Automatic goods delivery device and distribution vehicle

Abstract

An automatic goods delivery device and a distribution vehicle. The automatic goods delivery device comprises a container and a robotic arm. The container comprises a rack and goods boxes disposed on the rack, wherein each goods box has a bottom wall for carrying goods, the bottom wall being a retractable movable portion. The robotic arm is configured to move a goods box between a specified location and the container; the robotic arm comprises a robotic arm body and an end effector mounted at the end of the robotic arm body, the end effector being configured to grasp the goods box and, when the goods box is moved to the specified location, drive the movable portion to retract, so as to release the goods.

Description

Automatic cargo delivery devices and delivery vehicles

[0001] This application claims priority to Chinese patent application number 202410311040.1 filed on March 18, 2024, entitled “Automatic Cargo Delivery Device and Delivery Vehicle,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of cargo delivery, and in particular, to an automatic cargo delivery device and a delivery vehicle. Background Art

[0003] Full-chain automation for automated delivery encompasses not only autonomous driving during the journey but also automated loading and unloading of goods at both the front and back ends. For example, automated food delivery requires addressing issues like grabbing and moving goods at both the front and back ends. Related technologies utilize robotic arms for this task.

[0004] Summary of the Invention

[0005] The present disclosure provides an automatic cargo delivery device, comprising:

[0006] A cargo container, comprising a shelf and a cargo box arranged on the shelf, wherein the cargo box has a bottom wall for carrying cargo, and the bottom wall is a retractable movable part;

[0007] A robotic arm is used to move the cargo box between a designated position and the cargo container. The robotic arm includes a robotic arm body and an end effector installed at the end of the robotic arm body. The end effector is used to grab the cargo box and drive the movable part to fold up to release the cargo when the cargo box moves to the designated position.

[0008] Optionally, a receiving channel is formed on opposite side wall edges of the cargo box, and the side wall edges include at least a bottom edge of the cargo box and a side edge adjacent to the bottom edge. The movable portion is a roller shutter that can move between an unfolded position and a retracted position within the receiving channel, wherein:

[0009] In the deployed position, the roller shutter is at least partially located at the bottom edge, and the roller shutter is capable of closing the bottom opening of the cargo box and carrying cargo;

[0010] In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box and releasing the cargo.

[0011] Optionally, the end actuator includes a main body, a sprocket provided on the main body and a power member that drives the sprocket to rotate, the teeth of the sprocket can extend into the gap of the rolling curtain, and the power member drives the sprocket to rotate to drive the rolling curtain to move in the receiving channel.

[0012] Optionally, the rolling curtain includes a plurality of carbon rods arranged in parallel, and magnetic parts are provided in the inner cavities of the carbon rods at both ends of the rolling curtain. A Hall sensor is provided on the end actuator, and the Hall sensor is used to determine the position of the rolling curtain in the receiving channel based on detecting the position of the carbon rod with the magnetic part.

[0013] Optionally, a locking portion cooperating with the movable portion is provided on the cargo box, and when the end effector is connected to the cargo box, the locking portion is driven to unlock.

[0014] Optionally, the locking portion includes a rotatable locking pin, one end of the locking pin is formed as a hook portion, and the other end is formed as a latching protrusion, the hook portion can extend into or exit the gap between two adjacent carbon rods of the roller shutter, an opening is provided on the side wall of the cargo box, the latching protrusion can protrude from the opening, and when the end actuator is connected to the cargo box, the main body presses the latching protrusion into the interior of the cargo box to drive the locking pin to rotate.

[0015] Optionally, the shelf has multiple cabinets, which are used to place the cargo boxes. The robotic arm is used to drive the cargo boxes to move horizontally to enter or exit the cabinets. The cabinets are provided with openable and closable cabinet doors on the side away from the cargo box entrance to close the opening of the cargo box.

[0016] Optionally, a guide piece is provided on the counter, and a guide hole matching the shape of the guide piece is provided on the cargo box, and the size of the guide hole gradually decreases along the moving direction of the cargo box entering the counter.

[0017] Optionally, an electromagnet is provided on the cabinet, and a magnetic adsorption component is provided on the cargo box, and the electromagnet and the magnetic adsorption component can be connected in an on-off manner.

[0018] According to a second aspect of the present disclosure, a delivery vehicle is provided, on which the above-mentioned automatic cargo delivery device is installed.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] FIG1 is a schematic structural diagram of an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0022] 2 and 3 are schematic structural diagrams of a delivery vehicle provided by an exemplary embodiment of the present disclosure.

[0023] 4 and 5 are schematic structural diagrams of a cargo container in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0024] 6 to 8 are schematic structural diagrams of shelves in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0025] 9 to 17 are schematic structural diagrams of a cargo box in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0026] 18 and 19 are schematic structural diagrams of a robotic arm in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0027] 20 and 21 are schematic structural diagrams of an end effector in an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0028] Explanation of Reference Numerals: 10 - Container; 100 - Shelf; 110 - Frame Structure; 120 - Electromagnet; 130 - Guide; 140 - Door; 200 - Cargo Box; 201 - Top Wall; 202 - First Side Wall; 203 - Second Side Wall; 2021 - Opening; 2022 - Power Input Port; 210 - Grip; 220 - Movable Portion; 221 - Carbon Rod; 222 - First Fixing Ring; 230 - Accommodation Channel; 240 - Locking Portion; 241 - Locking Pin; 2411 - Hook; 2412 - Latch; 250 - Opening; 260 - Magnetic Adsorption Member; 270 - Guide Hole. 300 - Robotic arm; 310 - Multi-axis robotic arm; 320 - End effector; 321 - Main body; 3210 - Weight reduction hole; 322 - Sprocket; 3220 - Mounting shaft; 323 - Power element; 324 - Transmission element; 325 - Mounting element; 326 - Hall effect sensor; 327 - Clamping edge; 328 - Connection hole; 329 - Contact part. 400 - Delivery vehicle. DETAILED DESCRIPTION

[0029] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0030] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0031] In the present disclosure, unless otherwise specified, directional words such as "up, down, left, and right" are generally defined under the normal use of the automatic cargo delivery device provided by the present disclosure. "front, back, front, and back" refer to the movement direction of the cargo box, which moves forward to enter the shelf grid and moves backward to exit the shelf grid. "Inside and outside" refer to the inside and outside of the corresponding component outlines. The use of terms such as "first" and "second" is intended to distinguish different components and does not have sequentiality or importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0032] With the existing technology, there are more and more types of takeout, and it is impossible to use a single robot to grab different types of takeout. The solution of designing containers at the front and back ends to hold takeout also needs to consider the asset management issues and container utilization issues caused by the placement of containers.

[0033] The purpose of the present disclosure is to provide a cargo distribution system to solve the asset management problems caused by placing containers at the front and back ends. Through the technical solution provided by the present disclosure, in the automatic cargo delivery device provided by the present disclosure, the cargo box can hold different types of cargo, and a cargo box is used to realize the standardized design of the circulation process, and the movable part design can be retracted. After the roller shutter is retracted, the cargo automatically falls to the delivery position, and only the cargo is placed at the end, avoiding the asset management problems caused by placing the container, and improving the utilization rate of the container. The end effector of the robotic arm can realize the grasping of the cargo box on the one hand, and can also drive the roller shutter to be folded or unfolded through the sprocket. The power source of the roller shutter comes from the sprocket on the end effector. When the end effector is connected to the cargo box, the roller shutter can be driven to fold. When the cargo box is used alone, the roller shutter can always be in the unfolded position to avoid the abnormal falling of cargo in non-delivery situations.

[0034] Taking the takeaway scenario as an example, in order to realize the automatic delivery of the front and back ends of the goods, in an exemplary embodiment of the present disclosure, as shown in Figure 1, an automatic delivery device for goods is provided, which includes two parts, a container 10 and a robotic arm 300. The container 10 includes a shelf 100 and a cargo box 200 arranged on the shelf 100. The robotic arm 300 includes a multi-axis robotic arm 310 and an end effector 320 arranged at the end of the multi-axis robotic arm 310. The robotic arm 300 can move the cargo box 200 between the container 10 and the delivery position through the cooperation of the end effector 320 and the cargo box 200, and automatically place the goods at the delivery position, and then put the empty cargo box 200 back to the shelf 100 to complete the automatic delivery of the goods. As shown in Figures 2 and 3, the automatic cargo delivery device can be installed as a whole on a delivery vehicle 400. The delivery vehicle 400 can move the container 10 and the robotic arm 300 to the delivery point, while realizing automatic driving in the middle route and automatic loading and unloading of front and rear end cargo, realizing full-link automation of automatic delivery. The present disclosure has designs for both parts. The following will introduce in detail the coordination between the above two parts and the various components between them in combination with specific embodiments.

[0035] FIG1 shows an automatic cargo delivery device provided by an exemplary embodiment of the present disclosure.

[0036] 2 and 3 show a delivery vehicle 400 provided in an exemplary embodiment of the present disclosure. The automatic cargo delivery device shown in FIG1 can be installed as a whole on the delivery vehicle 400. In other embodiments, the robotic arm 300 and the container 10 can also be placed on the ground or in a workshop.

[0037] 4 and 5 show a cargo container 10 provided by an exemplary embodiment of the present disclosure, including a shelf 100 and a plurality of cargo boxes 200 placed on the shelf 100. The number of cargo boxes 200 on the shelf 100 is not limited and can be designed as needed.

[0038] 6 to 8 show a shelf 100 provided by an exemplary embodiment of the present disclosure. The structure of the shelf 100 is not limited and may be a frame structure 110 with a plurality of compartments as shown in the figure.

[0039] Figures 9 to 17 show a cargo box 200 provided by an exemplary embodiment of the present disclosure. The cargo box 200 can exist alone or be placed on the shelf 100 as one of the multiple cargo boxes of the shelf 100. The present disclosure does not limit this. The latter will be described in detail below.

[0040] Figures 18 and 19 show the robotic arm 300 provided by an exemplary embodiment of the present disclosure, which includes a multi-axis robotic arm 310 and an end effector 320 installed at the end of the multi-axis robotic arm 310. The multi-axis robotic arm 310 can be a six-axis robotic arm or a robotic arm in other forms, and mainly serves the function of transporting and moving the cargo box 200, and can move the cargo box 200 to the delivery position or to the shelf 100.

[0041] Figures 20 and 21 show the end effector 320 provided by an exemplary embodiment of the present disclosure. The end effector 320 can be installed at the end of any movable component, not limited to a robotic arm, for example, on a motion module that can perform multi-directional movement. The following will provide a detailed introduction using the example of the end effector 320 being installed at the end of a multi-axis robotic arm 310.

[0042] In order to realize the grabbing action of the end effector 320 on the cargo box 200, so that the robotic arm 300 drives the cargo box 200 to move between the container 10 and the delivery position, in the present disclosure, as shown in Figure 10, a gripping portion 210 is provided on the cargo box 200, and the end effector 320 drives the cargo box 200 to move by gripping the gripping portion 210. The gripping portion 210 can be any appropriate structure that cooperates with the end effector 320. In an exemplary embodiment of the present disclosure, the gripping portion 210 includes two mounting seats fixed on the side walls of the cargo box 200 and a handle connected between the two mounting seats. A gripping space is formed between the handle, the mounting seat and the side wall of the cargo box 200. As shown in Figures 20 and 21, the end effector 320 includes a main body 321, and a clamping edge 327 is provided on the upper side of the main body 321. The clamping edge 327 can extend from bottom to top into the gripping space for clamping to realize the connection between the robotic arm 300 and the cargo box 200. In other embodiments, the gripping portion 210 may also be a handle, a claw, a gripping hole, etc., and the movement of the cargo box 200 is not limited to a robotic arm, but may be driven by any external force, and may also be a drone, an operator, etc., and the present disclosure does not impose any restrictions on this.

[0043] As shown in Figure 9, the cargo box 200 has a bottom wall for carrying goods, wherein the bottom wall can be a retractable movable part 220. The movable part 220 is unfolded to serve as the bottom wall of the cargo box 200. The goods can be placed on the movable part 220. The robotic arm 300 drives the cargo box 200 containing the goods to move freely. When the cargo box 200 moves to the designated position, as shown in Figure 11, the movable part 220 is folded and automatically released under the action of the gravity of the goods.

[0044] In the cargo box 200 provided in the present invention, different types of goods can be placed in the cargo box 200, and the different types of goods can be grasped and moved by a robotic arm 300, thereby realizing the standardized design of the container and standardizing the entire circulation process with one cargo box, saving design costs; when the cargo box 200 moves to the delivery position, the movable part 220 is folded, and the goods automatically fall to complete the delivery action. The empty cargo box can be moved back to the shelf 100, and only goods are placed at the end without placing containers, avoiding the additional investment in recycling cargo boxes and avoiding asset management problems and container utilization problems caused by placing containers.

[0045] There are many ways to fold and unfold the movable part 220, which can be done by pulling or winding. In an exemplary embodiment of the present disclosure, as shown in Figures 12 and 13, the opposite side wall edges of the cargo box 200 are formed with a receiving channel 230, and the side wall edges include at least the bottom edge of the cargo box 200 and a side edge adjacent to the bottom edge. The movable part 220 can be a roller shutter with both ends installed in the receiving channel 230, and the roller shutter can move between a unfolded position and a folded position in the receiving channel 230, wherein, in the unfolded position (Figure 12), the roller shutter is at least partially located at the bottom edge, and the roller shutter can close the bottom opening of the cargo box 200 and carry cargo; in the folded position (Figure 13), the roller shutter is at least partially located on the side, exposing the bottom opening of the cargo box 200 and releasing the cargo.

[0046] In this embodiment, as shown in Figure 11, the cargo box 200 can be a square structure surrounded by a top wall 201, a bottom wall, a first side wall 202 and two opposite second side walls 203. The bottom edge, one side edge (right side edge) and part of the top edge of the two opposite second side walls 203 are provided with a receiving channel 230. The position where the receiving channel 230 is provided is designed to be thickened, and the roller shutter moves between the expanded position and the retracted position in the receiving channel 230 in an overall translation manner. Of course, in other embodiments, the receiving channel 230 can be set only at the bottom edge. The roller shutter can be made of flexible material and can be wound up on one side of the bottom opening, which can also achieve the effect of automatically releasing the goods.

[0047] There are many ways to drive the movable portion 220 to expand and retract. A driving member can be provided within the cargo box 200 itself. In an exemplary embodiment of the present disclosure, when the robotic arm 300 and the cargo box 200 are connected, the end effector 320 drives the movable portion 220 to be retracted and expanded. As shown in Figures 9 and 14, the rolling curtain includes a plurality of carbon rods 221 arranged in parallel. The ends of two adjacent carbon rods 221 are connected by a first fixing ring 222, and two adjacent first fixing rings 222 are connected by a second fixing ring. This connects the plurality of carbon rods 221 to achieve the translational movement of the rolling curtain as a whole. There is a gap between two adjacent carbon rods 221. A power input port 2022 is provided on the side wall of the cargo box 200. As shown in Figures 20 and 21, a sprocket 322 and a power member 323 that drives the sprocket 322 to rotate are provided on the lower side of the main body 321. The power member 323 is mounted on the power input port 2022 and has a tooth portion that extends into the gap to drive the movement of the rolling curtain. The power part 323 can be a motor. When the roller shutter is unfolded, it can be the bottom plate of the cargo box 200 for placing goods. When the roller shutter is retracted, the bottom plate disappears and the goods fall automatically. In addition, the power source of the roller shutter comes from the sprocket 322 on the end effector 320. Only when the end effector 320 is connected to the cargo box 200 can the roller shutter be driven to retract. When the cargo box 200 is used alone, the roller shutter can always be in the unfolded position to prevent the goods from falling abnormally when not in a distribution situation.

[0048] In order to obtain the position of the roller shutter in the receiving channel 230, in the present disclosure, as shown in Figure 20, a Hall sensor 326 is provided near the sprocket 322 on the main body 321. As shown in the figure, a card slot is provided on one side edge of the main body 321, and the probe of the Hall sensor 326 is fixed on the upper side of the sprocket 322 through the card slot. The installation position of the Hall sensor 326 can be designed as needed, and at the same time, it should avoid affecting the rotation of the sprocket 322. Magnetic parts are provided in the inner cavity of the carbon rod 221 located at both ends of the rolling curtain. The Hall sensor 326 is used to determine the position of the rolling curtain in the receiving channel 230 based on the position of the carbon rod with the magnetic part, thereby determining whether the rolling curtain has moved into place. In Figure 12, the left end of the rolling curtain is located at the end of the receiving channel 230 and has moved to the extended limit position. In Figure 13, the right end of the rolling curtain is located at the end of the receiving channel 230 and has moved to the retracted limit position. The Hall sensor 326 determines whether the rolling curtain has moved to the limit position shown in Figure 12 or Figure 13 by retrieving the position of the carbon rod 221 with the magnetic part, thereby controlling the start and stop of the power part 323.

[0049] Furthermore, in order to prevent the roller shutter from being accidentally retracted when in the expanded position, in the present disclosure, as shown in Figures 10 and 15, a locking portion 240 cooperating with the movable portion 220 is provided on the cargo box 200. When the locking portion 240 is unlocked, the roller shutter can move within the accommodating channel 230. When the locking portion 240 is locked, the roller shutter is limited to any position within the accommodating channel 230. The locking portion 240 can prevent the roller shutter from being accidentally retracted, thereby preventing the goods from accidentally falling during transportation, which is safer and more reliable.

[0050] The locking portion 240 can be any suitable structure that cooperates with the rolling curtain. In an exemplary embodiment of the present disclosure, as shown in Figures 16 and 17, the locking portion 240 includes a rotatable locking pin 241. One end of the locking pin 241 can be formed into a hook-shaped portion 2411, and the other end can be formed into a latching protrusion 2412. The hook-shaped portion 2411 can extend into or out of the gap between two adjacent carbon rods 221 of the rolling curtain. The side wall of the cargo box 200 is provided with an opening 2021, and the latching protrusion 2412 can protrude from the opening 2021. The engagement of the latching protrusion 2412 with the opening 2021 can maintain the locking pin 241 in the locked position, limiting the rolling curtain. By driving the locking pin 241 to rotate, the limit of the rolling curtain can be unlocked.

[0051] The power for the rotation of the lock pin 241 can come from the internal structure of the cargo box itself. In the present disclosure, the power for driving the lock pin 241 to rotate comes from the end actuator 320. As shown in Figure 20, a contact portion 329 corresponding to the position of the opening 2021 on the cargo box 200 is provided on the lower side of the main body 321, and an elastic member (not shown in the figure) is sleeved on the rotating shaft where the lock pin 241 is located. When the end actuator 320 is connected to the cargo box 200, the contact portion 329 abuts against the latching protrusion 2412 and compresses the elastic member, pressing the latching protrusion 2412 into the interior of the cargo box 200, which can drive the lock pin 241 to rotate and switch from the locked state shown in Figure 17 to the unlocked state shown in Figure 16. When the end actuator 320 is disconnected from the cargo box 200, under the action of the elastic force of the elastic member, the lock pin 241 can be switched back to the locked state shown in Figure 17 to prevent the roller shutter from being retracted and causing the cargo to fall accidentally.

[0052] In an embodiment in which a cargo box 200 is disposed on a shelf 100, as shown in FIG1 , the shelf 100 is a frame structure 110 having a plurality of shelves, each of which is used to accommodate the cargo box 200. A robotic arm 300 is used to move the cargo box 200 horizontally to enter or exit the shelves. The gripping portion 210 of the cargo box 200 may be disposed on a first sidewall 202. An opening 250 for storing goods is formed on the square structure at a position opposite the first sidewall 202. The shelf is provided with an openable and closable door 140 on a side facing away from the entrance of the cargo box 200 to seal the opening 250. The shelf 100 and the cargo box 200 are combined to form a compartment cabinet similar to a takeout cabinet. The door 140 is automatically spring-openable. On the side where the door 140 is located, a user can open the door 140 and place goods into the cargo box 200 through the opening 250. When unloading, the robotic arm 300 removes the cargo box 200 from the shelf 100 from the opposite side. In addition, multiple cabinet doors 140 carry different order information respectively. When storing goods, by scanning the QR code on the delivery vehicle 400, the cabinet door 140 corresponding to the order information will automatically pop open. The user can place the goods from the opening 250 manually or by the robotic arm 300. Of course, the cabinet door 140 that pops open by button control also falls within the scope of protection of this disclosure.

[0053] The frame structure 110 can guide the entry and exit of the cargo box 200. Furthermore, as shown in Figures 8 and 9, a guide member 130 is provided on each shelf 100, and a guide hole 270 that matches the shape of the guide member 130 is provided on the cargo box 200. The size of the guide hole 270 gradually decreases as the cargo box 200 moves into the shelf. The guide member 130 can be an arrow-shaped structure pointing in the direction of entry into the shelf, and the guide hole 270 can be a triangular hole. During the process of pushing the cargo box 200 back to the shelf 100, the guide member 130 gradually enters the guide hole 270, guiding the movement of the cargo box 200 and compensating for the deviation of the cargo box 200 returning to the shelf 100. By designing the size of the guide hole 270, a deviation of ±10 mm can be compensated, avoiding the problem of the cargo box 200 not moving into place.

[0054] Multiple cargo boxes 200 are placed on the shelves 100 respectively, and the entire container 10 is placed on the delivery vehicle 400. During the driving process, in order to prevent the cargo box 200 from falling off the shelf 100, in the present disclosure, an electromagnet 120 is provided on each counter position of the shelf 100, and a magnetic adsorption part 260 is provided on the cargo box 200. The electromagnet 120 and the magnetic adsorption part 260 can be connected on and off. During the driving process of the delivery vehicle 400, the electromagnet 120 is powered off and attracted to the magnetic adsorption part 260 to prevent the cargo box 200 from falling out, thereby ensuring the connection between the cargo box 200 and the shelf 100. When unloading is required, the electromagnet 120 is powered on, the magnetic force disappears, and the cargo box 200 can be easily removed from the shelf 100.

[0055] In the present disclosure, the guide hole 270 and the magnetic attraction member 260 are both provided on the top wall 201 of the cargo box 200. The positions of the guide member 130 and the electromagnet 120 can be designed based on the positions of the guide hole 270 and the magnetic attraction member 260 on the cargo box 200. The magnetic attraction member 260 can be a thin sheet structure and will not affect the movement of the cargo box 200. In addition, the cargo box 200 provided by the present disclosure does not contain any electrical components, has higher waterproof and dustproof performance, and is easy to clean.

[0056] In addition, in the present disclosure, a snap-fit ​​edge 327 extending into the gripping portion 210 is provided on the upper side of the body portion 321, and a sprocket 322 is provided on the lower side of the body portion 321. The teeth of the sprocket 322 can be inserted into the gaps in the carbon rods 221 to connect the cargo box 200 to the end effector 320 at the upper and lower sides, respectively. This ensures the reliability and stability of the connection between the cargo box 200 and the end effector 320, thereby driving the cargo box 200 to move via the robotic arm 300. The snap-fit ​​edge 327 can be an arc-shaped edge with a thickness gradually decreasing in the upward direction, making it easier to extend into the gripping space for snap-fitting.

[0057] In the present disclosure, as shown in Figures 20 and 21, the sprocket 322 is provided on the front of the main body 321, and the power member 323 is provided on the back of the main body 321. The power member 323 and the sprocket 322 are connected by a transmission member 324. The main body 321 is provided with a through hole, and the transmission member 324 passes through the through hole. The power member 323 can be a motor, which drives the sprocket 322 to rotate through a synchronous belt. Since the sprocket 322 is engaged with the rolling curtain at this time, it can drive the rolling curtain to move and realize the opening and closing of the rolling curtain. In addition, the power member 323 and the sprocket 322 are located on the front and back of the main body 321, respectively, to maximize the use of the space of the main body 321 and realize the driving effect on the sprocket 322.

[0058] To ensure the sprockets 322 drive the rolling curtain, as shown in Figure 20, the front of the main body 321 is provided with opposing lugs. Multiple sprockets 322 can be mounted on a mounting shaft 3220, with both ends of the mounting shaft 3220 mounted on the lugs. The transmission member 324 can be a synchronous belt, with one end of the synchronous belt threaded onto the mounting shaft 3220 and the other end threaded onto the output shaft of the power member 323. After the end effector 320 is connected to the cargo box 200, the multiple sprockets 322 can simultaneously act within the gaps between the carbon rods 221, simultaneously driving the rolling curtain. Specifically, in the embodiment shown in Figure 14, to retract the rolling curtain, the drive sprocket 322 rotates clockwise, which in turn causes the power member 323 to rotate clockwise, causing the rolling curtain to move upward to the retracted position. To deploy the rolling curtain, the drive sprocket 322 rotates counterclockwise, causing the power member 323 to rotate counterclockwise, causing the rolling curtain to move downward to the deployed position.

[0059] In the end effector 320 provided in the present invention, on the upper side, through the cooperation of the clamping edge 327 and the grasping part 210, and on the lower side, through the meshing action of the sprocket 322 and the gap between the carbon rod 221, a stable grasping action of the robot arm 300 and the cargo box 200 can be achieved, thereby realizing the movement and transportation of the cargo box 200, and the main body 321 moves downward and backward as a whole, and the clamping edge 327 can be easily withdrawn from the grasping part 210. After completing the delivery action, the cargo box 200 and the end effector 320 can be easily separated, and the operation is simple and convenient.

[0060] As shown in Figures 19 and 21, the main body 321 is provided with a connection hole 328 for connecting to the end of the multi-axis robot arm 310. The shape of the connection hole 328 can be designed based on the shape of the end of the multi-axis robot arm 310. Here, it is a circular connection hole and is located in the middle of the main body 321. The shape and position of the connection hole 328 can be designed according to actual conditions.

[0061] In addition, as shown in Figures 20 and 21, a removable external mount 325 is installed on one side of the main body 321. This mount 325 can be at least one of a camera, a detection element, and an indicator light. The camera can identify the location of the final delivery point, the gripping portion 210 on the cargo box 200, and the power input port 2022. For example, the camera can be used to detect whether the final delivery point is occupied and accurately locate the delivery location, thereby ensuring the accuracy of cargo delivery. When the roller shutter is detected to have reached its retracted or extended limit, the indicator light will provide a corresponding prompt, such as turning on green, to promptly control the start and stop of the power element 323.

[0062] In the present disclosure, a plurality of weight-reducing holes 3210 are provided on the main body 321 to reduce the weight of the end effector 320 as much as possible and achieve an overall lightweight design.

[0063] Specifically, taking food delivery as an example, the working process of the automatic goods delivery device provided by the present invention is introduced in detail.

[0064] To place the food, the rider goes to the merchant to pick up the food, then scans the QR code on the delivery vehicle 400, and the cabinet door 140 of the corresponding compartment automatically pops open. The rider puts the takeaway food into the cargo box 200, and then closes the cabinet door 140 to complete the meal placement.

[0065] During the delivery process, the delivery vehicle 400 automatically drives to the delivery location based on the order information, performs automatic parking, identifies the delivery point, and plans the delivery location and movement path for the robotic arm 300. The robotic arm 300 then grabs the container 200 to be delivered from the shelf 100. The engaging edge 327 extends into the gripping portion 210, and the sprocket 322 engages the roller shutter, completing the connection between the container 200 and the end effector 320. At this point, the contact portion 329 abuts the latching protrusion 2412, driving the locking pin 241 to rotate, and the hook 2411 withdraws from the gap between the carbon rod 221, unlocking the container. The multi-axis robotic arm 310 moves along the prescribed movement path, placing the container 200 in the delivery area. The power element 323 is then activated, driving the sprocket 322 via the transmission element 324, driving the roller shutter from the extended position to the retracted position, and the cargo automatically drops to the delivery location. Finally, the roller shutter is driven to return to the expanded position, and the empty cargo box is placed back on the shelf 100, completing the entire automatic delivery operation.

[0066] In the automatic cargo delivery device provided by the present disclosure, the cargo box 200 can hold different types of cargo, using a single cargo box to achieve a standardized design for the circulation process. The retractable movable portion 220 is designed so that after the roller shutter is retracted, the cargo automatically falls to the delivery position. Only the cargo is delivered at the end, avoiding asset management issues caused by the delivery container and improving the utilization rate of the container. The end effector 320 of the robotic arm 300 can not only grasp the cargo box 200, but also drive the roller shutter to retract or deploy through the sprocket 322. On the other hand, when the end effector 320 is connected to the cargo box 200, it can also drive the lock pin 241 to rotate to switch between the two states of locking and unlocking the roller shutter. It can also identify whether the roller shutter has moved into place and whether the delivery position is occupied, thereby ensuring the accuracy of the entire delivery process. The entire automatic cargo delivery device is placed on the delivery vehicle 400, realizing automatic driving in the middle of the route and automatic loading and unloading at the front and back ends, realizing full-link automated delivery without affecting the user's pickup, reducing the labor intensity of the delivery personnel, and improving delivery efficiency.

[0067] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0068] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0069] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An automatic cargo delivery device, wherein: include: A cargo container (10) comprises a shelf (100) and a cargo box (200) arranged on the shelf (100), wherein the cargo box (200) has a bottom wall for carrying cargo, and the bottom wall is a retractable movable portion (220); A robotic arm (300) is used to move the cargo box (200) between a designated position and the cargo container (10). The robotic arm (300) includes a robotic arm body and an end effector (320) mounted at the end of the robotic arm body. The end effector (320) is used to grasp the cargo box (200) and drive the movable portion (220) to retract when the cargo box (200) moves to the designated position to release the cargo.

2. The automatic cargo delivery device according to claim 1, wherein: The sidewall edges of the cargo box (200) are opposite to each other and are formed with a receiving channel (230), wherein the sidewall edges at least include a bottom edge of the cargo box (200) and a side edge adjacent to the bottom edge, and the movable portion (220) is a roller shutter that can move between an unfolded position and a retracted position within the receiving channel (230), wherein: In the unfolded position, the rolling curtain is at least partially located at the bottom edge, and the rolling curtain is capable of closing the bottom opening of the cargo box (200) and carrying cargo; In the stowed position, the roller shutter is at least partially located at the side, exposing the bottom opening of the cargo box (200) and releasing the cargo.

3. The automatic cargo delivery device according to claim 2, wherein: The end effector (320) comprises a main body (321), a sprocket (322) provided on the main body (321), and a power member (323) for driving the sprocket (322) to rotate, wherein the teeth of the sprocket (322) can extend into the gap of the rolling curtain to drive the rolling curtain to move in the receiving channel (230).

4. The automatic cargo delivery device according to claim 2, wherein: The rolling curtain comprises a plurality of carbon rods (221) arranged in parallel, magnetic elements are provided in the inner cavities of the carbon rods (221) at both ends of the rolling curtain, and a Hall effect sensor (326) is provided on the end effector (320). The Hall effect sensor (326) is used to determine the position of the rolling curtain in the receiving channel (230) by detecting the position of the carbon rods (221) with the magnetic elements.

5. The automatic cargo delivery device according to claim 3, wherein: The cargo box (200) is provided with a locking portion (240) that cooperates with the movable portion (220); when the end effector (320) is connected to the cargo box (200), the locking portion (240) is driven to unlock.

6. The automatic cargo delivery device according to claim 5, wherein: The locking portion (240) includes a rotatable locking pin (241), one end of the locking pin (241) is formed as a hook-shaped portion (2411), and the other end is formed as a latching protrusion (2412), the hook-shaped portion (2411) can extend into or exit the gap between two adjacent carbon rods (221) of the rolling curtain, an opening (2021) is provided on the side wall of the cargo box (200), and the latching protrusion (2412) can protrude from the opening (2021), and when the end effector (320) is connected to the cargo box (200), the main body (321) presses the latching protrusion (2412) into the interior of the cargo box (200) to drive the locking pin (241) to rotate.

7. The automatic cargo delivery device according to claim 1, wherein: The shelf (100) has a plurality of cabinets, each of which is used to place the cargo box (200). The robotic arm (300) is used to drive the cargo box (200) to move horizontally to enter or exit the cabinet. The cabinet is provided with an openable and closable cabinet door (140) on a side away from the entrance of the cargo box (200) to close the opening (250) of the cargo box (200).

8. The automatic cargo delivery device according to claim 7, wherein: The counter is provided with a guide member (130), the cargo box (200) is provided with a guide hole (270) whose shape matches that of the guide member (130), and the size of the guide hole (270) gradually decreases along the moving direction of the cargo box (200) into the counter.

9. The automatic cargo delivery device according to claim 7, wherein: The counter is provided with an electromagnet (120), and the cargo box (200) is provided with a magnetic adsorption component (260). The electromagnet (120) and the magnetic adsorption component (260) can be connected in an on-off manner.

10. A delivery vehicle, wherein: The automatic cargo delivery device according to any one of claims 1 to 9 is installed on the delivery vehicle (400).

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