CN111599101A - Unmanned distribution robot and distribution method thereof - Google Patents
Unmanned distribution robot and distribution method thereof Download PDFInfo
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- CN111599101A CN111599101A CN202010356009.1A CN202010356009A CN111599101A CN 111599101 A CN111599101 A CN 111599101A CN 202010356009 A CN202010356009 A CN 202010356009A CN 111599101 A CN111599101 A CN 111599101A
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- 238000009826 distribution Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000003860 storage Methods 0.000 claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000002452 interceptive effect Effects 0.000 claims abstract description 9
- 230000003993 interaction Effects 0.000 claims abstract description 3
- 238000005096 rolling process Methods 0.000 claims description 39
- 239000000463 material Substances 0.000 claims description 19
- 210000001503 joint Anatomy 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000003032 molecular docking Methods 0.000 description 10
- 230000003028 elevating effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/20—External fittings
- B65D25/24—External fittings for spacing bases of containers from supporting surfaces, e.g. legs
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
- E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
- E06B3/34—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with only one kind of movement
- E06B3/42—Sliding wings; Details of frames with respect to guiding
- E06B3/44—Vertically-sliding wings
- E06B3/4407—Single-hung, i.e. having a single vertical sliding panel
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/02—Shutters, movable grilles, or other safety closing devices, e.g. against burglary
- E06B9/08—Roll-type closures
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2999/00—Subject-matter not otherwise provided for in this subclass
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an unmanned distribution robot, which comprises a storage cabinet with a plurality of storage boxes, wherein a driving seat body is arranged at the lower part of the storage cabinet, a walking base is arranged at the lower part of the driving seat body, a lifting mechanism is also arranged between the driving seat body and the storage cabinet, and the lifting mechanism drives the storage cabinet to lift; the unmanned distribution robot further comprises an interaction system arranged on the walking base or/and the storage cabinet. The invention provides an unmanned distribution robot and a distribution method thereof, which can realize interactive distribution and logistics transmission, expand distribution networks and distribution density and improve the utilization rate of the distribution robot.
Description
Technical Field
The invention relates to the logistics industry, in particular to the field of artificial intelligence storage logistics, and particularly relates to an unmanned distribution robot and a distribution method thereof.
Background
In the prior art, with the development of the technology, a distribution robot such as an unmanned distribution vehicle appears, and the distribution robot can automatically move to a specified position of a user to be received, so that the user to be received can shop without going to a fixed shopping place, and the shopping experience of the user is improved. Then, the user to be received usually performs the receiving authentication by scanning the two-dimensional code, using a dynamic pickup code provided by the system side, NFC (Near Field Communication) verification, and the like.
Thus, in the prior art, patent application No.: CN201811060979.6, patent name: a delivery robot; disclosed is a method for producing: a dispensing robot, comprising: the device comprises a shell, a storage box body, a walking device, a control device and a box body moving device, wherein the storage box body is arranged on the shell, the walking device is arranged at the bottom of the shell, the control device is arranged in the shell, one end of the box body moving device is fixed on the storage box body, and the other end of the box body moving device is fixed on the shell; the control device is respectively electrically connected with the walking device and the box body moving device; the control device generates a moving instruction according to received opening and closing information of the storage box body and generates a walking instruction according to received distribution information, the box body moving device controls the opening and closing of the storage box body according to the moving instruction, and the walking device moves according to the walking instruction to enable the shell to move to an address in the distribution information.
However, in the delivery robot in the prior art, the delivery area is limited, the delivery network is relatively single, and generally, a one-to-one delivery mode is adopted when a delivery point receives a delivery point. The goods cannot be transferred between the delivery robots, and the delivery robots cannot form a transfer network. Thereby improving the dispatching radius of the material flow.
Disclosure of Invention
The invention overcomes the defects of the prior art, and provides the unmanned distribution robot and the distribution method thereof, which can realize interactive distribution and logistics transmission, expand distribution networks and distribution density, and improve the utilization rate of the distribution robot.
In order to achieve the purpose, the invention adopts the technical scheme that: an unmanned distribution robot comprises a storage cabinet with a plurality of storage boxes, wherein a driving seat body is arranged at the lower part of the storage cabinet, a walking base is arranged at the lower part of the driving seat body, a lifting mechanism is arranged between the driving seat body and the storage cabinet, and the lifting mechanism drives the storage cabinet to lift; the unmanned distribution robot further comprises an interaction system which is arranged on the walking base or/and the storage cabinet and electrically connected with the driving seat body.
In a preferred embodiment of the invention, the front side or/and the rear side of the driving seat body is/are provided with a butt joint rod capable of stretching inside and outside and a slot correspondingly spliced with the butt joint rod on the adjacent driving seat body; and an electromagnetic mechanism body is arranged on the front side or/and the rear side of the driving seat body.
Specifically, the lifting mechanism comprises a plurality of lifting rods arranged between the storage cabinet and the driving seat body, and a driving device for driving the lifting rods to lift up and down.
In a preferred embodiment of the present invention, the storage box includes a storage groove disposed on the storage cabinet, and a rolling door disposed on the storage groove, and the storage groove and the rolling door form a closed storage cavity; at least one end of the accommodating groove is provided with a goods inlet and outlet, and the goods inlet and outlet is provided with a rolling door; one end of the rolling door is rolled on one side of the goods inlet and outlet, and the other end of the rolling door can be opened and closed in a reciprocating mode relative to the other side of the goods inlet and outlet; or the containing box comprises a containing groove arranged on the storage cabinet and a hinged door movably arranged on the containing groove, and the containing groove and the hinged door form a closed containing cavity; the hinged door comprises a track frame arranged on the goods inlet and outlet, the track frame comprises inverted L-shaped guide rails arranged on two sides of the goods inlet and outlet, door curtains hinged by a plurality of hinges are movably arranged on a pair of inverted L-shaped guide rails, and a balance shaft system connected with the door curtains or the hinges is arranged on the goods inlet and outlet; the balance shaft system is in driving connection with the driver, and the driver drives the balance shaft system to drive the door curtain hinged through the hinge to move up and down along the pair of inverted L-shaped guide rails relative to the goods inlet and outlet to perform reciprocating opening and closing.
In a preferred embodiment of the present invention, the storage groove is disposed in the storage cabinet, two ends of the storage groove are provided with a cargo inlet and outlet communicated with the front and back surfaces of the storage cabinet, and the upper portion of the cargo inlet and outlet is provided with the rolling door or/and the hinged door.
In a preferred embodiment of the invention, the interactive system comprises one or more of a touch screen, a camera mechanism, a display screen and a distance detection mechanism which are arranged on the driving seat body or/and the storage cabinet.
In a preferred embodiment of the invention, a conveying bedplate for supporting and conveying goods is arranged in the accommodating groove; the conveying bedplate comprises a driving frame body arranged in the containing groove, a plurality of containing cavities are arranged on the driving frame body in a pivoting mode, and a plurality of conveying wheels for supporting cargos are arranged in the containing cavities in a pivoting mode.
In a preferred embodiment of the invention, the rolling door comprises a built-in scroll arranged at the upper part of the goods inlet and outlet, two sides of the goods inlet and outlet are provided with track frames, a rolling curtain is rolled on the built-in scroll, two sides of the rolling curtain are respectively embedded in the track frames at two sides of the goods inlet and outlet in a sliding way, one end of the rolling curtain is provided with a fixed end connected with the built-in scroll, and the other end of the rolling curtain is provided with a rolling end which can be rolled up and down relative to the built-in scroll; the track frame both sides are provided with embedded extension spring respectively, the one end of extension spring with the track frame bottom is connected, the other end of extension spring is connected with the roll-up end of roll up the curtain.
And two ends in the pair of L-shaped guide rails in the track frame are respectively provided with a tension spring, one end of each tension spring is connected with the track frame, and the other end of each tension spring is respectively connected with two ends of the door curtain.
In a preferred embodiment of the present invention, a distribution method of an unmanned distribution robot includes:
a. unmanned delivery robots in different areas receive material delivery station information on a planned delivery track in delivery information;
b. the unmanned delivery robot adjacent to the material delivery station receives the delivery information, judges whether to receive a command according to a delivery path in the delivery information and the self-loading condition, and the time node and the space node of the case delivery track of the unmanned delivery robot receiving the delivery information reach the specified material delivery station;
c. at least two unmanned distribution robots which need to carry out material conveying carry out material transfer, drive the conveying bedplate, and realize the conveying of the material through the conveying bedplate.
In the step c, according to the actual situation, whether the vacant receiving groove in the storage cabinet of the unmanned distribution robot for receiving the goods is at the same height with the receiving groove for placing the goods of the unmanned distribution robot for delivering the goods or not is judged; the method comprises the steps that an unmanned distribution robot for receiving goods and an unmanned distribution robot for transmitting goods meet the same height; and secondly, if the height does not meet the same height, the unmanned distribution robot for receiving the goods or/and the unmanned distribution robot for transmitting the goods carry out height adjustment, so that the empty receiving groove in the storage cabinet of the unmanned distribution robot and the receiving groove for placing the goods of the unmanned distribution robot for transmitting the goods are at the same height, and the unmanned distribution robot for receiving the goods is butted with the unmanned distribution robot for transmitting the goods.
According to the unmanned distribution robot and the distribution method thereof disclosed by the embodiment, the beneficial effects are achieved as follows:
an unmanned distribution robot and a distribution method thereof can realize interactive distribution and logistics transfer, expand distribution networks and distribution density and improve the utilization rate of the distribution robot.
1. Through setting up elevating system between locker and the drive seat body, can adjust the height of locker, the conveying platen of the inslot of accomodating of the conveying goods between two unmanned distribution robots of the later stage of being convenient for is located same transmission height.
2. Through being provided with rolling slats door or hinged door, promoted the security performance that the containing box opened and shut in the locker, also saved the space of setting. And the minimization of the relative distance between the butt joint space between the two butt joint unmanned distribution robots and the outer flip structure is ensured when the unmanned distribution robots are in butt joint.
Drawings
The invention is further explained below with reference to the figures and examples;
fig. 1 is a schematic structural view of an unmanned dispensing robot according to the present invention (a schematic structural view when a lifting mechanism is lifted);
fig. 2 is a schematic structural view of an unmanned dispensing robot according to the present invention (the schematic structural view when the lifting mechanism is not lifted);
FIG. 3 is a schematic diagram of a docking structure of two unmanned delivery robots according to the present disclosure;
FIG. 4 is a schematic diagram of a universal wheel table of the unmanned dispensing robot according to the present invention;
fig. 5 is a schematic structural diagram of a rolling door in the unmanned delivery robot according to the present disclosure;
FIG. 6 is a schematic view of a roller shutter door of the unmanned dispensing robot according to the present invention;
1-driving seat body, 11-electromagnetic mechanism body, 12-butt joint rod, 13-slot, 2-walking base, 3-lifting mechanism, 4-storage cabinet, 41-storage box, 413-butt joint detection mechanism, 42-transmission table board, 421-driving frame body, 423-transverse rotating disc, 424-storage cavity, 425-transmission wheel, 5-interaction system, 50-touch screen, 51-camera mechanism, 52-display screen, 53-distance detection mechanism, 6-rolling door, 61-built-in scroll shaft, 62-track frame, 63-positioning cylinder, 64-rolling curtain, 7-hinged door, 71-hinge, 72-door curtain, 73-balance shaft system, 74-driver and 75-guide rail.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.
It should be noted that, if directional indications (such as up, down, bottom, top, etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative position relationship, motion situation, etc. of each component in a certain posture, and if the certain posture is changed, the directional indications are changed accordingly. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are intended to be inclusive and mean, for example, that there may be a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 5, an unmanned distribution robot includes a storage cabinet 4 having a plurality of storage boxes 41 with different heights, a driving seat body 1 is disposed at a lower portion of the storage cabinet 4, a traveling base 2 is disposed at a lower portion of the driving seat body 1, and a crawler wheel or/and a traveling wheel is disposed at a bottom of the traveling base 2. The driving seat body 1 is driven to move by the rotating crawler wheels or/and the walking wheels. Still be provided with elevating system 3 between drive seat body 1 and the locker 4, elevating system 3 includes the lifter of a plurality of setting between locker 4 and drive seat body 1 to and the drive arrangement of drive lifter oscilaltion, elevating system 3 drive lift locker 4.
As shown in fig. 1 to 5, the storage box 41 includes a storage groove disposed on the storage cabinet 4, two ends of the storage groove are provided with a cargo inlet and outlet communicated with the cabinet surface of the storage cabinet 4, and the cargo inlet and outlet are provided with rolling doors 6; the storage groove and the shutter 6 constitute a closed storage chamber 424. A conveying bedplate 42 for supporting and conveying goods is arranged in the accommodating groove; the transfer platen 42 includes a driving rack body 421 disposed in the receiving groove, a plurality of receiving cavities 424 are pivotally disposed on the driving rack body 421, and a plurality of transfer wheels 425 for supporting the goods are pivotally disposed in the receiving cavities 424. In this embodiment, the transfer wheels 425 are flat-bottomed universal wheels. But not limited thereto, in other embodiments the transfer wheel 425 can be a bull's eye castor. The storage groove is arranged in the storage cabinet 4 in a penetrating way, and the upper parts of the goods inlet and outlet at the two ends of the storage groove are provided with rolling doors 6. The rolling door 6 comprises a built-in scroll 61 arranged at the upper part of the goods inlet and outlet, and the built-in scroll 61 is connected with a driving motor in a driving way. The two sides of the goods inlet and outlet are provided with track frames 62, the built-in roller 61 is rolled with a roller shutter 64, the two sides of the roller shutter 64 are respectively embedded in the track frames 62 at the two sides of the goods inlet and outlet in a sliding way, one end of the roller shutter 64 is provided with a fixed end connected with the built-in roller 61, the other end of the roller shutter 64 is provided with a rolling end which can be rolled up and down relative to the built-in roller 61, and the two sides of the rolling end are provided with positioning holes. Embedded tension springs are respectively arranged on two sides of the track frame 62, one end of each tension spring is connected with the bottom end of the track frame 62, and the other end of each tension spring is connected with the winding end of the roller shutter 64. And the upper part and the lower part of the rail frame 62 on both sides are respectively provided with a positioning cylinder 63, and the telescopic rod of the positioning cylinder 63 can penetrate out of the rail frame 62 under the action of the positioning cylinder and then butt joint with the positioning hole of the corresponding furling end, so that the limiting protection is realized.
As shown in fig. 1 to 5, the unmanned distribution robot further includes an interactive system 5. The interactive system 5 comprises a camera mechanism 51, a display screen 52, a distance detection mechanism 53 and a butt joint detection mechanism 413 which are respectively arranged on the front surface and the back surface of the storage cabinet 4 and electrically connected with the driving seat body 1; and a touch screen 50 which is arranged on the side surface of the storage cabinet 4 and is electrically connected with the driving seat body 1. The touch screen 50 is a configuration touch screen. The docking detection mechanism 413 is provided on the storage cabinet 4, and the docking detection mechanism 413 corresponds to the storage box 41. The front and back of the upper end of the cabinet 4 are provided with a pair of camera means 51 and a display screen 52, respectively. The side of the cabinet 4 is provided with a camera 51 including a camera for photographing the surrounding environment and scanning the two-dimensional code or bar code. The display screen 52 is used for displaying operation parameters and bar code or two-dimensional code information, and is used for recording cargo logistics information in the process of butting two unmanned distribution robots during cargo transfer.
As shown in fig. 1 to 5, a pair of docking rods 12 and an electromagnetic mechanism body 11 which can be extended and retracted inward and outward are provided on the front side of a driving seat body 1 in an unmanned distribution robot. A slot 13 which can be correspondingly inserted into a butt joint rod 12 on the adjacent driving seat body 1 is arranged on the rear side of the driving seat body 1 in the unmanned distribution robot; and an electromagnetic mechanism body 11.
Example two
On the basis of the first embodiment, the storage groove is provided with a goods inlet and outlet, and the goods inlet and outlet is positioned on the front face of the unmanned distribution robot. In this case, as shown in fig. 1 to 5, the unmanned distribution robot further includes an interactive system 5. The interactive system 5 comprises a camera 51 and a display 52 respectively arranged on the front of the cabinet 4 and a distance detection 53 and docking detection 413. The docking detection mechanism 413 is provided on the storage cabinet 4, and the docking detection mechanism 413 corresponds to the storage box 41. The front of the upper end of the cabinet 4 is provided with a pair of camera means 51 and a display screen 52. The camera mechanism 51 includes a camera for photographing the peripheral environment and scanning the two-dimensional code or barcode. The display screen 52 is used for displaying operation parameters and bar code or two-dimensional code information, and is used for recording cargo logistics information in the process of butting two unmanned distribution robots during cargo transfer. As shown in fig. 1 to 5, a pair of docking rods 12 and electromagnetic mechanism bodies 11 which can be extended and retracted inside and outside and a pair of slots 13 which can be correspondingly plugged with the docking rods 12 on the adjacent driving seat bodies 1 are arranged on the front side of the driving seat body 1 in the unmanned distribution robot.
EXAMPLE III
In the base number of the first embodiment or the second embodiment, as shown in fig. 1 to 4 and 6, the rolling doors 6 provided at the upper portions of the cargo entrance and exit at both ends of the storage groove are replaced with the hinged doors 7. The structure of the hinge door 7 can further improve the utilization rate of the storage space of the storage groove. The hinged door 7 includes a rail frame 62 provided on the cargo access opening, the rail frame 62 includes inverted L-shaped guide rails 75 provided on both sides of the cargo access opening, a door curtain 72 hinged by a hinge 71 is defined in the rail frame 62 by the provided pair of inverted L-shaped guide rails 75, and a balance shaft system 73 is provided on an upper portion of the rail frame 62 on the cargo access opening. One end of the balance shaft system 73 is in driving connection with the driver 74, and the driver 74 drives the balance shaft system 73 to drive the door curtain 72 hinged through the hinge 71 to move up and down along the pair of inverted L-shaped guide rails 75 relative to the goods inlet and outlet, so that the opening and closing actions of the hinged door 7 are realized.
Example four
In the second embodiment, the distribution method based on the unmanned distribution robot includes:
a. unmanned delivery robots in different areas receive material delivery station information on a planned delivery track in delivery information;
b. the unmanned delivery robot adjacent to the material delivery station receives the delivery information, judges whether to receive a command according to a delivery path in the delivery information and the self-loading condition, and the time node and the space node of the case delivery track of the unmanned delivery robot receiving the delivery information reach the specified material delivery station;
c. at least two unmanned delivery robots, which need to perform material transfer, perform the transfer of the material, drive the transfer platen 42, and the transfer of the material is achieved through the transfer platen 42.
Specifically, according to the actual situation, the docking detection mechanism 413 determines whether the empty receiving slot in the storage cabinet 4 of the unmanned delivery robot receiving the goods is at the same height as the receiving slot for placing the goods of the unmanned delivery robot delivering the goods;
the method comprises the steps that an unmanned distribution robot for receiving goods and an unmanned distribution robot for transmitting goods meet the same height;
and secondly, the height of the unmanned distribution robot for receiving goods or/and the height of the unmanned distribution robot for transmitting goods are adjusted when the height does not meet the same height, so that the empty receiving groove in the storage cabinet 4 of the unmanned distribution robot and the receiving groove for placing goods of the unmanned distribution robot for transmitting goods are at the same height.
Further, the unmanned delivery robot receiving the goods is docked with the unmanned delivery robot delivering the goods.
Specifically, set up slot 13 through setting up on the one side that sets up butt joint pole 12 on the unmanned delivery robot and the adjacent unmanned delivery robot and correspond to support and lean on, peg graft with slot 13 through butt joint pole 12, give electromagnetic mechanism body 11 circular telegram, make two unmanned delivery robots's electromagnetic mechanism body 11 actuation, the laminating of adjacent unmanned delivery robot, can transversely misplace the butt joint according to the demand this moment, as long as the conveying platen 42 in the groove is accomodate in the butt joint is at uniform level.
The driving motor connected with the built-in reel 61 is driven, the driving motor drives the built-in reel 61 to roll up, and the goods inlet and outlet of the goods storage box 41 for storage and standby are respectively opened.
Further, the unmanned delivery robot receiving the goods and the unmanned delivery robot delivering the goods perform goods delivery.
The conveying wheel 425 on the conveying bedplate 42 in the unmanned distribution robot for accommodating goods rotates outwards to push the goods out of the accommodating groove until the goods are conveyed to the conveying bedplate 42 in the accommodating box 41 of the unmanned distribution robot abutting against the conveying bedplate, the goods are accommodated in the accommodating box 41 by the inward rotation of the conveying wheel 425 on the conveying bedplate 42, the rolling curtain 64 is reset by the tension of a tension spring by reversely rotating a driving motor, the rolling curtain 64 of the accommodating box 41 is closed, and the position is limited by a positioning cylinder 63 arranged on a track frame 62. The unmanned distribution robot receiving the goods sequentially completes subsequent delivery.
EXAMPLE five
In the first embodiment, based on the fourth embodiment, the front and the back of the unmanned robot are both provided with the cargo inlet and outlet of the storage box 41, and the storage box 41 is opened by the rolling door 6 arranged on the cargo inlet and outlet of the storage box 41. The front and the back of the unmanned delivery robot are provided with the goods inlet and outlet of the containing box 41, so that the convenience and the convenience for taking goods by the unmanned delivery robot are improved. The unmanned delivery robot can be docked with different unmanned delivery robots to take and put goods at the same time. The work efficiency of unmanned delivery robot has been promoted.
EXAMPLE six
In the third embodiment, the distribution method of the unmanned distribution robot is that the rolling door 6 is changed into the hinged door 7 on the basis of the fifth embodiment, and the opening and closing of the goods inlet and outlet are controlled by the hinged door 7. The driver 74 drives the balance shaft system 73 to drive the door curtain 72 hinged through the hinge 71 to move up and down along the pair of inverted L-shaped guide rails 75 relative to the cargo inlet and outlet, so that the hinged door 7 is lifted, and the cargo inlet and outlet are opened.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides an unmanned delivery robot, is including the locker that has a plurality of containing box, the locker lower part is provided with the drive seat body, drive seat body lower part is provided with walking base, its characterized in that: a lifting mechanism is arranged between the driving seat body and the storage cabinet and drives the storage cabinet to lift; the unmanned distribution robot further comprises an interaction system which is arranged on the walking base or/and the storage cabinet and electrically connected with the driving seat body.
2. The unmanned dispensing robot of claim 2, wherein: the front side or/and the rear side of the driving seat body is/are provided with a butt joint rod capable of stretching inside and outside and a slot correspondingly spliced with the butt joint rod on the adjacent driving seat body; and an electromagnetic mechanism body is arranged on the front side or/and the rear side of the driving seat body.
3. The unmanned dispensing robot of claim 1, wherein: the storage box comprises a storage groove arranged on the storage cabinet and a rolling door arranged on the storage groove in a rolling manner, and the storage groove and the rolling door form a closed storage cavity; at least one end of the accommodating groove is provided with a goods inlet and outlet, and the goods inlet and outlet is provided with a rolling door; one end of the rolling door is rolled on one side of the goods inlet and outlet, and the other end of the rolling door can be opened and closed in a reciprocating mode relative to the other side of the goods inlet and outlet;
or the containing box comprises a containing groove arranged on the storage cabinet and a hinged door movably arranged on the containing groove, and the containing groove and the hinged door form a closed containing cavity; the hinged door comprises a track frame arranged on the goods inlet and outlet, the track frame comprises inverted L-shaped guide rails arranged on two sides of the goods inlet and outlet, door curtains hinged by a plurality of hinges are movably arranged on a pair of inverted L-shaped guide rails, and a balance shaft system connected with the door curtains or the hinges is arranged on the goods inlet and outlet; the balance shaft system is in driving connection with the driver, and the driver drives the balance shaft system to drive the door curtain hinged through the hinge to move up and down along the pair of inverted L-shaped guide rails relative to the goods inlet and outlet to perform reciprocating opening and closing.
4. The unmanned dispensing robot of claim 3, wherein: the storage groove penetrates through the storage cabinet, goods inlet and outlet openings communicated with the cabinet surfaces of the front surface and the back surface of the storage cabinet are formed in two ends of the storage groove, and the rolling door or/and the hinged door are/is arranged on the upper portion of the goods inlet and outlet openings.
5. The unmanned dispensing robot of claim 4, wherein: the interactive system comprises one or more of a touch screen, a camera shooting mechanism, a display screen and a distance detection mechanism which are arranged on the driving seat body or/and the storage cabinet.
6. The unmanned dispensing robot of claim 5, wherein: a conveying bedplate for supporting and conveying goods is arranged in the accommodating groove; the conveying bedplate comprises a driving frame body arranged in the containing groove, a plurality of containing cavities are arranged on the driving frame body in a pivoting mode, and a plurality of conveying wheels for supporting cargos are arranged in the containing cavities in a pivoting mode.
7. The unmanned dispensing robot of claim 6, wherein: the rolling door comprises a built-in scroll arranged at the upper part of the goods inlet and outlet, the goods inlet and outlet is provided with a track frame, a rolling curtain is rolled on the built-in scroll, two sides of the rolling curtain are respectively embedded in the track frames at two sides of the goods inlet and outlet in a sliding way, one end of the rolling curtain is provided with a fixed end connected with the built-in scroll, and the other end of the rolling curtain is provided with a rolling end which can be rolled up and down relative to the built-in scroll; the track frame both sides are provided with embedded extension spring respectively, the one end of extension spring with the track frame bottom is connected, the other end of extension spring is connected with the roll-up end of roll up the curtain.
8. The unmanned dispensing robot of claim 3, wherein: and two ends in the pair of L-shaped guide rails in the track frame are respectively provided with a tension spring, one end of each tension spring is connected with the track frame, and the other end of each tension spring is respectively connected with two ends of the door curtain.
9. The method for dispensing by an unmanned dispensing robot as claimed in any one of claims 1 to 8, wherein:
a. unmanned delivery robots in different areas receive material delivery station information on a planned delivery track in delivery information;
b. the unmanned delivery robot adjacent to the material delivery station receives the delivery information, judges whether to receive a command according to a delivery path in the delivery information and the self-loading condition, and the time node and the space node of the case delivery track of the unmanned delivery robot receiving the delivery information reach the specified material delivery station;
c. at least two unmanned distribution robots which need to carry out material conveying carry out material transfer, drive the conveying bedplate, and realize the conveying of the material through the conveying bedplate.
10. The dispensing method by an unmanned dispensing robot according to claim 9, characterized in that:
in the step c, according to the actual situation, whether the vacant receiving groove in the storage cabinet of the unmanned distribution robot for receiving the goods is at the same height with the receiving groove for placing the goods of the unmanned distribution robot for delivering the goods or not is judged;
the method comprises the steps that an unmanned distribution robot for receiving goods and an unmanned distribution robot for transmitting goods meet the same height;
and secondly, if the height does not meet the same height, the unmanned distribution robot for receiving the goods or/and the unmanned distribution robot for transmitting the goods carry out height adjustment, so that the empty receiving groove in the storage cabinet of the unmanned distribution robot and the receiving groove for placing the goods of the unmanned distribution robot for transmitting the goods are at the same height, and the unmanned distribution robot for receiving the goods is butted with the unmanned distribution robot for transmitting the goods.
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| CN114476583A (en) * | 2022-02-18 | 2022-05-13 | 拉扎斯网络科技（上海）有限公司 | Control method and device, intelligent cabinet and robot |
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| CN111599101B (en) | 2021-12-28 |
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