber (32), a driving motor (33) being provided between the storage chamber (32) and the storage box (31), the output end of the driving motor (33) being fixedly connected to the storage chamber (32), the fixed end of the driving motor (33) being fixedly connected to the storage box (31), and a fixing assembly (4) being provided in the storage box (31).

3. The community express delivery robot based on drone according to claim 2, characterized in that: The fixing assembly (4) comprises a placement plate (41), a vertical movable column (42) is provided at the bottom end of the placement plate (41), the bottom end of the placement plate (41) is fixedly connected to the top end of the vertical movable column (42), a sliding sleeve (43) is sleeved at the bottom end of the vertical movable column (42), rotating rods (44) are provided on both sides of the sliding sleeve (43), a transmission rod (45) is provided at one end of the rotating rod (44), a transverse movable rod (46) is provided at one end of the transmission rod (45), and a clamping assembly (6) is provided on one side of the transverse movable rod (46).

4. The community express delivery robot based on drone according to claim 3 is characterized by: The vertical movable column (42) cooperates with the telescopic through hole (322); the middle of the rotating rod (44) is rotatably connected to the accommodating box (31); one end of the rotating rod (44) is rotatably connected to the sliding sleeve (43); the other end of the rotating rod (44) is rotatably connected to one end of the transmission rod (45); one end of the transmission rod (45) is rotatably connected to a pulley (47); the pulley (47) is located at the end that transmits away from the clamping assembly (6); the pulley (47) is rotatably connected to the horizontal movable rod (46); a secondary magnet (8) is provided at the connection between the transmission rod (45) and the pulley (47); a coil (48) is provided at the bottom end of the vertical movable column (42); and a magnetic column (49) is provided at the bottom end of the coil (48).

5. The community express delivery robot based on drone according to claim 4, characterized in that: An arc-shaped moving groove (311) is provided in the containing box (31), and the arc-shaped moving groove (311) is located at one end of the rotating rod (44). A transverse moving groove (312) is provided in the containing box (31), and one end of the transverse moving rod (46) is located in the transverse moving groove (312). A main magnet (7) is provided on the inner wall of the transverse moving groove (312), and the main magnet (7) is located at one end of the transverse moving groove (312) away from the clamping assembly (6). A soft spring is provided between the inner wall of the transverse moving groove (312) and the transverse moving rod (46).

6. The community express delivery robot based on drone according to claim 5, characterized in that: The clamping assembly (6) comprises hinged plates (61), a connecting piece (62) is provided between the hinged plates (61), the connecting piece (62) is fixedly connected to the transverse moving rod (46), two hinged plates (61) are provided, and the hinged plates (61) are hingedly connected to the connecting piece (62).

7. The community express delivery robot based on drone according to claim 6, characterized in that: The offset assembly (5) comprises an arc-shaped tube (51) and a rotating motor (52), wherein the arc-shaped tube (51) is located at the bottom end of the walking assembly (2), a threaded rod (53) is provided at the output end of the rotating motor (52), the threaded rod (53) is fixedly connected to the output end of the rotating motor (52), a gravity block (54) is provided on the threaded rod (53), and the gravity block (54) is threadedly connected to the threaded rod (53).

8. The community express delivery robot based on drone according to claim 7, characterized in that: A rolling ball (56) is arranged inside the arc tube (51), electrode needles (55) are arranged at both ends inside the arc tube (51), and the fixed end of the rotating motor (52) is located at the bottom end of the walking assembly (2).

9. The community express delivery robot based on drone according to claim 8, characterized in that: The drone assembly (9) comprises a transporter (91) and a grabbing member (92); a parking slot is provided at the top of the housing (11); the transporter (91) is located in the parking slot; and a grabbing member (92) is provided at the bottom of the transporter (91).

Images