Composite navigation explosion-proof logistics robot and working method

Abstract

This invention discloses a composite navigation explosion-proof logistics robot and its operating method, belonging to the field of logistics equipment technology. It can be used for the transfer of hazardous chemicals in flammable and explosive production environments, achieving high-precision and high-reliability autonomous operation through laser SLAM and barcode scanner sensors. It features a dedicated quick-change explosion-proof battery box with a sliding push-in and lateral locking mechanical interface. Battery replacement is simple: just pull out the quick-release pin, remove the pressure block, and pull out the battery box—the entire process takes only a few minutes. This eliminates the need for prolonged charging stops, allowing the robot to perform transfer tasks almost continuously and uninterruptedly, significantly improving the overall utilization rate of equipment in high-intensity, continuous production logistics scenarios.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, and in particular to a composite navigation explosion-proof logistics robot that supports quick battery replacement and its operating method. Background Technology

[0002] In industrial environments with flammable and explosive risks or high cleanliness requirements, such as petrochemical, pharmaceutical, hazardous chemical storage, and certain precision manufacturing industries, the demand for automated internal material and finished product transfer is increasing. These environments often contain flammable gases, dust, or require minimal personnel access; therefore, there is an urgent need for unmanned transfer equipment capable of 24-hour continuous, high-precision, and intelligent operation. Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) are key equipment for addressing this need.

[0003] However, in the existing technology, explosion-proof mobile robots applied to the above-mentioned environments still face several technical bottlenecks that limit the maximization of their operational capabilities and efficiency: The conflict between continuous operation and energy replenishment: To meet explosion-proof requirements, robots often use enclosed explosion-proof battery compartments. When the battery is depleted, traditional charging methods require the robot to remain docked at a charging station for an extended period, resulting in downtime of several hours. This severely disrupts the continuity of logistics operations and leads to low equipment efficiency (OEE). Although there are conceptual designs for replaceable batteries, achieving rapid, simple, and reliable battery securing and electrical connection without compromising the integrity of the robot's explosion-proof structure remains an engineering challenge.

[0004] Insufficient navigation reliability in complex environments: In factories with complex structures, narrow passages, dynamic obstacles (such as temporary storage or pedestrians), and similar characteristics (such as rows of identical equipment), a single navigation method is susceptible to interference. For example, relying solely on laser SLAM (Simultaneous Localization and Mapping) is prone to positioning drift in long corridors or symmetrical environments; while relying solely on QR code or color-coded navigation results in poor path flexibility, and ground markings are easily contaminated or worn. Existing equipment navigation systems often lack robustness, leading to breakdowns, collisions, or the need for manual intervention, affecting the reliability of the overall automated process.

[0005] The conflict between structural layout and sensor field of view: To achieve powerful driving force and maneuverability, mobile robots typically require large drive wheels and a robust suspension structure, often resulting in the central space of the vehicle being occupied by drive motors and transmission mechanisms. However, optimal navigation sensors (such as vision sensors for recognizing ground markings) need to be mounted on the vehicle's centerline to obtain unbiased perception information. Existing designs often struggle to balance the structural strength of the drive unit with the ideal mounting position of the central sensor, leading to a limited sensor field of view and consequently affecting localization and path tracking accuracy.

[0006] Therefore, providing an explosion-proof logistics robot that can simultaneously solve the problems of rapid energy replenishment, highly robust composite navigation, and optimized structural layout is of great significance for improving the efficiency and safety of automated logistics in high-risk or sensitive industrial environments. Summary of the Invention

[0007] In view of the above problems, the present invention provides a composite navigation explosion-proof logistics robot and its working method for overcoming or at least partially solving the above problems.

[0008] This invention provides the following solution: A composite navigation explosion-proof logistics robot, comprising: The vehicle frame, drive module, lifting module, quick-change explosion-proof battery box, electronic control box, and navigation sensor module; The drive module, the lifting module, the electronic control box, and the navigation sensor module are mounted on the vehicle frame; The drive module includes two symmetrically arranged on both sides of the vehicle frame; The navigation sensing module includes an explosion-proof lidar for laser synchronous positioning and mapping navigation, a front barcode scanner for identifying ground markings, and a central barcode scanner. Both drive modules include a first servo motor and a parallel shaft gearbox. The configuration of the parallel shaft gearbox allows the first servo motors of the two drive modules to be staggered in the width direction of the vehicle body, thereby providing installation space for the central barcode scanner in the middle of the vehicle body, so that the central barcode scanner can be set in the center. The quick-change explosion-proof battery box is detachably installed at the rear of the vehicle frame via a sliding mechanical interface, and is fixed or separated from the vehicle frame by a detachable rear locking mechanism. The navigation data from the explosion-proof lidar, the front-mounted barcode scanner, and the central barcode scanner are integrated to form a composite navigation system.

[0009] Preferably, each drive module further includes a wheel bracket, a swing arm, and a planetary reduction wheel hub; The wheel bracket is fixed to the vehicle frame; One end of the swing arm is hinged to the wheel assembly bracket; The planetary reduction hub is mounted on the outside of the swing arm, and the parallel shaft gearbox is mounted on the inside of the swing arm, with its output end connected to the input end of the planetary reduction hub. The first servo motor is connected to the input end of the parallel shaft gearbox; A shock absorber is connected between the swing arm and the wheel assembly bracket.

[0010] Preferably, the shock absorber includes a shock-absorbing spring, the upper end of which is connected to the wheel assembly bracket via a shock absorber bracket, and the lower end of which is connected to the swing arm.

[0011] Preferably, the quick-change explosion-proof battery box includes an explosion-proof battery box body and an L-shaped adapter fixed to the explosion-proof battery box body, wherein the L-shaped adapter is provided with a cam bearing; The rear of the frame is provided with a groove that mates with the cam bearing.

[0012] Preferably, the detachable tail locking mechanism includes a Z-shaped pressure block and a quick-release pin; The front end of the slide groove of the frame is provided with a fixing block; The Z-shaped clamping block is fixed to the rear end of the vehicle frame by the quick-release pin, and cooperates with the fixing clamping block to clamp the explosion-proof battery box body from both sides.

[0013] Preferably, the lifting module includes a second servo motor, multiple screw lifts, and a reduction transmission mechanism; The second servo motor drives all the screw jacks to move synchronously through the reduction transmission mechanism.

[0014] Preferably, the speed reduction transmission mechanism includes a right-angle speed reducer, a drive shaft, and a two-stage T-type speed reducer connected in sequence, and the output end of the T-type speed reducer is connected to the screw jack via a coupling.

[0015] Preferably, the electrical control box is equipped with a controller, which is communicatively connected to the navigation sensing module, the servo motor of the drive module, and the servo motor of the lifting module, and is used to control the robot's movement and lifting actions according to the information of the composite navigation system.

[0016] Preferably, the controller inside the electrical control box is configured to communicate with an external scheduling system to receive task instructions and report robot status information.

[0017] A method for operating a composite navigation explosion-proof logistics robot as described above includes the following steps: Receive transfer task instructions from external systems; The composite navigation system plans the path and controls the robot to move to the target workstation. Control the lifting module to perform material picking or placing operations; When the battery level is determined to be below a threshold, the system navigates to the battery swapping station based on the composite navigation system. Release the detachable tail locking mechanism and move the quick-change explosion-proof battery box out along the sliding mechanical interface; The fully charged explosion-proof battery box is inserted along the sliding mechanical interface and secured by the detachable tail locking mechanism.

[0018] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This application provides a composite navigation explosion-proof logistics robot and its operating method, which can be used for the transfer of hazardous chemicals in flammable and explosive production environments. It achieves high-precision and high-reliability autonomous operation through laser SLAM and barcode scanner sensors. It features a dedicated quick-change explosion-proof battery box with a sliding push-in and lateral locking mechanical interface. Battery replacement is simple: just pull out the quick-release pin, remove the pressure block, and pull out the battery box – the entire process takes only a few minutes. This eliminates the need for prolonged charging stops, allowing the robot to perform transfer tasks almost continuously and uninterruptedly, significantly improving the overall utilization rate of equipment in high-intensity, continuous production logistics scenarios.

[0019] A hybrid navigation scheme combining laser SLAM and visual barcode scanning was adopted. The laser radar provides global positioning, obstacle avoidance, and path planning capabilities, while the front-mounted and centrally located barcode scanner provides precise local position calibration and path tracking. Data fusion between the two systems, with mutual verification and complementarity, effectively overcomes interference from positioning drift, label contamination, or environmental changes, ensuring high robustness and accuracy of robot navigation in complex industrial scenarios.

[0020] A parallel-shaft gearbox is used in the drive module, allowing the left and right drive motors to be staggered. This design not only shortens the overall vehicle width, but more importantly, it frees up valuable installation space in the middle of the vehicle body, enabling the central barcode scanner to be installed along the longitudinal centerline of the vehicle. This central installation position ensures that the barcode scanner has an unbiased field of view, optimizing the recognition of ground markings and fundamentally improving the accuracy and stability of mark-based navigation.

[0021] Integrating components such as an explosion-proof battery box, explosion-proof electrical control box, and explosion-proof sensors, the entire system meets the explosion-proof requirements for flammable and explosive environments. Meanwhile, the swing arm and shock absorber design of the drive module enhances ground adaptability, while the composite navigation and quick-swap battery functions respectively ensure intelligent continuity of operation and high efficiency of work. Therefore, this invention is particularly suitable for industrial fields such as petrochemicals, pharmaceuticals, and hazardous chemical storage, where both safety and automation efficiency are extremely important.

[0022] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0024] Figure 1 This is a structural schematic diagram of a composite navigation explosion-proof logistics robot provided in an embodiment of the present invention; Figure 2 This is another structural schematic diagram of a composite navigation explosion-proof logistics robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the vehicle frame structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the driving module provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the lifting module provided in an embodiment of the present invention; Figure 6 This is a structural schematic diagram of the quick-change explosion-proof battery box provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the quick-change explosion-proof battery box connected to the vehicle frame according to an embodiment of the present invention; Figure 8 This is a front view of the quick-change explosion-proof battery box connected to the vehicle frame according to an embodiment of the present invention.

[0025] In the diagram: Frame 1, Drive Module 2, Wheelset Bracket 21, Hinge Pin 22, Swing Arm 23, Parallel Shaft Gearbox 24, First Servo Motor 25, Shock Absorber Spring 26, Shock Absorber Bracket 27, Planetary Reduction Wheel Hub 28, Lifting Module 3, Screw Lift 31, Coupling 32, T-Type Reducer 33, Drive Shaft 34, Right Angle Reducer 35, Second Servo Motor 36, Quick-Change Explosion-Proof Battery Box 4, Explosion-Proof Battery Box Body 41, L-Type Adapter 42, Cam Bearing 43, Electrical Control Box 5, Explosion-Proof LiDAR 6, Front Scanner 7, Center Scanner 8, Detachable Rear Locking Mechanism 9, Z-Type Pressure Block 91, Quick-Pin Pin 92. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0027] See Figure 1 , Figure 2 This invention provides a composite navigation explosion-proof logistics robot, such as... Figure 1 , Figure 2 As shown, the robot may include: 1. Chassis; 2. Drive module; 3. Lifting module; 4. Quick-change explosion-proof battery box; 5. Electronic control box; and 6. Navigation sensor module. The drive module 2, the lifting module 3, the electronic control box 5, and the navigation sensor module are mounted on the vehicle frame 1; The drive module 2 includes two symmetrically arranged on both sides of the frame 1; The navigation sensing module includes an explosion-proof lidar 6 for laser synchronous positioning and mapping navigation, a front barcode scanner 7 for identifying ground markings, and a central barcode scanner 8. Both drive modules 2 include a first servo motor 25 and a parallel shaft gearbox 24. The configuration of the parallel shaft gearbox 24 allows the first servo motors 25 of the two drive modules 2 to be staggered in the width direction of the vehicle body, thereby providing installation space for the central barcode scanner 8 in the middle of the vehicle body, so that the central barcode scanner 8 can be set in the center. The quick-change explosion-proof battery box 4 is detachably installed at the rear of the frame 1 through a sliding mechanical interface, and is quickly fixed or separated from the frame 1 by a detachable rear locking mechanism 9. The navigation data from the explosion-proof lidar 6, the front barcode scanner 7, and the central barcode scanner 8 are integrated to form a composite navigation system.

[0028] like Figure 3 As shown in the embodiment of this application, the frame 1 is used to install various mechanisms and functional modules and to support the transfer of materials. The frame 1, as the basic load-bearing platform of the robot, can be welded from square steel tubes and steel plates, possessing sufficient structural strength and rigidity. The main functional modules, such as the drive module 2, lifting module 3, and electrical control box 5, are all bolted to the frame 1. The front, top, and rear of the frame 1 are designed with corresponding mounting interfaces according to functional requirements.

[0029] Two drive modules 2 are located on either side of the vehicle body, providing driving force for the logistics robot and enabling various movements such as straight-line forward and backward movement, rotation in place, and curved turns. The lifting module 3 uses a motor, transmission linkage, and screw jack 31 to lift and lower materials. A quick-change explosion-proof battery box 4 provides power to the robot. The electrical control box 5 integrates various electrical control components to control the robot's movement and communicate with the upper-level system. An explosion-proof lidar 6 scans the environment and creates a 2D map to guide the robot in autonomous mode. A front-mounted barcode scanner 7 and a central barcode scanner 8 work together to identify QR codes and color strips on the ground, improving the robot's reliability and positioning accuracy in conjunction with the lidar.

[0030] In a specific implementation, the embodiments of this application may provide that each drive module 2 further includes a wheel bracket 21, a swing arm 23, and a planetary reduction wheel hub 28; The wheel bracket 21 is fixed to the frame 1; One end of the swing arm 23 is hinged to the wheel bracket 21; The planetary reduction hub 28 is mounted on the outside of the swing arm 23, and the parallel shaft gearbox 24 is mounted on the inside of the swing arm 23, with its output end connected to the input end of the planetary reduction hub 28. The servo motor is connected to the input end of the parallel shaft gearbox 24; A shock absorber is connected between the swing arm 23 and the wheel set bracket 21.

[0031] Furthermore, the shock absorber includes a shock-absorbing spring 26, the upper end of which is connected to the wheel assembly bracket 21 via a shock absorber bracket 27, and the lower end is connected to the swing arm 23.

[0032] like Figure 4 As shown, the drive module 2 consists of a wheel set bracket 21, a hinge pin 22, a swing arm 23, a parallel shaft gearbox 24, a first servo motor 25, a shock absorber spring 26, a shock absorber bracket 27, and a planetary reduction hub 28. The wheel set bracket 21 is fixed to the frame 1 with screws. The hinge pin 22 is locked in the hole of the wheel set bracket 21 with screws. One end of the swing arm 23 is engaged with the shaft hole of the hinge pin 22, and the other end is connected to the lower end of the shock absorber spring 26 through a pin. The planetary reduction hub 28 is fixed to the outside of the swing arm 23 with screws. The parallel shaft gearbox 24 is fixed to the inside of the swing arm 23 with screws. The output shaft of the parallel shaft gearbox 24 is inserted into the hole of the planetary reduction hub 28 and transmits torque through a key. The first servo motor 25 is fixed to the input end of the parallel shaft gearbox 24 with screws. The motor shaft is inserted into the input end hole of the parallel shaft gearbox 24 and transmits torque through a key. The upper end of the shock-absorbing spring 26 is connected to the shock absorber bracket 27 via a pin, and the shock absorber bracket 27 is fixed to the wheel assembly bracket 21 with screws. The motors of the left and right drive modules 2 can be staggered by the parallel shaft gearbox 24, leaving installation space for the central barcode scanner 8, while shortening the overall width of the robot.

[0033] In this design, the key function of the parallel shaft gearbox 24 is to change the direction of power transmission, allowing the servo motors of the left and right drive modules 2 to be staggered in the width direction of the vehicle body. The shock absorber bracket 27 is fixed above the wheel assembly bracket 21, and the upper end of the shock absorber spring 26 is hinged to the shock absorber bracket 27, while the lower end is hinged to the corresponding position of the swing arm 23, thus forming a complete suspension damping system to cope with the impact caused by uneven ground.

[0034] like Figure 5 As shown, the lifting module 3 includes a second servo motor 36, multiple screw lifts 31, and a reduction transmission mechanism; The second servo motor 36 drives all the screw jacks 31 to move synchronously through the reduction transmission mechanism.

[0035] Furthermore, the speed reduction transmission mechanism includes a right-angle speed reducer 35, a transmission shaft 34, and a two-stage T-type speed reducer 33 connected in sequence. The output end of the T-type speed reducer 33 is connected to the screw jack 31 through a coupling 32.

[0036] The lifting module 3 is installed in the central load-bearing area of ​​the frame 1 and is used to lift and transport material pallets. Its specific components can be found in [reference needed]. Figure 5 The system mainly includes a screw jack 31, a coupling 32, a T-type reducer 33, a drive shaft 34, a right-angle reducer 35, and a second servo motor 36. The second servo motor 36 serves as the power source, sequentially driving the right-angle reducer 35, the drive shaft 34, and the two-stage series-connected T-type reducer 33. Finally, through the coupling 32, it drives the lead screws of the four screw jacks 31 to rotate synchronously, achieving smooth lifting and lowering of the cargo platform. The entire lifting module 3 is fixed to the vehicle frame 1 with screws via mounting holes on its outer casing.

[0037] like Figure 6 As shown, the quick-change explosion-proof battery box 4 includes an explosion-proof battery box body 41 and an L-shaped adapter 42 fixed on the explosion-proof battery box body 41. The L-shaped adapter 42 is provided with a cam bearing 43. The rear of the frame 1 is provided with a groove that mates with the cam bearing 43.

[0038] Furthermore, the detachable tail locking mechanism 9 includes a Z-shaped pressure block 91 and a quick-release pin 92; The front end of the slide groove of the frame 1 is provided with a fixing block; The Z-shaped clamping block 91 is fixed to the rear end of the frame 1 by the quick-release pin 92, and cooperates with the fixing clamping block to clamp the explosion-proof battery box body 41 from both sides.

[0039] The quick-change explosion-proof battery box 4 is the robot's power unit and can be quickly disassembled and replaced. For example... Figure 7 , Figure 8As shown, it consists of an explosion-proof battery box body 41, an L-shaped adapter 42, and a cam bearing 43. The explosion-proof battery box body 41 is a sealed box that meets explosion-proof standards and houses the battery pack. The L-shaped adapter 42 is fastened to the back of the battery box body with screws and has four equally spaced mounting holes machined on it. The shaft end of the cam bearing 43 passes through these mounting holes and is locked with a nut on the back, thus making the cam bearing 43 a sliding roller of the battery box. At the rear of the frame 1, there are two specially designed left and right guide grooves. When replacing the battery, the cam bearing 43 on the battery box is aligned and placed into the groove, and then pushed forward along the groove. A positioning block is fixed on the inner side of the groove (near the front of the vehicle) to provide initial longitudinal and lateral restraint for the battery box after it has been pushed into place.

[0040] A detachable Z-shaped clamping block 91 is provided on the outer side of the slide (rear end of the vehicle), which is fixed by a quick-release pin 92. After the battery box is pushed into place, the Z-shaped clamping block 91 is installed and the quick-release pin 92 is inserted. The Z-shaped clamping block 91 then cooperates with the inner fixing block to firmly clamp the explosion-proof battery box body 41 from both the front and rear sides, completing a quick and reliable mechanical locking.

[0041] The electrical control box 5 houses a controller, which is communicatively connected to the navigation sensing module, the servo motor (first servo motor 25) of the drive module 2, and the servo motor (second servo motor 36) of the lifting module 3. This controller controls the robot's movement and lifting actions based on information from the composite navigation system. The controller in the electrical control box 5 is configured to communicate with an external scheduling system to receive task instructions and report robot status information.

[0042] The electrical control box 5 is explosion-proof and integrates the robot's core controller, motor drivers, communication modules, power management modules, and other electrical components. The controller communicates with all actuators and sensors, including the navigation sensing module, drive servo motors, and lifting servo motors, via a bus. It is responsible for processing sensor information, executing navigation algorithms, planning motion paths, and controlling the coordinated actions of various mechanisms. Simultaneously, the controller connects to an upper-level scheduling system (such as WMS or MES) via a wireless network to receive transfer instructions and report status, location, and other information.

[0043] The navigation sensing module is crucial for the robot's autonomous operation and employs a composite navigation scheme. An explosion-proof LiDAR 6, typically mounted on the top of the robot, rotates to scan the surrounding environment, constructs and matches a 2D map in real time, enabling SLAM (Simultaneous Localization and Mapping) navigation. This allows the robot to autonomously plan paths in unknown or dynamic environments. A front-mounted barcode scanner 7, installed at a low position on the front of the vehicle, is used to identify QR codes or colored strip markings laid on the ground from a distance while moving.

[0044] The central barcode scanner 8 is an optimization point of this robot. Thanks to the staggered layout of the drive modules 2, valuable installation space was freed up for it in the center of the vehicle body, between the two drive modules 2. The centrally mounted barcode scanner 8 can accurately and unbiasedly identify ground markings directly beneath the robot. The global positioning and obstacle avoidance information provided by the explosion-proof LiDAR 6, along with the precise local position and path verification information provided by the front barcode scanner 7 and the central barcode scanner 8, are fused together in the controller to form a highly reliable and high-precision composite navigation system. This greatly improves the operational stability and positioning accuracy in complex, similar, or dynamic industrial environments.

[0045] When in use, the robot receives transfer tasks from the upper-level system via a controller inside the electrical control box 5. The controller plans the optimal path based on a composite navigation system (integrating laser SLAM and visual identification information) and controls the differential speed operation of the servo motors in the two drive modules 2, driving the robot to the target workstation. Upon arrival, it controls the servo motors in the lifting module 3 to lift or lower materials. When the system detects low battery power, the controller controls the robot to autonomously navigate to the battery swapping station. The operator pulls out the quick-release pin 92, removes the Z-shaped clamp 91, and can then pull out the depleted battery box along the slide, replace it with a fully charged battery box, and relock it. The entire process takes only a few minutes, enabling continuous and efficient operation of the equipment.

[0046] In summary, the composite navigation explosion-proof logistics robot provided in this application can be used for the transfer of hazardous chemicals in flammable and explosive production environments. It achieves high-precision and high-reliability autonomous operation through laser SLAM and barcode scanner sensors. It features a dedicated quick-change explosion-proof battery box with a sliding push-in and lateral locking mechanical interface. Battery replacement is simple: just pull out the quick-release pin, remove the pressure block, and pull out the battery box – the entire process takes only a few minutes. This eliminates the need for prolonged charging stops, allowing the robot to perform transfer tasks almost continuously and uninterruptedly, significantly improving the overall utilization rate of equipment in high-intensity, continuous production logistics scenarios.

[0047] A hybrid navigation scheme combining laser SLAM and visual barcode scanning was adopted. The laser radar provides global positioning, obstacle avoidance, and path planning capabilities, while the front-mounted and centrally located barcode scanner provides precise local position calibration and path tracking. Data fusion between the two systems, with mutual verification and complementarity, effectively overcomes interference from positioning drift, label contamination, or environmental changes, ensuring high robustness and accuracy of robot navigation in complex industrial scenarios.

[0048] A parallel-shaft gearbox is used in the drive module, allowing the left and right drive motors to be staggered. This design not only shortens the overall vehicle width, but more importantly, it frees up valuable installation space in the middle of the vehicle body, enabling the central barcode scanner to be installed along the longitudinal centerline of the vehicle. This central installation position ensures that the barcode scanner has an unbiased field of view, optimizing the recognition of ground markings and fundamentally improving the accuracy and stability of mark-based navigation.

[0049] Integrating components such as an explosion-proof battery box, explosion-proof electrical control box, and explosion-proof sensors, the entire system meets the explosion-proof requirements for flammable and explosive environments. Meanwhile, the swing arm and shock absorber design of the drive module enhances ground adaptability, while the composite navigation and quick-swap battery functions respectively ensure intelligent continuity of operation and high efficiency of work. Therefore, this invention is particularly suitable for industrial fields such as petrochemicals, pharmaceuticals, and hazardous chemical storage, where both safety and automation efficiency are extremely important.

[0050] This application embodiment can also provide a working method for the above-mentioned composite navigation explosion-proof logistics robot, including the following steps: Receive transfer task instructions from external systems; The composite navigation system plans the path and controls the robot to move to the target workstation. Control the lifting module to perform material picking or placing operations; When the battery level is determined to be below a threshold, the system navigates to the battery swapping station based on the composite navigation system. Release the detachable tail locking mechanism and move the quick-change explosion-proof battery box out along the sliding mechanical interface; The fully charged explosion-proof battery box is inserted along the sliding mechanical interface and secured by the detachable tail locking mechanism.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0053] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A composite navigation explosion-proof logistics robot, characterized in that, This includes the chassis, drive module, lifting module, quick-change explosion-proof battery box, electronic control box, and navigation sensor module; The drive module, the lifting module, the electronic control box, and the navigation sensor module are mounted on the vehicle frame; The drive module includes two symmetrically arranged on both sides of the vehicle frame; The navigation sensing module includes an explosion-proof lidar for laser synchronous positioning and mapping navigation, a front barcode scanner for identifying ground markings, and a central barcode scanner. Both drive modules include a first servo motor and a parallel shaft gearbox. The configuration of the parallel shaft gearbox allows the first servo motors of the two drive modules to be staggered in the width direction of the vehicle body, thereby providing installation space for the central barcode scanner in the middle of the vehicle body, so that the central barcode scanner can be set in the center. The quick-change explosion-proof battery box is detachably installed at the rear of the vehicle frame through a sliding mechanical interface, and is fixed or separated from the vehicle frame by a detachable rear locking mechanism. The navigation data from the explosion-proof lidar, the front-mounted barcode scanner, and the central barcode scanner are integrated to form a composite navigation system.

2. The composite navigation explosion-proof logistics robot according to claim 1, characterized in that, Each of the drive modules also includes a wheel bracket, a swing arm, and a planetary reduction wheel hub; The wheel bracket is fixed to the vehicle frame; One end of the swing arm is hinged to the wheel assembly bracket; The planetary reduction hub is mounted on the outside of the swing arm, and the parallel shaft gearbox is mounted on the inside of the swing arm, with its output end connected to the input end of the planetary reduction hub. The first servo motor is connected to the input end of the parallel shaft gearbox; A shock absorber is connected between the swing arm and the wheel assembly bracket.

3. The composite navigation explosion-proof logistics robot according to claim 2, characterized in that, The shock absorber includes a shock-absorbing spring, the upper end of which is connected to the wheel assembly bracket via a shock absorber bracket, and the lower end of which is connected to the swing arm.

4. The composite navigation explosion-proof logistics robot according to claim 1, characterized in that, The quick-change explosion-proof battery box includes an explosion-proof battery box body and an L-shaped adapter fixed to the explosion-proof battery box body, and the L-shaped adapter is provided with a cam bearing; The rear of the frame is provided with a groove that mates with the cam bearing.

5. The composite navigation explosion-proof logistics robot according to claim 4, characterized in that, The detachable tail locking mechanism includes a Z-shaped pressure block and a quick-release pin; The front end of the slide groove of the frame is provided with a fixing block; The Z-shaped clamping block is fixed to the rear end of the vehicle frame by the quick-release pin, and cooperates with the fixing clamping block to clamp the explosion-proof battery box body from both sides.

6. The composite navigation explosion-proof logistics robot according to claim 1, characterized in that, The lifting module includes a second servo motor, multiple screw lifts, and a reduction transmission mechanism. The second servo motor drives all the screw jacks to move synchronously through the reduction transmission mechanism.

7. The composite navigation explosion-proof logistics robot according to claim 6, characterized in that, The speed reduction transmission mechanism includes a right-angle speed reducer, a drive shaft, and a two-stage T-type speed reducer connected in sequence. The output end of the T-type speed reducer is connected to the screw jack via a coupling.

8. The composite navigation explosion-proof logistics robot according to claim 1, characterized in that, The electrical control box contains a controller, which is communicatively connected to the navigation sensing module, the servo motor of the drive module, and the servo motor of the lifting module. The controller is used to control the robot's movement and lifting actions based on information from the composite navigation system.

9. The composite navigation explosion-proof logistics robot according to claim 1, characterized in that, The controller inside the electrical control box is configured to communicate with an external scheduling system to receive task instructions and report robot status information.

10. A method for operating a composite navigation explosion-proof logistics robot as described in any one of claims 1-9, characterized in that, Includes the following steps: Receive transfer task instructions from external systems; The composite navigation system plans the path and controls the robot to move to the target workstation. Control the lifting module to perform material picking or placing operations; When the battery level is determined to be below a threshold, the system navigates to the battery swapping station based on the composite navigation system. Release the detachable tail locking mechanism and move the quick-change explosion-proof battery box out along the sliding mechanical interface; The fully charged explosion-proof battery box is inserted along the sliding mechanical interface and secured by the detachable tail locking mechanism.

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