Distribution robot capable of transversely moving and walking

Abstract

The utility model discloses a distribution robot capable of transversely moving and walking, and relates to the technical field of robots. The walking mechanism comprises a platform plate and a walking assembly movably installed on the platform plate, and the platform plate is installed on the frame; the lifting mechanism is installed on the platform plate, the lifting mechanism comprises a lifting driving end and a lifting end connected with the output end of the lifting driving end, and the lifting end is connected with the walking assembly; the steering mechanism comprises a steering driving end and a steering end, the steering driving end is installed on the platform plate, the steering end comprises a gear bearing, an inner ring of the gear bearing is fixedly connected with the platform plate, an outer ring of the gear bearing is fixedly connected with the frame, and the steering driving end acts on the outer ring of the gear bearing and is used for driving the platform plate to rotate relative to the frame. According to the arrangement, the problem that small and medium-sized distribution robots are difficult to steer in a narrow space is effectively solved, and the maneuverability of the robots in a complex environment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a distribution robot of transverse displacement walking. BACKGROUND

[0002] As the key achievement of the intelligent development of modern logistics and service field, the distribution robot plays an irreplaceable role in improving the distribution efficiency, reducing the labor cost and enhancing the environmental performance. The small and medium-sized distribution robot is generally composed of a driving assembly, a control assembly, a storage assembly and a detection assembly. Among them, the driving assembly adopts a double walking motor architecture, and the forward, backward and turning actions are realized by adjusting the speed difference of the left and right wheels. Some are also assisted by large radius turning or 180 degree turning in place function; the control assembly is responsible for the operation instruction control and task planning of the whole robot; the storage assembly is used for carrying the distribution materials; and the detection assembly undertakes the important responsibility of monitoring the surrounding environment of the robot, and can realize real-time sensing of the surrounding objects, personnel and terrain information, thereby providing the basis for the action decision of the robot.

[0003] In the actual operation scene, when the distribution task is executed, the detection assembly of the small and medium-sized distribution robot monitors the surrounding environment at all times. However, once it is detected that the robot is in a narrow channel, a cramped indoor environment and a traffic congestion node and needs to turn, the conventional turning mode of the small and medium-sized distribution robot faces severe challenges. Since it mainly relies on the speed difference of the left and right wheels to realize the turning, in the case of limited space, this turning mode is extremely awkward. The smaller turning radius makes it difficult for the robot to flexibly adjust the direction in the narrow area, and it is easy to encounter the difficulty of not being able to turn smoothly due to insufficient space margin. When trying to turn forcibly, the robot is limited by the turning radius and the space margin, and is easy to deviate from the planned path and collide with obstacles, not only delaying the distribution, but also endangering the safety of the surrounding personnel and equipment. SUMMARY

[0004] In view of the defects of the prior art, the utility model provides a distribution robot capable of transverse displacement walking, which effectively solves the problem of difficulty in turning of the small and medium-sized distribution robot in a narrow space, improves the maneuverability of the robot in a complex environment, and ensures efficient and safe distribution.

[0005] To achieve the above purpose, the utility model provides the following technical scheme:

[0006] A distribution robot capable of transverse displacement walking, comprising:

[0007] A vehicle frame;

[0008] A walking mechanism comprising a platform plate and a walking assembly movably mounted on the platform plate, the platform plate being mounted on the vehicle frame;

[0009] A lifting mechanism is installed on the platform plate, and comprises a lifting driving end and a lifting end connected with an output end of the lifting driving end, wherein the lifting end is connected with the walking assembly;

[0010] A steering mechanism comprises a steering driving end and a steering end, wherein the steering driving end is installed on the platform plate, the steering end comprises a gear bearing, an inner ring of the gear bearing is fixedly connected with the platform plate, an outer ring of the gear bearing is fixedly connected with the frame, and the steering driving end drives the platform plate to rotate relative to the frame by acting on the outer ring of the gear bearing;

[0011] A control unit is electrically connected with the lifting driving end and the steering driving end.

[0012] Preferably, the steering driving end comprises a first rotating motor and a rotating gear, the first rotating motor is fixed on the platform plate, an output end of the first rotating motor is connected with the rotating gear, the rotating gear is engaged with the outer ring of the gear bearing, and the first rotating motor is electrically connected with the control unit.

[0013] Preferably, the steering mechanism further comprises a driven gear and an encoder, the driven gear is engaged with the outer ring of the gear bearing, the driven gear is connected with a connecting shaft of the encoder, the encoder is fixed on the platform plate, and the encoder is electrically connected with the control unit.

[0014] Preferably, a locking mechanism is further provided, the locking mechanism comprises a locking driving member and a locking bolt, the locking driving member is installed on the platform plate, the locking driving member is electrically connected with the control unit, the locking driving member is drivingly connected with the locking bolt, the locking bolt is movable between the platform plate and the frame, and the locking bolt is movable to be inserted into the frame.

[0015] Preferably, the frame is provided with a reinforcing ring, the reinforcing ring is fixedly connected with the outer ring of the gear bearing, and the reinforcing ring is provided with a plurality of insertion seats for the locking bolt to be inserted into.

[0016] Preferably, the platform plate is provided with a movable hole, the locking bolt is movably connected with the movable hole, the locking driving member comprises a second rotating motor, a rotating block, a driven circular block and a lifting circular ring, the second rotating motor is installed on the bottom of the platform plate, one end of the rotating block is fixedly connected with an output shaft of the second rotating motor, the other end of the rotating block is fixedly connected with the driven circular block, the driven circular block is movably connected with an inner ring of the lifting circular ring, the lifting circular ring has a length in the horizontal direction, an outer wall of the lifting circular ring is connected with one end of the locking bolt, and the second rotating motor is electrically connected with the control unit.

[0017] Preferably, the platform plate is provided with a first position sensor, and the side wall of the rotating block is provided with a first position plate, and the first position sensor is electrically connected with the control unit.

[0018] Preferably, the bottom of the platform plate is provided with a lifting rod, and the walking assembly comprises a driving mounting plate and a walking wheel mounted on the driving mounting plate, and the driving mounting plate is movably connected with the lifting rod.

[0019] Preferably, the lifting driving end comprises a spring and an electric cylinder, the lifting end comprises a lifting plate, the spring is arranged outside the lifting rod, one end of the spring abuts against the platform plate, the other end of the spring abuts against the driving mounting plate, the output end of the electric cylinder is fixedly connected with the lifting plate, the lifting plate is arranged below the driving mounting plate, the lifting plate can be lifted to abut against the driving mounting plate and lift the driving mounting plate, and when the driving mounting plate is located at the end of the lifting rod away from the platform plate, the spring is in a compressed state.

[0020] Preferably, the bottom of the platform plate is provided with a second position sensor, and the lifting plate is correspondingly provided with a second position plate, and the second position sensor is electrically connected with the control unit.

[0021] By adopting the technical scheme, the utility model has the following beneficial effects:

[0022] When the delivery robot needs to turn in a narrow channel, a cramped indoor environment or a traffic congestion node, the lifting driving end can drive the lifting end to rise, and drive the walking assembly to rise through the lifting end, so that the walking wheel is separated from the ground; then the turning driving end acts on the outer ring of the gear bearing, drives the platform plate to rotate around the center of the gear bearing, realizes the rotation of the platform plate relative to the frame, and the walking assembly is driven to rotate at the same time; finally, the lifting driving end drives the walking assembly to descend, so that the walking wheel recontacts the ground, and the whole turning action of the robot is completed. Through the cooperative matching of the frame, the walking mechanism, the lifting mechanism, the turning mechanism and the control unit, the utility model effectively solves the problem that the small and medium-sized delivery robot is difficult to turn in a narrow space, and effectively improves the flexibility and maneuverability of the delivery robot in a complex environment by combining the vertical lifting action of the lifting mechanism with the rotating action of the turning mechanism. The whole turning process can be efficiently and safely executed, the delivery task is not delayed and collision is avoided due to the difficulty in turning, so as to ensure the safety and reliability of the operation of the delivery robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 A side view of the distribution robot capable of transverse movement and walking of the present application;

[0025] Figure 2 A perspective view of the distribution robot capable of transverse movement and walking of the present application without a vehicle frame;

[0026] Figure 3 A perspective view of the distribution robot capable of transverse movement and walking of the present application without a vehicle frame from another angle;

[0027] Figure 4 A perspective view of the steering mechanism in the distribution robot capable of transverse movement and walking of the present application;

[0028] Figure 5 A perspective view of the locking mechanism in the distribution robot capable of transverse movement and walking of the present application;

[0029] Figure 6 A perspective view of the walking assembly in the distribution robot capable of transverse movement and walking of the present application

[0030] Figure 7 A control framework diagram of the distribution robot capable of transverse movement and walking of the present application.

[0031] Drawing identification:

[0032] 1, vehicle frame; 11, mounting groove; 12, reinforcing ring; 13, plug-in seat;

[0033] 21, platform plate; 211, movable hole; 212, connecting support; 213, lifting rod; 22, walking assembly; 221, driving mounting plate; 2211, lifting limiting block; 222, walking wheel; 223, walking motor;

[0034] 3, lifting mechanism; 31, lifting driving end; 311, spring; 312, electric cylinder; 32, lifting end; 33, second arrival sensor; 34, second arrival plate;

[0035] 4, steering mechanism; 41, steering end; 42, steering driving end; 421, first rotating motor; 422, rotating gear; 43, driven gear; 44, encoder;

[0036] 5, locking mechanism; 51, locking bolt; 52, locking driving part; 521, second rotation motor; 522, rotation block; 523, driven round block; 524, lifting round ring; 53, first to position sensor;

[0037] 6, control unit. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] In the description of the present application, it should be pointed out that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", "fourth" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or abutment, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0041] The present application provides a kind of distribution robot of transverse displacement, see Figures 1-7, including a frame 1, a walking mechanism, a lifting mechanism 3, a steering mechanism 4 and a control unit 6. The walking mechanism comprises a platform plate 21 and a walking assembly 22 movably mounted on the platform plate 21, and the platform plate 21 is mounted on the frame 1; the lifting mechanism 3 is mounted on the platform plate 21, and the lifting mechanism 3 comprises a lifting driving end 31 and a lifting end 32 in driving connection with the lifting driving end 31, and the lifting end 32 is connected with the walking assembly 22 and used for driving the walking assembly 22 to lift; the steering mechanism 4 comprises a steering driving end 42 and a steering end 41, the steering driving end 42 is mounted on the platform plate 21, and the steering end 41 comprises a gear bearing, the inner ring of the gear bearing is fixedly connected with the platform plate 21, the outer ring of the gear bearing is fixedly connected with the frame 1, and the steering driving end 42 is matched with the outer ring of the gear bearing and used for driving the platform plate 21 to rotate relative to the frame 1; and the control unit 6 is electrically connected with the lifting driving end 31 and the steering driving end 42.

[0042] Specifically, the frame 1 is provided with a mounting groove 11 for mounting the walking mechanism, and the platform plate 21 is movably mounted in the mounting groove 11. The walking assembly 22 is mounted on the bottom of the platform plate 21 and used for the walking of the delivery robot. The lifting mechanism 3 is mounted on the bottom of the platform plate 21 and used for driving the walking assembly 22 to lift. The steering mechanism 4 is used for the steering of the platform plate 21. The steering mechanism 4 can drive the platform plate 21 to rotate the walking mechanism relative to the frame 1 in the horizontal direction. The control unit 6 is arranged on the bottom of the platform plate 21. The control unit 6 sends a signal to the lifting driving end 31, controls the lifting driving end 31 to drive the lifting end 32 to rise, drives the walking assembly 22 to rise through the lifting end 32, and makes the walking wheel 222 separate from the ground. Then, the control unit 6 sends a signal to the steering driving end 42, controls the steering driving end 42 to act on the outer ring of the gear bearing, drives the platform plate 21 to rotate around the center of the gear bearing, realizes the rotation of the platform plate 21 relative to the frame 1, and simultaneously rotates the walking assembly 22. Finally, the control unit 6 sends a signal to the lifting driving end 31, controls the lifting driving end 31 to drive the walking assembly 22 to descend, makes the walking wheel 222 re-contact the ground, and thus completes the whole steering action of the delivery robot. Through the cooperation of the lifting mechanism 3 and the steering mechanism 4, the precise steering of the delivery robot in the narrow space is realized. The lifting mechanism 3 drives the walking assembly 22 to separate from the ground, provides the steering freedom degree for the platform plate 21. The steering mechanism 4 drives the platform plate 21 to rotate around the center of the gear bearing, and completes the precise steering. Finally, the walking assembly 22 stably lands on the ground and restores the normal walking state. The utility model effectively improves the maneuverability of the delivery robot in the complex environment, and ensures the efficient and safe completion of the delivery task.

[0043] Referring to Figure 2 and Figure 4, further, the steering drive end 42 end includes a first rotating motor 421 and a rotating gear 422, the first rotating motor 421 is fixed on the platform plate 21, the output end of the first rotating motor 421 is connected with the rotating gear 422, the rotating gear 422 is engaged with the outer ring of the gear bearing, and the first rotating motor 421 is electrically connected with the control unit 6. Specifically, the first rotating motor 421 is fixedly installed on the bottom of the platform plate 21, the output end of the first rotating motor 421 penetrates the platform plate 21, and the output end of the first rotating motor 421 is fixedly connected with the center of the rotating gear 422. And because the outer ring of the gear bearing is fixedly connected with the vehicle frame 1, when the steering mechanism 4 is steering, the outer ring of the gear bearing is fixedly connected with the vehicle frame 1. Therefore, when the steering mechanism 4 works, the first rotating motor 421 drives the rotating gear 422 to rotate, the rotating gear 422 is engaged with the outer ring of the gear bearing, the rotating gear 422 will make a circular motion around the outer ring of the gear bearing, and the rotating gear 422 drives the first rotating motor 421, the platform plate 21 and the walking assembly 22 to rotate along the horizontal direction relative to the vehicle frame 1, so as to realize the steering of the walking assembly 22.

[0044] Referring to Figure 2 and Figure 4 , further, the steering mechanism 4 further includes a driven gear 43 and an encoder 44, the driven gear 43 is engaged with the outer ring of the gear bearing, the driven gear 43 is connected with the connecting shaft of the encoder 44, the encoder 44 is fixed on the platform plate 21, and the encoder 44 is electrically connected with the control unit 6. Specifically, the size of the driven gear 43 is consistent with that of the rotating gear 422, the encoder 44 is fixedly installed on the bottom of the platform plate 21, the connecting shaft of the encoder 44 penetrates the platform plate 21, one end of the connecting shaft of the encoder 44 is located on the top of the platform plate 21, the connecting shaft of the encoder 44 is fixedly connected with the center of the driven gear 43, and the encoder 44 is used for recording the rotating angle of the driven gear 43 to record the steering angle of the walking assembly 22. When the platform plate 21 is driven to rotate by the steering mechanism 4, the platform plate 21 drives the encoder 44 and the driven gear 43 to rotate at the same time, because the driven gear 43 is engaged with the outer ring of the gear bearing, the driven gear 43 will be driven to rotate by the outer ring of the gear bearing during the rotating process, the encoder 44 captures the rotating parameters of the driven gear 43 in real time and converts them into signals to transmit to the control unit 6. When the encoder 44 monitors that the rotating angle reaches the preset target angle, it sends a signal to the control unit 6 immediately, the control unit 6 sends a stop instruction to the first rotating motor 421 in turn, the first rotating motor 421 stops working quickly, and the platform plate 21 and the walking assembly 22 are accurately stopped at the predetermined steering position, so as to realize the highly accurate, stable and reliable steering control, effectively avoid the over-steering or under-steering situation, and provide a solid guarantee for the flexible steering and safe driving of the delivery robot in complex environment.

[0045] Referring to Figure 3 andFigure 5 Further, the transversely movable delivery robot further comprises a locking mechanism 5, the locking mechanism 5 comprising a locking driving element 52 and a locking bolt 51, the locking driving element 52 being mounted on the platform plate 21, the locking driving element 52 being electrically connected with the control unit 6, the locking driving element 52 being drivingly connected with the locking bolt 51, the locking bolt 51 being movable between the platform plate 21 and the vehicle frame 1, and the locking bolt 51 being movable to be inserted with the vehicle frame 1. Specifically, when the delivery robot needs to turn in a narrow passage, a cramped indoor environment or a traffic congestion node, the control unit 6 first sends a signal to the locking driving element 52 to control the locking driving element 52 to drive the locking bolt 51 to move away from the platform plate 21, thereby unlocking the connection between the vehicle frame 1 and the platform plate 21, ensuring that the components can freely and flexibly rotate during turning. After the delivery robot completes the turning, the control unit 6 immediately sends an instruction to the locking driving element 52 to drive the locking bolt 51 to move towards the platform plate 21, so that the locking bolt 51 is inserted with the vehicle frame 1, and the relative position of the vehicle frame 1 and the platform plate 21 is strongly locked. The locking mechanism 5 provides additional safety in certain states of the robot. When the robot completes the turning or is in a stationary waiting task phase, the locking driving element 52 drives the locking bolt 51 to be inserted with the vehicle frame 1, thereby firmly locking the vehicle frame 1 and the platform plate 21, preventing the vehicle frame 1 and the walking assembly 22 from moving relative to each other due to external interference or accidental situations, maintaining the stability of the robot posture, and ensuring the safety of the goods and the normal state of the equipment.

[0046] Referring to Figure 2 and Figure 3 Further, the vehicle frame 1 is fixedly provided with a reinforcing ring 12, and the reinforcing ring 12 is fixedly connected with the outer ring of the gear bearing, and the reinforcing ring 12 is provided with a plurality of insertion seats 13 for the locking bolt 51. Specifically, in this embodiment, the insertion seats 13 are provided with two, and the two insertion seats 13 are arranged on the outer side wall of the reinforcing ring 12, and the specific positions of the two insertion seats 13 can be flexibly adjusted according to the target turning angle of the walking assembly 22.

[0047] Referring to Figure 3 and Figure 5 Further, the platform plate 21 is provided with a movable hole 211, the locking bolt 51 is movably connected with the movable hole 211, the locking driving element 52 comprises a second rotating motor 521, a rotating block 522, a driven circular block 523 and a lifting circular ring 524, the second rotating motor 521 being mounted on the bottom of the platform plate 21, one end of the rotating block 522 being fixedly connected with the output shaft of the second rotating motor 521, the other end of the rotating block 522 being fixedly connected with the driven circular block 523, the driven circular block 523 being movably connected with the inner ring of the lifting circular ring 524, the lifting circular ring 524 having a horizontal length, the outer wall of the lifting circular ring 524 being connected with one end of the locking bolt 51, and the second rotating motor being electrically connected with the control unit 6.

[0048] Specifically, the platform plate 21 is provided with a movable hole 211 with a diameter matching that of the locking bolt 51, through which the locking bolt 51 is capable of lifting. The bottom of the platform plate 21 is provided with a connecting bracket 212, and the second rotating motor 521 is fixedly installed on the connecting bracket 212. The output shaft of the second rotating motor 521 is connected with one end of the rotating block 522, and when the second rotating motor 521 works, it drives the rotating block 522 to rotate and make the rotating block 522 move in a circular motion. The driven circular block 523 is fixedly connected with the end of the rotating block 522 away from the second rotating motor 521. The inner ring of the lifting circular ring 524 has a height matching the diameter of the driven circular block 523, and the length of the inner ring of the lifting circular ring 524 is slightly larger than the diameter of the three driven circular rings. When the locking bolt 51 is inserted into or unlocked from the insertion seat 13, the driven circular rings are all located at the middle position of the inner ring of the lifting circular ring 524, ensuring that the movement of the driven circular block 523 is always limited by the inner wall of the lifting circular ring 524.

[0049] When the locking mechanism 5 needs to be unlocked, the control unit 6 sends a signal to the second rotating motor 521 to drive the output shaft of the second rotating motor 521 to rotate, and the output shaft of the second rotating motor 521 drives the driven circular block 523 to rotate in a circular direction downward through the rotating block 522. The driven circular block 523 is movably connected with the inner wall of the lifting circular ring 524, and with the movement of the driven circular block 523, the inner wall of the lifting circular ring 524 limits the movement track of the driven circular block 523, converting its circular motion into vertical motion of the lifting circular ring 524. Since the outer wall of the lifting circular ring 524 is fixedly connected with the locking bolt 51, the lifting motion of the lifting circular ring 524 directly drives the locking bolt 51 to move vertically along the movable hole 211. The locking bolt 51 gradually descends away from the insertion seat 13 until it is completely separated from the insertion seat 13, completing the unlocking operation. When the locking mechanism 5 needs to be locked, the control unit 6 sends a reverse signal to the second rotating motor 521 to drive the second rotating motor 521 to rotate reversely. The output shaft of the second rotating motor 521 drives the driven circular block 523 to rotate reversely through the rotating block 522, and the driven circular block 523 limits its movement track through the inner wall of the lifting circular ring 524, converting its circular motion into vertical motion of the lifting circular ring 524 again. The vertical upward motion of the lifting circular ring 524 drives the locking bolt 51 to move upward along the movable hole 211, and the locking bolt 51 gradually inserts into the insertion seat 13 until it is completely embedded and fixed in the insertion seat 13, completing the locking operation. The setting of the movable hole 211 limits the lateral freedom of the locking bolt 51, ensuring that the movement of the locking bolt 51 is only in the vertical direction, thereby realizing precise lifting motion. The design of the lifting circular ring 524 enables the circular motion of the driven circular block 523 to be efficiently converted into vertical motion, ensuring that the movement process of the locking bolt 51 is stable and reliable.

[0050] Referring to Figure 3 and Figure 5 The platform plate 21 is provided with a first position sensor 53, and the side wall of the rotating block 522 is provided with a first position plate. The first position sensor 53 is electrically connected to the control unit 6. Specifically, the opposite side walls of the connecting bracket 212 at the bottom of the platform plate 21 are respectively provided with a first position sensor 53. The position of the first position sensor 53 can be set according to actual needs. When the locking mechanism 5 is locked, the movement of the rotating block 522 gradually drives the first position plate to approach one of the first position sensors 53. When the locking pin 51 is completely inserted into the insertion seat 13 and reaches the preset locking position, the first position plate completely blocks the sensing channel of one of the first position sensors 53. The first position sensor 53 immediately sends a signal to the control unit 6. After receiving the signal, the control unit 6 sends a stop instruction to the second rotating motor 521 to terminate the movement of the rotating block 522, ensuring that the locking pin 51 is stably fixed in the insertion seat 13. When the locking mechanism 5 is unlocked, the movement of the rotating block 522 drives the first position plate to approach the other first position sensor 53. When the locking pin 51 is completely separated from the insertion seat 13 and reaches the preset unlocking position, the first position plate completely blocks the sensing channel of the other first position sensor 53. The first position sensor 53 immediately sends an unlocking signal to the control unit 6. After receiving the signal, the control unit 6 sends a stop instruction to the second rotating motor 521 to terminate the movement of the rotating block 522, ensuring that the locking pin 51 is in the unlocked state. Through the precise sensing linkage of the first position sensor 53 and the first position plate, the locking and unlocking actions can be quickly and accurately completed, effectively avoiding the excessive movement or out-of-position situation of the locking pin 51, ensuring the stability and reliability of the operation process of the locking mechanism 5, and providing strong support for the operation safety and precision of the delivery robot in complex environments.

[0051] Referring to Figure 2 and Figure 6Further, the bottom of the platform plate 21 is provided with lifting rods 213, and the walking assembly 22 comprises driving mounting plates 221 and walking wheels 222 mounted on the driving mounting plates 221, and the driving mounting plates 221 are movably connected with the lifting rods 213. Specifically, the lifting rods 213 are four, and the four lifting rods 213 are respectively mounted at the four top corners of the bottom of the platform plate 21. The driving mounting plates 221 are two, and the two driving mounting plates 221 are respectively arranged on the opposite sides of the bottom of the platform plate 21. The two driving mounting plates 221 are movably connected with the adjacent two lifting rods 213, respectively. The walking wheels 222 and walking motors 223 are mounted on each of the driving mounting plates 221. The output end of the walking motor 223 is fixedly connected with the walking wheel 222, and the walking motor 223 is electrically connected with the control unit 6. The lifting rods 213 ensure the stability of the driving mounting plates 221 in the lifting movement through the guiding effect. The arrangement of the two sides of the driving mounting plates 221 enhances the stability of the walking assembly 22, so that the delivery robot runs more stably under different road conditions.

[0052] Referring to Figure 2 The lifting driving end 31 comprises springs 311 and electric cylinders 312, and the lifting end 32 comprises a lifting plate. The springs 311 are arranged around the lifting rods 213. One end of the spring 311 abuts against the platform plate 21, and the other end of the spring 311 abuts against the driving mounting plate 221. The output end of the electric cylinder 312 is fixedly connected with the lifting plate. The platform plate 21 is arranged below the driving mounting plate 221. The platform plate 21 can be lifted to abut against the driving mounting plate 221 and lift the driving mounting plate 221. When the driving mounting plate 221 is located at the end of the lifting rod 213 away from the platform plate 21, the spring 311 is in a compressed state.

[0053] Specifically, the design of the spring 311 ensures that the walking assembly 22 can always be in contact with the ground during walking, and even on complex terrain or uneven road surfaces, the spring 311 can absorb vibrations and impacts, improving the stability and adaptability of the robot operation. The electric cylinder 312 is installed on the platform plate 21, and the output end of the electric cylinder 312 is located below the platform plate 21. In this embodiment, the driving mounting plate 221 is provided with a lifting limiting block 2211, and the lifting plate is located below the lifting limiting block 2211. When the electric cylinder 312 drives the lifting plate to rise and lift the driving mounting plate 221, the lifting plate abuts against the lifting limiting block 2211 and lifts the driving mounting plate 221, thereby driving the driving mounting plate 221 and the walking assembly 22 to rise along the lifting rod 213, so that the walking assembly 22 is separated from the ground, providing necessary conditions for steering operation. In other embodiments, the lifting limiting block 2211 is fixedly connected with the lifting plate, and the electric cylinder 312 can drive the driving mounting plate 221 to move along the lifting rod 213 through the connecting plate and the lifting limiting block 2211. When the robot returns to the normal walking state, the restoring force of the spring 311 ensures that the walking assembly 22 always adheres to the ground, and no matter how the terrain fluctuates, the impact between the ground and the walking wheel 222 can be effectively buffered, ensuring the smooth operation of the robot during walking

[0054] Referring to Figure 2 Further, the bottom of the platform plate 21 is provided with a second position sensor 33, and the lifting plate is correspondingly provided with a second position plate 34, and the second position sensor 33 is electrically connected with the control unit 6. When the lifting plate moves to a specified position (i.e., the walking assembly 22 is completely separated from the ground), the second position plate 34 will block the sensing channel of the second position sensor 33, thereby triggering the control unit 6 to perform the next operation. Specifically, the second position sensor 33 judges the position state of the lifting plate by sensing whether it is isolated by the second position plate 34. When the lifting plate is in the initial state (the walking wheel 222 is on the ground), the channel of the second position sensor 33 remains unblocked, and the sensor feeds back a signal to the control unit 6 that the lifting plate is in the reset state; when the electric cylinder 312 drives the lifting plate to rise to a predetermined position (the walking wheel 222 is separated from the ground), the second position plate 34 gradually enters the sensing channel of the second position sensor 33 and completes the blocking, and the second position sensor 33 stops signal output immediately. After the control unit 6 receives the state change that the channel is isolated, it confirms that the lifting plate has reached the target position, and sends a stop instruction to the electric cylinder 312, thereby ending the lifting operation.

[0055] The implementation principle of the embodiment is:

[0056] When the delivery robot needs to turn in a narrow passage, a cramped indoor environment or a traffic jam node, the output end of the electric cylinder 312 pushes the lifting plate to gradually rise, and when the lifting plate contacts the lifting limiting block 2211 on the driving mounting plate 221, the walking assembly 22 is further driven to rise along the lifting rod 213, so that the walking assembly 22 is completely separated from the ground. In this process, the spring 311 on the lifting rod 213 is compressed, providing additional cushioning and support for the lifting action, ensuring smooth lifting.

[0057] Subsequently, the output shaft of the second rotating motor 521 starts to rotate, driving the rotating block 522 to make a circular motion around its axis. The rotation of the rotating block 522 further drives the driven circular block 523 to move along the inner ring of the lifting circular ring 524. The driven circular block 523, under the restriction of the inner ring of the lifting circular ring 524, converts the circular motion into vertical motion of the lifting circular ring 524. As the lifting circular ring 524 moves downward, the locking pin 51 is synchronously driven to slowly descend, gradually disengaging from the insertion seat 13, providing the required degree of freedom for the steering operation of the platform plate 21.

[0058] After unlocking is completed, the first rotating motor 421 drives the rotating gear 422 to rotate, and since the outer ring of the gear bearing is fixed, the rotating gear 422 makes a circular motion along the outer ring of the gear bearing. The movement of the rotating gear 422 drives the platform plate 21 to rotate around the center of the gear bearing, thereby realizing the steering operation of the platform plate 21 and the walking assembly 22. In this process, the driven gear 43 rotates with the platform plate 21 and generates self-rotation due to engagement with the outer ring of the gear bearing. The encoder 44 feeds back the rotation angle data to the control unit 6 in real time by monitoring the self-rotation angle of the driven gear 43. When the rotation angle of the platform plate 21 reaches the preset target value, the encoder 44 sends a signal to the control unit 6, and the control unit 6 immediately sends a stop instruction to the first rotating motor 421, terminating the steering action and ensuring the accurate rotation of the platform plate 21.

[0059] After the steering action is completed, the second rotating motor 521 reverses to rotate, driving the rotating block 522 and the driven circular block 523 to move cooperatively, pushing the lifting circular ring 524 to move upward, and inserting the locking pin 51 into the insertion seat 13 of the vehicle frame 1.

[0060] Finally, the electric cylinder 312 of the lifting mechanism 3 drives the lifting plate to slowly descend, so that the walking assembly 22 gradually contacts the ground and restores the normal running state.

[0061] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A cross-able delivery robot, characterized by, The utility model relates to a kind of vehicle, including: Frame (1); Walking mechanism, including platform plate (21) and walking assembly (22) movably mounted on the platform plate (21), the platform plate (21) is mounted on the frame (1); Lifting mechanism (3), the lifting mechanism (3) is mounted on the platform plate (21), the lifting mechanism (3) includes lifting drive end (31) and lifting end (32) with the output end of lifting drive end (31) connection, the lifting end (32) is connected with the walking assembly (22); Steering mechanism (4), the steering mechanism (4) includes steering drive end (42) and steering end (41), the steering drive end (42) is mounted on the platform plate (21), the steering end (41) includes gear bearing, the inner ring of gear bearing is fixedly connected with the platform plate (21), the outer ring of gear bearing is fixedly connected with the frame (1), the steering drive end (42) is driven by acting on the outer ring of gear bearing, for driving the platform plate (21) relative to the frame (1) rotation; Control unit (6), the control unit (6) is electrically connected with the lifting drive end (31) and steering drive end (42).

2. The traversing delivery robot of claim 1, wherein, The steering drive end (42) includes first rotation motor (421) and rotation gear (422), the first rotation motor (421) is fixed on the platform plate (21), the output end of the first rotation motor (421) is connected with rotation gear (422), and the rotation gear (422) is engaged with the outer ring of gear bearing, and the first rotation motor (421) is electrically connected with the control unit (6).

3. The traversing delivery robot of claim 2, wherein, The steering mechanism (4) further includes driven gear (43) and encoder (44), the driven gear (43) is engaged with the outer ring of gear bearing, the driven gear (43) is connected with the connecting shaft of encoder (44), the encoder (44) is fixed on the platform plate (21), and the encoder (44) is electrically connected with the control unit (6).

4. The traversing delivery robot of claim 2, wherein, It further includes locking mechanism (5), the locking mechanism (5) includes locking drive piece (52) and locking bolt (51), the locking drive piece (52) is mounted on the platform plate (21), the locking drive piece (52) is electrically connected with the control unit (6), the locking drive piece (52) is drivenly connected with the locking bolt (51), the locking bolt (51) can be moved between the platform plate (21) and the frame (1), and the locking bolt (51) can be moved to be inserted with the frame (1).

5. The traversing delivery robot of claim 4, wherein, The frame (1) is fixed with reinforcing ring (12), and the reinforcing ring (12) is fixedly connected with the outer ring of gear bearing, and the reinforcing ring (12) is provided with a plurality of insertion seats (13) for the locking bolt (51) to be inserted.

6. The traversing delivery robot of claim 5, wherein, The platform plate (21) is provided with a movable hole (211), the locking bolt (51) is movably connected with the movable hole (211), the locking driving part (52) comprises a second rotating motor (521), a rotating block (522), a driven circular block (523) and a lifting circular ring (524), the second rotating motor (521) is installed at the bottom of the platform plate (21), one end of the rotating block (522) is fixedly connected with the output shaft of the second rotating motor (521), the other end of the rotating block (522) is fixedly connected with the driven circular block (523), the driven circular block (523) is movably connected with the inner ring of the lifting circular ring (524), the lifting circular ring (524) has a length in the horizontal direction, the outer wall of the lifting circular ring (524) is connected with one end of the locking bolt (51), and the second rotating motor is electrically connected with the control unit (6).

7. The traversing delivery robot of claim 6, wherein, The platform plate (21) is provided with a first to position sensor (53), the side wall of the rotating block (522) is provided with a first to position plate, and the first to position sensor (53) is electrically connected with the control unit (6).

8. The traversing delivery robot of claim 1, wherein, The bottom of the platform plate (21) is provided with a lifting rod (213), the walking assembly (22) comprises a driving mounting plate (221) and a walking wheel (222) mounted on the driving mounting plate (221), and the driving mounting plate (221) is movably connected with the lifting rod (213).

9. The traversing delivery robot of claim 8, wherein, The lifting driving end (31) comprises a spring (311) and an electric cylinder (312), the lifting end (32) comprises a lifting plate, the spring (311) is arranged outside the lifting rod (213), one end of the spring (311) abuts against the platform plate (21), the other end of the spring (311) abuts against the driving mounting plate (221), the output end of the electric cylinder (312) is fixedly connected with the lifting plate, the lifting plate is arranged below the driving mounting plate (221), the lifting plate can be lifted to abut against the driving mounting plate (221) and lift the driving mounting plate (221), and when the driving mounting plate (221) is located at one end of the lifting rod (213) away from the platform plate (21), the spring (311) is in a compressed state.

10. The traversing delivery robot of claim 9, wherein, The bottom of the platform plate (21) is provided with a second to position sensor (33), the lifting plate is correspondingly provided with a second to position plate (34), and the second to position sensor (33) is electrically connected with the control unit (6).

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