Delivery robot
By equipping delivery robots with platforms and robotic arms, loading and unloading of items can be accomplished without bending over, solving the time-consuming and labor-intensive problems of existing technologies and improving user experience and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN PUDU TECH CO LTD
- Filing Date
- 2025-03-21
- Publication Date
- 2026-05-29
Smart Images
Figure CN224295847U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of smart devices, and in particular to a delivery robot. Background Technology
[0002] Delivery robots are automated devices capable of autonomous navigation and obstacle avoidance. They are primarily used for the automated handling and delivery of goods in various scenarios. They can operate in places such as restaurants, hospitals, large shopping malls, and logistics centers, significantly improving efficiency, reducing labor costs, and increasing delivery accuracy. Delivery robots have internal compartments for storing and retrieving items to be delivered.
[0003] In related technologies, users usually need to bend over and lift items into or out of the cabin, which is time-consuming and laborious, resulting in a poor user experience. Utility Model Content
[0004] Therefore, it is necessary to provide a delivery robot to address the problem that lifting and carrying operations are time-consuming and labor-intensive, affecting the user experience.
[0005] This application proposes a delivery robot, which includes:
[0006] The fuselage includes a housing and a column, the column being mounted above the housing, the housing having an interior compartment, and the outer wall of the housing having a storage platform; and
[0007] A robotic arm, movably mounted on the column, is used at least to transfer items from the shelf to the compartment, or to transfer items from the compartment to the shelf.
[0008] When the delivery robot in this solution is in operation, the items to be delivered can be placed directly on the shelf formed on the box. Because the shelf has a certain height, users can easily and conveniently place the items on it without bending over. Then, the robotic arm moves to the shelf, accurately grasps the items, and automatically transfers them to the compartment formed inside the box, thus enabling the delivery robot to perform its delivery work. Upon arrival at the destination, the robotic arm automatically retrieves the items from the compartment and places them back on the shelf for the user to easily retrieve. Compared to existing technologies, this delivery robot can replace human labor in loading items into the compartment, eliminating the need for users to bend over, thereby saving users' energy and time and improving the user experience.
[0009] The technical solution of this application will be further described below:
[0010] In one embodiment, the delivery robot further includes a first recognizer disposed on the side of the column facing the shelf; and / or, the recognition head of the first recognizer is tilted downward toward the shelf so that the recognition angle is toward the shelf.
[0011] In one embodiment, the robotic arm includes an arm portion, an end effector, and a second identifier. One end of the arm portion is mounted on the column, the end effector is mounted on the end of the arm portion away from the column, and the second identifier is mounted on the end effector or the arm portion.
[0012] In one embodiment, two robotic arms are provided, which are respectively located on opposite sides of the column. The two robotic arms can move independently or in coordination.
[0013] In one embodiment, the robotic arm further includes a shoulder member, which is arranged at an angle and has opposing first mounting ends and second mounting ends, wherein the distance between the first mounting end and the housing is greater than the distance between the second mounting end and the housing;
[0014] The first mounting end is mounted on the column, and the end of the arm away from the end effector is connected to the second mounting end.
[0015] In one embodiment, the delivery robot further includes a lifting drive mechanism, which is disposed inside the column and is inclined. The column has an inclined rail groove, and one end of the shoulder piece passes through the inclined rail groove and is connected to the lifting drive mechanism for transmission, so that the shoulder piece can switch back and forth between the upper limit position and the lower limit position.
[0016] Or / and, the lifting drive mechanism is linearly inclined, and the inclination of the shoulder piece is less than the inclination of the lifting drive mechanism.
[0017] In one embodiment, when the shoulder member is at the upper limit position, the orthographic projection of the shoulder member in the column direction is located within the side range of the column.
[0018] In one embodiment, when the shoulder member is in the downward limit position, the second mounting end extends to the outside of the front side of the housing to form an interference-resistant gap between the robotic arm and the housing.
[0019] In one embodiment, the lifting drive mechanism includes a power source, a transmission component, and a connecting component. The power source is driven to the transmission component, and the transmission component is driven to the connecting component to enable the connecting component to move up and down. The shoulder piece is connected to the connecting component.
[0020] In one embodiment, the power source includes a drive motor, the transmission assembly includes a bracket, a timing pulley set, and a lead screw and nut pair, the connection assembly includes a nut connector, a slider, and an arm connector, the drive motor is mounted on the bracket, the timing pulley set and the lead screw and nut pair are movably mounted on the bracket, the drive motor is connected to the lead screw and nut pair via the timing pulley set, the nut connector is connected to the lead screw and nut pair, and both the nut connector and the slider are connected to the arm connector, the arm connector is assembled and fixed to the shoulder piece, and the slider is slidably disposed within the inclined groove. Attached Figure Description
[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.
[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of the delivery robot in one embodiment of this application when the shoulder piece is in the downward limit position.
[0024] Figure 2 This is a schematic diagram of the delivery robot in another embodiment when the shoulder piece is at its upper limit position.
[0025] Figure 3 This is a schematic diagram of the delivery robot from a rear-angle perspective.
[0026] Figure 4 for Figure 3 A partial diagram of the exploded structure.
[0027] Figure 5 This is a schematic diagram of the lifting drive mechanism according to one embodiment.
[0028] Explanation of reference numerals in the attached figures:
[0029] 100. Delivery robot; 10. Body; 11. Box; 111. Cabin; 112. Storage platform; 12. Column; 121. Inclined track; 20. First identifier; 30. Robotic arm; 31. Arm section; 311. Connecting post; 32. End effector; 33. Second identifier; 40. Shoulder component; 41. First mounting end; 42. Second mounting end; 43. Connecting hole; 50. Lifting drive mechanism; 51. Power source; 52. Bracket; 53. Synchronous pulley assembly; 54. Lead screw and nut pair; 55. Nut connector; 56. Slider; 57. Arm connector; 60. Upward limit position; 70. Downward limit position. Detailed Implementation
[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0031] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0032] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0034] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0035] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0036] See Figures 1 to 3 The present application illustrates a delivery robot 100, which includes a chassis, a body 10, a first identifier 20, and a robotic arm 30.
[0037] The chassis is used to mount the body 10, the robotic arm 30 and the first identifier 20, improving the integration of the delivery robot 100. At the same time, the chassis provides the mobility required by the delivery robot 100 to achieve autonomous delivery of goods.
[0038] Optionally, the chassis can be any type of wheeled chassis, tracked chassis, etc., and the specific choice can be made flexibly according to actual needs.
[0039] For example, the chassis in this application is a wheeled chassis, which specifically includes drive wheels, auxiliary wheels, casters, suspension, battery, counterweight, chassis frame, drive plate and shell.
[0040] During installation, the front auxiliary wheel is screwed onto the chassis frame, followed by the suspension system. The drive wheels and casters are then sequentially screwed onto the suspension system. Next, the counterweight is simultaneously screwed onto the chassis frame from both above and below. The rear auxiliary wheel is then aligned with the mounting holes on the lower counterweight block and tightened. The inner side of the housing has drive plate mounting holes for securing the drive plate, depth sensor, and radar. The cables are connected, and the device is then vertically mounted onto the chassis frame. Finally, the chassis is reversed, the battery cable connector is connected, and the drive plate is wired through the battery mounting holes. After wiring, the battery is aligned with the battery mounting holes, inserted, and tightened with screws.
[0041] The fuselage 10 includes a box 11 and a column 12. The column 12 is installed above the box 11. The interior of the box 11 forms a compartment 111, and the outer wall of the box 11 forms a shelf 112.
[0042] The column 12 and the housing 11 can be an integral structure or they can be detached and assembled. For example, in this application, the column 12 and the housing 11 are detached and assembled to facilitate the maintenance work after the column 12 is disassembled.
[0043] The installation method of the column 12 and the box 11 can be any one or a combination of at least two of the following: screw connection, snap connection, adhesive connection, magnetic connection, etc.
[0044] The column 12 specifically includes a front shell and a rear shell. The front shell and the rear shell are assembled to form an installation cavity. The structure is simple and the weight is light, which helps to achieve the overall lightweight design of the machine.
[0045] In this application, the column 12 is arranged on the top surface of the box 11 and biased towards the front of the delivery robot 100, so that a part of the top surface of the box 11 near the rear can be left empty to form a storage platform 112, which simplifies the forming structure and method of the storage platform 112 and reduces the design cost.
[0046] The first identifier 20 is mounted on the column 12, and the recognition angle of the first identifier 20 is facing the shelf 112.
[0047] For example, the first recognizer 20 can be any of the following: visual recognition, lidar recognition, etc., and can be flexibly selected according to actual needs.
[0048] In other embodiments, the first identifier 20 may also be set on other support positions, as long as the recognition angle of the first identifier 20 is facing the shelf 112.
[0049] The robotic arm 30 is movably mounted on the column 12 and is used at least to transfer items from the shelf 112 to the compartment 111, or to transfer items from the compartment 111 to the shelf 112. For example, the robotic arm 30 can be used to transfer items from the shelf 112 to the compartment 111, or to transfer items from the compartment 111 to the shelf 112, or to transfer items from the compartment 111 to the ground or other supporting surfaces. The robotic arm 30 may also have other functions such as pressing elevator buttons or knocking on doors.
[0050] For example, in this application, the box 11 is cubic, and the internal compartment 111 is also cubic, with a length, width and height of 280mm*380mm*420mm respectively.
[0051] In addition, in order to enable the robotic arm 30 to clearly and accurately locate and grab items stored in the compartment 111 in dimly lit places such as at night or in corridors, lighting is installed on the top wall and / or side wall inside the compartment 111.
[0052] Furthermore, compartment 111 has an entrance / exit on the side in front of delivery robot 100, and an openable / closeable door is installed at the entrance / exit. The door is an automatic door. When the door is opened, the lighting automatically turns on.
[0053] In summary, implementing the technical solution of this embodiment will achieve the following beneficial effects: When the delivery robot 100 of this solution is working, the items to be delivered by the user can be placed directly on the shelf 112 formed on the box 11. Since the shelf 112 has a certain height, the user can easily and conveniently place the items on the shelf 112 without bending over. Then, the robotic arm 30 moves to the shelf 112. With the assistance of the first recognizer 20, the robotic arm 30 can accurately grasp the items and then automatically transfer the items to the compartment 111 formed inside the box 11. In this way, the delivery robot 100 can carry out delivery work. When the destination is reached, the robotic arm 30 can automatically take the items out of the compartment 111 and place them on the shelf 112, making it convenient for the user to take the items directly. Compared with the prior art, the delivery robot 100 of this solution can replace human labor to complete the work of loading items into the compartment 111 without the user having to bend over, thereby saving the user's physical strength and time and improving the user experience.
[0054] Please continue reading Figure 2 and Figure 3 Optionally, based on the above embodiments, the first identifier 20 is installed on the side of the column 12 facing the shelf 112, and the identification angle of the first identifier 20 is tilted downward toward the shelf 112, for example, the identification head of the first identifier 20 is tilted downward toward the shelf 112.
[0055] In this way, the recognition head of the first recognizer 20 can be directly facing the shelf 112 to obtain a complete image of the shelf 112 and the items on it, so as to accurately locate the items and assist the robotic arm 30 in accurately and effectively grasping the items.
[0056] Specifically, the first recognizer 20 employs a depth vision camera (RGB-D camera), with its recognition lens tilted downwards towards the shelf 112. RGB-D cameras typically have a resolution of 320×240, and they acquire all RGBD data, such as image data and corresponding depth and distance data, via a USB cable. Thus, object recognition, arm grasping, and SLAM mapping can be achieved using the image data and depth and distance data obtained from the depth vision camera.
[0057] In another embodiment, the robotic arm 30 includes an arm 31, an end effector 32, and a second identifier 33. One end of the arm 31 is mounted on a column 12, the end effector 32 is mounted on the end of the arm 31 away from the column 12, and the second identifier 33 is mounted on either the end effector 32 or the arm 31.
[0058] The arm 31 is specifically a multi-axis arm, such as a three-axis arm or a five-axis arm, which can be selected according to actual needs. The arm 31 has multiple degrees of freedom of rotation and movement, which can drive the end effector 32 to move flexibly in space and avoid obstacles, so as to drive the end effector 32 to move back and forth safely and efficiently between the platform 112 and the compartment 111.
[0059] Optionally, the end effector 32 can be a dexterous hand, such as a five-finger dexterous hand or a three-finger dexterous hand, or it can be a gripper with functions such as grasping and pressing. Specifically, the end effector 32 of this application adopts a five-finger dexterous hand. A five-finger dexterous hand has the freedom of movement similar to a human hand, so it can be more effectively used to grasp objects of various shapes and sizes, ensuring the effectiveness of object picking and placing. At the same time, with the help of the second recognizer 33 to provide visual assistance in positioning, the effectiveness of the end effector 32 in grasping objects can be more reliably guaranteed.
[0060] For example, the second recognizer 33 can be any of the following: visual recognition, lidar recognition, etc., and can be flexibly selected according to actual needs.
[0061] Optionally, the second recognizer 33 may also employ, but is not limited to, a depth vision camera.
[0062] Please continue reading Figures 1 to 3Furthermore, based on any of the above embodiments, two robotic arms 30 are provided, with the two robotic arms 30 respectively located on opposite sides of the column 12. The two robotic arms 30 can operate independently or in coordination. Independent operation means that the two robotic arms 30 can individually grasp an item or slide up and down independently, while coordinated operation means that the two robotic arms 30 can cooperate to grasp an item or slide up and down together.
[0063] In practical operation, when the items on the shelf 112 are small in size and weight, only one robotic arm 30 needs to be controlled to perform the gripping, transferring, and placing operations, thereby reducing energy consumption. When the items on the shelf 112 are large in size and weight, or when the items are placed directly on the ground, the two robotic arms 30 can work together to grip the items simultaneously, ensuring the stability and reliability of the gripping.
[0064] In addition, the delivery robot 100 with the above-mentioned robotic arm 30 structure also has the ability to ride elevators autonomously. That is, during the delivery process, the delivery robot 100 uses the second recognizer 33 or other recognizers to visually determine the elevator position and uses the end effector 32 to manually operate the elevator autonomously.
[0065] Please continue reading Figures 1 to 3 Furthermore, in another embodiment, the robotic arm 30 also includes a shoulder member 40, which is arranged at an angle and has a first mounting end 41 and a second mounting end 42 opposite to each other. The distance between the first mounting end 41 and the housing 11 is greater than the distance between the second mounting end 42 and the housing 11.
[0066] The first mounting end 41 is mounted on the column 12, and the end of the arm 31 away from the end effector 32 is connected to the second mounting end 42.
[0067] The inclined shoulder piece 40 is connected to the robotic arm 30. On the one hand, it allows the robotic arm 30 to be completely stored within the projection range of the chassis of the box 11 (i.e., the projection on the ground) when not in operation, reducing the overall lateral size of the delivery robot 100 and avoiding affecting its passability. On the other hand, it also makes the center of gravity of the chassis more centered, improving the stability of the whole machine's movement.
[0068] like Figure 4 As shown, more specifically, the shoulder piece 40 is detachably connected to the arm 31, so that the shoulder piece 40 can serve as a maintenance break point, facilitating the maintenance of the connecting cables of the robotic arm 30.
[0069] For example, the shoulder piece 40 has a plug hole 43, and the end of the arm 31 away from the end effector 32 has a plug post 311. The plug post 311 is detachably installed in the plug hole 43. The shoulder piece 40 also has a wire hole inside so that the connecting cable can pass through the wire hole and connect to the arm 31.
[0070] In one embodiment, the plug post 311 may be a rotary motor to enable multi-degree-of-freedom movement of the arm 31.
[0071] Please continue reading Figure 3 , Figure 4 and Figure 5 Furthermore, the delivery robot 100 also includes a lifting drive mechanism 50, which is located inside the column 12 and is inclined. The column 12 has an inclined rail groove 121. One end of the shoulder piece 40 passes through the inclined rail groove 121 and is connected to the lifting drive mechanism 50 for transmission, so that the shoulder piece 40 can switch back and forth between the upper limit position 60 and the lower limit position 70.
[0072] It should be noted that the lifting drive mechanism 50 can be set in an inclined position, either linearly or non-linearly, such as a curved inclined position; correspondingly, the inclined rail groove 121 opened on the column 12 is either a linear inclined rail groove or a curved inclined rail groove.
[0073] When the lifting drive mechanism 50 drives the shoulder piece 40 to rise to the upper limit position 60, that is, when the shoulder piece 40 is located at the upper end of the inclined rail groove 121, the shoulder piece 40 can drive the robotic arm 30 to be completely retracted within the positive projection range of the box 11 and the chassis, while making the center of gravity of the whole machine more central and ensuring the stability of the whole machine movement.
[0074] When the lifting drive mechanism 50 drives the shoulder piece 40 to descend to the lower limit position 70, that is, when the shoulder piece 40 is located at the lower end of the inclined rail groove 121, the robotic arm 30 extends to the front exterior of the box 11 and the chassis, and is arranged closer to the ground and the compartment 111, so as to obtain a wider space for movement and operation, so as to grasp items on the ground or in the compartment 111.
[0075] Furthermore, the lifting drive mechanism 50 is linearly tilted, and the tilt angle of the lifting drive mechanism 50 is less than the tilt angle of the shoulder piece 40.
[0076] On one hand, the lifting drive mechanism 50 tilts forward downwards and approaches the front edge of the body 10, while the lifting drive mechanism 50 tilts backwards and approaches the center of the body 10. When the delivery robot 100 needs to move, the lifting drive mechanism 50 rises to its upper limit position 60, the shoulder piece 40 and the robotic arm 30 increase in height and move towards the center of the body 10. The robotic arm 30 and the shoulder piece 40 can be retracted into the chassis's ground projection outline. At this time, the delivery robot 100's ground projection is the smallest, its turning radius and passageway clearance are the best, its center of gravity is closest to the center of the body 10, and the delivery robot 100's stability is also the best. When the delivery robot 100 picks up a heavier object from the ground, the robotic arm 30 can rise and retract into the chassis's ground projection outline without tipping over, which can improve the delivery robot 100's load capacity.
[0077] The tilted shoulder piece 40 not only increases the operating range of the robotic arm 30 in front and below, but also helps the proximal joint of the robotic arm 30 avoid the top cover of the housing 11 when the lifting drive mechanism 50 descends to its lower limit position 70, preventing interference between components. It also allows the arm 31 to protrude more from the body 10, preventing interference between the distal joint of the arm 31 and the body 10 when operating on ground objects. Furthermore, compared to a horizontal setting, the tilted shoulder piece 40 shifts the center of gravity of the robotic arm 30 backward while maintaining operational capability, further improving the stability of the delivery robot 100.
[0078] On the other hand, both the lifting drive mechanism 50 and the shoulder piece 40 are inclined, and the inclination of the lifting drive mechanism 50 is less than that of the shoulder piece 40. This can reduce the component of the weight of the robotic arm 30 along the direction of the lifting drive mechanism 50, thereby reducing the load on the lifting drive mechanism 50 and improving its service life.
[0079] Optionally, the shoulder piece 40 has a tilt angle ranging from 15° to 45°, for example, 29°.
[0080] The tilt angle range of the lifting drive mechanism 50 is 60° to 90°, for example, 79°.
[0081] Please continue reading Figure 1 and Figure 2 It should be noted that when the shoulder piece 40 is at its upper limit position 60, the orthographic projection of the shoulder piece 40 in the direction of the column 12 is located within the side range of the column 12. This avoids the shoulder piece 40 extending out and being exposed on the column 12, thus affecting the overall aesthetics of the machine, while also increasing the operating range of the robotic arm 30 on the platform 112.
[0082] It should also be noted that when the shoulder piece 40 is at its downward limit position 70, the second mounting end 42 extends to the outside of the front side of the housing 11, creating an anti-interference gap between the robotic arm 30 and the housing 11. This prevents collision interference between the robotic arm 30 and the front outer wall of the housing 11 during movement, ensuring the safe and reliable operation of the robotic arm 30 and providing it with a large operating range on the ground or within the compartment 111. The front side refers to one side of the hatch of the housing 11.
[0083] Furthermore, based on any of the above embodiments, the lifting drive mechanism 50 includes a power source 51, a transmission component, and a connecting component. The power source 51 is connected to the transmission component, and the transmission component is connected to the connecting component so that the connecting component can move up and down. The shoulder member 40 is connected to the connecting component.
[0084] During operation, the power source 51 outputs driving force, which is transmitted to the connecting component through the transmission component. This causes the connecting component to move up and down, while simultaneously driving the shoulder piece 40 and the robotic arm 30 to move up or down. This allows for flexible adjustment of the working state of the delivery robot 100, meeting the needs of operations such as whole-machine storage, item grabbing, and item storage.
[0085] Please continue reading Figure 5 Specifically, in one optional embodiment, the power source 51 includes a drive motor, the transmission assembly includes a bracket 52, a synchronous pulley set 53, and a lead screw and nut pair 54, and the connection assembly includes a nut connector 55, a slider 56, and an arm connector 57. The drive motor is mounted on the bracket 52, and both the synchronous pulley set 53 and the lead screw and nut pair 54 are movably mounted on the bracket 52. The drive motor is connected to the lead screw and nut pair 54 via the synchronous pulley set 53. The nut connector 55 is connected to the lead screw and nut pair 54, and both the nut connector 55 and the slider 56 are connected to the arm connector 57. The arm connector 57 is assembled and fixed to the shoulder piece 40.
[0086] Thus, when the drive motor starts working and rotates, it drives the nut in the lead screw and nut pair 54 to slide up and down along the lead screw via the synchronous pulley set 53. When the nut slides up and down, it drives the shoulder piece 40 and the robotic arm 30 to slide up and down through the nut connector 55 and the arm connector 57. The transmission cooperation between the drive motor, the synchronous pulley set 53, and the lead screw and nut pair 54 can ensure the smoothness and accuracy of power transmission, improve power utilization, and thus ensure the driving efficiency of the shoulder piece 40 and the robotic arm 30. This prevents the robotic arm 30 from vibrating during lifting and moving, which could lead to insecure gripping of objects and damage from falling.
[0087] It should be noted that two lifting drive mechanisms 50 can also be installed inside the column 12. Each lifting drive mechanism 50 is connected to a robotic arm 30, allowing the two robotic arms 30 to move up or down independently to meet the needs of more usage scenarios. For example, while one robotic arm 30 is grabbing an item on the platform 112 and transferring it into the compartment 111, the other robotic arm 30 can perform a ladder operation, thereby improving the continuity of work, saving intermediate time, and improving the delivery efficiency of the delivery robot 100.
[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A delivery robot, characterized in that, include: The fuselage includes a box and a column, the column is installed above the box, the box has a compartment inside, and the outer wall of the box has a shelf. as well as A robotic arm, movably mounted on the column, is used at least to transfer items from the shelf to the compartment, or to transfer items from the compartment to the shelf; The delivery robot also includes a first identifier, which is disposed on the side of the column facing the shelf; And / or, the recognition head of the first recognizer is tilted downward toward the shelf so that the recognition angle is toward the shelf; The robotic arm includes an arm section, an end effector, and a second identifier. One end of the arm section is mounted on the column, the end effector is mounted on the end of the arm section away from the column, and the second identifier is mounted on the end effector or the arm section.
2. The delivery robot according to claim 1, characterized in that, Two robotic arms are provided, which are respectively located on opposite sides of the column. The two robotic arms can move independently or in coordination.
3. The delivery robot according to claim 2, characterized in that, The robotic arm also includes a shoulder member, which is arranged at an angle and has a first mounting end and a second mounting end opposite to each other. The distance between the first mounting end and the housing is greater than the distance between the second mounting end and the housing. The first mounting end is mounted on the column, and the end of the arm away from the end effector is connected to the second mounting end.
4. The delivery robot according to claim 3, characterized in that, The delivery robot also includes a lifting drive mechanism, which is located inside the column and is inclined. The column has an inclined rail groove, and one end of the shoulder piece passes through the inclined rail groove and is connected to the lifting drive mechanism so that the shoulder piece can switch back and forth between the upper limit position and the lower limit position. Or / and, the lifting drive mechanism is linearly inclined, and the inclination of the shoulder piece is less than the inclination of the lifting drive mechanism.
5. The delivery robot according to claim 4, characterized in that, When the shoulder piece is at the upper limit position, the orthographic projection of the shoulder piece in the column direction is located within the side range of the column.
6. The delivery robot according to claim 4, characterized in that, When the shoulder piece is at the downward limit position, the second mounting end extends to the outside of the front side of the housing to form an anti-interference gap between the robotic arm and the housing.
7. The delivery robot according to claim 4, characterized in that, The lifting drive mechanism includes a power source, a transmission component, and a connecting component. The power source is driven to the transmission component, and the transmission component is driven to the connecting component so that the connecting component can move up and down. The shoulder piece is connected to the connecting component.
8. The delivery robot according to claim 7, characterized in that, The power source includes a drive motor, the transmission assembly includes a bracket, a timing pulley set, and a lead screw and nut pair, the connection assembly includes a nut connector, a slider, and an arm connector, the drive motor is mounted on the bracket, the timing pulley set and the lead screw and nut pair are both movably mounted on the bracket, the drive motor is connected to the lead screw and nut pair via the timing pulley set, the nut connector is connected to the lead screw and nut pair, and both the nut connector and the slider are connected to the arm connector, the arm connector is assembled and fixed to the shoulder piece.