Bag box partition distribution robot and unloading control method thereof

Abstract

The application discloses a bag and box partition distribution robot and an unloading control method thereof. The robot comprises a walking system, a ring mounting device, a first conveying device, a express box cargo cabin, a second conveying device, an environment sensing system, a multi-joint mechanical arm and a control system. The ring mounting device suspends the express bag through the clamping piece, and the express bag falls to the first conveying device for sending out by the opening and closing of the clamping piece controlled by the actuating piece; the express box cargo cabin is provided with a plurality of cargo cabin units with different sizes in partition, and each unit is provided with a push plate type second conveying device. The unloading control method comprises the following steps: generating a unique identification code and binding the clamping piece / storage channel; calling the ring mounting device to the discharge position after reaching the target floor; the actuating piece falls to make the express bag fall; the sensor detects the falling state; the push plate pushes the express box; and the image recognition is used for monitoring the unloading abnormity. The application realizes efficient unloading of bag and box partition, double verification error prevention and abnormal detection, and improves the automation and reliability of the terminal distribution.

Description

Technical Field

[0001] This invention relates to the field of logistics and distribution robot technology, specifically to a bag and box zoned distribution robot and its unloading control method. Background Technology

[0002] With the rapid development of e-commerce, the demand for last-mile delivery has increased dramatically. Traditional manual delivery methods suffer from low efficiency, high costs, and high labor intensity. In recent years, automated delivery robots have received widespread attention, as they can autonomously navigate to the target floor and the customer's door to complete the transportation and unloading of packages.

[0003] However, existing delivery robots still have the following shortcomings in practical applications: express parcels come in various forms, mainly including soft parcel bags and hard parcel boxes. Most existing robots use a uniform storage compartment or drawer-style structure, making it difficult to efficiently handle two different types of parcels simultaneously. In particular, soft parcel bags are easily deformed and cannot be stacked neatly, leading to difficulties in loading and unloading. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides a bag and box partitioning delivery robot, comprising: A walking system, on which the main body of the machine is mounted; A ring-shaped mounting device includes a ring-shaped conveyor chain, clamping components, and actuating components. The clamping components include multiple components and are evenly distributed on the ring-shaped conveyor chain. The actuating components are fixedly connected to the ring-shaped conveyor chain and are used to open the clamping components. The first conveying device is located below the ring-shaped mounting system and is used to convey the express bag that falls from the clamping member to the outside of the main body of the machine. The express box cargo compartment is located inside the main body of the fuselage and is used to store multiple express boxes; The second conveying device is used to convey the express boxes in the cargo compartment to the outside of the fuselage. An environmental perception system, including at least one lidar and at least one camera; A multi-joint robotic arm is used to identify and press elevator buttons based on signals from the environmental sensing system. The control system is electrically connected to the walking system, the ring-shaped mounting device, the first conveying device, the second conveying device, the environmental sensing system, and the multi-joint robotic arm.

[0005] Furthermore, the first conveying device divides the main body of the machine into an upper express bag compartment and a lower express box compartment. Both the express bag compartment and the express box compartment are equipped with doors. The doors are opened or closed by a door drive device and can be tilted at a preset angle to serve as a sliding channel for express boxes or express bags.

[0006] Furthermore, the hatch drive device includes: The drive motor is fixedly connected to the main body of the machine body via a mounting bracket; The first transmission component is disposed at the output end of the drive motor; The drive shaft is rotatably connected to the mounting bracket. The second transmission component is connected to the transmission shaft and converts the rotational motion of the first transmission component into the rotational motion of the transmission shaft through the second transmission component. The connecting rod is fixedly connected to the drive shaft at one end and connected to the hatch at the other end via a connecting plate; The connecting plate has a limiting groove along its length, and one end of the connecting rod is provided with a limiting member that can move within the range of the limiting groove.

[0007] Furthermore, the clamping member includes a fixed clamping part and a rotating clamping part. The fixed clamping part is connected to the annular conveyor chain through a fixed plate, and the rotating clamping part is connected to the fixed clamping part through a torsion spring.

[0008] Furthermore, the first conveying device includes a first conveying motor, and a conveyor belt is provided at the output end of the first conveying motor.

[0009] Furthermore, the express box cargo compartment includes multiple cargo compartment units of different sizes, and each cargo compartment unit is equipped with the second conveying device.

[0010] Furthermore, the second conveying device includes: Second conveyor motor; A push plate is connected to the output end of the second conveyor motor via a synchronous belt. The cargo compartment unit has a clearance groove on its bottom wall along its length, and the push plate can move within the clearance groove.

[0011] The present invention also provides an unloading control method for a bag and box partition delivery robot according to any one of the above claims, comprising the following steps: Step S1: During the loading stage, the control system generates a unique identification code for each express bag and each express box, and binds and stores the unique identification code with the corresponding clamp number or storage channel number, target floor and target user address; Step S2: When the robot reaches the target floor, the control system calls the ring mounting device to rotate the corresponding clamping part to the discharge position of the toggle part based on the unique identification code of the express bag to be unloaded. Step S3: The control system controls the toggle to move once, causing the clamp to open and the express bag to fall to the first conveyor by gravity; a sensor is set on the first conveyor to detect whether the express bag has fallen successfully. If the fall is not detected, the abnormality is recorded and an attempt is made to re-trigger or an alarm is issued. Step S4: The control system calls the second conveying device, and drives the corresponding pusher to push the express box to the outside of the machine body according to the unique identification code and storage channel position of the express box; during the pushing process, the control system calculates the pushing stroke according to the pre-stored express box length data, so that the pusher automatically retracts after pushing the express box to the outer edge of the door. Step S5: During the unloading process, the control system acquires real-time images of the unloading area through the camera at the end of the robotic arm, identifies the quantity and posture of the unloaded goods, and immediately stops unloading and issues an alarm signal if it detects that multiple express boxes are pushed out at once or that the goods are tipped over.

[0012] Furthermore, in step S3, before controlling the action of the toggle component, the control system first reads the unique identification code corresponding to the clamping component and compares it with the unique identification code of the express bag to be unloaded. If the comparison matches, the toggle action is allowed. If the comparison does not match, the clamping component is skipped and an alarm signal is issued. At the same time, the abnormal information is uploaded to the cloud server.

[0013] Furthermore, in step S4, before pushing the express box, the control system determines whether the user has both an express bag and an express box to be unloaded. If the determination is yes, the control system adjusts the unloading order, first executing step S3 to unload the express bag, and then executing step S4 to unload the express box, so that the express bag and the express box fall to the same ground area. If the determination is no, the unloading is performed in the original order.

[0014] Furthermore, in step S4, when more than one express box is placed in each cargo compartment unit, the control system determines the placement order of the express boxes in reverse order according to the preset unloading sequence during the loading stage, so that the express box unloaded first is located on the outermost side closest to the door, and the express box unloaded last is located on the innermost side; during the unloading stage, when it is necessary to unload the target express box, the control system only allows the unloading of the express box currently located on the outermost side; if the actual position corresponding to the unique identification code of the target express box is not the outermost side, the control system refuses to execute the unloading and issues an alarm, indicating that the loading sequence is incorrect or that the outermost express box needs to be unloaded first.

[0015] The bag and box partition delivery robot and its unloading control method provided by the present invention have the following beneficial effects: The system uses a ring-shaped hanging device to suspend the express bags, and also sets up an independent express box cargo compartment to achieve partitioned storage and transportation of soft and hard packaging, avoid mutual interference, and improve adaptability to different types of packages. The circular conveyor chain drives the clamping parts to move in a cycle, and the actuating parts automatically open the clamping parts to make the express bag fall. No complicated gripping action is required, and the unloading speed is fast. The second conveying device uses a push plate to push, and the stroke is controllable to avoid jamming. By binding a unique identification code with the clamp number and storage channel number, and comparing and verifying them before unloading, the wrong goods are effectively prevented from being unloaded; at the same time, the sequential verification mechanism (outermost priority) avoids incorrect unloading order. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one embodiment of the bag and box partition delivery robot of this application; Figure 2 for Figure 1 Another perspective structural diagram; Figure 3 for Figure 1 Schematic diagram of the middle ring mounting device; Figure 4 for Figure 3 Schematic diagram of the clamping component and fixing plate structure; Figure 5 for Figure 4 Schematic diagram of the clamping component structure; Figure 6 for Figure 3 Schematic diagram of the central toggle component; Figure 7 for Figure 1 Schematic diagram of the cargo compartment structure of a Chinese express delivery box; Figure 8 for Figure 7 Schematic diagram of the second conveying device in the middle; Figure 9 for Figure 1 Schematic diagram of the middle cabin door drive mechanism; Figure 10 for Figure 9 Another perspective structural diagram; Figure 11 for Figure 10 Schematic diagram of the drive shaft and connecting rod structure; Figure 12 for Figure 10 Schematic diagram of the connecting plate structure.

[0017] The diagram is labeled as follows: 10. Walking system; 11. Main body; 111. Cargo compartment for express bags; 112. Cargo compartment for express boxes; 1121. First cargo compartment unit; 1122. Second cargo compartment unit; 1123. Third cargo compartment unit; 12. Multi-joint robotic arm; 121. Elevator contact rod; 13. Multi-line lidar; 14. Camera; 15. Circular mounting device; 151. Circular conveyor chain; 152. Clamping component; 1521. Fixed clamping part; 1522. Rotating clamping part; 1523. Torsion spring; 153. Actuating component; 154. Fixing plate; 155. 16. Motor drive device; 17. First conveying device; 18. Second conveying device; 19. Second conveying motor; 10. Push plate; 11. Synchronous belt; 12. Clearance groove; 13. Hatch door; 14. Hatch door motor; 15. Push rod; 16. Hatch door drive device; 17. Mounting bracket; 18. Drive motor; 19. Drive bevel gear; 10. Drive shaft; 19. Driven bevel gear; 19. Connecting rod; 19. Connecting plate; 19. First connecting part; 19. Second connecting part; 19. Limiting groove; 19. Limiting element. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] Example 1

[0025] See Figures 1-8 This embodiment provides a bag and box partition delivery robot, including a walking system 10 and a main body 11 disposed above the walking system 10. The walking system 10 adopts a four-wheel independent drive chassis, and each wheel is driven by a hub motor, which can realize omnidirectional movement such as rotation in place and lateral movement. The main body 11 is a cuboid frame structure, and the outside is covered with a lightweight aluminum alloy shell.

[0026] The main body 11 is equipped with an environmental perception system and a multi-joint robotic arm 12. The environmental perception system includes a multi-line lidar 13 installed on the top of the main body and four cameras 14 set around the main body, which are used to build environmental maps, identify elevator buttons, detect obstacles and unloading areas.

[0027] The end of the multi-joint robotic arm 12 is equipped with an elevator touch bar 121 and a miniature camera (not shown in the figure). The control system plans the movement trajectory of the robotic arm based on the elevator button positions identified by the lidar and camera, so that the end touch bar can accurately press the button and realize autonomous elevator riding.

[0028] The main body 11 is divided into two cargo compartments, namely the upper express bag cargo compartment 111 and the lower express box cargo compartment 112. The top area of ​​the express bag cargo compartment 111 is provided with a ring-shaped mounting device 15. The ring-shaped mounting device 15 includes a ring-shaped conveyor chain 151, clamping members 152 and actuating members 153. The ring-shaped conveyor chain 151 is composed of a chain and a ring-shaped guide rail, etc., which is a conventional structure and will not be described in detail. The clamping members 152 include multiple circumferentially arranged on the ring-shaped conveyor chain, and each clamping member 152 is used to clamp one express bag.

[0029] The clamping component 152 specifically includes a fixed clamping part 1521 and a rotating clamping part 1522. The fixed clamping part 1521 is connected to the annular conveyor chain by screws through a fixing plate 154. The rotating clamping part 1522 is hinged to the fixed clamping part through a torsion spring 1523. Under the elastic force of the torsion spring, the rotating clamping part and the fixed clamping part remain in a closed state, thereby clamping the sealing edge of the express bag. When an external force overcomes the elastic force of the torsion spring, the rotating clamping part rotates outward around the hinge axis, the clamping opening opens, and the express bag can fall out.

[0030] The fixed clamping part 1521 of the above-mentioned clamping parts can be on the same side relative to the rotating clamping part 1522, or half on one side and the other half on the other side depending on the position of the actuating part. Since there are a large number of clamping parts, about 30 in this embodiment, the annular conveyor chain can rotate forward or backward to move the target express bag to the position of the actuating part as quickly as possible.

[0031] The actuating element 153 is fixedly installed at the unloading station of the circular conveyor chain and is driven to rotate by a motor drive device 155, such as a stepper motor, or an electromagnetic drive device. When the drive device receives a command from the control system, it drives the actuating element to rotate around the shaft by a preset angle. The actuating element 153 rotates accordingly and abuts against the tail end of the rotating clamping part, overcoming the elastic force of the torsion spring and causing the rotating clamping part to open outward. The clamping opening opens, and the express bag can fall under the action of gravity. After one unloading is completed, the drive device rotates in the opposite direction or relies on the return spring to reset the actuating element. The rotating clamping part automatically closes under the action of the torsion spring, waiting for the next action.

[0032] Below the annular mounting device 15, a first conveying device 16 is provided. The first conveying device 16 includes a first conveying motor and a conveyor belt. The surface of the conveyor belt may be provided with anti-slip stripes. When the express bag falls from the clamp onto the conveyor belt, the first conveying motor drives the conveyor belt to rotate and transport the express bag to the outside of the machine body. In addition, the main body of the machine body is divided into an express bag cargo compartment 111 and an express box cargo compartment 112 by the first conveying device.

[0033] The interior of the express box cargo compartment 112 is divided into multiple cargo compartment units of different sizes by partitions, such as the first cargo compartment unit 1121, the second cargo compartment unit 1122 and the third cargo compartment unit 1123 with increasing widths, to accommodate express boxes of different sizes. The first cargo compartment unit 1121 is divided into upper and lower layers, which can support the placement of more small express boxes.

[0034] Each cargo hold unit is equipped with a second conveying device 17, which includes a second conveying motor 171, a pusher plate 172, and a synchronous belt 173. A clearance groove 174 is formed along the length of the bottom wall of the cargo hold unit. The lower end of the pusher plate 172 passes through the clearance groove 174 and is fixedly connected to the synchronous belt 173. The second conveying motor 171 drives the synchronous belt to move, causing the pusher plate to move back and forth within the clearance groove. When a package needs to be unloaded, the pusher plate pushes the package forward from the rear until it is delivered outside the main body of the aircraft.

[0035] Independent doors 18 are provided on the exterior of both the express bag cargo compartment 111 and the express box cargo compartment 112. The doors 18 are hinged to the main body of the machine and are driven to open or close by a door drive device 19. The door drive device 19 includes a mounting bracket 191 connected to the main body of the machine. A drive motor 192 is provided on the mounting bracket 191. An active bevel gear 193 (first transmission component) is provided at the output end of the drive motor 192. It is fixedly mounted on the output shaft of the drive motor by key connection or interference fit and rotates synchronously with the output shaft of the drive motor. The axis of the active bevel gear 193 coincides with the axis of the output shaft of the drive motor.

[0036] A drive shaft 194 is mounted on the mounting bracket 191 via bearings and bearing housings, allowing the drive shaft 194 to rotate freely relative to the mounting bracket. The drive shaft 194 is arranged in a horizontal direction, and its axis is perpendicular to the output shaft axis of the drive motor.

[0037] A driven bevel gear 195 (second transmission component) is fixedly mounted on the transmission shaft 194. It is fixedly mounted on the transmission shaft by key connection or interference fit and rotates synchronously with the transmission shaft. The driven bevel gear 195 and the driving bevel gear 193 are meshed with each other, and the rotation axis of the driving bevel gear is perpendicular to the rotation axis of the driven bevel gear.

[0038] When the drive motor starts, the output shaft of the drive motor drives the driving bevel gear to rotate. The driving bevel gear transmits the rotational motion of the driven bevel gear to the drive shaft through meshing with the driven bevel gear, thereby driving the drive shaft to rotate around its own axis.

[0039] A connecting rod 196 is also provided on the drive shaft 194, and the other end of the connecting rod 196 is connected to the hatch 18 through a connecting plate 197. Specifically, the connecting plate 197 includes a first connecting part 1971 and a second connecting part 1972 arranged perpendicularly to each other. The second connecting part 1972 is generally plate-shaped and is integrally formed or fixedly connected to the first connecting part. The second connecting part has a mounting hole for fixed connection with the hatch.

[0040] A limiting groove 1973 is formed along the length of the first connecting part 1971. The limiting groove 1973 is an elongated through hole. A limiting element 198 is provided at one end of the connecting rod 196. The limiting element 198 is a pin or bolt that passes through the limiting groove and can slide within the range of the limiting groove. When the drive shaft drives the connecting rod to rotate, the limiting element at the end of the connecting rod slides in the limiting groove, thereby driving the connecting plate and the hatch to rotate around the hinge point, realizing the opening or closing of the hatch. The two ends of the limiting groove limit the limiting element, thereby controlling the opening angle range of the hatch.

[0041] In this embodiment, both hatches are located at the top of each cargo compartment. When the hatch of the lower express delivery box compartment is opened, the motor drives it to flip downwards and tilt at a preset angle (e.g., 30°~45°), thereby forming a sliding ramp. The express delivery bag is transported to the end by the first conveyor device and then slides down the hatch to the ground, avoiding direct fall and damage. Of course, the hatches can also be located at the bottom of each cargo compartment, so that the express delivery box also has a sliding channel.

[0042] The robot of this application also includes a control system, which is electrically connected to the walking system, the drive motor of the circular conveyor chain, the motor drive device of the actuating component, the first conveyor motor, the second conveyor motor, the door motor, the lidar, the camera, the joint motors of the robotic arm, and the drop detection sensor.

[0043] Example 2

[0044] This embodiment provides the unloading control method for the above-mentioned delivery robot, which will be described in detail below with reference to a complete delivery example.

[0045] At the delivery station, operators sequentially attach the parcel bags to the clamps and place the parcel boxes into their corresponding cargo compartments. The control system uses a barcode scanner or RFID to read the waybill information for each parcel bag and box, generating a unique identification code for each package. Simultaneously, it records the clamp number for each parcel bag and the cargo compartment number and floor level for each parcel box. This information is then linked to the target floor and user address and stored both locally and in the cloud.

[0046] For express delivery boxes, if multiple express delivery boxes need to be stored in the same cargo hold unit, the loading personnel should place them according to the unloading order: the express delivery box that is unloaded first should be placed on the outermost side closest to the hatch, and the one that is unloaded last should be placed on the innermost side.

[0047] Using an environmental perception system and a planned path, the robot autonomously navigates to the elevator entrance. Its multi-jointed robotic arm then moves a touch bar to press the elevator button, enters the elevator, and exits after reaching the target floor, proceeding to the user's door.

[0048] The control system retrieves the corresponding clamp number based on the unique identification code of the express bag to be unloaded, and then controls the circular conveyor chain to rotate so that the clamp with the corresponding number reaches the position of the actuating part. The control system first reads the RFID tag or QR code on the clamp to obtain its number, and compares it with the number bound to the express bag to be unloaded. The two match.

[0049] Subsequently, the control system controls the door drive device to open both doors simultaneously and tilt them at a preset angle. Then, it controls the motor drive device to start, causing the lever to rotate and squeeze the clamping part. The clamping part opens, and the express bag falls onto the conveyor belt of the first conveyor device under gravity. The conveyor belt is equipped with sensors that detect the express bag passing by, confirming that the fall was successful, and the bag falls along the door. If the sensor does not detect the bag, the control system records the abnormality and attempts to trigger the lever again. If it still fails, it issues a buzzer alarm and uploads the abnormality to the cloud.

[0050] The control system determines that the user also has a parcel box to be unloaded. To make it convenient for the user to collect the parcel, the system decides to unload the parcel bag first (already executed) and then unload the parcel box.

[0051] For the parcel box, the control system locates its storage position and confirms that there is only one parcel box in the cargo compartment (located on the outermost side). It then activates the second conveyor motor, and the synchronous belt drives the pusher plate forward, pushing the parcel box out of the hatch. The control system calculates the pushing distance (e.g., 40cm) based on the pre-stored parcel box length (e.g., 30cm), ensuring the parcel box is fully exposed outside the hatch. The pusher plate then automatically retracts, and the parcel box falls to the ground, adjacent to the previously dropped parcel bag.

[0052] Throughout the unloading process, a miniature camera at the end of the multi-joint robotic arm captures real-time images of the unloading area. The control system identifies the quantity and posture of the unloaded goods. If it detects that two or more express boxes have been pushed out at once, the control system immediately pauses unloading, issues a voice alarm, and notifies the cloud, awaiting manual intervention.

[0053] In case of an abnormal situation, such as the clamp that arrives at the unloading position actually carrying another user's express bag, or the read number does not match the number to be unloaded, the control system will skip the clamp, issue an alarm, and upload the error information to prevent incorrect unloading.

[0054] If multiple parcel boxes are stacked in a cargo compartment, and the control system receives an instruction to unload the inner parcel box (not the outermost one), the control system will refuse to execute the instruction and issue an alarm saying "Please unload the outermost cargo first." The system will continue only after the outermost cargo has been properly unloaded.

[0055] If the sensor does not detect a drop after the toggle switch is activated, the control system will attempt to toggle it again, up to three times. If it still fails, the fault will be recorded, the package will be discarded, and maintenance personnel will be notified.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bag and box zoned delivery robot, characterized in that, include: A walking system, on which the main body of the machine is mounted; A ring-shaped mounting device includes a ring-shaped conveyor chain, clamping components, and actuating components. The clamping components include multiple components and are evenly distributed on the ring-shaped conveyor chain. The actuating components are fixedly connected to the ring-shaped conveyor chain and are used to open the clamping components. The first conveying device is located below the ring-shaped mounting system and is used to convey the express bag that falls from the clamping member to the outside of the main body of the machine. The express box cargo compartment is located inside the main body of the fuselage and is used to store multiple express boxes; The second conveying device is used to convey the express boxes in the cargo compartment to the outside of the fuselage. An environmental perception system, including at least one lidar and at least one camera; A multi-joint robotic arm is used to identify and press elevator buttons based on signals from the environmental sensing system. The control system is electrically connected to the walking system, the ring-shaped mounting device, the first conveying device, the second conveying device, the environmental sensing system, and the multi-joint robotic arm.

2. The bag and box partition delivery robot according to claim 1, characterized in that: The first conveying device divides the main body of the machine into an upper express bag compartment and a lower express box compartment. Both the express bag compartment and the express box compartment are equipped with doors. The doors are opened or closed by a door drive device and can be tilted at a preset angle to serve as a sliding channel for express boxes or express bags.

3. The bag and box zoned delivery robot according to claim 2, characterized in that, The hatch drive device includes: The drive motor is fixedly connected to the main body of the machine body via a mounting bracket; The first transmission component is disposed at the output end of the drive motor; The drive shaft is rotatably connected to the mounting bracket. The second transmission component is connected to the transmission shaft and converts the rotational motion of the first transmission component into the rotational motion of the transmission shaft through the second transmission component. The connecting rod is fixedly connected to the drive shaft at one end and connected to the hatch at the other end via a connecting plate; The connecting plate has a limiting groove along its length, and one end of the connecting rod is provided with a limiting member that can move within the range of the limiting groove.

4. The bag and box zoned delivery robot according to claim 1, characterized in that: The clamping component includes a fixed clamping part and a rotating clamping part. The fixed clamping part is connected to the annular conveyor chain through a fixed plate, and the rotating clamping part is connected to the fixed clamping part through a torsion spring.

5. The bag and box partition delivery robot according to claim 1, characterized in that: The express box cargo compartment includes multiple cargo compartment units of different sizes, and each cargo compartment unit is equipped with the second conveying device.

6. The bag and box zoned delivery robot according to claim 5, characterized in that, The second conveying device includes: Second conveyor motor; A push plate is connected to the output end of the second conveyor motor via a synchronous belt. The cargo compartment unit has a clearance groove on its bottom wall along its length, and the push plate can move within the clearance groove.

7. A method for unloading control of a bag and box partition delivery robot according to any one of claims 1-6, characterized in that, Includes the following steps: Step S1: During the loading stage, the control system generates a unique identification code for each express bag and each express box, and binds and stores the unique identification code with the corresponding clamp number or storage channel number, target floor and target user address; Step S2: When the robot reaches the target floor, the control system calls the ring mounting device to rotate the corresponding clamping part to the discharge position of the toggle part based on the unique identification code of the express bag to be unloaded. Step S3: The control system controls the toggle to move once, causing the clamp to open and the express bag to fall to the first conveyor by gravity; a sensor is set on the first conveyor to detect whether the express bag has fallen successfully. If the fall is not detected, the abnormality is recorded and an attempt is made to re-trigger or an alarm is issued. Step S4: The control system calls the second conveying device, and drives the corresponding push plate to push the express box to the outside of the machine body according to the unique identification code of the express box and the storage channel position; During the push process, the control system calculates the push distance based on the pre-stored length data of the express box, so that the pusher pushes the express box to the outer edge of the door and then automatically retracts. Step S5: During the unloading process, the control system acquires real-time images of the unloading area through the camera at the end of the robotic arm, identifies the quantity and posture of the unloaded goods, and immediately stops unloading and issues an alarm signal if it detects that multiple express boxes are pushed out at once or that the goods are tipped over.

8. The unloading control method according to claim 7, characterized in that: In step S3, before controlling the movement of the toggle component, the control system first reads the unique identification code corresponding to the clamping component and compares it with the unique identification code of the express bag to be unloaded. If the comparison matches, the toggle action is allowed. If the comparison does not match, the clamping component is skipped and an alarm signal is issued. At the same time, the abnormal information is uploaded to the cloud server.

9. The unloading control method according to claim 7, characterized in that: In step S4, before pushing the express box, the control system determines whether the user has both an express bag and an express box to be unloaded. If the determination is yes, the control system adjusts the unloading sequence, first executing step S3 to unload the express bag, then executing step S4 to unload the express box, and causing the express bag and express box to fall to the same ground area; if the determination is no, the unloading is performed in the original sequence.

10. The unloading control method according to claim 7, characterized in that: In step S4, when more than one express box is placed in each cargo compartment unit, the control system determines the placement order of the express boxes in reverse order according to the preset unloading sequence during the loading stage, so that the express box unloaded first is located on the outermost side closest to the door, and the express box unloaded last is located on the innermost side. During the unloading phase, when it is necessary to unload the target express box, the control system only allows unloading of the express box that is currently located on the outermost side; If the actual location corresponding to the unique identification code of the target express box is not the outermost one, the control system will refuse to unload and issue an alarm, indicating that the loading order is wrong or that the outermost express boxes need to be unloaded first.

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