All-terrain distribution robot

Abstract

The invention discloses an all-terrain delivery robot which comprises a trunk mechanism, a robot body mechanism, a robot body mechanism, a robot body mechanism, a robot body mechanism and a robot body mechanism, the trunk mechanism comprises a box body and mechanical arms arranged on the two sides of the box body, and a joint shaft is arranged at the bottom end of the trunk mechanism; the wheel type moving mechanism comprises a driving wheel driven by a hub motor and two driven wheels, and the driving wheel is arranged on the joint shaft in a foldable mode; the foot type moving mechanism comprises a foldable left moving carrier and a foldable right moving carrier, the left moving carrier and the right moving carrier are both connected with the joint shaft, and the driven wheels are installed on the left moving carrier and the right moving carrier respectively; and the control mechanism is mounted at the top end of the trunk mechanism. The vehicle has the beneficial effects that the vehicle can quickly run on a smooth and neat road, the distribution time is shortened, the distribution requirements of different sites on the ground, stairs, grassland and other scenes are met, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an all-terrain distribution robot. Background Art

[0002] With the progress of technology and the increasing perfection of robot technology, more and more robots are being put into use in the field of point-to-point logistics distribution. Currently, the robots applied to distribution on the market are mainly in the form of wheeled carts or low-altitude flying drones, etc. The main structure of the wheeled cart distribution robot is a combination of a cart with a cargo box body and sensors for perception and obstacle avoidance arranged on the cart. The cart loads the objects to be distributed and moves, and the perception module at the vehicle end commands the cart to reach the designated location to achieve distribution.

[0003] The problems existing in the distribution carts of the prior art are that, due to only one wheeled form state, there will be obstacles when driving on roads with poor road conditions. In particular, wheeled robots cannot climb stairs. Therefore, when facing the distribution that needs to enter the house by walking up the stairs, the distribution task cannot be completed; in addition, a simple legged mobile robot has a slow walking speed and low distribution efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an all-terrain distribution robot to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An all-terrain distribution robot, comprising:

[0006] A torso mechanism, the torso mechanism includes a box body and robotic arms arranged on both sides of the box body, and a joint axis is provided at the bottom end of the torso mechanism;

[0007] A wheeled mobile mechanism, including a driving wheel driven by a hub motor and two driven wheels, the driving wheel is foldably arranged on the joint axis;

[0008] A legged mobile mechanism, the legged mobile mechanism includes a foldable left mobile carrier and a foldable right mobile carrier, both the left mobile carrier and the right mobile carrier are connected to the joint axis, and the driven wheels are respectively installed on the left mobile carrier and the right mobile carrier; and

[0009] A control mechanism, the control mechanism is installed at the top end of the torso mechanism.

[0010] Preferably, a box door is provided on one side of the box body, and a cargo detection module is provided inside the box body.

[0011] Preferably, the wheeled mobile mechanism further includes a middle hip joint cruising motor and a middle hip joint pitching motor. The middle hip joint cruising motor is rotatably arranged on a joint axis. The middle hip joint pitching motor is connected to the middle hip joint cruising motor through a connecting member. The driving wheel is connected to the middle hip joint pitching motor through a middle femur.

[0012] Preferably, the left mobile vehicle includes a left hip joint, a left femur, and a left tibia. The left hip joint is connected to the joint axis. The left femur is rotatably connected to the left hip joint. The left tibia is rotatably connected to the left femur. The bottom end of the left tibia is hinged with a left foot.

[0013] Preferably, the left hip joint is provided with a left hip joint cruising motor and a left hip joint pitching motor. The left hip joint cruising motor is rotatably connected to the joint axis. One end of the left femur is connected to the left hip joint pitching motor. The left femur is provided with a left knee joint motor. The left knee joint motor is connected to the top end of the left tibia through a guide rod.

[0014] Preferably, the left tibia is further connected with two left fibulas. One end of the left fibula is connected to the left tibia through a left ankle joint cruising motor. The other end of the left fibula is hinged with the left foot.

[0015] Preferably, the robotic arm includes a humerus and a radius. The humerus is rotatably installed on the box body. The radius is rotatably connected to the humerus.

[0016] Preferably, the control mechanism includes a general brain, which is composed of a perception, navigation sensor, and a control unit. As a whole, it serves as the driverless brain of the delivery robot and is arranged on the top of the functional trunk.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The wheeled mobile mechanism provided by the present invention can travel quickly on a smooth and clean road, shortening the delivery time.

[0019] 2. The legged mobile mechanism provided by the present invention can adaptively change its form into a biped walking robot according to different use sites to meet the delivery requirements in different sites such as flat ground, stairs, grassland, etc.

[0020] 3. The control device of the present invention can switch the robot into different forms according to the road conditions, quickly reach the destination under different road conditions, complete the delivery task, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the present invention;

[0022] Figure 2This is the wheeled movement state diagram of the present invention;

[0023] Figure 3 This is the side view of the legged movement state of the present invention;

[0024] Figure 4 This is the front view of the legged movement state of the present invention;

[0025] Figure 5 This is the explosion diagram of the present invention.

[0026] In the figure: 1. Trunk mechanism; 11. Box body; 12. Manipulator; 121. Humerus; 122. Radius; 2. Wheeled movement mechanism; 21. Driving wheel; 22. Driven wheel; 23. Central hip joint cruising motor; 24. Central hip joint pitching motor; 25. Central femur; 3. Legged movement mechanism; 31. Left moving vehicle; 311. Left hip joint; 312. Left femur; 313. Left tibia; 314. Left foot; 315. Left side hip joint cruising motor; 316. Left side hip joint pitching motor; 317. Left knee joint motor; 318. Guide rod; 319. Left fibula; 320. Left side ankle joint cruising motor 320; 32. Right moving vehicle; 4. Control device; 5. Joint axis; 51. First mounting hole; 52. Second mounting hole. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Please refer to Figures 1 to 5 , the present invention provides a technical solution: an all-terrain delivery robot, including a trunk mechanism 1, a wheeled movement mechanism 2, a legged movement mechanism 3, and a control mechanism 4. The trunk mechanism 1 is used to place goods during delivery. The control mechanism 4 is arranged at the top of the trunk mechanism 1 and is used to control the movement of the robot during delivery and select to use the wheeled movement state or the legged movement state according to different terrains. For example, on a smooth road, the robot is controlled to be in the wheeled movement state, and the legged movement mechanism 3 is in a folded state, and the wheeled movement mechanism 3 drives the robot to move quickly; when encountering stairs or obstacles, the robot is controlled to be in the legged movement state. At this time, the wheeled movement mechanism 2 is folded, and the robot moves forward through the legged movement mechanism 3.

[0029] In an embodiment of the present invention, the control mechanism 4 uses a general-purpose brain (master2000) as the core. The general-purpose brain has powerful sensing capabilities and can quickly and accurately collect information about the surrounding environment, including obstacles, pedestrians, road conditions, etc. By analyzing and processing this information in real time, the delivery robot can make more informed decisions, such as choosing the best delivery route, avoiding congested sections and dangerous areas, thereby improving delivery efficiency and safety. The general-purpose brain can provide high-precision navigation and positioning functions to ensure that the delivery robot accurately reaches the destination in a complex environment. This is particularly important for delivery tasks in complex scenarios such as high-rise buildings, underground parking lots, and narrow streets in the city, and can effectively reduce delivery errors and delays. As the usage time increases, the general-purpose brain master2000 can continuously learn and accumulate experience, and adaptively adjust to different delivery scenarios and tasks. For example, it can dynamically optimize the delivery route and strategy according to factors such as traffic conditions and weather changes at different times, improving the overall performance and adaptability of the robot.

[0030] In an embodiment of the present invention, the torso mechanism 1 includes a box body 11 and robotic arms 12 provided on both sides of the box body 11. The robotic arms 12 are provided on both sides in the forward direction of the box body 11 and can be unfolded to both sides with the box body 11 as the fulcrum. When the robot is in a wheeled traveling state, the robotic arms 12 can prevent the robot from tipping over. An object detection sensor, such as a pressure sensor or an infrared sensor, is provided inside the box body 11 to detect whether there is any cargo placed inside the box body 11. A battery module is also provided inside the box body 11 to supply power to the present invention.

[0031] In this embodiment, the robotic arm 12 includes a humerus 121 and a radius 122. The humerus 121 is rotatably installed on the box body 11. Specifically, one end of the humerus 121 is hinged to the box body 11, and the other end of the humerus 121 can move up and down with the hinge point on the box body 11 as the fulcrum. One end of the radius 122 is hinged to the free end of the humerus 121, and the other end of the radius 122 can move back and forth with the free end of the humerus 121 as the fulcrum.

[0032] In this embodiment, a joint axis 5 is provided at the bottom end of the torso mechanism 1. The joint axis 5 serves as a connecting member between the torso mechanism 1 and the wheeled moving mechanism 2 and the legged moving mechanism 3, and is used to connect the wheeled moving mechanism 2 and the legged moving mechanism 3 to the torso mechanism 1. The joint axis 2 is provided with a first mounting hole 51 with a downward opening and two second mountings 52 with horizontal openings. The first mounting hole 51 and the second mounting hole 52 form a triangular structure.

[0033] In an embodiment of the present invention, the wheeled mobile mechanism 2 includes a driving wheel 21 driven by a hub motor and two driven wheels 22. The driving wheel 21 is foldably arranged on the joint shaft 5. When traveling on flat ground, the driving wheel 21 extends to contact the ground and serves as the driving part for the robot to travel. A triangular structure is formed between the driven wheels 22 and the driving wheel 21 to keep the robot stable during travel.

[0034] In this embodiment, the wheeled mobile mechanism 2 further includes a middle hip joint cruising motor 23 and a middle hip joint pitching motor 24. The middle hip joint cruising motor 23 is rotatably arranged on the joint shaft 5. The middle hip joint pitching motor 24 is connected to the middle hip joint cruising motor 23 through a connecting member. The driving wheel 21 is connected to the middle hip joint pitching motor 24 through a middle femur 25.

[0035] In this embodiment, specifically, the middle hip joint cruising motor 23 is installed in the first mounting hole 51. When the robot is in the wheeled walking state, the middle hip joint cruising motor 23 controls the forward direction of the robot by horizontal rotation.

[0036] In this embodiment, specifically, the middle hip joint pitching motor 24 is installed at the bottom end of the middle hip joint cruising motor 23 through a connecting member. The middle femur 25 is connected to the drive shaft of the middle hip joint pitching motor 24. The middle hip joint pitching motor 24 changes the height between the box body 11 and the ground by controlling the pitching angle of the middle femur 25 to facilitate passing through a road surface with low obstacles. The driving wheel 21 is internally provided with a hub motor as a power source to provide driving power for the robot. When the robot is in the legged mobile state, the middle hip joint pitching motor 24 can also control the middle femur 25 to approach the box body 11 to make the wheeled mobile mechanism 2 in a folded state.

[0037] In an embodiment of the present invention, the legged mobile mechanism 3 includes a foldable left mobile carrier 31 and a foldable right mobile carrier 32. Both the left mobile carrier 31 and the right mobile carrier 32 are connected to the joint shaft 5. The driven wheels 22 are respectively installed on the left mobile carrier 31 and the right mobile carrier 32.

[0038] In this embodiment, the left mobile carrier 31 includes a left hip joint 311, a left femur 312, and a left tibia 313. The left hip joint 311 is connected to the joint shaft 5. The left femur 312 is rotatably connected to the left hip joint 311. The left tibia 313 is rotatably connected to the left femur 312. The bottom end of the left tibia 313 is hinged with a left foot 314.

[0039] In this embodiment, specifically, the left hip joint 311 is provided with a left hip joint cruising motor 315 and a left hip joint pitching motor 316. The left hip joint cruising motor 315 is rotationally connected to the joint axis. One end of the left femur 312 is connected to the left hip joint pitching motor 316. The left femur 312 is provided with a left knee joint motor 317. The left knee joint motor 317 is connected to the top end of the left tibia 312 through a guide rod 318. Further, the driving end of the left hip joint cruising motor 315 is installed in the second mounting hole 52, used to drive the left hip joint 311 to simulate the movement state of the human hip joint. The left hip joint pitching motor 316 is installed at the bottom end of the left hip joint 311. The top end of the left humerus 312 is connected to the left hip joint pitching motor 316. The left hip joint pitching motor 316 controls the pitching angle of the left humerus 312 to simulate the movement of the human thigh.

[0040] In this embodiment, specifically, the left tibia 313 is hinged to the left femur 312. The top end of the left tibia 313 is hinged to one end of the guide rod 318. The other end of the guide rod 318 is hinged to the drive shaft of the left knee joint motor 317. The left knee joint motor 317 rotates to control the guide rod 318 to drive the left tibia 313 to move.

[0041] In this embodiment, specifically, the left tibia 313 is further connected with two left fibulas 319. One end of the left fibula 319 is connected to the left tibia 313 through a left ankle joint cruising motor 320. The other end of the left fibula 319 is hinged to the left foot 314. Specifically, the left ankle joint cruising motor 320 is fixed on the left tibia 313. One end of the left fibula 319 is hinged to the driving end of the left ankle joint cruising motor 320. For example, a crank is provided at the driving end of the left ankle joint cruising motor 320, and the left fibula 319 is hinged to the crank. The other end of the left fibula 319 is hinged to the upper end of the left foot 314 through a hinge. The left ankle joint cruising motor 320 controls the left foot 314 to simulate the state of the foot during human walking through the left fibula 319.

[0042] In an embodiment of the present invention, the structure of the right moving vehicle 32 is the same as that of the left moving vehicle 31, and will not be described in detail.

[0043] It should be noted that the motors in the embodiments of the present application all adopt robot joint motors for robot joint movement.

[0044] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An all-terrain delivery robot, characterized in that: include: A trunk mechanism, the trunk mechanism comprising a box body and mechanical arms arranged on both sides of the box body, and a joint shaft is arranged at the bottom end of the trunk mechanism; The wheeled mobile mechanism comprises a driving wheel driven by a hub motor and two driven wheels, wherein the driving wheel is foldably arranged on a joint shaft; A foot-type mobile mechanism, the foot-type mobile mechanism comprising a foldable left mobile carrier and a foldable right mobile carrier, the left mobile carrier and the right mobile carrier are both connected to the joint shaft, and the driven wheels are respectively mounted on the left mobile carrier and the right mobile carrier; as well as A control mechanism is installed on the top of the trunk mechanism.

2. The all-terrain delivery robot according to claim 1, characterized in that: A box door is arranged on one side of the box body, and a cargo detection module is arranged inside the box body.

3. The all-terrain delivery robot according to claim 2, characterized in that: The wheeled mobile mechanism also includes a middle hip joint cruise motor and a middle hip joint pitch motor. The middle hip joint cruise motor is rotatably arranged on the joint shaft. The middle hip joint pitch motor is connected to the middle hip joint cruise motor through a connecting piece. The driving wheel is connected to the middle hip joint pitch motor through the middle femur.

4. The all-terrain delivery robot according to claim 3, characterized in that: The left mobile carrier includes a left hip joint, a left femur and a left tibia, wherein the left hip joint is connected to the joint axis, the left femur is rotatably connected to the left hip joint, the left tibia is rotatably connected to the left femur, and a left foot is hinged at the bottom end of the left tibia.

5. The all-terrain delivery robot according to claim 4, characterized in that: The left hip joint is provided with a left hip joint cruise motor and a left hip joint pitch motor, the left hip joint cruise motor is rotationally connected to the joint axis, one end of the left femur is connected to the left hip joint pitch motor, the left femur is provided with a left knee joint motor, and the left knee joint motor is connected to the top of the left tibia through a guide rod.

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