CN111267127B

CN111267127B - Multifunctional intelligent distribution robot

Info

Publication number: CN111267127B
Application number: CN202010294258.2A
Authority: CN
Inventors: 任工昌; 桓源
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2020-02-24
Filing date: 2020-04-15
Publication date: 2021-04-13
Anticipated expiration: 2040-04-15
Also published as: CN111267127A

Abstract

The invention discloses a multifunctional intelligent distribution robot, wherein two annular slide rails are vertically arranged on a bottom bracket, a plurality of storage boxes for storing materials are arranged on the two annular slide rails, a synchronous wheel is driven by a driving motor to drive each storage box to move along the two annular slide rails, the materials in the corresponding storage boxes are conveyed to an upper cover position arranged on a shell of the robot, the materials in the corresponding storage boxes are conveyed to an outlet position on a shell of the robot, a driving wheel and a driven wheel are arranged on the bottom bracket, steering and robot walking are realized through differential operation of the two driving wheels, automatic cargo distribution is realized through the robot, a plurality of storage boxes respectively store a plurality of different materials, a specific storage box is conveyed to the outlet position of the robot when reaching a specified position, the intelligent distribution of the robot is realized by replacing manpower, the storage space is large, the structure is simple and reliable, and the distribution process is convenient and rapid, can improve the working efficiency and save manpower and material resources.

Description

Multifunctional intelligent distribution robot

Technical Field

The invention relates to the technical field of robots, in particular to a multifunctional intelligent distribution robot.

Background

With the development of science and technology and the improvement of the living standard of people, the service robot starts to walk into the daily life of people, the life styles of people are gradually changed, and the application range of the service robot is wide, such as the work of transportation, cleaning, administration, rescue, monitoring of old people and the like.

Due to the strong infectivity of some infectious diseases, the medical staff needs multilayer protection when transporting the medicine for the patient, and the medicine is troublesome and unsafe, so that a multifunctional intelligent distribution robot is urgently needed to solve the problem.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide the multifunctional intelligent distribution robot which has the advantages of large storage space, simple and reliable structure, capability of improving the working efficiency and saving manpower and material resources.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a multifunctional intelligent distribution robot comprises a bottom bracket, an annular slide rail and a storage box arranged on the annular slide rail;

the robot comprises a bottom support, a plurality of storage boxes, a plurality of driving motors, a plurality of synchronous wheels, a plurality of connecting plates and a plurality of storage boxes, wherein the bottom support is provided with a shell, the bottom support is provided with two vertical annular slide rails which are arranged in parallel through the connecting plates, the plurality of storage boxes for storing materials are arranged on the two annular slide rails, each annular slide rail is provided with the driving mechanism, the driving mechanism comprises two synchronous wheels which are arranged in the annular slide rails and close to two ends, the synchronous wheels are provided with synchronous belts, the connecting plates are fixedly provided with the driving motors through motor bases, the synchronous wheels are driven by the driving motors to drive the storage boxes to move along the two;

two driving wheels driven by a motor are fixed at the front lower part of the bottom support through a bearing seat, the steering is realized through the differential operation of the two driving wheels, and two driven wheels are arranged at the rear lower part of the bottom support.

Further, be fixed with two horizontal parallel arrangement's arc track on the support of bottom, respectively be equipped with the A-frame of a vertical setting on every arc track, every A-frame lower extreme is equipped with balanced pulley, and the A-frame passes through balanced pulley to be installed on the arc track, is fixed with the connecting plate on every A-frame upper portion rigidity, the annular slide rail passes through the connecting plate to be installed on the A-frame.

Further, be equipped with a plurality of pulleys on the annular slide rail, two pulleys are a set of inside and outside both sides that are located the annular slide rail respectively and with the annular slide rail centre gripping in the middle of, and every group pulley is fixed on a supporting seat, and a plurality of supporting seats equidistant setting is fixed on the hold-in range for the hold-in range drives the pulley and follows the motion of annular slide rail, and every receiver is installed on the supporting seat of two annular slide rails.

Furthermore, the annular slide rail is in a long-strip oval shape, a horizontally arranged fixing boss is connected to the connecting plate, a vertically arranged supporting plate is fixed on the fixing boss, and first gears are respectively fixed at the positions, close to the circular arc section, of the two ends of the supporting plate;

the pulley is fixed at the rear end of the supporting seat, a second gear is arranged at the front end of the supporting seat, a connecting seat is further arranged at the front end of the supporting seat through a connecting shaft, a third gear is rigidly connected to the connecting seat, the second gear is meshed with the third gear, and the storage box is arranged on the third gears of the two annular slide rails;

a guard plate arranged around the straight line section of the annular slide rail is arranged on the connecting plate, a sliding groove is arranged on the guard plate, rolling wheels are arranged on two sides of the connecting seat, and the rolling wheels move along the sliding groove;

when each group of pulleys moves to the arc section of the annular slide rail, the two rollers are disengaged from the sliding groove, and the second gear is meshed with the first gear.

Further, be fixed with trapezoidal slider on the third gear, receiver both sides all be equipped with dovetail and spring, the dovetail cooperation of installing on trapezoidal slider on the third gear and the receiver for the receiver can slide for trapezoidal slider, spring one end be connected with the receiver, the other end is connected with trapezoidal slider.

Further, the receiver front portion is equipped with the handle, is equipped with the baffle in that the receiver is inside, separates into the polylith with the receiver.

Further, the both sides of shell upper portion inboard are equipped with the arc rack respectively, the upper cover be the arc structure, four trundles are connected the boss through the second and are connected the upper cover four corners position respectively, every trundle next door is provided with the small motor, is connected with the pinion on the small motor output shaft, arc rack and pinion meshing make the upper cover remove along the arc rack under the cooperation of small motor and pinion, realize that the upper cover is opened and is closed.

Further, the top end of the shell is provided with a mounting platform and a storage box, a rotating platform is arranged on the mounting platform, a mechanical arm is arranged on the rotating platform, the front end of the mechanical arm is provided with a mechanical claw, and materials in the storage box with the upper cover opened are moved to the storage box through the matching of the mechanical arm, the rotating platform and the mechanical claw.

Furthermore, the front part of the shell is provided with a camera, the periphery of the shell is provided with distance sensors, the middle part of the shell is provided with a front opening door, the front opening door is connected with the shell through a hinge, and the front opening door is provided with a handle and a door lock.

Furthermore, the driven wheel is connected with the bottom support through a fixed seat, and a bearing is arranged at the matching position of the fixed seat and the bottom support to form a universal wheel structure.

The invention has the beneficial effects that:

the invention relates to a multifunctional intelligent delivery robot, wherein two annular slide rails are vertically arranged on a bottom bracket, a plurality of storage boxes for storing materials are arranged on the two annular slide rails, a synchronous wheel is driven by a driving motor to drive each storage box to move along the two annular slide rails, the materials in the corresponding storage boxes are conveyed to the upper cover position arranged on a shell of the robot, the materials in the corresponding storage boxes are conveyed to the outlet position on a shell of the robot, a driving wheel and a driven wheel are arranged on the bottom bracket, steering and robot walking are realized through differential operation of the two driving wheels, automatic cargo delivery is realized through the robot, a plurality of storage boxes respectively store a plurality of different materials, a specific storage box is conveyed to the outlet position of the robot when reaching the appointed position, the intelligent delivery of the robot is realized by replacing manpower, the storage space is large, the structure is simple and reliable, the delivery process is convenient, can improve the working efficiency and save manpower and material resources.

Further, be fixed with two level parallel arrangement's arc track on the support of bottom, respectively be equipped with the A-frame of a vertical setting on every arc track, the A-frame passes through balanced pulley and installs on the arc track, and balanced pulley can freely slide and then guarantee that robot upper portion remains the level all the time relatively the arc track under the action of gravity, prevents that the phenomenon from toppling over to appear in the material in the receiver, avoids the robot to tumble.

Further, the annular slide rail is equipped with a plurality of pulleys, and every group pulley passes through the equidistant setting of supporting seat and fixes on the synchronous belt, and every receiver is installed on the supporting seat of two annular slide rails, and two pulleys are located the inside and outside both sides of annular slide rail respectively and are in the centre of the centre gripping of annular slide rail, prevent that assembly pulley and annular slide rail break away from, operate steadily, safe and reliable.

Further, the annular slide rail is in a long-strip oval shape, a sliding groove is formed in a protective plate arranged on the straight-line section of the annular slide rail, and the roller on the connecting seat moves along the sliding groove to ensure that the storage box is horizontal when moving at the straight-line section of the annular slide rail; first gears are respectively fixed at positions close to arc sections at two ends of the annular slide rail, pulleys are fixed on the supporting seat, a second gear and a third gear are arranged on the supporting seat, the second gear is meshed with the third gear, the storage box is installed on the third gears of the two annular slide rails, when the pulley block moves along the annular slide rail, the rollers move along the sliding grooves at the straight line positions, when each group of pulleys moves to the arc sections of the annular slide rails, the two rollers are separated from the sliding grooves, at the moment, the second gears are meshed with the first gears, and the storage box is ensured to be horizontal when moving at the arc sections of the annular slide rails; through the gyro wheel, under the effect of spout cooperation and first gear, second gear and third gear, guarantee that the receiver keeps the horizontality along all positions of annular slide rail operation, avoids the material to empty.

Furthermore, a trapezoidal sliding block is fixed on the third gear, the trapezoidal sliding block is matched with a dovetail groove installed on the storage box and provided with a reset spring, the dovetail groove slides relative to the trapezoidal sliding block to ensure that the storage box can be pulled out of the machine, and after materials are placed in the storage box, the storage box is automatically retracted under the action of the spring.

Further, the inboard both sides in shell upper portion are equipped with the arc rack respectively, the upper cover be the arc structure, the upper cover is examined and is set up gyro wheel and pinion, through arc rack and pinion engagement, make the upper cover move along the arc rack under the cooperation of motor and pinion, realize that the upper cover is opened and is closed, through control motor, control upper cover is opened and is closed, degree of automation is high, convenient to use.

Further, the materials in the storage box with the upper cover opened are moved to the storage box through the matching of the mechanical arm, the rotary platform and the mechanical claw, the materials are automatically extracted to the storage box, the safety and the reliability are achieved, the goods extraction error is avoided, the goods taker can obtain the corresponding materials from the storage box, and the intelligent degree is high.

Furthermore, the shell is provided with a camera and a distance sensor, so that intelligent control design is facilitated, and automatic addressing and automatic goods delivery of the robot are realized.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a front view of the internal structure of the present invention;

FIG. 4 is a schematic view of the internal transmission structure of the present invention;

FIG. 5 is a schematic view of the bottom bracket structure of the present invention;

FIG. 6 is a schematic view of a driving wheel according to the present invention;

FIG. 7 is a schematic view of the structure of the driving wheel of the present invention;

FIG. 8 is a schematic view of the structure of the balance pulley of the present invention;

FIG. 9 is a schematic view of the overall structure of the transmission mechanism of the present invention;

FIG. 10 is a schematic view of the structure of the annular slide rail of the present invention;

FIG. 11 is a schematic view of a mounting structure of the middle triangular bracket according to the present invention;

FIG. 12 is a schematic view of the mid-support plate mounting gear configuration of the present invention;

FIG. 13 is a schematic view of a timing wheel according to the present invention;

FIG. 14 is a schematic view of the upper structure of the transmission mechanism of the present invention;

FIG. 15 is a schematic view of a pulley mounting structure according to the present invention;

FIG. 16 is a schematic view of a support base according to the present invention;

FIG. 17 is a schematic view of a mounting structure of the middle support seat according to the present invention;

FIG. 18 is a schematic view showing the construction of the lower part of the transmission mechanism of the present invention;

FIG. 19 is a schematic view of a middle roller structure according to the present invention;

FIG. 20 is a schematic view of the connecting socket structure of the present invention;

FIG. 21 is a schematic view of the installation structure of the storage case according to the present invention;

FIG. 22 is a schematic view of the storage case of the present invention;

FIG. 23 is a schematic view of a front opening door of the present invention;

FIG. 24 is a partial structural view of the housing of the present invention;

FIG. 25 is a schematic view of the structure of the upper cover of the present invention;

FIG. 26 is a top partial view of the present invention;

FIG. 27 is a schematic view of the upper lid opening mechanism according to the present invention;

in the figure: 101-housing, 102-camera, 103-register box, 104-mounting platform, 105-distance sensor, 106-arc rack, 201-bottom bracket, 202-driving wheel, 203-motor, 204-driven wheel, 205-motor seat, 206-arc track, 207-fixing seat, 301-annular sliding rail, 302-connecting plate, 303-driving motor, 304-guard plate, 305-sliding groove, 306-fixing boss, 307-triangular bracket, 308-balance pulley, 309-synchronous wheel, 310-synchronous belt, 311-supporting plate, 401-storage box, 402-clapboard, 403-handle, 404-dovetail groove, 405-spring, 501-supporting seat, 502-pulley, 503-first connecting boss, 504-bearing, 505-second gear, 601-connecting seat, 602-roller, 603-third gear, 604-trapezoidal slider, 605-connecting shaft, 701-upper cover, 702-small motor, 703-second connecting boss, 704-small roller, 705-small gear, 801-rotating platform, 802-mechanical arm, 803-mechanical claw, 901-front opening door, 902-handle, 903-door lock and 904-hinge.

Detailed Description

The present invention will be described in further detail with reference to the following examples, which are not intended to limit the invention thereto.

As shown in fig. 1 to 4, the multifunctional intelligent distribution robot of the present invention comprises a bottom bracket 201, a triangular bracket 307, an annular slide rail 301, a storage box 401 and a grabbing mechanism; the bottom bracket 201 is a bottom support of the robot and is used for integrally bearing the robot; the triangular bracket 307 is arranged on the bottom bracket 201 through a pulley, so that the whole robot is kept horizontal, and the distributed materials are prevented from scattering; annular slide rail 301 is installed on A-frame 307, and a plurality of receiver 401 that are used for storing the material are installed on annular slide rail 301, are provided with drive mechanism on the annular slide rail 301, and each receiver 401 removes along annular slide rail 301 under the drive mechanism effect for the upper cover position that sets up on sending the robot shell to the material in the box 401 is accomodate correspondingly, snatch the mechanism setting on the robot shell, be used for taking out the material from receiver 401.

As shown in fig. 5-7, a driving wheel 202 is fixed at the front lower part of the bottom bracket 201 through a bearing seat, the driving wheel 202 is driven by a motor 203, the motor 203 is connected with the bottom bracket 201 through a motor base 205, the number of the driving wheels 202 is two, and the steering movement can be realized through differential speed. A driven wheel 204 is arranged at the rear lower part of the bottom support 201, the driven wheel 204 is connected with the bottom support 201 through a fixed seat 207, and a bearing is arranged at the matching position of the fixed seat 207 and the bottom support 201 to form a universal wheel structure.

As shown in fig. 8 and 9, two arc rails 206 arranged in parallel are rigidly fixed on the bottom bracket 201, each arc rail 206 is provided with a vertically arranged triangular bracket 307, the lower end of each triangular bracket 307 is provided with a balance pulley 308, the lower end of each triangular bracket 307 is provided with 6 balance pulleys respectively, the two balance pulleys are arranged at the lower end of the triangular bracket 307, each group comprises two balance pulleys respectively positioned at the upper side and the lower side of the arc rail 206, the arc rail 206 is clamped in the middle, and the triangular bracket 307 is prevented from being separated from the arc rail 206. The balance pulley 308 can be matched with the arc-shaped track 206, so that the balance pulley 308 can move along the arc-shaped track 206, and the robot body carried by the triangular bracket 307 can be always kept horizontal without inclination under the action of gravity. The balance pulley 308 is fixed with the lower end of the triangular bracket 307 through a fixed seat, and a bearing is arranged at the matching position of the balance pulley 308 and the fixed seat.

As shown in fig. 10 and 11, a connecting plate 302 is rigidly fixed to an upper portion of each of the triangular brackets 307, an annular slide rail 301 is rigidly connected to the connecting plate 302, and one annular slide rail 301 is provided to each of the triangular brackets 307. The two ends of the connecting plate 302 are provided with guard plates 304, the guard plates 304 are provided with sliding chutes 305, the number of the connecting plates 302 is 5, the connecting plates are uniformly arranged along the annular sliding rail 301 from top to bottom, the two connecting plates 302 at the upper end and the lower end are fixed with driving motors 303 through motor seats, and the three connecting plates 302 at the middle part are connected with fixing bosses 306 which are horizontally arranged. Annular slide rail 301 is rectangular oval, and vertical setting is on A-frame 307 upper portion, and the annular slide rail 301 of rectangular oval structure is favorable to increasing the 401 installation quantity of receiver, reduces the horizontal direction size of robot simultaneously, is convenient for through narrow space.

As shown in fig. 12-14, a supporting plate 311 is fixed on the fixing boss 306, the supporting plate 311 is vertically arranged, two ends of the supporting plate 311 are respectively fixed with a first gear, and the first gears on the supporting plates 311 on two sides are connected through a connecting rod. A synchronizing wheel 309 is provided on an output shaft of the driving motor 303, and a synchronizing belt 310 is provided on the synchronizing wheel 309.

As shown in fig. 14, 15, 16, 17 and 18, a plurality of pulleys 502 are cooperatively disposed on the annular slide rail 301, two pulleys 502 are respectively disposed at the inner side and the outer side of the annular slide rail 301 to clamp the annular slide rail 301 therebetween, each group of pulleys 502 is fixed on a support 501, a bearing is disposed at the cooperative position, a first connecting boss 503 is disposed at the middle of the support 501, the first connecting boss 503 can position the timing belt 310, and the support 501 is equidistantly disposed and fixed on the timing belt 310, so that the timing belt 310 drives the pulleys 502 to move along the annular slide rail.

As shown in fig. 17-20, the pulley 502 is fixed at the rear end of the support base 501, a second gear 505 is provided at the front end of the support base 501, and a bearing is provided at the position where the second gear 505 is engaged with the support base 501. The supporting seat 501 is provided with a bearing 504, the connecting shaft 605 is mounted at the front end of the supporting seat 501 through the bearing 504, so that the connecting shaft 605 can rotate relative to the supporting seat 501, the connecting seat 601 is rigidly fixed on the connecting shaft 605, rollers 602 are arranged on two sides of the connecting seat 601, the bearing is arranged at the matching position of the rollers 602 and the connecting seat 601, the rollers 602 are matched with a sliding groove 305 arranged on the protection plate 304, the rollers 602 move along the sliding groove 305, the connecting seat 601 is rigidly connected with a third gear 603, the second gear 505 is meshed with the third gear 603, and a trapezoidal sliding block 604 is fixed on the third gear 603.

As shown in fig. 14, when each set of pulleys 502 moves along the endless slide rail 301 to the upper and lower ends of the endless slide rail 301, the second gear 505 is engaged with the first gear at the two ends of the support plate 311, and the storage case 401 is mounted on the support base 501, and when the storage case moves along the arc-segment slide rail of the endless slide rail 301, the storage case is kept horizontal by the first gear, the second gear 505, and the third gear 603.

As shown in fig. 21 and 22, each support base 501 is provided with a storage box 401, dovetail grooves 404 and springs 405 are arranged on two sides of each storage box 401, a handle 403 is arranged on the front portion of each storage box 401 to facilitate pulling out the storage box 401, and partition plates 402 are arranged inside the storage boxes 401 to separate the storage boxes 401 into a plurality of pieces to facilitate article classification. The trapezoidal slider 604 of the third gear 603 is engaged with the dovetail groove 404 provided in the storage case 401, so that the storage case 401 can slide relative to the trapezoidal slider 604, and the storage case 401 is provided with a spring 405, one end of the spring 405 is connected to the storage case 401, and the other end is connected to the trapezoidal slider 604.

As shown in fig. 1 and 23, a casing 101 is rigidly fixed on a bottom bracket 201, a camera 102 is arranged at the front part of the casing 101, a distance sensor 105 is arranged at the periphery of the casing 101, and a front opening door 901 is arranged at the middle part of the casing 101. The front opening door 901 is connected with the shell 101 through a hinge 904, a handle 902 and a door lock 903 are arranged on the front opening door 901, an opening is formed in the upper portion of the shell 101, and an openable upper cover 701 is arranged at the opening position, so that materials can be taken out conveniently.

As shown in fig. 24, fig. 25, fig. 26 and fig. 27, arc-shaped racks 106 are respectively disposed on two sides of the inner side of the upper portion of the housing 101, the upper cover 701 is in an arc-shaped structure, four small rollers 704 are respectively connected to four corners of the upper cover 701 through second connecting bosses 703, a small motor 702 disposed beside each small roller 704 is fixed on the upper cover 701, a pinion 705 is connected to an output shaft of the small motor 702, the arc-shaped racks 106 can be matched with the pinion 705 and the small rollers 704, and the upper cover 701 moves along the arc-shaped racks 106 under the matching of the small motors 702 and the pinion 705, so as to open and close the upper opening of the housing 101.

As shown in fig. 26, the mounting platform 104 and the storage box 103 are provided at the top end of the casing 101, the rotating platform 801 is provided on the mounting platform 104, the robot 802 is provided on the rotating platform 801, the gripper 803 is provided at the front end of the robot 802, and the material in the storage box 401 can be moved to the storage box 103 by the cooperation of the robot 802, the rotating platform 801 and the gripper 803.

The working principle of the invention is as follows:

taking medicine distribution as an example, when a doctor needs to transport medicine for a patient, the front-opening door lock is opened by using a key, the front-opening door 901 is opened by using a handle, the storage box is pulled out by using a handle, the storage box is automatically retracted under the action of a spring after the medicine is put into the storage box 401, the dovetail groove 404 slides relative to the trapezoidal sliding block 604, and at the moment, the robot records the corresponding storage box number.

The driving wheel 202 rotates under the driving of the motor to drive the whole device to move towards a ward, the whole device realizes steering through the differential of the two driving wheels and the matching of rear universal wheels, the radial path planning and obstacle avoidance of the camera and the distance sensor are realized, if the condition of ascending and the like occurs in the conveying process, the bottom bracket part can incline to a certain degree due to the terrain, the balance pulley 308 can slide relative to the arc-shaped track 206 under the action of gravity to ensure the level of the upper part of the robot, the phenomenon of toppling over of medicaments and the like in the storage box can not occur, the driving motor 303 starts to work after reaching the corresponding ward to drive the synchronous wheel 309 to rotate, the synchronous belt 310 arranged on the synchronous wheel 309 correspondingly moves to drive the pulley 502 to move along the annular track, the pulley moves to drive the storage box 401 to move together, and the two rollers 602 are matched with the sliding chute 305 when, guarantee the level of receiver, two gyro wheels and spout break away from the cooperation when the pulley moves to annular slide rail circular arc department along annular slide rail, second gear 505 and the first gear engagement at backup pad both ends this moment, when the receiver moves along circular arc section slide rail, the receiver still keeps the horizontality under the effect of first gear and second gear and third gear, stop when the receiver is located the peak, small motor 702 works this moment, at small gyro wheel 704, the cooperation of pinion 705 and arc rack 106 drives the upper cover and opens, can remove the medicine in the receiver to depositing in the box under rotary platform, the cooperation of arm and gripper, patient takes away the medicine and can accomplish the distribution. The upper cover is closed after the completion, and the medicine distribution of the next patient is continuously carried out, so that the whole process is convenient and fast, and a large amount of manpower and material resources are saved.

The present invention is described in detail with reference to the above embodiments, and those skilled in the art will understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims

1. The utility model provides a multi-functional intelligent delivery robot which characterized in that: comprises a bottom bracket (201), an annular slide rail (301) and a storage box (401) arranged on the annular slide rail (301);

the novel storage box is characterized in that a shell (101) is mounted on a bottom support (201), two vertical parallel annular slide rails (301) are mounted on the bottom support (201) through a connecting plate (302), a plurality of storage boxes (401) for storing materials are mounted on the two annular slide rails (301), a transmission mechanism is arranged on each annular slide rail (301), the transmission mechanism comprises two synchronizing wheels (309) which are arranged in the annular slide rails (301) and close to two ends, a synchronous belt (310) is arranged on each synchronizing wheel (309), a driving motor (303) is fixed on the connecting plate (302) through a motor base, the synchronizing wheels (309) are driven through the driving motor (303) to drive each storage box (401) to move along the two annular slide rails (301), and the materials in the corresponding storage boxes (401) are conveyed to the positions of an upper cover (701) arranged on the robot shell (101);

two driving wheels (202) driven by a motor (203) are fixed at the front lower part of the bottom support (201) through a bearing seat, steering is realized through differential operation of the two driving wheels (202), and two driven wheels (204) are arranged at the rear lower part of the bottom support (201);

two arc-shaped rails (206) which are horizontally arranged in parallel are fixed on the bottom support (201), each arc-shaped rail (206) is provided with a vertically-arranged triangular support (307), the lower end of each triangular support (307) is provided with a balance pulley (308), each triangular support (307) is installed on the arc-shaped rail (206) through the balance pulley (308), the upper part of each triangular support (307) is rigidly fixed with a connecting plate (302), and the annular sliding rail (301) is installed on the triangular supports (307) through the connecting plates (302);

the novel storage box is characterized in that a plurality of pulleys (502) are arranged on the annular slide rail (301), two pulleys (502) are a group and are respectively positioned on the inner side and the outer side of the annular slide rail (301) to clamp the annular slide rail (301) in the middle, each group of pulleys (502) is fixed on one support seat (501), a plurality of support seats (501) are arranged and fixed on a synchronous belt (310) at equal intervals, a first connecting boss (503) is arranged in the middle of each support seat (501), the first connecting boss (503) is used for positioning the support seats (501) and the synchronous belt (310), so that the synchronous belt (310) drives the pulleys (502) to move along the annular slide rail, and each storage box (401) is installed on the support seats (501) of;

the annular slide rail (301) is in a long-strip oval shape, a horizontally arranged fixing boss (306) is connected to the connecting plate (302), a vertically arranged supporting plate (311) is fixed on the fixing boss (306), and first gears are respectively fixed at the positions, close to the arc section of the annular slide rail (301), of the two ends of the supporting plate (311);

the pulley (502) is fixed at the rear end of the supporting seat (501), a second gear (505) is arranged at the front end of the supporting seat (501), a connecting seat (601) is further mounted at the front end of the supporting seat (501) through a connecting shaft (605), a third gear (603) is rigidly connected to the connecting seat (601), the second gear (505) is meshed with the third gear (603), and the storage box (401) is mounted on the third gears (603) of the two annular sliding rails (301);

a protective plate (304) arranged around the straight line section of the annular slide rail (301) is arranged on the connecting plate (302), a sliding groove (305) is arranged on the protective plate (304), rollers (602) are arranged on two sides of the connecting seat (601), and the rollers (602) move along the sliding groove (305);

when each group of pulleys (502) moves to the arc section of the annular slide rail, the two rollers (602) are disengaged from the sliding groove (305), and at the moment, the second gear (505) is meshed with the first gear;

a handle (403) is arranged at the front part of the storage box (401), and a partition plate (402) is arranged in the storage box (401) to divide the storage box (401) into a plurality of blocks;

the front part of the shell (101) is provided with a camera (102), the periphery of the shell (101) is provided with distance sensors (105), the middle part of the shell (101) is provided with a front opening door (901), the front opening door (901) is connected with the shell (101) through a hinge (904), and the front opening door (901) is provided with a handle (902) and a door lock (903);

the driven wheel (204) is connected with the bottom support (201) through a fixed seat (207), and a bearing is arranged at the matching position of the fixed seat (207) and the bottom support (201) to form a universal wheel structure.

2. The multi-functional intelligent delivery robot of claim 1, wherein: trapezoidal slider (604) is fixed with on third gear (603), receiver (401) both sides all be equipped with dovetail (404) and spring (405), trapezoidal slider (604) on third gear (603) and the cooperation of dovetail (404) of installing on receiver (401) for receiver (401) can slide for trapezoidal slider (604), spring (405) one end be connected with receiver (401), the other end is connected with trapezoidal slider (604).

3. The multi-functional intelligent delivery robot of claim 1, wherein: arc-shaped racks (106) are respectively arranged on two sides of the inner side of the upper portion of the shell (101), the upper cover (701) is of an arc-shaped structure, the four small rollers (704) are respectively connected to four corners of the upper cover (701) through second connecting bosses (703), a small motor (702) is arranged beside each small roller (704), a small gear (705) is connected to an output shaft of each small motor (702), the arc-shaped racks (106) are meshed with the small gears (705), the upper cover (701) moves along the arc-shaped racks (106) under the matching of the small motors (702) and the small gears (705), and the upper cover (701) is opened and closed.

4. The multi-functional intelligent delivery robot of claim 1, wherein: the storage box is characterized in that a mounting platform (104) and a storage box (103) are arranged at the top end of the shell (101), a rotating platform (801) is arranged on the mounting platform (104), a mechanical arm (802) is arranged on the rotating platform (801), a mechanical claw (803) is arranged at the front end of the mechanical arm (802), and materials in the storage box (401) with the upper cover opened are moved to the storage box (103) through the cooperation of the mechanical arm (802), the rotating platform (801) and the mechanical claw (803).