Four-foot robot dog gravity self-unloading distribution device and implementation method

Abstract

The invention discloses a quadruped robot dog gravity self-unloading distribution device and an implementation method, and belongs to the technical field of robot transportation, the quadruped robot dog gravity self-unloading distribution device comprises a robot dog, a control unit and an attitude sensor are arranged in the robot dog, and the attitude sensor is electrically connected with the control unit; the cargo carrying box bodies are symmetrically and fixedly connected to the upper portion of the back of the robot dog; the top of the box door is hinged to the face, facing the outer side of the robot dog, of the cargo carrying box through a door hinge, the bottom of the box door is in electromagnetic attraction connection with the cargo carrying box through an electromagnetic lock, and the electromagnetic lock is controlled by the control unit; and the tray is slidably connected into the cargo carrying box body in the opening direction of the box body door. The control unit in the robot dog is electrically connected with the attitude sensor to monitor and control the attitude in real time; the symmetrical cargo carrying box body is modularly arranged, so that classification and bearing are facilitated; and the box door is linked with the control unit through the electromagnetic lock, the tray is driven by gravity to unload, the whole process is automatic, efficiency is improved, the structure is simple and energy-saving, and the device is suitable for multiple scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot transportation, and particularly relates to a four-legged robot dog gravity self-unloading distribution device and an implementation method thereof. Background Art

[0002] In recent years, four-legged robot dogs have shown great potential in the fields of transportation, inspection, service, rescue, etc. due to their excellent terrain adaptability and flexible movement characteristics. However, in the logistics application scenario of express delivery to households, the goods carried by the robot dog during walking are prone to tipping, rolling, and damage, with insufficient safety and reliability, and there are also shortcomings such as limited load-bearing capacity, difficulty in classified storage, and inability to achieve fully automatic unloading, resulting in a poor experience for users to pick up express deliveries. These technical pain points restrict the wide application of four-legged robot dogs in the logistics and express delivery industry.

[0003] Therefore, a four-legged robot dog gravity self-unloading distribution device and an implementation method thereof are proposed. Summary of the Invention

[0004] To solve the above technical problems, the present invention proposes a four-legged robot dog gravity self-unloading distribution device and an implementation method thereof.

[0005] To achieve the above object, the present invention provides a four-legged robot dog gravity self-unloading distribution device, including: a robot dog, in which a control unit and an attitude sensor are arranged, and the attitude sensor is electrically connected to the control unit; a plurality of cargo boxes symmetrically and fixedly connected above the back of the robot dog; a box door, the top of the box door is hinged to the side of the cargo box facing the outside of the robot dog through a door hinge, and the bottom is electromagnetically adsorbed to the cargo box through an electromagnetic lock; the electromagnetic lock is controlled by the control unit; a tray, the tray is slidably connected to the inside of the cargo box along the opening direction of the box door.

[0006] Preferably, one side of the tray facing the box door is open, and baffles are fixedly connected to the other three sides.

[0007] Preferably, guide sliding rails are symmetrically arranged on the inner wall of the cargo box along the sliding direction of the tray, a chute is opened inside the guide sliding rail, both ends of the chute are closed, and a pulley is embedded in the chute, and the axis of the pulley is fixedly connected to the side wall of the tray.

[0008] Preferably, two groups of guide sliding rails are arranged in parallel.

[0009] Preferably, the electromagnetic lock includes an electromagnetic mechanism and a magnetic block, the electromagnetic mechanism is installed inside the cargo box and below the tray, and the magnetic block is fixedly connected to the inner side of the box door and corresponds to the electromagnetic mechanism.

[0010] Preferably, the cargo box body is sealed and waterproof, and a sealing strip is fixedly connected to one side of the box door close to the cargo box body.

[0011] Preferably, a shock pad is fixedly connected between the robotic dog and the cargo box body.

[0012] A method for realizing gravity self-unloading distribution of a quadruped robotic dog, based on a quadruped robotic dog gravity self-unloading distribution device, includes the following steps:

[0013] S1. Unloading preparation stage: When the control unit receives the unloading instruction, it controls the robotic dog to autonomously move to the preset unloading area. At this time, the box door is in the locked state, the cargo box body is in the horizontal state, and at the same time, the tray and the guiding slide rail located in the cargo box body also maintain the horizontal reset state. The goods are located on the tray in the cargo box body and wait to enter the next stage.

[0014] S2. Forward tilting unloading stage: The control unit sends an electromagnetic lock unlocking signal to make the box door to be unloaded in the unlocked state. After receiving the tilting instruction, the control unit controls the four legs of the robotic dog to perform a tilting action. The robotic dog slowly presses down by adjusting the supporting height of one side of the front leg and the rear leg, and at the same time, the front leg and the rear leg on the other side are synchronously lifted, realizing the overall tilting posture; while the robotic dog is tilting, the box body synchronously tilts to the lower side, and the internal tray slides along the guiding slide rail to the lower side under the action of gravity and stops after reaching the limit, driving the goods to slide out of the tray by gravity and fall onto the designated unloading platform to complete the unloading action, and then enter the next stage.

[0015] S3. Reverse tilting retraction stage: After the goods slide out, the control unit issues a reverse tilting instruction, and the four legs of the robotic dog cooperate with each other to complete the reverse tilting adjustment; the front leg and the rear leg on the originally higher side slowly press down, and the front leg and the rear leg on the originally lower side are synchronously lifted, making the whole robotic dog in a reverse tilting posture; at this time, the cargo box body tilts reversely synchronously, and the tray slides back to the original position of the box body along the guiding slide rail under the action of gravity and stops after touching the limit; at the same time, the box door returns to the closed position under the action of gravity and the guidance of the hinge structure. After the box door fits in place with the cargo box body, the control unit issues an instruction to control the electromagnetic lock to lock, and then enters the next stage.

[0016] S4. Reset stage: After the tray returns to its position and the box door closes, the control unit of the robotic dog controls the four legs to further cooperate and adjust. The front leg and the rear leg on the lower side are slowly lifted, and the front leg and the rear leg on the higher side are gradually pressed down, so that the robotic dog and the cargo box body return to the horizontal state, and the system completes the reset and is ready to receive the next round of unloading instructions.

[0017] Preferably, in S1, the unloading preparation stage and S4, the reset stage, the control unit real-time monitors the posture of the robotic dog through the posture sensor built in the robotic dog.

[0018] Preferably, in S2, the forward tilting unloading stage, and S3, the reverse tilting retracting stage, the inclination angle in the tilted state is controlled within the stable range of the machine dog body.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] Through the electrical connection between the control unit inside the machine dog and the attitude sensor, the attitude of the machine dog can be monitored in real time and fed back to the control unit, accurately regulating the quadruped actions to keep the cargo box level during transportation and controlling the tilt angle within the stable range of the body during unloading, ensuring smooth and orderly unloading; several cargo boxes symmetrically and fixedly connected to the back of the machine dog form a modular layout, facilitating the classified storage of goods and enhancing the load-bearing capacity; the box door is linked with the control unit through an electromagnetic lock, which can automatically unlock and lock without manual intervention. Combining the gravity-driven unloading method where the tray slides along the direction of the box door, the whole process is automated to improve the logistics efficiency, and the structure is simple, without additional power devices, energy-saving and efficient, and applicable to various distribution scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 is a schematic structural diagram of the balance state of the quadruped machine dog gravity self-unloading distribution device of the present invention;

[0023] Figure 2 is a schematic internal structure diagram of the quadruped machine dog gravity self-unloading distribution device of the present invention;

[0024] Figure 3 is a schematic structural diagram of the open state of the cargo box in the present invention;

[0025] Figure 4 is a schematic structural diagram of the closed state of the cargo box in the present invention;

[0026] Figure 5 is a schematic diagram of the state of the quadruped machine dog gravity self-unloading distribution device in the S2 stage of the present invention;

[0027] Figure 6 is a schematic diagram of the state of the quadruped machine dog gravity self-unloading distribution device in the S3 stage of the present invention;

[0028] Figure 7 is a flowchart of the implementation method of the quadruped machine dog gravity self-unloading distribution of the present invention.

[0029] In the figure: 1, cargo box; 2, pulley; 3, guide rail; 4, door hinge; 5, tray; 6, electromagnetic lock; 7, box door; 8, control unit; 9, machine dog. Detailed implementation manners

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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.

[0031] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0032] Referring to Figures 1 to 4 As shown, this embodiment provides a gravity self-unloading distribution device for a quadruped robot dog, including: a robot dog 9, in which a control unit 8 and an attitude sensor are arranged, and the attitude sensor is electrically connected to the control unit 8; a plurality of cargo boxes 1, symmetrically and fixedly connected above the back of the robot dog 9; a box door 7, the top of the box door 7 is hinged to one side of the cargo box 1 facing the outside of the robot dog 9 through a door hinge 4, and the bottom is electromagnetically adsorbed and connected to the cargo box 1 through an electromagnetic lock 6; the electromagnetic lock 6 is controlled by the control unit 8; a tray 5, the tray 5 is slidably connected to the inside of the cargo box 1 along the opening direction of the box door 7.

[0033] Through the electrical connection between the control unit 8 and the attitude sensor in the robot dog 9, the attitude of the robot dog 9 can be monitored in real time and fed back to the control unit 8, and the quadruped actions can be accurately regulated to keep the cargo box 1 horizontal during transportation and control the inclination angle within the stable range of the body during unloading, ensuring smooth and orderly unloading; a plurality of cargo boxes 1 symmetrically and fixedly connected to the back of the robot dog 9 form a modular layout, which is convenient for classifying and storing goods and improving the load-bearing capacity; the box door 7 is linked with the control unit 8 through the electromagnetic lock 6, and can be automatically unlocked and locked without manual intervention. Combining the gravity-driven unloading method in which the tray 5 slides along the direction of the box door 7, the whole process is automated to improve the logistics efficiency, and the structure is simple, without an additional power device, energy-saving and efficient, and applicable to a variety of distribution scenarios.

[0034] Further, the robot dog 9 is a prior art, and the attitude sensor and the control unit 8 arranged therein are the self-matching structures of the robot dog 9, and their structures and working principles are well known to those skilled in the art and will not be elaborated here.

[0035] In a further optimized solution, one side of the tray 5 facing the box door 7 is open, and baffles are fixedly connected to the other three sides.

[0036] The structure of the tray 5 with one side facing the box door 7 open and the other three sides fixedly connected with baffles can limit the movement range of goods through the three-sided baffles during transportation, prevent the goods from tipping or rolling from the left, right, and rear sides, and improve the transportation stability; when unloading, only allow the goods to slide out from the open front side, ensure that the unloading direction is accurately controllable, and at the same time can stably carry without relying on the outer contour shape of the goods, compatible with various goods, and has higher reliability and wider application range than the existing clamping method with splints.

[0037] In a further optimized solution, guiding slide rails 3 are symmetrically arranged along the sliding direction of the tray 5 on the inner wall of the cargo box body 1. A chute is provided inside the guiding slide rail 3, the two ends of the chute are closed, and a pulley 2 is embedded in the chute. The axis of the pulley 2 is fixedly connected with the side wall of the tray 5.

[0038] Through the cooperation of the symmetrical guiding slide rails 3 and the pulleys 2, stable guidance is provided for the sliding of the tray 5, avoiding the shaking or deviation of the tray 5 and ensuring a smooth unloading process; the closed ends of the chute can prevent the pulleys 2 from sliding out of the track and improve the structural safety; at the same time, the rolling friction design of the pulleys 2 and the slide rails reduces the sliding resistance of the tray 5, and combined with gravity drive, the goods can be smoothly unloaded, effectively reducing the risk of damage to the goods caused by unstable sliding and improving the transportation reliability.

[0039] In a further optimized solution, two groups of guiding slide rails 3 are arranged in parallel.

[0040] By supporting the tray 5 synchronously with the double tracks, the weight of the tray 5 and the goods can be evenly dispersed, enhancing the balance and stability during the sliding process, and avoiding the inclination or jamming of the tray 5 caused by the single track being stressed; the double-track guidance further limits the movement trajectory of the tray 5 to ensure its smooth sliding along a straight line, improving the accuracy of the unloading direction. At the same time, the double-track structure enhances the overall load-bearing strength, reduces the risk of deformation of the slide rails during long-term use, and effectively guarantees the reliability and safety of the transportation and unloading processes.

[0041] In a further optimized solution, the electromagnetic lock 6 includes an electromagnetic mechanism and a magnetic block. The electromagnetic mechanism is installed inside the cargo box body 1 and is located below the tray 5, and the magnetic block is fixedly connected to the inner side of the box door 7 and corresponds to the electromagnetic mechanism.

[0042] Through the adsorption effect of the electromagnetic mechanism and the magnetic block, the reliable locking of the box door 7 is realized. During transportation, the box door 7 can be prevented from accidentally opening due to factors such as vibration, ensuring the safety of the goods; when unloading, the control unit 8 commands to control the electromagnetic mechanism to cut off the power to release the adsorption, so that the box door 7 can be automatically opened under the action of gravity without manual operation, and the position of the electromagnetic mechanism is lower than the tray 5, which does not affect the sliding unloading process of the tray 5, combining the advantages of locking stability and unloading automation.

[0043] In a further optimized solution, the cargo box body 1 is sealed and waterproof, and a sealing strip is fixedly connected to the side of the box door 7 close to the cargo box body 1.

[0044] The structure in which the cargo box 1 is sealed and waterproof and the sealing strip is fixedly connected to one side of the box door 7 close to the cargo box 1 can effectively prevent external environmental factors such as rain and dust from invading the interior of the box, improve the protection performance of the device in complex outdoor environments, avoid damage to the goods caused by moisture, pollution, etc., and at the same time enhance the sealing and reliability of the box in the closed state during transportation, ensure the safety of the goods during transportation on various terrains, and expand the applicable scenario range of the device.

[0045] In a further optimized solution, a shock pad is fixedly connected between the robotic dog 9 and the cargo box 1.

[0046] The structure with a shock pad fixedly connected between the robotic dog 9 and the cargo box 1 can effectively reduce the impact of vibrations generated by the uneven terrain during the movement of the robotic dog 9 on the device and the internal goods, reduce the risk of the goods tipping over and being damaged due to vibrations, and at the same time improve the stability of the connection between the cargo box 1 and the robotic dog 9, ensure the reliability of the overall device during transportation, and is especially suitable for the cargo delivery scenario in complex terrains.

[0047] Refer to Figure 1 and Figures 5 to 7 As shown, this embodiment also provides a method for realizing the gravity self-unloading and distribution of a quadruped robotic dog, including the following steps:

[0048] S1. Unloading preparation stage: When the control unit 8 receives the unloading instruction, it controls the robotic dog 9 to autonomously move to the preset unloading area. At this time, the box door 7 is in the locked state; the control unit 8 real-time monitors the posture of the robotic dog 9 through the built-in posture sensor of the robotic dog 9 to ensure that the cargo box 1 is in a horizontal state. At the same time, the tray 5 and the guiding slide rail 3 located inside the cargo box 1 also return to the horizontal state, and the goods are placed on the tray 5 inside the cargo box 1, waiting to enter the next stage.

[0049] S2. Forward tilting unloading stage: The control unit 8 sends an unlocking signal for the electromagnetic lock 6 to make the box door 7 to be unloaded in the unlocked state. After receiving the tilting instruction, the control unit 8 controls the four legs of the robotic dog 9 to perform a tilting action. Taking the unloading process of any one of the right-side cargo boxes 1 as an example, the robotic dog 9 slowly presses down by adjusting the support heights of the right front leg and the right rear leg, and at the same time the left front leg and the left rear leg are lifted synchronously, realizing an overall tilted posture with the left side high and the right side low, and the tilt angle is controlled within the stable range of the robotic dog 9's body; while the robotic dog 9 is tilting, the cargo box 1 tilts to the right synchronously, and the internal tray 5 slides to the right outside along the guiding slide rail 3 under the action of gravity until it stops at the limit, driving the goods to slide out of the tray 5 by gravity and fall onto the designated unloading platform to complete the unloading action, and then enter the next stage.

[0050] S3. Reverse Tilt and Retraction Stage: After the goods slide out, the control unit 8 issues a reverse tilt command, and the four legs of the robotic dog 9 cooperate to complete the reverse tilt adjustment; the left front leg and the left rear leg of the robotic dog 9 slowly press down, and the right front leg and the right rear leg are lifted synchronously, making the whole body of the robotic dog 9 in a tilted posture with the left side lower and the right side higher, and the tilt angle is controlled within the stable range of the body of the robotic dog 9; at this time, the cargo box 1 tilts to the left synchronously, and the tray 5 slides back to its original position in the box along the guide rail 3 by gravity and stops after touching the limit; at the same time, the box door 7 returns to the closed position under the guidance of gravity and the hinge structure. After the box door 7 fits in place with the cargo box 1, the control unit 8 issues a command to control the electromagnetic lock 6 to lock, and enters the next stage.

[0051] S4. Reset Stage: After the tray 5 returns to its position and the box door 7 closes, the control unit 8 of the robotic dog 9 controls the four legs to further cooperate and adjust. The left front leg and the left rear leg are slowly lifted, and the right front leg and the right rear leg are gradually pressed down. The attitude sensor continuously monitors the current attitude, making the robotic dog 9 and the cargo box 1 return to horizontal, and the system completes the reset, preparing to receive the next round of unloading instructions.

[0052] The details not described in this invention are all well-known conventional technical means in the art.

[0053] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0054] The embodiments described above are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A gravity self-unloading delivery device for a quadruped robot dog, characterized in that, Including: A robotic dog (9), inside which a control unit (8) and an attitude sensor are arranged, and the attitude sensor is electrically connected to the control unit (8); A number of cargo boxes (1), symmetrically and fixedly connected above the back of the robotic dog (9); A box door (7), the top of which is hinged to one side of the cargo box (1) facing the outside of the robotic dog (9) through a door hinge (4), and the bottom is electromagnetically adsorbed and connected to the cargo box (1) through an electromagnetic lock (6), and the electromagnetic lock (6) is controlled by the control unit (8); A tray (5), which is slidably connected to the inside of the cargo box (1) along the opening direction of the box door (7).

2. The four-legged robot dog gravity self-unloading delivery device according to claim 1, wherein: One side of the tray (5) facing the box door (7) is open, and baffles are fixedly connected to the other three sides.

3. The gravity self-unloading delivery device of the quadruped robot dog according to claim 1, characterized in that: Guide rails (3) are symmetrically arranged on the inner wall of the cargo box (1) along the sliding direction of the tray (5). A chute is provided inside the guide rail (3), the two ends of the chute are closed, and a pulley (2) is embedded in the chute. The axis of the pulley (2) is fixedly connected to the side wall of the tray (5).

4. The four-legged robot dog gravity self-unloading distribution device according to claim 3, characterized in that: There are two groups of the guide rails (3) arranged in parallel.

5. The four-legged robot dog gravity self-unloading delivery device according to claim 1, characterized in that: The electromagnetic lock (6) includes an electromagnetic mechanism and a magnetic block. The electromagnetic mechanism is installed inside the cargo box (1) and below the tray (5), and the magnetic block is fixedly connected to the inner side of the box door (7) and corresponds to the electromagnetic mechanism.

6. The gravity self-unloading delivery device of the quadruped robot dog according to claim 1, characterized in that: The cargo box (1) is sealed and waterproof, and a sealing strip is fixedly connected to the side of the box door (7) close to the cargo box (1).

7. The four-legged robot dog gravity self-unloading delivery device according to claim 1, characterized in that: A shock pad is fixedly connected between the robotic dog (9) and the cargo box (1).

8. A method for realizing gravity self-unloading distribution of a quadruped robot dog, based on the quadruped robot dog gravity self-unloading distribution device described in any one of claims 1-7, characterized in that, Including the following steps: S1. Unloading preparation stage: When the control unit (8) receives an unloading instruction, it controls the robotic dog (9) to autonomously move to a preset unloading area. At this time, the box door (7) is in a locked state, the cargo box (1) is in a horizontal state, and at the same time, the tray (5) and the guide rail (3) located inside the cargo box (1) also maintain a horizontal reset state. The goods are located on the tray (5) inside the cargo box (1), waiting to enter the next stage; S2. Forward tilting unloading stage: The control unit (8) sends an unlocking signal for the electromagnetic lock (6) to make the box door (7) to be unloaded in an unlocked state. After receiving a tilting instruction, the control unit (8) controls the four feet of the robotic dog (9) to perform a tilting action. The robotic dog (9) slowly presses down by adjusting the support height of one side of the front foot and the rear foot, and at the same time, the front foot and the rear foot on the other side are lifted synchronously to achieve an overall tilting posture; while the robotic dog (9) is tilting, the box tilts synchronously to the lower side, and the internal tray (5) slides along the guide rail (3) to the lower side under the action of gravity until it stops at the limit, driving the goods to slide out of the tray (5) by gravity and fall onto the designated unloading platform to complete the unloading action, and then enter the next stage; S3. Reverse Tilt and Retraction Phase: After the goods slide out, the control unit (8) issues a reverse tilt command, and the four legs of the robotic dog (9) cooperate to complete the reverse tilt adjustment. The front and rear legs on the originally higher side slowly press down, and the front and rear legs on the originally lower side lift synchronously, causing the overall robotic dog (9) to assume a reverse tilt posture. At this time, the cargo box body (1) tilts in the reverse direction synchronously, and the tray (5) slides back to its original position in the box along the guide rail (3) by gravity and stops after touching the limit. At the same time, the box door (7) returns to the closed position under the guidance of gravity and the hinge structure. After the box door (7) fits in place with the cargo box body (1), the control unit (8) issues a command to control the electromagnetic lock (6) to lock, and then enters the next phase. S4. Reset Phase: After the tray (5) returns to its position and the box door (7) closes, the control unit (8) of the robotic dog (9) controls the four legs to further cooperate and adjust. The front and rear legs on the lower side slowly lift, and the front and rear legs on the higher side gradually press down, causing the robotic dog (9) and the cargo box body (1) to return to horizontal. The system completes the reset and is ready to receive the next round of unloading commands.

9. The method for realizing gravity self-unloading distribution of a quadruped robot dog according to claim 8, characterized in that: In S1, the unloading preparation phase, and S4, the reset phase, the control unit (8) monitors the posture of the robotic dog (9) in real time through the posture sensors built into the robotic dog (9).

10. The implementation method of gravity self-unloading distribution for the quadruped robot dog according to claim 8, characterized in that: In S2, the forward tilt unloading phase, and S3, the reverse tilt and retraction phase, the tilt angle in the tilted state is controlled within the stable range of the body of the robotic dog (9).

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