Automatic cargo delivery device and delivery vehicle

Abstract

The invention relates to an automatic goods delivery device and a delivery vehicle, the automatic goods delivery device comprises a container and a mechanical arm, the container comprises a goods shelf and a container arranged on the goods shelf, the container is provided with a bottom wall used for bearing goods, and the bottom wall is a retractable movable part; the mechanical arm is used for moving the container between the designated position and the container, the mechanical arm comprises a mechanical arm body and a tail end executor installed at the end of the mechanical arm body, and the tail end executor is used for grabbing the container and driving the movable part to be folded to release goods when the container moves to the designated position. The cargo box can contain different types of cargoes, one cargo box is used for achieving standardized design and retractable movable part design in the circulation process, after the roller shutter is retracted, the cargoes automatically fall to the delivery position, only the cargoes are thrown at the tail end, the asset management problem caused by throwing of the container is avoided, and the utilization rate of the container is increased. A power source of the roller shutter comes from a chain wheel on the end effector, and the roller shutter can be driven to be folded only when the end effector is connected with the container.

Description

Technical Field

[0001] The present disclosure relates to the field of cargo delivery, and in particular, to an automatic cargo delivery device and a delivery vehicle. Background Art

[0002] Full-chain automation for automated delivery encompasses not only autonomous driving during the delivery process but also automated loading and unloading of goods at both the front and back ends. For example, automated food delivery requires addressing issues like grabbing and moving goods at both the front and back ends. Related technologies utilize robotic arms for this purpose. However, with the increasing variety of food orders, a single robotic arm cannot handle all of them. Designing containers for both the front and back ends also requires consideration of asset management and container utilization. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a cargo distribution system to solve the asset management problem caused by placing containers at the front and back ends.

[0004] In order to achieve the above objectives, the present disclosure provides an automatic cargo delivery device, comprising:

[0005] A cargo container, comprising a shelf and a cargo box arranged on the shelf, wherein the cargo box has a bottom wall for carrying cargo, and the bottom wall is a retractable movable part;

[0006] A robotic arm is used to move the cargo box between a designated position and the cargo container. The robotic arm includes a robotic arm body and an end effector installed at the end of the robotic arm body. The end effector is used to grab the cargo box and drive the movable part to fold up to release the cargo when the cargo box moves to the designated position.

[0007] Optionally, a receiving channel is formed on opposite side wall edges of the cargo box, and the side wall edges include at least a bottom edge of the cargo box and a side edge adjacent to the bottom edge. The movable portion is a roller shutter that can move between an unfolded position and a retracted position within the receiving channel, wherein:

[0008] In the deployed position, the roller shutter is at least partially located at the bottom edge, and the roller shutter is capable of closing the bottom opening of the cargo box and carrying cargo;

[0009] In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box and releasing the cargo.

[0010] Optionally, the end actuator includes a main body, a sprocket provided on the main body and a power member that drives the sprocket to rotate, the teeth of the sprocket can extend into the gap of the rolling curtain, and the power member drives the sprocket to rotate to drive the rolling curtain to move in the receiving channel.

[0011] Optionally, the rolling curtain includes a plurality of carbon rods arranged in parallel, and magnetic parts are provided in the inner cavities of the carbon rods at both ends of the rolling curtain. A Hall sensor is provided on the end actuator, and the Hall sensor is used to determine the position of the rolling curtain in the receiving channel based on detecting the position of the carbon rod with the magnetic part.

[0012] Optionally, a locking portion cooperating with the movable portion is provided on the cargo box, and when the end effector is connected to the cargo box, the locking portion is driven to unlock.

[0013] Optionally, the locking portion includes a rotatable locking pin, one end of the locking pin is formed as a hook portion, and the other end is formed as a latching protrusion, the hook portion can extend into or exit the gap between two adjacent carbon rods of the roller shutter, an opening is provided on the side wall of the cargo box, the latching protrusion can protrude from the opening, and when the end actuator is connected to the cargo box, the main body presses the latching protrusion into the interior of the cargo box to drive the locking pin to rotate.

[0014] Optionally, the shelf has multiple cabinets, which are used to place the cargo boxes. The robotic arm is used to drive the cargo boxes to move horizontally to enter or exit the cabinets. The cabinets are provided with openable and closable cabinet doors on the side away from the cargo box entrance to close the opening of the cargo box.

[0015] Optionally, a guide piece is provided on the counter, and a guide hole matching the shape of the guide piece is provided on the cargo box, and the size of the guide hole gradually decreases along the moving direction of the cargo box entering the counter.

[0016] Optionally, an electromagnet is provided on the cabinet, and a magnetic adsorption component is provided on the cargo box, and the electromagnet and the magnetic adsorption component can be connected in a disconnectable manner.

[0017] According to a second aspect of the present disclosure, a delivery vehicle is provided, on which the above-mentioned automatic cargo delivery device is installed.

[0018] Through the above technical solution, in the automatic cargo delivery device provided by the present disclosure, the cargo box can hold different types of cargo, and a standardized design of the circulation process is realized by using a cargo box. The movable part design can be retracted. After the roller shutter is retracted, the cargo automatically falls to the delivery position. Only cargo is delivered at the end, avoiding asset management problems caused by the delivery container and improving the utilization rate of the container. The end effector of the robotic arm can realize the grasping of the cargo box on the one hand, and can also drive the roller shutter to be retracted or unfolded through the sprocket. The power source of the roller shutter comes from the sprocket on the end effector. When the end effector is connected to the cargo box, the roller shutter can be driven to retract. When the cargo box is used alone, the roller shutter can always be in the unfolded position to avoid abnormal falling of cargo in non-delivery situations.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] Figure 1 It is a structural diagram of an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0022] Figure 2 and Figure 3 It is a structural schematic diagram of a delivery vehicle provided by an exemplary embodiment of the present disclosure.

[0023] Figure 4 and Figure 5 It is a schematic structural diagram of a cargo container in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0024] Figures 6 to 8 It is a schematic diagram of the structure of a shelf in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0025] Figures 9 to 17 It is a schematic structural diagram of a cargo box in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0026] Figure 18 and Figure 19 It is a structural schematic diagram of a robotic arm in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0027] Figure 20 and Figure 21 It is a structural schematic diagram of the end effector in the automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0028] Description of Reference Numerals

[0029] 10-Container.

[0030] 100-shelf; 110-frame structure; 120-electromagnet; 130-guide; 140-cabinet door.

[0031] 200-cargo box; 201-top wall; 202-first side wall; 203-second side wall; 2021-opening; 2022-power end input port; 210-gripping portion; 220-movable portion; 221-carbon rod; 222-first fixing ring; 230-accommodating channel; 240-locking portion; 241-locking pin; 2411-hook-shaped portion; 2412-clamping protrusion; 250-opening; 260-magnetic adsorption part; 270-guide hole.

[0032] 300-robotic arm; 310-multi-axis robotic arm; 320-end effector; 321-main body; 3210-weight reduction hole; 322-sprocket; 3220-mounting shaft; 323-power part; 324-transmission part; 325-mounting part; 326-Hall sensor; 327-clamping edge; 328-connecting hole; 329-contact part.

[0033] 400-delivery vehicle. DETAILED DESCRIPTION

[0034] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0035] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0036] In the present disclosure, unless otherwise specified, directional words such as "up, down, left, and right" are generally defined under the normal use of the automatic cargo delivery device provided by the present disclosure. "front, back, front, and back" refer to the movement direction of the cargo box, which moves forward to enter the shelf grid and moves backward to exit the shelf grid. "Inside and outside" refer to the inside and outside of the corresponding component outlines. The use of terms such as "first" and "second" is intended to distinguish different components and does not have sequentiality or importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0037] Taking the takeaway scenario as an example, in order to realize the automatic delivery of goods at the front and back ends, in an exemplary embodiment of the present disclosure, Figure 1As shown, an automatic cargo delivery device is provided, which includes two parts: a container 10 and a robotic arm 300. The container 10 includes a shelf 100 and a cargo box 200 arranged on the shelf 100. The robotic arm 300 includes a multi-axis robotic arm 310 and an end effector 320 arranged at the end of the multi-axis robotic arm 310. The robotic arm 300 can move the cargo box 200 between the container 10 and the delivery position through the cooperation of the end effector 320 and the cargo box 200, and automatically place the cargo at the delivery position, and then put the empty cargo box 200 back to the shelf 100 to complete the automatic delivery of the cargo. Figure 2 and Figure 3 As shown, the automatic cargo delivery device can be installed as a whole on a delivery vehicle 400. The delivery vehicle 400 can move the container 10 and the robotic arm 300 to the delivery point, and at the same time realize automatic driving in the middle route and automatic loading and unloading of front and rear end cargo, thereby realizing full-link automation of automatic delivery. The present disclosure has designs for both parts. The following will introduce in detail the coordination between the above two parts and the various components between them in combination with specific embodiments.

[0038] Figure 1 An automatic cargo delivery device provided by an exemplary embodiment of the present disclosure is shown.

[0039] Figure 2 and Figure 3 A delivery vehicle 400 provided by an exemplary embodiment of the present disclosure is shown. Figure 1 The automatic cargo delivery device shown can be installed as a whole on the delivery vehicle 400. In other embodiments, the robotic arm 300 and the container 10 can also be placed on the ground or in a workshop.

[0040] Figure 4 and Figure 5 A cargo container 10 provided by an exemplary embodiment of the present disclosure is shown, comprising a shelf 100 and a plurality of cargo boxes 200 placed on the shelf 100 . The number of cargo boxes 200 on the shelf 100 is not limited and can be designed as needed.

[0041] Figures 6 to 8 A shelf 100 provided by an exemplary embodiment of the present disclosure is shown. The structure of the shelf 100 is not limited and may be a frame structure 110 as shown in the figure, having a plurality of compartments.

[0042] Figures 9 to 17 A cargo box 200 provided in an exemplary embodiment of the present disclosure is shown. The cargo box 200 can exist alone or be placed on the shelf 100 as one of the multiple cargo boxes of the shelf 100. The present disclosure does not limit this. The latter will be specifically described in detail below.

[0043] Figure 18 and Figure 19The robot arm 300 provided by an exemplary embodiment of the present disclosure is shown. The robot arm 300 includes a multi-axis robot arm 310 and an end effector 320 installed at the end of the multi-axis robot arm 310. The multi-axis robot arm 310 can be a six-axis robot arm or a robot arm in other forms. It mainly serves the function of transporting and moving the cargo box 200, and can move the cargo box 200 to the delivery position or to the shelf 100.

[0044] Figure 20 and Figure 21 The end effector 320 provided by an exemplary embodiment of the present disclosure is shown. The end effector 320 can be installed at the end of any movable component, not limited to a robotic arm, for example, on a motion module that can perform multi-directional movement. Specifically, the following will provide a detailed introduction using the example of the end effector 320 being installed at the end of a multi-axis robotic arm 310.

[0045] In order to realize the grabbing action of the end effector 320 on the cargo box 200, so that the robot arm 300 drives the cargo box 200 to move between the container 10 and the delivery position, in the present disclosure, as shown in FIG. Figure 10 As shown, a gripping portion 210 is provided on the cargo box 200, and the end effector 320 drives the cargo box 200 to move by gripping the gripping portion 210. The gripping portion 210 can be any appropriate structure that cooperates with the end effector 320. In an exemplary embodiment of the present disclosure, the gripping portion 210 includes two mounting bases fixed to the side walls of the cargo box 200 and a handle connected between the two mounting bases. A gripping space is formed between the handle, the mounting base and the side walls of the cargo box 200, as shown in FIG. Figure 20 and Figure 21 As shown, the end effector 320 includes a body portion 321, with a snap-fit ​​edge 327 disposed on the upper side of the body portion 321. The snap-fit ​​edge 327 can extend from the bottom to the top of the gripping space to engage with the robot arm 300 and the cargo box 200. In other embodiments, the gripping portion 210 can also be a handle, a claw, a gripping hole, etc. The force driving the movement of the cargo box 200 is not limited to the robot arm, but can be driven by any external force, such as a drone or a human operator, and this is not limited in this disclosure.

[0046] like Figure 9 As shown, the cargo box 200 has a bottom wall for carrying goods, wherein the bottom wall can be a retractable movable portion 220. The movable portion 220 is unfolded to serve as the bottom wall of the cargo box 200. Goods can be placed on the movable portion 220. The robotic arm 300 drives the cargo box 200 containing goods to move freely. When the cargo box 200 moves to a designated position, as shown in FIG. Figure 11 As shown, the movable portion 220 is folded and automatically released under the action of the gravity of the cargo.

[0047] In the cargo box 200 provided in the present invention, different types of goods can be placed in the cargo box 200, and the different types of goods can be grasped and moved by a robotic arm 300, thereby realizing the standardized design of the container and standardizing the entire circulation process with one cargo box, saving design costs; when the cargo box 200 moves to the delivery position, the movable part 220 is folded, and the goods automatically fall to complete the delivery action. The empty cargo box can be moved back to the shelf 100, and only goods are placed at the end without placing containers, avoiding the additional investment in recycling cargo boxes and avoiding asset management problems and container utilization problems caused by placing containers.

[0048] There are many ways to fold and unfold the movable portion 220, such as by pulling or winding. In an exemplary embodiment of the present disclosure, Figure 12 and Figure 13 As shown, the side wall edges of the cargo box 200 are formed with a receiving channel 230, and the side wall edges include at least the bottom edge of the cargo box 200 and a side edge adjacent to the bottom edge. The movable portion 220 can be a roller shutter with both ends mounted in the receiving channel 230. The roller shutter can move between an extended position and a retracted position in the receiving channel 230. In the extended position ( Figure 12 ), the roller shutter is at least partially located at the bottom edge, and the roller shutter can close the bottom opening of the cargo box 200 and carry cargo; in the retracted position ( Figure 13 ), the roller shutter is at least partially located on the side, exposing the bottom opening of the cargo box 200 and releasing the cargo.

[0049] In this embodiment, if Figure 11 As shown, the cargo box 200 can be a square structure surrounded by a top wall 201, a bottom wall, a first side wall 202 and two opposite second side walls 203. The bottom edge, one side edge (right side edge) and part of the top edge of the two opposite second side walls 203 are provided with a receiving channel 230. The position where the receiving channel 230 is provided is designed to be thickened, and the roller shutter moves between the expanded position and the retracted position in the receiving channel 230 in an overall translation manner. Of course, in other embodiments, the receiving channel 230 can be set only at the bottom edge. The roller shutter can be made of a flexible material and can be wound up on one side of the bottom opening, which can also achieve the effect of automatically releasing the goods.

[0050] There are many ways to drive the movable portion 220 to expand and fold. A driving member can be provided inside the cargo box 200. In an exemplary embodiment of the present disclosure, when the robotic arm 300 and the cargo box 200 are connected, the end effector 320 drives the movable portion 220 to be folded and expanded. Figure 9 and Figure 14As shown, the rolling curtain includes multiple carbon rods 221 arranged in parallel. The ends of two adjacent carbon rods 221 are connected by a first fixing ring 222, and two adjacent first fixing rings 222 are connected by a second fixing ring. The connection of multiple carbon rods 221 is realized to achieve the translation of the rolling curtain as a whole. There is a gap between two adjacent carbon rods 221. The side wall of the cargo box 200 is provided with a power end input port 2022, as shown in FIG. Figure 20 and 21 As shown, the lower side of the main body 321 is provided with a sprocket 322 and a power member 323 that drives the sprocket 322 to rotate. The power member 323 is installed on the power end input port 2022 and has a tooth portion that extends into the gap to drive the roller shutter to move. The power member 323 can be a motor. When the roller shutter is unfolded, it can be the bottom plate of the cargo box 200 for placing goods. When the roller shutter is retracted, the bottom plate disappears and the goods automatically fall out. In addition, the power source of the roller shutter comes from the sprocket 322 on the end effector 320. When the end effector 320 is connected to the cargo box 200, the roller shutter can be driven to retract. When the cargo box 200 is used alone, the roller shutter can always be in the unfolded position to prevent the goods from falling abnormally when not in a distribution situation.

[0051] To obtain the position of the roller blind in the receiving channel 230, in the present disclosure, as shown in FIG. Figure 20 As shown, a Hall sensor 326 is provided near the sprocket 322 on the main body 321. As shown in the figure, a card slot is provided on one side edge of the main body 321. The probe of the Hall sensor 326 passes through the card slot and is fixed on the upper side of the sprocket 322. The installation position of the Hall sensor 326 can be designed according to needs, and at the same time, it should not affect the rotation of the sprocket 322. Magnetic parts are provided in the inner cavity of the carbon rod 221 at both ends of the rolling curtain. The Hall sensor 326 is used to determine the position of the rolling curtain in the receiving channel 230 by detecting the position of the carbon rod with the magnetic part, thereby determining whether the rolling curtain has moved into place. Figure 12 In the embodiment, the left end of the roller shutter is located at the end of the receiving channel 230 and has moved to the limit position of the unfolding. Figure 13 In the embodiment, the right end of the rolling curtain is located at the end of the receiving channel 230 and has moved to the retracted limit position. The Hall sensor 326 determines whether the rolling curtain has moved to the limit position by searching the position of the carbon rod 221 with the magnetic member. Figure 12 or Figure 13 The limit position shown is used to control the start and stop of the power member 323.

[0052] Furthermore, in order to prevent the roller blind from being accidentally retracted when in the unfolded position, in the present disclosure, Figure 10 and Figure 15As shown, the cargo box 200 is provided with a locking portion 240 that cooperates with the movable portion 220. When the locking portion 240 is unlocked, the rolling shutter can move in the receiving channel 230. When the locking portion 240 is locked, the rolling shutter is limited to any position in the receiving channel 230. The locking portion 240 can prevent the rolling shutter from being accidentally retracted, thereby preventing the goods from accidentally falling during transportation, which is safer and more reliable.

[0053] The locking portion 240 may be any suitable structure that matches the rolling curtain. Figure 16 and Figure 17 As shown, the locking portion 240 includes a rotatable locking pin 241. One end of the locking pin 241 can be formed into a hook-shaped portion 2411, and the other end can be formed into a latching protrusion 2412. The hook-shaped portion 2411 can extend into or out of the gap between two adjacent carbon rods 221 of the rolling curtain. The side wall of the cargo box 200 is provided with an opening 2021, and the latching protrusion 2412 can protrude from the opening 2021. The engagement of the latching protrusion 2412 with the opening 2021 can maintain the locking pin 241 in the locked position, thereby limiting the rolling curtain. By driving the locking pin 241 to rotate, the limit of the rolling curtain can be released.

[0054] The power for the rotation of the lock pin 241 can come from the internal structure of the cargo box itself. In the present disclosure, the power for driving the rotation of the lock pin 241 comes from the end effector 320, such as Figure 20 As shown, on the lower side of the main body 321, there is a contact portion 329 corresponding to the position of the opening 2021 on the cargo box 200, and an elastic member (not shown in the figure) is sleeved on the rotating shaft where the lock pin 241 is located. When the end effector 320 is connected to the cargo box 200, the contact portion 329 abuts against the locking protrusion 2412 and compresses the elastic member, pressing the locking protrusion 2412 into the interior of the cargo box 200, which can drive the lock pin 241 to rotate, thereby Figure 17 The lock status shown switches to Figure 16 In the unlocked state shown, when the end effector 320 is disconnected from the container 200, the locking pin 241 can be switched back to the unlocked state under the elastic force of the elastic member. Figure 17 The locked state shown prevents the goods from accidentally falling out due to the retraction of the roller shutter.

[0055] In the embodiment where the cargo box 200 is disposed on the shelf 100, as shown in FIG. Figure 1As shown, the shelf 100 is a frame structure 110 having multiple cabinets, which are used to accommodate cargo boxes 200. The robotic arm 300 is used to drive the cargo boxes 200 to move horizontally to enter or exit the cabinets. The gripping portion 210 of the cargo box 200 can be set on the first side wall 202. The position opposite the first side wall 202 on the square structure is formed as an opening 250 for storing goods. The cabinet is provided with an openable and closable door 140 on the side away from the entrance of the cargo box 200 to close the opening 250. The shelf 100 and the cargo box 200 are combined to form a grid cabinet similar to a takeout cabinet. The door 140 can be automatically opened. On the side where the door 140 is located, the user can open the door 140 and place the goods into the cargo box 200 through the opening 250. When unloading, the robotic arm 300 removes the cargo box 200 from the shelf 100 from the opposite side. In addition, multiple cabinet doors 140 carry different order information respectively. When storing goods, by scanning the QR code on the delivery vehicle 400, the cabinet door 140 corresponding to the order information will automatically pop open. The user can place the goods from the opening 250 manually or by the robotic arm 300. Of course, the cabinet door 140 that pops open by button control also falls within the scope of protection of this disclosure.

[0056] The frame structure 110 can guide the entry and exit of the cargo box 200. Figure 8 and Figure 9 As shown, each shelf 100 is provided with a guide member 130, and the cargo box 200 is provided with a guide hole 270 that matches the shape of the guide member 130. The size of the guide hole 270 gradually decreases as the cargo box 200 moves into the shelf. The guide member 130 can be an arrow-shaped structure pointing in the direction of entry into the shelf, and the guide hole 270 can be a triangular hole. During the process of pushing the cargo box 200 back to the shelf 100, the guide member 130 gradually enters the guide hole 270, guiding the movement of the cargo box 200 and compensating for the deviation of the cargo box 200 returning to the shelf 100. By designing the size of the guide hole 270, a deviation of ±10mm can be compensated, avoiding the problem of the cargo box 200 not moving into place.

[0057] Multiple cargo boxes 200 are placed on the shelves 100 respectively, and the entire container 10 is placed on the delivery vehicle 400. During the driving process, in order to prevent the cargo box 200 from falling off the shelf 100, in the present disclosure, an electromagnet 120 is provided on each counter position of the shelf 100, and a magnetic adsorption part 260 is provided on the cargo box 200. The electromagnet 120 and the magnetic adsorption part 260 can be connected on and off. During the driving process of the delivery vehicle 400, the electromagnet 120 is powered off and attracted to the magnetic adsorption part 260 to prevent the cargo box 200 from falling out, thereby ensuring the connection between the cargo box 200 and the shelf 100. When unloading is required, the electromagnet 120 is powered on, the magnetic force disappears, and the cargo box 200 can be easily removed from the shelf 100.

[0058] In the present disclosure, the guide hole 270 and the magnetic attraction member 260 are both provided on the top wall 201 of the cargo box 200. The positions of the guide member 130 and the electromagnet 120 can be designed based on the positions of the guide hole 270 and the magnetic attraction member 260 on the cargo box 200. The magnetic attraction member 260 can be a thin sheet structure and will not affect the movement of the cargo box 200. In addition, the cargo box 200 provided by the present disclosure does not contain any electrical components, has higher waterproof and dustproof performance, and is easy to clean.

[0059] In addition, in the present disclosure, a snap-fit ​​edge 327 extending into the gripping portion 210 is provided on the upper side of the body portion 321, and a sprocket 322 is provided on the lower side of the body portion 321. The teeth of the sprocket 322 can be inserted into the gaps in the carbon rods 221 to connect the cargo box 200 to the end effector 320 at the upper and lower sides, respectively. This ensures the reliability and stability of the connection between the cargo box 200 and the end effector 320, thereby driving the cargo box 200 to move via the robotic arm 300. The snap-fit ​​edge 327 can be an arc-shaped edge with a thickness gradually decreasing in the upward direction, making it easier to extend into the gripping space for snap-fitting.

[0060] In this disclosure, Figure 20 and Figure 21 As shown, the sprocket 322 is located on the front of the main body 321, and the power member 323 is located on the back of the main body 321. The power member 323 and the sprocket 322 are connected by a transmission member 324. The main body 321 has a through hole, and the transmission member 324 passes through the through hole. The power member 323 can be a motor, which drives the sprocket 322 to rotate via a synchronous belt. Since the sprocket 322 is engaged with the rolling curtain at this time, it can drive the rolling curtain to open and close. In addition, the power member 323 and the sprocket 322 are located one on the front and the other on the back of the main body 321, maximizing the space in the main body 321 to achieve the driving effect on the sprocket 322.

[0061] To ensure the driving effect of the sprocket 322 on the roller blind, Figure 20 As shown, the front of the main body 321 is provided with ear plates arranged opposite to each other, and there can be multiple sprockets 322 and they are arranged on the mounting shaft 3220. The two ends of the mounting shaft 3220 are respectively mounted on the ear plates. The transmission member 324 can be a synchronous belt, one end of which is sleeved on the mounting shaft 3220 and the other end is sleeved on the output shaft of the power member 323. After the end effector 320 is connected to the cargo box 200, the multiple sprockets 322 can act on the gap between the carbon rods 221 at the same time, and drive the roller shutter to move. Specifically, Figure 14 In the embodiment shown, when the roller blind needs to be retracted, the drive sprocket 322 rotates clockwise, and the power member 323 also rotates clockwise, and the roller blind moves upward to the retracted position; when the roller blind needs to be extended, the drive sprocket 322 rotates counterclockwise, and the power member 323 also rotates counterclockwise, and the roller blind moves downward to the extended position.

[0062] In the end effector 320 provided in the present invention, on the upper side, through the cooperation of the clamping edge 327 and the grasping part 210, and on the lower side, through the meshing action of the sprocket 322 and the gap between the carbon rod 221, a stable grasping action of the robot arm 300 and the cargo box 200 can be achieved, thereby realizing the movement and transportation of the cargo box 200, and the main body 321 moves downward and backward as a whole, and the clamping edge 327 can be easily withdrawn from the grasping part 210. After completing the delivery action, the cargo box 200 and the end effector 320 can be easily separated, and the operation is simple and convenient.

[0063] like Figure 19 and Figure 21 As shown, the main body 321 is provided with a connection hole 328 for connecting to the end of the multi-axis robot arm 310. The shape of the connection hole 328 can be designed according to the shape of the end of the multi-axis robot arm 310. Here, it is a circular connection hole and is located in the middle of the main body 321. The shape and position of the connection hole 328 can be designed according to actual conditions.

[0064] In addition, if Figure 20 and Figure 21 As shown, a removable external mount 325 is mounted on one side of the main body 321. The external mount 325 can be at least one of a camera, a detection element, and an indicator light. The camera can identify the location of the final delivery point, the gripping portion 210 on the cargo box 200, and the power input port 2022. For example, the camera can be used to detect whether the final delivery point is occupied and accurately locate the delivery location, thereby ensuring the accuracy of cargo delivery. When the roller shutter reaches its retracted or extended limit, the indicator light will provide a corresponding indication, such as turning on green, to promptly control the start and stop of the power element 323.

[0065] In the present disclosure, a plurality of weight-reducing holes 3210 are provided on the main body 321 to reduce the weight of the end effector 320 as much as possible and achieve an overall lightweight design.

[0066] Specifically, taking food delivery as an example, the working process of the automatic goods delivery device provided by the present invention is introduced in detail.

[0067] To place the food, the rider goes to the merchant to pick up the food, then scans the QR code on the delivery vehicle 400, and the cabinet door 140 of the corresponding compartment automatically pops open. The rider puts the takeaway food into the cargo box 200, and then closes the cabinet door 140 to complete the meal placement.

[0068] During the delivery process, the delivery vehicle 400 automatically drives to the delivery location based on the order information, performs automatic parking, identifies the delivery point, and plans the delivery location and movement path for the robotic arm 300. The robotic arm 300 then grabs the container 200 to be delivered from the shelf 100. The engaging edge 327 extends into the gripping portion 210, and the sprocket 322 engages the roller shutter, completing the connection between the container 200 and the end effector 320. At this point, the contact portion 329 abuts the latching protrusion 2412, driving the locking pin 241 to rotate, and the hook 2411 withdraws from the gap between the carbon rod 221, unlocking the container. The multi-axis robotic arm 310 moves along the prescribed movement path, placing the container 200 in the delivery area. The power element 323 is then activated, driving the sprocket 322 via the transmission element 324, driving the roller shutter from the extended position to the retracted position, and the cargo automatically drops to the delivery location. Finally, the roller shutter is driven to return to the expanded position, and the empty cargo box is placed back on the shelf 100, completing the entire automatic delivery operation.

[0069] In the automatic cargo delivery device provided by the present disclosure, the cargo box 200 can hold different types of cargo, using a single cargo box to achieve a standardized design for the circulation process. The retractable movable portion 220 is designed so that after the roller shutter is retracted, the cargo automatically falls to the delivery position. Only the cargo is delivered at the end, avoiding asset management issues caused by the delivery container and improving the utilization rate of the container. The end effector 320 of the robotic arm 300 can not only grasp the cargo box 200, but also drive the roller shutter to retract or deploy through the sprocket 322. On the other hand, when the end effector 320 is connected to the cargo box 200, it can also drive the lock pin 241 to rotate to switch between the two states of locking and unlocking the roller shutter. It can also identify whether the roller shutter has moved into place and whether the delivery position is occupied, thereby ensuring the accuracy of the entire delivery process. The entire automatic cargo delivery device is placed on the delivery vehicle 400, realizing automatic driving in the middle of the route and automatic loading and unloading at the front and back ends, realizing full-link automated delivery without affecting the user's pickup, reducing the labor intensity of the delivery personnel, and improving delivery efficiency.

[0070] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0071] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0072] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An automatic cargo delivery device, characterized in that: include: A cargo container, comprising a shelf and a cargo box arranged on the shelf, wherein the cargo box has a bottom wall for carrying cargo, and the bottom wall is a retractable movable part; A robotic arm is used to move the cargo box between a designated position and the cargo container. The robotic arm includes a robotic arm body and an end effector installed at the end of the robotic arm body. The end effector is used to grab the cargo box and drive the movable part to fold up to release the cargo when the cargo box moves to the designated position.

2. The automatic cargo delivery device according to claim 1, characterized in that: The opposite side wall edges of the cargo box are formed with a receiving channel, and the side wall edges include at least the bottom edge of the cargo box and a side edge adjacent to the bottom edge. The movable portion is a roller shutter that can move between an unfolded position and a retracted position in the receiving channel, wherein: In the deployed position, the roller shutter is at least partially located at the bottom edge, and the roller shutter is capable of closing the bottom opening of the cargo box and carrying cargo; In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box and releasing the cargo.

3. The automatic cargo delivery device according to claim 2, characterized in that: The end effector includes a main body, a sprocket provided on the main body, and a power member driving the sprocket to rotate. The teeth of the sprocket can extend into the gap of the rolling curtain to drive the rolling curtain to move in the receiving channel.

4. The automatic cargo delivery device according to claim 2, characterized in that: The rolling curtain includes multiple carbon rods arranged in parallel in sequence. Magnetic parts are provided in the inner cavities of the carbon rods at both ends of the rolling curtain. A Hall sensor is provided on the end actuator. The Hall sensor is used to determine the position of the rolling curtain in the receiving channel based on detecting the position of the carbon rod with the magnetic part.

5. The automatic cargo delivery device according to claim 3, characterized in that: The cargo box is provided with a locking portion that cooperates with the movable portion. When the end effector is connected to the cargo box, the locking portion is driven to unlock.

6. The automatic cargo delivery device according to claim 5, characterized in that: The locking portion includes a rotatable locking pin, one end of the locking pin is formed as a hook portion, and the other end is formed as a latching protrusion, the hook portion can extend into or exit the gap between two adjacent carbon rods of the roller blind, an opening is provided on the side wall of the cargo box, the latching protrusion can protrude from the opening, and when the end effector is connected to the cargo box, the main body presses the latching protrusion into the interior of the cargo box to drive the locking pin to rotate.

7. The automatic cargo delivery device according to claim 1, characterized in that: The shelf has multiple cabinets, which are used to place the cargo boxes. The robotic arm is used to drive the cargo boxes to move horizontally to enter or exit the cabinets. The cabinets are provided with openable and closable cabinet doors on the side away from the cargo box entrance to close the opening of the cargo box.

8. The automatic cargo delivery device according to claim 7, characterized in that: The counter is provided with a guide piece, and the cargo box is provided with a guide hole that matches the shape of the guide piece. The size of the guide hole gradually decreases along the moving direction of the cargo box into the counter.

9. The automatic cargo delivery device according to claim 7, characterized in that: The cabinet is provided with an electromagnet, and the cargo box is provided with a magnetic adsorption component. The electromagnet and the magnetic adsorption component can be connected in an on-off manner.

10. A delivery vehicle, characterized in that: The automatic cargo delivery device according to any one of claims 1 to 9 is installed on the delivery vehicle.

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