Box distribution robot

Abstract

The utility model relates to a box distribution robot, which belongs to the field of robots and comprises a chassis, a driving device and a distribution box. The driving device is arranged below the chassis, and the distribution box is arranged above the chassis through a plurality of lifting hydraulic systems; the chassis comprises a first tray, a second tray, connecting columns and fixing columns, the first tray is arranged above the second tray, and the second tray is connected with the first tray through the connecting columns; the first tray is further provided with a plurality of fixing columns, and the fixing columns are perpendicular to the first tray. Through the arrangement of the suspension system and the lifting hydraulic system, the stability of the device in the moving process is effectively guaranteed, the device can adapt to different road surface environments, and therefore the adaptability of the device is improved; in addition, different distribution boxes can be changed according to the sizes of the goods, and the goods distribution box can flexibly adapt to the sizes of the goods.

Description

Technical Field

[0001] The utility model belongs to the field of robots, and particularly relates to a box delivery robot. Background Art

[0002] The box delivery robot is an automated device integrating multiple technologies such as automatic navigation, obstacle avoidance, and intelligent scheduling, and is specifically used for the transportation and distribution of items. It relies on sensors such as lidar, cameras, and ultrasonic waves to perceive the environment in real time, and can autonomously avoid obstacles and navigate according to the set path. In terms of design, such robots usually have one or more areas for placing boxes, and can carry various items, such as express packages, food, drugs, etc., to meet diverse delivery needs.

[0003] The biggest feature of this kind of robot lies in its intelligent scheduling system. It can dynamically adjust the delivery route by connecting to the cloud or the internal control system to ensure that items can be delivered to the designated location in the most efficient way. At the same time, the robot is equipped with a rechargeable battery and can automatically return to the charging station for charging after completing the task to ensure continuous working ability. In addition, the robot also has the flexibility to operate in different scenarios, such as quickly adapting to and completing delivery tasks in complex indoor environments.

[0004] The box delivery robot has been widely used in many industries. For example, in the logistics field, it can efficiently transport goods inside warehouses or distribution centers; in the catering industry, the robot can deliver meals from the kitchen to customers' hands, reducing the need for manpower; in the medical field, it is used to transfer drugs, specimens, and medical equipment inside hospitals, reducing human contact and improving efficiency. With the continuous progress of technology, the box delivery robot will play a more important role in the future, promoting the development of various industries towards automation and intelligence.

[0005] At present, the existing box delivery robots cannot fully match complex road surfaces during transportation, and their stability and safety are poor, making it difficult to ensure the safe and efficient delivery of items; moreover, the fixed cargo capacity cannot adapt to diverse goods, the cargo compartment is small and cannot accommodate more goods, resulting in an increase in the number of deliveries. Content of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model provides a box delivery robot. By setting a driving device and a delivery box, it can effectively ensure the balance and stability of the delivery robot during movement. At the same time, four lifting hydraulic devices are arranged between the robot chassis and the delivery box, which can ensure the balance and stability of the delivery box during movement, and avoid damage to the goods caused by collisions with the box.

[0007] To achieve the above object, the utility model discloses the following technical solutions:

[0008] A box delivery robot, which includes a chassis, a driving device and a delivery box;

[0009] The driving device is arranged below the chassis, and the delivery box is arranged above the chassis through a plurality of lifting hydraulic systems;

[0010] The chassis includes a first tray, a second tray, connecting columns and fixing columns. The first tray is arranged above the second tray, and the second tray is connected to the first tray through a plurality of the connecting columns; A plurality of the fixing columns are also arranged on the first tray, and the fixing columns are perpendicular to the first tray;

[0011] The driving device includes a suspension system, a driving motor and Mecanum wheels. The suspension system includes a follower, a chassis spring, a triangular fixing column and an internal spring fixing member. The driving end of the driving motor is connected to the Mecanum wheels and drives the Mecanum wheels to rotate; The fixed end of the driving motor is connected to the first end of the triangular fixing column through a motor bracket. The second end of the triangular fixing column is connected to the first end of the internal spring fixing member and the first end of the follower. The second end of the follower is connected to the side wall of the fixing column; The chassis spring is sleeved outside the internal spring fixing member, and the second end of the spring fixing member is movably connected to the bottom of the second tray through a cylindrical body;

[0012] The follower includes a first follower rod, a second follower rod and a third follower rod. The first follower rod and the second follower rod are arranged in parallel, and the first ends of the first follower rod and the second follower rod are both movably connected to the side wall of the fixing column. The second end of the first follower rod is movably connected to the first end of the third follower rod. The second end of the second follower rod is movably connected to the side wall of the third follower rod. The second end of the third follower rod is movably connected to the second end of the triangular fixing column;

[0013] The delivery box includes a delivery box housing, a first delivery box, a second delivery box and a third delivery box. The first delivery box, the second delivery box and the third delivery box are all arranged inside the delivery box housing. The second delivery box is arranged inside the first side of the delivery box housing. The first delivery box and the third delivery box are arranged inside the second side of the delivery box housing, and the first delivery box is arranged above the third delivery box.

[0014] Preferably, guide rails and first magnets are arranged on the inner side walls of the delivery box housing, and the guide rails and the first magnets are arranged perpendicular to each other. Slide bars matching the guide rails are arranged on the side walls of the first delivery box, the second delivery box and the third delivery box.

[0015] Preferably, the lifting hydraulic system includes a first connecting seat, a second connecting seat, a shock-absorbing spring, a damper, and a hydraulic column. The first end of the first connecting seat is connected to the upper surface of the first tray. The first end of the hydraulic column is connected to the second end of the first connecting seat. The second end of the hydraulic column is connected to the first end of the second connecting seat. The second end of the second connecting seat is connected to the bottom surface of the delivery box housing. The first end of the damper is connected to the second end of the first connecting seat. The second end of the damper is connected to the first end of the second connecting seat. Hydraulic columns are respectively arranged on both sides of the damper. The shock-absorbing spring is sleeved on the damper.

[0016] Preferably, the chassis further includes a chassis housing, which is arranged outside the first tray and is perpendicular to the first tray. A first display screen is arranged on the chassis housing.

[0017] Preferably, a display device, an antenna, and a card reader are arranged above the delivery box. The display device includes a second display screen, a second display screen housing, a camera, and a digital tube.

[0018] Preferably, a control box, a remote controller, a power supply, a depth camera, a lidar, a braking knob, a charging port, a control box power switch, and a power supply braking knob are arranged on the upper surface of the first tray. The depth camera is connected to the core development board of the central controller through a wireless device. The lidar is connected to the core development board of the central controller through a wireless device. The braking knob is connected to the drive motor through an electric wire, and the braking knob controls the start of the drive motor. The charging port is connected to the power supply through an electric wire. The first end of the control box power switch is electrically connected to the power supply. The second end of the control box power switch is electrically connected to the components on the power supply box. The first end of the power supply braking knob is electrically connected to the power supply. The second end of the power supply braking knob is electrically connected to the components on the chassis and the drive device. The remote controller is arranged inside the control box. The central controller is connected to the remote controller through a wireless device. The remote controller is connected to the camera, the second display screen, the antenna, and the drive motor on the chassis through electric wires. The power supply is connected to the remote controller, the camera, the second display screen, the antenna, and the drive motor through electric wires respectively.

[0019] Preferably, a third tray is arranged inside the delivery box.

[0020] Preferably, a box door is arranged on the delivery box housing. The first side of the box door is connected to the first delivery box column of the delivery box housing through a hinge. A lock body is arranged on the second side of the box door. The second side of the box door is connected to the second delivery box column of the delivery box housing through the lock tongue of the lock body.

[0021] Preferably, a handle is provided on the box door.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] 1. By setting up a suspension system, the Mecanum wheels of the utility model can be effectively adjusted up and down on the chassis, and each adjustment can be carried out independently, so that when passing through an uneven road surface, the stability of the goods in the upper delivery box can still be ensured, and the smooth movement of the overall device can be guaranteed.

[0024] 2. A lifting hydraulic system is provided between the chassis and the delivery box of the utility model, and each can be adjusted independently for lifting, so that when moving on an uphill or downhill road surface, the horizontality and stability of the delivery box can be maintained.

[0025] 3. Components such as guide rails, sliding strips and magnetic strip devices are arranged in the delivery box of the utility model, so that the internal delivery box can be fixed in the delivery box, and delivery boxes of different sizes can be placed, so that it can deliver various items with different shapes and sizes, reducing the number of deliveries by the delivery robot and improving the delivery efficiency; at the same time, the camera and card reader above the delivery box can confirm the pick-up personnel, and the delivery items and delivery information are displayed through the second display screen, improving the delivery safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall structure of the box body delivery robot of the utility model;

[0027] Figure 2 is a schematic diagram of the chassis structure of the box body delivery robot of the utility model;

[0028] Figure 3a is a schematic diagram of the overall structure of the suspension system of the box body delivery robot of the utility model;

[0029] Figure 3b is a side view of the suspension system of the box body delivery robot of the utility model;

[0030] Figure 4 is a schematic diagram of the delivery box structure of the box body delivery robot of the utility model;

[0031] Figure 5 is a schematic diagram of the internal guide rail and the first magnet of the delivery box of the box body delivery robot of the utility model;

[0032] Figure 6 is a schematic diagram of the medium and small sub-box body structures of the delivery of the box body delivery robot of the utility model;

[0033] Figure 7Schematic diagram of the back of the medium-sized and small-sized sub-boxes for distribution of the box distribution robot of the present utility model;

[0034] Figure 8 Schematic diagram of the internal structure of the distribution sub-box of the box distribution robot of the present utility model;

[0035] Figure 9 Schematic diagram of the structure of the large-sized sub-box for distribution of the box distribution robot of the present utility model;

[0036] Figure 10 Schematic diagram of the lifting hydraulic system of the box distribution robot of the present utility model.

[0037] Some of the attached drawings are explained as follows:

[0038] 1. Chassis housing; 2. First display screen; 3. First connecting seat; 4. Hydraulic column; 5. Shock-absorbing spring; 6. Damper; 7. Second connecting seat; 8. Depth camera; 9. Mecanum wheel; 10. Lidar; 11. Distribution box; 12. Guide rail; 13. First magnet; 14. First distribution box column; 15. First distribution box; 16. Second distribution box; 17. Third distribution box; 18. Door; 19. Slide bar; 23. Second display screen housing; 24. Camera; 25. Digital tube; 26. Antenna; 27. Card reader; 28. Second display screen; 29. Circular cylinder; 30. Driving motor; 31. Driven part; 32. Chassis spring; 33. Fixed column; 34. Triangular fixed column; 35. Second tray; 36. Braking knob; 37. Charging port; 38. Control box power switch; 39. Power braking knob; 40. Third tray; 41. Spring internal fixing part. Detailed implementation manners

[0039] The following will describe in detail the exemplary embodiments, features and aspects of the present utility model with reference to the attached drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0040] The present utility model provides a box distribution robot, as Figures 1-10 shown, which includes a chassis, a driving device and a distribution box 11.

[0041] The driving device is arranged below the chassis, and the distribution box 11 is arranged above the chassis through a plurality of lifting hydraulic systems.

[0042] The chassis includes a first tray, a second tray 35, connecting columns and fixed columns 33. The first tray is arranged above the second tray 35, and the second tray 35 is connected to the first tray through a plurality of connecting columns; a plurality of fixed columns are also arranged on the first tray, and the fixed columns 33 are perpendicular to the first tray.

[0043] The driving device includes a suspension system, a driving motor 30 and Mecanum wheels 9. The suspension system includes a follower 31, a chassis spring 32, a triangular fixing column 34 and an internal spring fixing member 41. The driving end of the driving motor 30 is connected to the Mecanum wheel 9 and drives it to rotate; the fixed end of the driving motor 30 is connected to the first end of the triangular fixing column through a motor bracket. The second end of the triangular fixing column 34 is connected to the first end of the internal spring fixing member 41 and the first section of the follower 31. The second end of the follower 31 is connected to the side wall of the fixing column 33; the chassis spring 32 is sleeved outside the internal spring fixing member 41, and the second end of the spring fixing member is movably connected to the bottom of the second tray 35 through a circular cylinder 29.

[0044] The follower 31 includes a first follower rod, a second follower rod and a third follower rod. The first follower rod and the second follower rod are arranged in parallel, and the first ends of the first follower rod and the second follower rod are both movably connected to the side wall of the fixing column 33. The second end of the first follower rod is movably connected to the first end of the third follower rod. The second end of the second follower rod is movably connected to the side wall of the third follower rod. The second end of the third follower rod is movably connected to the second end of the triangular fixing column.

[0045] The delivery box 11 includes a delivery box housing, a first delivery box 15, a second delivery box 16 and a third delivery box 17. The first delivery box 15, the second delivery box 16 and the third delivery box 17 are all arranged inside the delivery box housing. The second delivery box 16 is arranged inside the first side of the delivery box housing. The first delivery box 15 and the third delivery box 17 are arranged inside the second side of the delivery box housing, and the first delivery box 15 is arranged above the third delivery box 17.

[0046] Guide rails 12 and first magnets 13 are arranged on the inner side wall of the delivery box housing, and the guide rails 12 and the first magnets 13 are arranged perpendicular to each other. Slide bars 19 that cooperate with the guide rails 12 are arranged on the side walls of the first delivery box 15, the second delivery box 16 and the third delivery box 17.

[0047] The slide bar 19 contains a second magnet inside. The guide rail 12 and the slide bar 19 are fitted together, and at the same time, the first magnet 13 and the second magnet inside the slide bar 19 attract each other, which can effectively prevent the first delivery box 15, the second delivery box 16 and the third delivery box 17 from loosening or falling off during delivery.

[0048] The lifting hydraulic system includes a first connecting seat 3, a second connecting seat 7, a shock-absorbing spring 5, a damper 6, and a hydraulic column 4. The first end of the first connecting seat 3 is connected to the upper surface of the first tray. The first end of the hydraulic column 4 is connected to the second end of the first connecting seat 3. The second end of the hydraulic column 4 is connected to the first end of the second connecting seat 7. The second end of the second connecting seat 7 is connected to the bottom surface of the distribution box housing. The first end of the damper 6 is connected to the second end of the first connecting seat 3. The second end of the damper 6 is connected to the first end of the second connecting seat 7. Hydraulic columns 4 are respectively arranged on both sides of the damper 6. The shock-absorbing spring 5 is sleeved on the damper 6.

[0049] The chassis further includes a chassis housing 1. The chassis housing 1 is arranged outside the first tray and is perpendicular to the first tray. A first display screen 2 is arranged on the chassis housing 1.

[0050] The chassis housing 1 can prevent substances such as sediment from entering the chassis and causing circuit damage.

[0051] Above the distribution box, there are arranged a display device, an antenna 26, and a card reader 27. The display device includes a second display screen 28, a second display screen housing 23, a camera 24, and a digital tube 25. The second display screen 28 is embedded in the second display screen housing 23. The camera 24 is embedded in the second display screen housing 23. The digital tube 25 is embedded in the second display screen housing 23.

[0052] On the upper surface of the first tray, there are arranged a control box, a remote controller, a power supply, a depth camera 8, a lidar 10, a braking knob 36, a charging port 37, a control box power switch 38, and a power supply braking knob 39. The braking knob 36 is connected to the drive motor 30, so that the braking knob 36 can cut off the power supply of the drive motor and make the Mecanum wheel 9 stop rotating. The power supply braking knob 39 is respectively electrically connected to the power supply, the components on the chassis, and the drive device, so that the power supply braking knob 39 can make the power supply stop supplying power to the components on the chassis and the drive device. The control box power switch 38 is respectively electrically connected to the power supply and the components on the power supply box, so that the control box power switch 38 can make the power supply stop supplying power to the components on the power supply box. The remote controller is arranged inside the control box. The central controller is connected to the remote controller through a wireless device. The remote controller is connected to the camera 24, the second display screen 28, the antenna 26, and the drive motor 30 on the chassis through cables. The power supply is connected to the remote controller, the camera 24, the second display screen 28, the antenna 26, and the drive motor 30 through wires, so as to provide power support for each component.

[0053] The depth camera 8 is connected to the core development board of the central controller through a wireless device, and the lidar 10 is connected to the core development board of the central controller through a wireless device. The core development board of the central controller creates a map through known technology, and then the remote controller can confirm the position and traveling direction through the created map.

[0054] A third tray 40 is arranged inside the first delivery box.

[0055] A box door 18 is arranged on the delivery box housing. The first side of the box door 18 is connected to the first delivery box column 14 of the delivery box housing through a hinge. A lock body is arranged on the second side of the box door 18, and the second side of the box door 18 is connected to the second delivery box column of the delivery box housing through the lock tongue of the lock body.

[0056] A handle is arranged on the box door 18.

[0057] The lock includes a fixed base, a steel bolt, and a lock shell. The fixed base is connected to the box door 18, the lock shell is connected to the fixed base, and the steel bolt is embedded in the lock shell.

[0058] The control module includes a first control unit and a second control unit. The first control unit and the second control unit perform signal transmission through a communication module. The first control unit is arranged inside the housing, and the first control unit is connected to the camera assembly and the second display screen 28 through signal lines; the second control unit is arranged on the chassis frame, and the second control unit is connected to the drive motor 30, the lidar 10, and the depth camera 8 through signal lines. The first control unit is connected to the antenna 26 through a signal line to obtain the geographical location information of the device.

[0059] Working principle: Before the device delivers items, the staff divides the items according to the situation of the items to be delivered and loads them into the first delivery box 15, the second delivery box 16, and the third delivery box 17. After assembly, the items are delivered to the target location. During the delivery process, the independent suspension system can enhance the stability of the device. When arriving at the location where delivery is required, the pick-up personnel can pick up items through the first delivery box 15, the second delivery box 16, and the third delivery box 17 respectively. During the pick-up process, the camera 24 identifies and authenticates the personnel, and the card reader 27 performs card identification. The identification and authentication process can be any one in the prior art, and the present utility model does not limit this. After identification and authentication, the second display screen 28 will display the information of identification and authentication and the information of the remaining items to be delivered, and at the same time, the first display screen 2 will display the current battery level of the delivery vehicle.

[0060] It can be known from the above embodiments that the device has the following beneficial effects:

[0061] The three delivery boxes, namely the first delivery box 15, the second delivery box 16, and the third delivery box 17, can be combined arbitrarily, which is convenient and flexible and can be used for different types of items.

[0062] The person picking up the item is identified through the camera 24 and the card reader 27 above the top of the delivery box, and the information of the person picking up the item is displayed through the second display screen 28, improving the safety of machine delivery.

[0063] Through the suspension system on the robot chassis, the shock absorption effect of the robot can be increased, improving the stability of the robot.

[0064] The embodiments described above are only descriptions of the preferred embodiments of the present utility model and do not limit the scope of the present utility model. Without departing from the design spirit of the present utility model, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present utility model shall fall within the protection scope determined by the claims of the present utility model.

Claims

1. A box delivery robot, characterized in that, It includes a chassis, a driving device and a delivery box; The driving device is arranged below the chassis, and the delivery box is arranged above the chassis through a plurality of lifting hydraulic systems; The chassis includes a first tray, a second tray, connecting columns and fixing columns. The first tray is arranged above the second tray, and the second tray is connected to the first tray through a plurality of the connecting columns; A plurality of the fixing columns are further arranged on the first tray, and the fixing columns are perpendicular to the first tray; The driving device includes a suspension system, a driving motor and Mecanum wheels. The suspension system includes a follower, a chassis spring, a triangular fixing column and an internal spring fixing piece. The driving end of the driving motor is connected to the Mecanum wheel and drives the Mecanum wheel to rotate; The fixed end of the driving motor is connected to the first end of the triangular fixing column through a motor bracket. The second end of the triangular fixing column is connected to the first end of the internal spring fixing piece and the first end of the follower. The second end of the follower is connected to the side wall of the fixing column; The chassis spring is sleeved outside the internal spring fixing piece, and the second end of the spring fixing piece is movably connected to the bottom of the second tray through a cylindrical body; The follower includes a first follower rod, a second follower rod and a third follower rod. The first follower rod and the second follower rod are arranged in parallel, and the first ends of the first follower rod and the second follower rod are both movably connected to the side wall of the fixing column. The second end of the first follower rod is movably connected to the first end of the third follower rod. The second end of the second follower rod is movably connected to the side wall of the third follower rod. The second end of the third follower rod is movably connected to the second end of the triangular fixing column; The delivery box includes a delivery box housing, a first delivery box, a second delivery box and a third delivery box. The first delivery box, the second delivery box and the third delivery box are all arranged inside the delivery box housing. The second delivery box is arranged inside the first side of the delivery box housing. The first delivery box and the third delivery box are arranged inside the second side of the delivery box housing, and the first delivery box is arranged above the third delivery box.

2. The box delivery robot according to claim 1, wherein Guide rails and first magnets are arranged on the inner side wall of the delivery box housing, and the guide rails and the first magnets are arranged perpendicular to each other. Slide bars matched with the guide rails are arranged on the side walls of the first delivery box, the second delivery box and the third delivery box.

3. The box delivery robot according to claim 1, characterized in that, The lifting hydraulic system includes a first connecting seat, a second connecting seat, a shock-absorbing spring, a damper, and a hydraulic column. The first end of the first connecting seat is connected to the upper surface of the first tray. The first end of the hydraulic column is connected to the second end of the first connecting seat. The second end of the hydraulic column is connected to the first end of the second connecting seat. The second end of the second connecting seat is connected to the bottom surface of the delivery box housing. The first end of the damper is connected to the second end of the first connecting seat. The second end of the damper is connected to the first end of the second connecting seat. Hydraulic columns are respectively arranged on both sides of the damper. The shock-absorbing spring is sleeved on the damper.

4. The box delivery robot according to claim 1, characterized in that, The chassis further includes a chassis housing which is arranged outside the first tray and is perpendicular to the first tray. A first display screen is arranged on the chassis housing.

5. The box delivery robot according to claim 1, characterized in that A display device, an antenna, and a card reader are arranged above the delivery box. The display device includes a second display screen, a second display screen housing, a camera, and a digital tube.

6. The box delivery robot according to claim 1, characterized in that A control box, a remote controller, a power supply, a depth camera, a lidar, a braking knob, a charging port, a control box power switch, and a power supply braking knob are arranged on the upper surface of the first tray. The depth camera is connected to the core development board of the central controller through a wireless device. The lidar is connected to the core development board of the central controller through a wireless device. The braking knob is connected to the drive motor through an electric wire, and the braking knob controls the start of the drive motor. The charging port is connected to the power supply through an electric wire. The first end of the control box power switch is electrically connected to the power supply, and the second end of the control box power switch is electrically connected to the components on the power supply box. The first end of the power supply braking knob is electrically connected to the power supply, and the second end of the power supply braking knob is electrically connected to the components on the chassis and the drive device. The remote controller is arranged inside the control box. The central controller is connected to the remote controller through a wireless device. The remote controller is connected to the camera, the second display screen, the antenna, and the drive motor on the chassis through electric wires. The power supply is connected to the remote controller, the camera, the second display screen, the antenna, and the drive motor through electric wires respectively.

7. The box delivery robot according to claim 1, characterized in that, A third tray is arranged inside the delivery box.

8. The box delivery robot according to claim 1, characterized in that, A box door is arranged on the delivery box housing. The first side of the box door is connected to the first delivery box column of the delivery box housing through a hinge. A lock body is arranged on the second side of the box door. The second side of the box door is connected to the second delivery box column of the delivery box housing through the lock tongue of the lock body.

9. The box delivery robot according to claim 8, wherein, A handle is arranged on the box door.

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