All-terrain distribution robot

Abstract

The utility model discloses an all-terrain delivery robot which comprises a trunk mechanism, a robot body mechanism, a robot body mechanism and a robot body mechanism, the trunk mechanism comprises a box body and mechanical arms arranged on the two sides of the box body, and a joint shaft is arranged at the bottom end of the trunk mechanism; the wheel type moving mechanism comprises a driving wheel driven by a hub motor and two driven wheels, and the driving wheel is arranged on the joint shaft in a foldable mode; the foot type moving mechanism comprises a foldable left moving carrier and a foldable right moving carrier, the left moving carrier and the right moving carrier are both connected with the joint shaft, and the driven wheels are installed on the left moving carrier and the right moving carrier respectively; and the control mechanism is mounted at the top end of the trunk mechanism. The vehicle has the advantages that the vehicle can rapidly run on a smooth and neat road, the distribution time is shortened, the distribution requirements of different sites on the ground, stairs, grassland and other scenes are met, and the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an all-terrain delivery robot. Background Technology

[0002] With the advancement of technology and the increasing sophistication of robotics, robots are being increasingly deployed in point-to-point logistics and delivery. Currently, the robots used for delivery on the market are mainly wheeled vehicles or low-altitude drones. The main structure of a wheeled delivery robot consists of a small vehicle with a cargo box, equipped with a combination of sensing and obstacle avoidance sensors. The vehicle carries the object to be delivered and moves around, while the onboard sensing module directs the vehicle to the designated location to complete the delivery.

[0003] The problems with existing delivery vehicles are that, since they only have one type of wheeled vehicle, they will encounter obstacles when driving on roads with poor conditions. In particular, wheeled robots cannot climb stairs, so they cannot complete delivery tasks that require climbing stairs to enter homes. In addition, purely legged mobile robots have slow walking speeds and low delivery efficiency. Utility Model Content

[0004] The purpose of this invention is to provide an all-terrain delivery robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an all-terrain delivery robot, comprising:

[0006] A torso mechanism, comprising a housing and robotic arms located on both sides of the housing, with a joint axis at the bottom of the torso mechanism;

[0007] A wheeled movement mechanism includes a drive wheel driven by a hub motor and two driven wheels, wherein the drive wheel is foldably mounted on a joint shaft;

[0008] A leg-type movement mechanism, comprising a foldable left movement carrier and a foldable right movement carrier, both connected to a joint axis, with driven wheels respectively mounted on the left and right movement carriers; and

[0009] A control mechanism is mounted on top of the torso mechanism.

[0010] Preferably, the box has a door on one side and a cargo detection module inside the box.

[0011] Preferably, the wheeled movement mechanism further includes a central hip joint cruise motor and a central hip joint pitch motor. The central hip joint cruise motor is rotatably mounted on the joint shaft. The central hip joint pitch motor is connected to the central hip joint cruise motor via a connector. The drive wheel is connected to the central hip joint pitch motor via the central femur.

[0012] Preferably, the left moving vehicle includes a left hip joint, a left femur and a left tibia, the left hip joint is connected to the joint axis, the left femur is rotatably connected to the left hip joint, the left tibia is rotatably connected to the left femur, and the left foot is hinged to the bottom end of the left tibia.

[0013] Preferably, the left hip joint is provided with a left hip joint cruise motor and a left hip joint pitch motor. The left hip joint cruise motor is rotatably connected to the joint axis. One end of the left femur is connected to the left hip joint pitch motor. The left femur is provided with a left knee joint motor. The left knee joint motor is connected to the top of the left tibia through a guide rod.

[0014] Preferably, the left tibia is also connected to two left fibulas, one end of which is connected to the left tibia via a left ankle joint cruise motor, and the other end of which is hinged to the left foot.

[0015] Preferably, the robotic arm includes a humerus and a radius, the humerus being rotatably mounted on a housing, and the radius being rotatably connected to the humerus.

[0016] Preferably, the control mechanism includes a general brain, which consists of perception and navigation sensors and a control unit, and the whole serves as the unmanned driving brain of the delivery robot, arranged on the top of the functional body.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. The wheeled mobile mechanism of this utility model can travel quickly on smooth and clean roads, shortening delivery time;

[0019] 2. The legged mobile mechanism of this utility model can adaptively change its form into a bipedal walking robot according to different usage sites, so as to meet the delivery needs in different scenarios such as flat ground, stairs, and grass.

[0020] 3. The control device of this utility model can switch the robot to different states according to road conditions, enabling it to quickly reach the destination and complete the delivery task under different road conditions, thus improving work efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a diagram showing the wheeled movement state of this utility model;

[0023] Figure 3 This is a side view of the foot-mounted movement state of this utility model;

[0024] Figure 4 This is a front view of the foot-mounted movement state of this utility model;

[0025] Figure 5 This is an exploded view of the present invention.

[0026] In the diagram: 1. Trunk mechanism; 11. Box body; 12. Robotic arm; 121. Humerus; 122. Radius; 2. Wheeled movement mechanism; 21. Driving wheel; 22. Driven wheel; 23. Mid-hip joint cruise motor; 24. Mid-hip joint pitch motor; 25. Mid-femur; 3. Foot movement mechanism; 31. Left moving vehicle; 311. Left hip joint; 312. Left femur; 313. Left tibia; 314. Left foot; 315. Left hip joint cruise motor; 316. Left hip joint pitch motor; 317. Left knee joint motor; 318. Guide rod; 319. Left fibula; 320. Left ankle joint cruise motor; 32. Moving vehicle; 4. Control device; 5. Joint axis; 51. First mounting hole; 52. Second mounting hole. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figures 1 to 5 This utility model provides a technical solution: an all-terrain delivery robot, including a torso mechanism 1, a wheeled movement mechanism 2, a legged movement mechanism 3, and a control mechanism 4. The torso mechanism 1 is used to place goods during delivery. The control mechanism 4 is located at the top of the torso mechanism 1 and is used to control the robot's movement and select between wheeled and legged movement modes according to different terrains. For example, on a smooth road, the robot is controlled to be in wheeled movement mode, and the legged movement mechanism 3 is in a folded state, with the wheeled movement mechanism 3 driving the robot to move quickly. When encountering stairs or obstacles, the robot is controlled to be in legged movement mode, at which time the wheeled movement mechanism 2 is folded, and the robot moves using the legged movement mechanism 3.

[0029] In one embodiment of this invention, the control mechanism 4 uses a general-purpose brain (master2000) as its core. This general-purpose brain possesses powerful perception capabilities, enabling it to quickly and accurately collect information about the surrounding environment, including obstacles, pedestrians, and road conditions. Through real-time analysis and processing of this information, the delivery robot can make more informed decisions, such as choosing the optimal delivery route and avoiding congested areas and dangerous zones, thereby improving delivery efficiency and safety. This general-purpose brain provides high-precision navigation and positioning functions, ensuring the delivery robot accurately reaches its destination in complex environments. This is particularly important for delivery tasks in complex scenarios such as high-rise buildings, underground parking lots, and narrow streets in cities, effectively reducing delivery errors and delays. With increased usage time, the general-purpose brain master2000 can continuously learn and accumulate experience, adaptively adjusting to different delivery scenarios and tasks. For example, it can dynamically optimize delivery routes and strategies based on factors such as traffic conditions and weather changes at different times, improving the robot's overall performance and adaptability.

[0030] In one embodiment of this invention, the torso mechanism 1 includes a housing 11 and robotic arms 12 disposed on both sides of the housing 11. The robotic arms 12 are located on both sides of the housing 11 in the direction of travel and can extend to both sides using the housing 11 as a fulcrum. When the robot is in a wheeled movement state, the robotic arms 12 can prevent the robot from tilting to the side. The housing 11 is equipped with object detection sensors, such as pressure sensors or infrared sensors, for detecting whether there is cargo inside the housing 11. A battery module is also provided inside the housing 11 for powering this invention.

[0031] In this embodiment, the robotic arm 12 includes a humerus 121 and a radius 122. The humerus 121 is rotatably mounted on a housing 11. Specifically, one end of the humerus 121 is hinged to the housing 11, and the other end of the humerus 121 can move up and down with the hinge point on the housing 11 as a fulcrum. One end of the radius 122 is hinged to the free end of the humerus 121, and the other end of the radius 122 can move back and forth with the free end of the humerus 121 as a fulcrum.

[0032] In this embodiment, the bottom end of the torso mechanism 1 is provided with a joint shaft 5. The joint shaft 5 serves as a connector between the torso mechanism 1 and the wheeled movement mechanism 2 and the footed movement mechanism 3, and is used to connect the wheeled movement mechanism 2 and the footed movement mechanism 3 to the torso mechanism 1. The joint shaft 2 is provided with a first mounting hole 51 with a downward opening and two second mounting holes 52 with horizontal openings. The first mounting hole 51 and the second mounting hole 52 form a triangular structure.

[0033] In one embodiment of this utility model, the wheeled mobile mechanism 2 includes a drive wheel 21 driven by a hub motor and two driven wheels 22. The drive wheel 21 is foldably mounted on the joint shaft 5. When moving on flat ground, the drive wheel 21 extends to contact the ground, serving as the driving part for the robot's movement. The driven wheels 22 and the drive wheel 21 form a triangular structure, which keeps the robot stable during movement.

[0034] In this embodiment, the wheeled movement mechanism 2 also includes a central hip joint cruise motor 23 and a central hip joint pitch motor 24. The central hip joint cruise motor 23 is rotatably mounted on the joint shaft 5, and the central hip joint pitch motor 24 is connected to the central hip joint cruise motor 23 through a connector. The drive wheel 21 is connected to the central hip joint pitch motor 24 through the central femur 25.

[0035] In this embodiment, specifically, the central hip joint cruise motor 23 is installed in the first mounting hole 51. When the robot is in a wheeled walking state, the central hip joint cruise motor 23 controls the robot's forward direction by rotating horizontally.

[0036] In this embodiment, specifically, the central hip joint pitch motor 24 is mounted at the bottom of the central hip joint cruise motor 23 via a connector. The central femur 25 is connected to the drive shaft of the central hip joint pitch motor 24. The central hip joint pitch motor 24 changes the height of the housing 11 above the ground by controlling the pitch angle of the central femur 25, facilitating passage over surfaces with low obstacles. The drive wheel 21 has a built-in hub motor as a power source, providing propulsion for the robot. When the robot is in a legged movement state, the central hip joint pitch motor 24 can also control the central femur 25 to move closer to the housing 11, causing the wheeled movement mechanism 2 to be in a folded state.

[0037] In one embodiment of the present invention, the foot-type moving mechanism 3 includes a foldable left moving carrier 31 and a foldable right moving carrier 32. Both the left moving carrier 31 and the right moving carrier 32 are connected to the joint shaft 5, and the driven wheels 22 are respectively mounted on the left moving carrier 31 and the right moving carrier 32.

[0038] In this embodiment, the left moving vehicle 31 includes a left hip joint 311, a left femur 312 and a left tibia 313. The left hip joint 311 is connected to the joint axis 5. The left femur 312 is rotatably connected to the left hip joint 311. The left tibia 313 is rotatably connected to the left femur 312. The bottom end of the left tibia 313 is hinged to a left foot 314.

[0039] In this embodiment, specifically, the left hip joint 311 is equipped with a left hip joint cruise motor 315 and a left hip joint pitch motor 316. The left hip joint cruise motor 315 is rotatably connected to the joint axis. One end of the left femur 312 is connected to the left hip joint pitch motor 316. The left femur 312 is equipped with a left knee joint motor 317, which is connected to the top of the left tibia 312 via a guide rod 318. Further, the drive end of the left hip joint cruise motor 315 is installed in the second mounting hole 52 to drive the left hip joint 311 to simulate the movement state of the human hip joint. The left hip joint pitch motor 316 is installed at the bottom of the left hip joint 311, and the top of the left humerus 312 is connected to the left hip joint pitch motor 316. The left hip joint pitch motor 316 controls the pitch angle of the left humerus 312 to simulate the movement of the human thigh.

[0040] In this embodiment, specifically, the left tibia 313 is hinged to the left femur 312, the top end of the left tibia 313 is hinged to one end of the guide rod 318, and the other end of the guide rod 318 is hinged to the drive shaft of the left knee joint motor 317. The rotation of the left knee joint motor 317 controls the guide rod 318 to drive the left tibia 313 to move.

[0041] In this embodiment, specifically, the left tibia 313 is also connected to two left fibulae 319. One end of the left fibula 319 is connected to the left tibia 313 via a left ankle joint cruise motor 320, and the other end of the left fibula 319 is hinged to the left foot 314. Specifically, the left ankle joint cruise motor 320 is fixed to the left tibia 313, and one end of the left fibula 319 is hinged to the drive end of the left ankle joint cruise motor 320. For example, a crank is provided at the drive end of the left ankle joint cruise motor 320, and the left fibula 319 is hinged to the crank. The other end of the left fibula 319 is hinged to the upper end of the left foot 314 via a hinge. The left ankle joint cruise motor 320 controls the left foot 314 through the left fibula 319 to simulate the foot position during human walking.

[0042] In one embodiment of this utility model, the structure of the right-moving vehicle 32 is the same as that of the left-moving vehicle 31, and will not be described in detail here.

[0043] It should be noted that the motors in the embodiments of this application are all robot joint motors used for robot joint movement.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An all-terrain delivery robot, characterized by, The application relates to a delivery robot, which comprises the following parts: a trunk mechanism, which comprises a box body and mechanical arms arranged on both sides of the box body, and a joint shaft arranged at the bottom end of the trunk mechanism; a wheeled moving mechanism, which comprises a driving wheel driven by a wheel hub motor and two driven wheels, and the driving wheel is arranged on the joint shaft in a foldable mode; a foot moving mechanism, which comprises a foldable left moving carrier and a foldable right moving carrier, and the left moving carrier and the right moving carrier are connected with the joint shaft, and the driven wheels are respectively arranged on the left moving carrier and the right moving carrier; and a control mechanism, which is arranged at the top end of the trunk mechanism.

2. The all-terrain delivery robot of claim 1, wherein: One side of the box body is provided with a box door, and a cargo detection module is arranged in the box body.

3. The all-terrain delivery robot of claim 2, wherein: The wheeled moving mechanism further comprises a middle hip joint cruise motor and a middle hip joint pitching motor, the middle hip joint cruise motor is arranged on the joint shaft in a rotating mode, the middle hip joint pitching motor is connected with the middle hip joint cruise motor through a connecting piece, and the driving wheel is connected with the middle hip joint pitching motor through a middle femur.

4. The all-terrain delivery robot of claim 3, wherein: The left moving carrier comprises a left hip joint, a left femur and a left tibia, the left hip joint is connected with the joint shaft, the left femur is rotatably connected with the left hip joint, the left tibia is rotatably connected with the left femur, and a left foot is hinged to the bottom end of the left tibia.

5. The all-terrain delivery robot of claim 4, wherein: The left hip joint is provided with a left side hip joint cruise motor and a left side hip joint pitching motor, the left side hip joint cruise motor is rotatably connected with the joint shaft, one end of the left femur is connected with the left side hip joint pitching motor, the left femur is provided with a left knee joint motor, and the left knee joint motor is connected with the top end of the left tibia through a guide rod.

6. The all-terrain delivery robot of claim 5, wherein: The left tibia is further connected with two left fibulas, one end of the left fibula is connected with the left tibia through a left side ankle joint cruise motor, and the other end of the left fibula is hinged with the left foot.

7. The all-terrain delivery robot of claim 1, wherein: The mechanical arm comprises a humerus and a radius, the humerus is rotatably arranged on the box body, and the radius is rotatably connected with the humerus.

8. The all-terrain delivery robot of claim 1, wherein: The control mechanism comprises a general brain, which is composed of a perception and navigation sensor and a control unit, and the whole serves as an unmanned brain of the delivery robot, and is arranged on the top of the functional trunk.

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