CN111347442A

CN111347442A - Distribution robot

Info

Publication number: CN111347442A
Application number: CN202010240810.XA
Authority: CN
Inventors: 肖波
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-30
Anticipated expiration: 2040-03-31
Also published as: CN111347442B

Abstract

The embodiment of the invention relates to the field of robots, in particular to a distribution robot, which comprises: a movable chassis and a foot rest platform; the chassis includes: the chassis comprises a chassis body, a first butt joint mechanism arranged on the chassis body, a supporting platform arranged opposite to the chassis body and a driving mechanism arranged on the chassis body; the driving mechanism is connected with the supporting platform and is used for driving the supporting platform to move relative to the chassis body; the foot rest platform includes: the platform comprises a platform body, a second butt joint mechanism arranged on the platform body and a plurality of foot rests supporting the platform body. The first docking mechanism is used for docking with the second docking mechanism after the chassis moves to a preset position below the platform body, and the supporting platform is driven to move towards the direction of the platform body through the driving mechanism so as to lift the foot rest platform. Compared with the prior art, the delivery robot of the embodiment can improve the utilization rate and the delivery efficiency and reduce the delivery cost in the building.

Description

Distribution robot

Technical Field

The embodiment of the invention relates to the field of robots, in particular to a distribution robot.

Background

In the distribution scene of buildings, most industries have started to adopt robots for distribution. However, the inventor finds that in the existing building distribution robot, the chassis and the cabin of the robot are generally integrated. When the delivery task begins, the storage ring often needs to wait for the takeaway rider to record the list and put the meal, and at the moment, the cabin body and the robot chassis are integrated and cannot be separated, so that the robot cannot perform other operations in the process of recording the list and putting the meal by the rider, and the robot cannot be fully utilized. In addition, when the robot is in the process of delivery, the robot often needs to wait for a long time for a customer to fetch food on a certain floor, and the total residence time is long, so that the delivery efficiency of the robot is greatly influenced. Moreover, when the number of building units is dense, multiple robots are generally required to be arranged at the same time for cooperative distribution, so that the distribution cost is too high.

Disclosure of Invention

The invention aims to provide a distribution robot, which can improve the utilization rate of the robot, greatly improve the distribution efficiency of the robot and reduce the distribution cost of the robot in a building.

To solve the above technical problem, an embodiment of the present invention provides a delivery robot including: the movable chassis and the foot rest platform are used for bearing the cabin body;

the chassis includes: the chassis comprises a chassis body, a first butt joint mechanism arranged on the chassis body, a supporting platform arranged opposite to the chassis body along the height direction of the chassis body, and a driving mechanism arranged on the chassis body; the driving mechanism is connected with the supporting platform and is used for driving the supporting platform to do linear motion relative to the chassis body;

the foot rest platform comprises: the base plate comprises a platform body, a second butt joint mechanism arranged on the platform body and a plurality of foot frames for supporting the platform body, wherein an access port for the base plate to move to a preset position below the platform body is formed between at least two adjacent foot frames;

the first docking mechanism is used for docking with the second docking mechanism after the chassis moves to a preset position below the platform body, and the driving mechanism is used for driving the supporting platform to move towards the direction of the platform body and lifting the foot rest platform after the first docking mechanism is docked with the second docking mechanism.

Compared with the prior art, the robot of the embodiment of the invention comprises a movable chassis and a foot rest platform for bearing a cabin body, wherein a first docking mechanism is arranged on a chassis body of the chassis, a second docking mechanism is arranged on a platform body of the foot rest platform, and the chassis and the foot rest platform of the robot of the embodiment are in a split structure through docking or separating the first docking mechanism and the second docking mechanism, so that when in practical application, for example, when a rider needs to take a menu or wait for a customer to take a meal, the supporting platform can be driven to move in a direction away from the platform body by a driving mechanism of the robot, the foot rest platform is put down, meanwhile, the docking relation between the first docking mechanism and the second docking mechanism is released, the chassis and the foot rest platform can be completely separated, and the chassis of the robot can leave the lower part of the platform body through an entrance and an exit of the foot rest platform, and can continue to carry out other delivery work, and bear the cabin body on the foot rest platform and can let the rider continue to carry out work such as current record list, put meal or wait for customer to get meal to can also reduce the delivery cost in the building when improving the utilization ratio and the delivery efficiency of robot.

As a further improvement, the first docking mechanism is located below the support platform, the first docking mechanism comprising: the first docking device is connected with the first driving assembly and used for docking with the second docking mechanism;

the first driving assembly is used for driving the first butt connector to move relative to the supporting platform, and a through hole which can be penetrated by the first butt connector is formed in the supporting platform.

As a further improvement, the first drive assembly comprises: the chassis comprises a chassis body, a shell arranged on the chassis body and a first driving part arranged in the shell; the first driving part is connected with the first butt joint device and is used for driving the first butt joint device to perform rotary motion or driving the first butt joint device to perform linear motion relative to the supporting platform;

when the first driving component is used for driving the first butt connector to rotate, the first butt connector is provided with an external thread, and the through hole is a threaded hole matched with the external thread on the first butt connector;

and a through hole is formed in one side of the shell, which is far away from the chassis body, and the through hole is used for the first butt joint to enter and exit the shell when moving relative to the supporting platform.

As a further improvement, the first butt-joint device is a right butt-joint device, and the second butt-joint mechanism at least includes: the positive butt-joint device is arranged on the platform body and provided with a butt-joint hole, and the positive butt-joint device is used for being inserted into the butt-joint hole of the negative butt-joint device.

As a further improvement, the drive mechanism includes:

the plurality of driving parts are arranged on one side of the chassis body relative to the supporting platform; each driving part is connected with the supporting platform.

As a further improvement, the support platform comprises: the supporting plate is used for supporting the foot rest platform, and the side plate surrounds the supporting plate, the supporting plate and the side plate jointly form a cover body with a bottom opening, and the supporting plate is provided with the through hole for the first butt connector to penetrate through; each driving part is used for entering the cover body when the cover body is driven to move to a preset position towards the direction of the chassis body.

As a further improvement, the chassis further comprises: the coaming is arranged on one side of the chassis body relative to the supporting platform; the supporting platform is used for entering an area surrounded by the enclosing plates when moving to a preset position in the direction of the chassis body.

As a further improvement, the coaming and the chassis body are integrally formed.

As a further improvement, each of the foot rests includes: the platform comprises a platform body, a first supporting section and a second supporting section, wherein the first supporting section is arranged on the platform body, the second supporting section is connected with the first supporting section, each first supporting section is parallel to the platform body, and each second supporting section is perpendicular to the platform body and used for supporting the platform body together.

As a further improvement, the platform body comprises: the top plate is used for bearing the cabin body, the bottom plate is opposite to the top plate, and the side wall is used for connecting the top plate and the bottom plate;

a cavity is formed between the top plate and the bottom plate, at least one sliding groove for the first supporting section of each foot rest to enter the cavity is formed in the side wall, the second supporting section of each foot rest is positioned outside the cavity and vertically extends towards the direction of the bottom plate, and the second supporting section of each foot rest is used for supporting the platform body together;

the second docking mechanism is arranged on one side of the bottom plate, which is far away from the top plate.

As a further improvement, the first support section of each foot rest is slidable in a direction inside the cavity or outside the cavity;

when the first supporting section of each foot rest slides to a first preset position towards the direction in the cavity, the second supporting section of each foot rest is positioned in the orthographic projection range of the platform body in the axial direction; when the first supporting section of each foot rest slides to a second preset position in the direction outside the cavity, the second supporting section of each foot rest is positioned outside the orthographic projection range of the platform body in the axial direction.

As a further improvement, any two opposite sides of the side wall of the platform body are sliding sides for the foot rests to slide, at least one sliding groove is formed in each sliding side, and each sliding groove at least allows the first support section of one foot rest to enter the cavity and is used for allowing the first support section of the foot rest to slide towards the inside or the outside of the cavity.

As a further improvement, four sliding grooves are arranged, wherein two sliding grooves are arranged on one sliding side and are oppositely arranged along the length direction of the sliding side; the other two sliding grooves are formed in the other sliding side and are oppositely arranged along the length direction of the sliding side;

the quantity of foot rest with the quantity of spout is the same, and only corresponds, arbitrary the spout all is used for supplying only corresponding the foot rest first support section gets into the cavity, still be used for supplying only corresponding the foot rest towards in the cavity or towards the direction slip outside the cavity.

As a further improvement, the horse platform further comprises:

at least four rails disposed within the cavity; each track is arranged in parallel with the two sliding sides;

a plurality of guide members; each track is provided with at least one guide part, and each guide part on any track can slide along the track;

the first supporting sections of the foot rests are arranged perpendicular to the rails, the first supporting sections of the foot rests are connected with the guide parts on the two rails in a sliding mode, and the first supporting sections of the foot rests are slidable in a direction perpendicular to the rails.

As a further improvement, each of the rails is provided with two of the guide members, and the two of the guide members on each of the rails are respectively connected with the first support sections of the two foot rests installed on the same sliding side in a sliding manner.

As a further improvement, the horse platform further comprises:

the driving device is arranged in the cavity and is respectively connected with the first supporting sections of the foot rests; the driving device is used for simultaneously driving the first supporting sections of the foot rests to slide towards the axial direction of the platform body;

a plurality of elastic tension members; each track is provided with two elastic stretching pieces, one elastic stretching piece on any track is connected with one guide part on the track, and the other elastic stretching piece is connected with the other guide part on the track;

each elastic stretching member is used for being stretched when the first supporting section of each foot rest slides towards the axial direction of the platform body.

As a further improvement, the drive device includes:

a knob;

a first wire set comprising: the first pull wire, the first wire pulley and the first pull wire are arranged on the first pull wire in a sliding mode, and the first pull wire is connected with the knob; two ends of the first pull wire are respectively connected with the first supporting sections of the two foot rests on one of the sliding sides, and one end, far away from the knob, of the first pull wire is connected with the first wire pulley;

a second wire set comprising: the second traction wire, a second wire pulley which is slidably arranged on the second traction wire and a second pull wire which is connected with the knob; two ends of the second pull wire are respectively connected with the first supporting sections of the two foot rests on the other sliding side, and one end, far away from the knob, of the second pull wire is connected with the second wire pulley;

a drive member that drives the knob to rotate;

the first pull wire and the second pull wire are tangent to the knob, and the direction from a first tangent point formed by the first pull wire and the knob to a second tangent point formed by the second pull wire and the knob is the diameter direction of the knob.

As a further improvement, the number of the foot rests is four, two of the foot rests form a supporting component, and the other two foot rests form another supporting component; the two supporting components are arranged in a crossed mode and are used for mutually pivoting around the crossed point through at least one sliding groove;

when the two support assemblies pivot to a first preset position relatively to each other, the second support section of each foot rest is located in an orthographic projection range of the platform body in the axial direction, and when the two support assemblies pivot to a second preset position relatively to each other, the second support section of each foot rest is located outside the orthographic projection range of the platform body in the axial direction;

the pivoting direction of the two support assemblies when the two support assemblies pivot relative to each other to the first preset position is opposite to the pivoting direction when the two support assemblies pivot to the second preset position.

As a further improvement, any two opposite sides of the side wall of the platform body are sliding sides provided with the sliding grooves, each sliding side is provided with at least one sliding groove, and any sliding groove is used for allowing at least one first supporting section to rotate around the intersection point.

each first support section is uniquely corresponding to each sliding groove, and any sliding groove is used for enabling the uniquely corresponding first support section of the foot rest to rotate around the intersection point.

As a further improvement, the horse platform further comprises:

and the driving device is arranged in the cavity and is used for simultaneously driving the two supporting components to pivot relative to each other.

As a further improvement, each of the support assemblies further comprises:

a collar rotatably disposed within the cavity and coaxially disposed with the intersection; two of the first support sections of any of the support assemblies are connected to the collar of that support assembly and extend in opposite directions to one another;

the driving device includes: the rotary knob and the driving component drive the rotary knob to rotate; the lantern ring of each supporting component is sleeved on the knob and is fixedly connected with the knob.

As a further improvement, a plurality of grooves are formed in the periphery of the chassis body, each groove is annularly formed around the periphery of the chassis body, and the number of the grooves is the same as that of the foot rests and is only corresponding to that of the foot rests;

when the first docking mechanism on the chassis body is docked with the second docking mechanism on the platform body, and the second support section of any foot stand is moved to the orthographic projection range of the platform body in the axial direction, the second support section is embedded into the groove uniquely corresponding to the second support section.

As a further improvement, the delivery robot further includes: set up in detection mechanism on the chassis body, and include:

a radar;

a tray; the radar is fixedly arranged on the tray;

the tray rotation driving device is arranged on one side, away from the radar, of the tray, is connected with the tray and is used for driving the tray to rotate;

and the tray moving driving device is connected with the tray rotating driving device and is used for driving the tray rotating driving device and the tray to linearly move along the advancing direction of the chassis.

As a further improvement, a through groove is formed in one side of the chassis body relative to the supporting platform, the detection mechanism is arranged in the through groove, and two ends of the through groove in the advancing direction of the chassis are not closed, so that a notch for scanning and detecting the radar is formed.

As a further improvement, a groove is formed in the groove bottom of the through groove along the linear moving direction of the tray, the detection mechanism is arranged in the groove, and the detection end of the radar is at least exposed above the groove bottom of the through groove and is positioned in the through groove.

As a further improvement, the chassis further comprises: the partition plate is arranged in the groove and is parallel to the groove bottom of the groove;

the partition plate divides the groove into a channel layer for the tray to move along the advancing direction of the chassis and a driving layer for accommodating the tray rotation driving device and the tray movement driving device;

the partition board is provided with a sliding chute along the linear moving direction of the tray, and the sliding chute is used for connecting the tray rotation driving device with the tray.

As a further improvement, the tray swing drive device includes: the rotary driving part is connected with the rotary shaft, and the rotary shaft is coaxially connected with the tray.

As a further improvement, the tray movement driving device includes: the base plate comprises a take-up and pay-off wire, a first take-up and pay-off wire driving part connected with one end of the take-up and pay-off wire, and a second take-up and pay-off wire driving part connected with the other end of the take-up and pay-off wire, wherein the first take-up and pay-off wire driving part and the second take-up and pay-off wire driving part are arranged oppositely along the advancing direction of the base plate, and the length of the take-up and pay-off wire is greater than the distance;

the wire winding and unwinding device is further connected with the tray rotation driving device, and the tray rotation driving device is used for driving the tray to move along a preset linear direction when the first wire winding and unwinding driving part or the second wire winding and unwinding driving part winds wires.

As a further improvement, the first take-up and pay-off wire drive comprises: the wire winding and unwinding device comprises a first wire winding and unwinding motor and a first roller coaxially connected with a main shaft of the first wire winding and unwinding motor;

the second take-up and pay-off drive includes: the second take-up and pay-off motor and the second roller are coaxially connected with the main shaft of the second take-up and pay-off motor;

the first roller is connected with one end of the take-up and pay-off line and used for winding the take-up and pay-off line;

the second roller is connected with the other end of the take-up and pay-off line and used for winding the take-up and pay-off line.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural view of a dispensing robot according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a chassis according to a first embodiment of the present invention;

FIG. 3 is a schematic view of the assembly of the docking mechanism and the supporting platform according to the first embodiment of the present invention;

FIG. 4 is an exploded view of a dispensing robot according to a first embodiment of the present invention;

FIG. 5 is a schematic structural view of a pedestal platform according to a first embodiment of the present invention;

FIG. 6 is an exploded view of a dispensing robot according to a second embodiment of the present invention;

FIG. 7 is a schematic structural diagram illustrating a third embodiment of the present invention in which each leg of the leg platform slides to a second predetermined position;

FIG. 8 is a side view of FIG. 7;

FIG. 9 is a schematic structural diagram illustrating a third embodiment of the present invention in which each leg of the leg platform slides to a first predetermined position;

FIG. 10 is a side view of FIG. 9;

fig. 11A is a schematic structural view of a distribution robot according to a third embodiment of the present invention, in which a second support section of each foot of the foot rest platform is accommodated in a groove of the platform body;

fig. 11B is a schematic structural view of a robot chassis in a dispensing robot according to a third embodiment of the present invention;

FIG. 12 is a schematic view of eight rails of a pedestal platform according to a third embodiment of the present invention;

fig. 13 is a schematic structural view illustrating a stand of another stand platform according to a third embodiment of the present invention sliding to a second predetermined position;

fig. 14 is a schematic structural view illustrating a stand platform of another stand platform according to a third embodiment of the present invention, wherein each stand is slid to a first predetermined position;

FIG. 15 is a schematic structural view illustrating a fourth embodiment of the present invention in which each leg of the leg platform slides to a second predetermined position;

FIG. 16 is a schematic structural diagram illustrating a fourth embodiment of the present invention in which each of the stands slides to a first predetermined position;

FIG. 17 is a schematic view of the assembly of one of the support assemblies and the platform body of the fourth embodiment of the present invention;

FIG. 18 is a schematic view of another support assembly of the pedestal platform with the platform body according to the fourth embodiment of the present invention;

FIG. 19 is a schematic structural diagram illustrating a fourth embodiment of the present invention when each leg of the leg platform moves to a second predetermined position;

FIG. 20 is a schematic structural view illustrating a stand of another stand platform of the fourth embodiment of the present invention moving to a second predetermined position;

fig. 21 is a schematic structural view illustrating each foot of another foot platform according to a fourth embodiment of the present invention moving to a first predetermined position;

FIG. 22 is a side view of FIG. 21;

FIG. 23 is a schematic view of a stand platform according to a fourth embodiment of the present invention assembled with a platform body and a support assembly thereof;

FIG. 24 is a schematic view of another support assembly of another horse platform according to a fourth embodiment of the present invention assembled with a platform body;

FIG. 25 is a schematic view of a chassis structure in a fifth embodiment of the present invention;

fig. 26 is a schematic structural view of a detecting mechanism in a fifth embodiment of the present invention;

fig. 27 is an internal structural view of a detecting mechanism in a fifth embodiment of the present invention;

FIG. 28 is a schematic view of the first wire takeup and release driving element moving in a state of wire takeup according to the fifth embodiment of the present invention;

FIG. 29 is a schematic view showing a state where the second wire take-up and pay-off driving member moves the tray when taking up the wire according to the fifth embodiment of the present invention;

fig. 30 is a schematic view illustrating an assembly of a detecting mechanism and a first docking structure according to a fifth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

A first embodiment of the present invention relates to a dispensing robot, as shown in fig. 1 to 4, including: a movable chassis 1 and a foot rest platform 2 for bearing a cabin 3.

As shown in fig. 2, the chassis 1 includes: the chassis comprises a chassis body 11, a first butting mechanism 12 arranged on the chassis body 11, a supporting platform 13 arranged opposite to the chassis body 11 along the height direction of the chassis body 11, and a driving mechanism (not shown) arranged on the chassis body 11. And, the driving mechanism is connected with the supporting platform 13 for driving the supporting platform 13 to perform linear motion relative to the chassis body 11.

In the present embodiment, as shown in fig. 4, the foot stool platform 2 includes: the platform comprises a platform body 21, a second docking mechanism (not shown) arranged on the platform body 21, and a plurality of foot rests 22 for supporting the platform body 21, wherein an access (not shown) for the chassis 1 to move to a preset position below the platform body 21 is formed between at least two adjacent foot rests 22.

As can be easily seen from the above description, in practical applications, as shown in fig. 1 and 4, the first docking mechanism 12 can be moved to the lower side of the platform body 21 through the entrance and exit below the platform body 21, as shown in fig. 1, and can be docked with the second docking mechanism after the chassis 1 is moved to a predetermined position below the platform body 21. When the first docking mechanism 12 and the second docking mechanism are docked, as shown in fig. 1 and 2, the driving mechanism can drive the supporting platform 13 to move towards the platform body 21, so as to lift the foot rest platform 2 until the foot rest platform is lifted off the ground. When a rider needs to record and put food or wait for a customer to take food, the driving mechanism of the robot can drive the supporting platform 13 to move towards the direction away from the platform body 21, the foot rest platform 2 is put down, and meanwhile, the butt joint relation between the first butt joint mechanism 12 and the second butt joint mechanism is released, so that the chassis 1 and the foot rest platform 2 can be completely separated, at the moment, the chassis 1 of the robot can leave the lower part of the platform body 21 through the entrance and exit of the foot rest platform 2 and can continue other distribution work, and the cabin body 3 borne on the foot rest platform 2 can enable the rider to continue to carry out the current work of recording, putting food or waiting for the customer to take food and the like, so that the utilization rate and the distribution efficiency of the robot are improved, and meanwhile, the distribution cost in a building can be reduced.

Specifically, in the present embodiment, as shown in fig. 1, 2, and 4, the first docking mechanism 12 is located below the support platform 13, and as shown in connection with fig. 2, the first docking mechanism 12 includes: the first driving assembly 121 is disposed on the chassis body 11, and the first docking connector 122 is connected to the first driving assembly 121, the first driving assembly 121 can be used for driving the first docking connector 122 to move relative to the supporting platform 13, and a through hole (not shown) through which the first docking connector 122 can pass is formed in the supporting platform 13, so that the first docking connector 122 can be used for docking with a second docking mechanism. Therefore, in practical application, after the chassis 1 of the robot is driven into the preset position below the platform body 21 of the foot stool platform 2, as shown in fig. 2 and 4, the first driving assembly 121 may drive the first docking device 122 to perform linear motion toward the supporting platform 13, so that the first docking device 122 may dock with the second docking mechanism on the platform body 21 of the foot stool platform 2, so as to enable the chassis body 11 to be combined with the foot stool platform 2. After the first docking unit 122 is docked with the second docking mechanism, as shown in fig. 1 and 2, the driving mechanism can drive the supporting platform 13 to move towards the platform body 21 until the foot stool platform 2 is lifted off the ground.

In order to enable the first docking unit 122 to be docked with the second docking mechanism, as shown in fig. 3, the first driving unit 121 includes: a casing 1211 disposed on the chassis body 11, and a first driving member (not shown) disposed in the casing 1211. As shown in fig. 2 and 3, the first driving member is connected to the first docking connector 122 for driving the first docking connector 122 to perform a linear motion relative to the supporting platform 13. Meanwhile, as shown in fig. 3, a through hole 1212 is further formed in a side of the housing 1211 away from the chassis body 21, and the through hole 1212 is used for allowing the first docking connector 122 to freely enter and exit the housing 1211 when the first docking connector 7 moves linearly relative to the supporting platform 13. In the present embodiment, the first driving member directly drives the first docking connector 122 to move linearly with respect to the support platform 13, and may be implemented by, for example, an air cylinder or a screw driving member. Alternatively, as an alternative, the first driving member may also drive the first adaptor 122 to perform a rotational motion, and when the first driving member drives the first adaptor 122 to perform a rotational motion, the first adaptor 122 may have an external thread, and the through hole 1212 opened in the casing 1211 is a threaded hole matched with the external thread on the first adaptor 122, so that when the first adaptor 122 rotates, the first driving member may implement a lifting motion by screwing with the threaded hole, and in order to enable the first driving member to drive the first adaptor 122 to perform a rotational motion, for example: the motor is combined with the form of the screw rod, and can mesh and drive the screw rod and the first butt joint device 122, and meanwhile, the motor is connected with the screw rod and is used for driving the screw rod to rotate, so that the first butt joint device 122 can realize rotary lifting movement by means of meshing and driving with the screw rod and screwing with the threaded hole under the rotation of the screw rod. In addition, in the present embodiment, in order to enable the second docking mechanism located on the foot stool platform 2 to dock with the first docking unit 122, as shown in fig. 2, 4 and 5, the first docking unit 122 is a positive docking unit, and the second docking mechanism includes at least: the negative docking adapter 23 having the docking hole 231 is provided on the platform body 21 so that the positive docking adapter can directly enter the docking hole 231 of the negative docking adapter 23 when the positive docking adapter is moved to a predetermined position in a direction toward the support platform 13. As a preferable scheme, when the first docking connector 122 is provided with the external thread, the docking hole 231 on the negative docking connector 23 disposed on the platform body 21 is a threaded hole, so that the first docking connector 122 can be screwed with the threaded hole on the negative docking connector 23 after rotating and rising to the preset position in the direction of the supporting platform 13, thereby further improving the reliability of the docking of the positive docking connector and the negative docking connector 23.

In addition, it is worth mentioning that after the first docking mechanism and the second docking mechanism complete docking, that is, after the positive docking device on the chassis 1 docks with the negative docking device 23 on the platform body 21, the driving mechanism can drive the supporting platform 13 to move in a direction away from the chassis body 11 until the platform body 21 is lifted. In the present embodiment, the drive mechanism includes: a plurality of driving components (not shown), and each driving component is disposed on one side of the chassis body 11 relative to the supporting platform 13, that is, each driving component can surround the casing 1211 of the first driving assembly 121 for surrounding, and each driving component is connected to the supporting platform 13 for driving the supporting platform 13 to perform linear motion relative to the chassis body 11. In the present embodiment, each driving member may be a cylinder, and the supporting platform 13 may be connected to a piston rod of each cylinder, so as to realize the lifting movement of the supporting platform.

Meanwhile, in the present embodiment, as shown in fig. 3, the support platform 13 includes: a supporting plate 131 and a side plate 132 surrounding the supporting plate 131. So that the supporting plate 131 and the side plate 132 together form a housing with a bottom opening (not shown), the supporting plate 131 is provided with a through hole (not shown) for the docking adapter 7 to pass through, and the supporting plate 131 can be used for supporting the platform body 21 of the footrest platform 2. Therefore, when each driving part moves to a preset position in the direction of the driving cover body (i.e. the supporting platform 10) towards the chassis body 11, each driving part can directly enter the cover body, and each driving part is prevented from being exposed to the outside of the chassis body 11, so that the whole chassis 1 has stronger integrity and more attractive appearance. Further, as shown in fig. 2, the chassis 1 preferably further includes: the enclosing plate 14, and the enclosing plate 14 is disposed on a side of the chassis body 11 opposite to the supporting platform 13, and an area 15 enclosed by the enclosing plate 14 can be used for accommodating the supporting platform 13 when the supporting platform 13 moves to a preset position towards the direction of the chassis body 11. In the present embodiment, the apron 14 is integrally formed with the chassis body 11, but the apron 14 may be a separate member provided on the chassis body 11 and detachably connected to the chassis body 11 as necessary.

In the present embodiment, as shown in fig. 4 and 5, each foot stool 22 of the foot stool platform 2 includes: the platform comprises a first support section 221 arranged on the platform body 21 and second support sections 222 connected with the first support section 221, wherein each first support section 221 is parallel to the platform body 21, and each second support section 222 is perpendicular to the platform body 21 and is used for supporting the platform body 21 together.

Specifically, as shown in fig. 4 and 5, the platform body 21 includes: a top plate 211 for carrying the cabin 3, a bottom plate 212 opposite to the top plate 211, and side walls 213 connecting the top plate 211 and the bottom plate 212.

As shown in fig. 5, a cavity 214 is formed between the top plate 211 and the bottom plate 212, at least one sliding slot 215 is formed in the side wall 213 for allowing the first supporting section 221 of each foot stand 22 to enter the cavity 214, the second supporting sections 222 of each foot stand 22 are located outside the cavity 214 and vertically extend toward the bottom plate 212, and the second supporting sections 222 of each foot stand 22 are used for supporting the platform body 21 together. And the negative docking member 23 of the corresponding second docking mechanism is disposed on the side of the bottom plate 212 facing away from the top plate 211.

In addition, in the present embodiment, the negative docking unit 23 provided on the bottom plate 212 is a separate component, and the negative docking unit 23 may be embedded in the bottom plate 212. Alternatively, negative docking member 23 may be formed by a portion of base 212 recessed directly into cavity 214.

A second embodiment of the present invention relates to a delivery robot, which is a further improvement of the first embodiment, and is mainly improved in that, as shown in fig. 6, in the present embodiment, a docking manner may be adopted for the foot rest platform 2 when carrying the cabin 3, which is similar to the docking manner between the foot rest platform 2 and the chassis 1 in the first embodiment.

Specifically, in the present embodiment, as shown in fig. 6, the foot stool platform 2 further includes: a cabin docking connector 29, wherein the cabin docking connector 29 is arranged on the side of the top plate 211 far away from the bottom plate 212. Meanwhile, the cabin 3 is provided with a platform docking connector 31. In practical application, the cabin body docking device 29 can be docked with the platform docking device 31, so that the foot rest platform 2 is not easily separated when the cabin body 3 is loaded, and the reliability of the foot rest platform 2 when the cabin body 3 is loaded is improved.

In addition, it is worth mentioning that in the present embodiment, as shown in fig. 6, the cabin docking connector 29 is a separate component. Alternatively, the cabin docking connector 29 may be formed by a portion of the top plate 211 of the platform body 21 protruding away from the bottom plate 212. In the present embodiment, preferably, the cabin body docking device 29 may be a positive docking device with an external thread, and the corresponding platform docking device 31 on the cabin body 3 is a negative docking device (not shown) with a threaded hole and adapted to be screwed into the cabin body docking device 29, so that after the platform body 21 of the foot stand platform 2 is docked with the cabin body 3, the firmness of docking the foot stand platform 2 with the platform body 21 with the cabin body 3 can be further improved.

A third embodiment of the present invention relates to a dispensing robot, and is further improved from the first or second embodiment, and is mainly improved in that, as shown in fig. 7, in the present embodiment, the first support section 221 of each foot stool 22 is slidable in the cavity 214 or in the direction outside the cavity 214. As shown in fig. 9 and 10, when the first support section 221 of each foot rest 22 slides to the first preset position in the cavity 214, the second support section 222 of each foot rest 22 is located in the orthographic projection range of the platform body 21 in the axial direction. In addition, as shown in fig. 7 and 8, when the first supporting section 221 of each foot rest 22 slides to the second preset position in the direction outside the cavity 214, the second supporting section 222 of each foot rest 22 is located outside the orthographic projection range of the platform body 21 in the axial direction.

It can be easily found from the above description that, in combination with the sliding characteristic of each foot rest 22 on the platform body 21, in the practical application process, a plurality of grooves 18 can be formed around the chassis body 11, and each groove is annularly formed around the chassis body, and the number of the grooves is the same as and uniquely corresponds to the number of the foot rests. Thus, after the negative butt-joint device 23 of the platform body 21 of the foot stool platform is in butt joint with the positive butt-joint device (i.e. the first butt-joint device 122) on the chassis body 11, as shown in fig. 11A and 11B, by sliding the first support section 221 of each foot stool 22 to the first preset position in the direction of the cavity 214, the second support section 222 of each foot stool 22 can be positioned in the orthographic projection range in the axial direction of the platform body 21 and respectively embedded in each groove 18 on the chassis body 11, and perfectly combined with the chassis 1, so that each foot stool 22 of the foot stool platform 2 does not occupy too much space, can satisfy the movement of various narrow spaces of the building, and while ensuring the aesthetic property, the design requirement for the appearance of the foot stool platform 2 is reduced, and after the foot stool platform 2 is transported to the corresponding position, the first support section 221 of each foot stool 22 can be slid to the second preset position in the direction of the outside of the cavity 214, the second support sections 222 of the foot rests 22 can be located outside the orthographic projection range of the platform body 21 in the axial direction and separated from the chassis 1, so that the chassis 1 of the robot can be smoothly pulled out from the lower part of the platform body 21 of the foot rest platform 2, and subsequent distribution work of the robot cannot be influenced.

Specifically, in the present embodiment, as shown in fig. 7 and 9, any two opposite sides of the side wall 213 of the platform body 21 are sliding sides 216 for mounting the foot rests 22, each sliding side 216 is provided with at least one sliding groove 215, and each sliding groove 215 is used for at least allowing the first support section 221 of one foot rest 22 to enter the cavity 214 and allowing the first support section 221 of the foot rest 22 to slide relative to the axial direction of the platform body 21. For example, as shown in fig. 10, four sliding grooves 215 may be provided, two sliding grooves 215 are opened on one sliding side 216 of the platform body 21 and are oppositely disposed along the length direction of the sliding side 216, and the other two sliding grooves 215 are opened on the other sliding side 216 of the platform body 21 and are oppositely disposed along the length direction of the sliding side 216, for example, as shown in fig. 10, two sliding grooves 215 on each sliding side 216 may be respectively disposed along both ends of the sliding side 216 along the length direction. Meanwhile, the number of the foot rests 22 is the same as that of the sliding grooves 215, and the sliding grooves 215 are uniquely corresponding to each other, in the practical application process, any sliding groove 215 is used for allowing the first supporting section 221 of the foot rest 22 which is uniquely corresponding to enter the cavity 214, and meanwhile, any sliding groove 215 is also used for allowing the first supporting section 221 of the foot rest 22 which is uniquely corresponding to slide towards the cavity 214 or towards the direction outside the cavity 214. Specifically, as can be seen from fig. 9 and 10, when the first support section 221 of each foot rest 22 slides to the first preset position in the cavity 214, the first support section 221 of each foot rest 22 can be substantially accommodated in the cavity 214 of the platform body 21 by means of each sliding groove 215, and the second support section 222 of each foot rest 22 is located just below the platform body 21, i.e. just in the orthographic projection range of the platform body 21 in the axial direction, so that the overall volume of the foot rest platform 2 can be reduced, and after the chassis body 11 of the chassis 1 of the robot is combined with the platform body 21 of the foot rest platform 2, the second support section 222 of each foot rest 22 of the foot rest platform 2 can be completely accommodated in each groove 18 of the chassis body 11. When the first support section 221 of each foot rest 22 slides to the second predetermined position in the direction outside the cavity 214, as shown in fig. 7 and 8, the second support section 222 of each foot rest 2 can be removed from each groove of the chassis body 11, so that the separation of the foot rest platform 2 from the chassis 1 is not affected.

Of course, it should be noted that, in the practical application, there may be only two sliding grooves 215, that is, only one sliding groove 215 is opened on each sliding side 216, and each sliding groove 215 may extend from one end of the sliding side 216 to the other end, so that two foot rests 22 on one sliding side 216 may share one sliding groove 215 to realize sliding.

In addition, it should be noted that, as shown in fig. 7 and 9, the foot stool platform of the present embodiment preferably further includes: at least four tracks 24 and a plurality of guide members 25 are arranged in the cavity 214, each track 24 is arranged in parallel with the two sliding sides 216, at least one guide member 25 is arranged on each track 24, and each guide member 25 on any track 24 can slide along the track 24. The first support section 221 of each foot stool 22 is arranged perpendicular to each rail 24, the first support section 221 of each foot stool 22 is slidably connected with at least two guide members 25 on the rails 24, and the first support section 221 of each foot stool 22 is slidable in a direction perpendicular to each rail 24. It can be seen that the first support section 221 of each foot rest 22 can slide relative to the axial direction of the platform body 21 by the sliding connection of the first support section 221 of each foot rest 22 with the guide members 25 in the at least two rails 24.

For example, as shown in fig. 7 and 10, in the present embodiment, four tracks 24 are provided, and two guide members 25 are provided on each track 24, and the two guide members 25 on each track 24 are slidably connected to the first support sections 221 of the two foot rests 22 on the same sliding side 216. In addition, in order to realize the sliding connection between the guide member 25 and the first support section 221, as shown in fig. 7 and 9, a sliding slot 2211 is formed in the first support section 221 of any foot rest 22 along the length direction, and the corresponding guide member 25 can realize the sliding connection with the first support section 221 by being embedded in the sliding slot 2211, so that any foot rest 22 can realize the sliding in the sliding slot 2211 by virtue of the corresponding guide member 25 and the sliding between the corresponding guide member 25 and the rail 24, and the foot rest 22 can be guided when sliding in the axial direction relative to the platform body 21, so that the whole foot rest 22 cannot rotate when sliding. In practice, of course, the number of the rails 24 can be increased or decreased according to the requirement of the product, but at least the first supporting section 221 of each foot stool 22 needs to be connected with at least two guiding members 25 on the rails 24. For another example, as shown in fig. 12, eight tracks 24 may be provided, each of the eight tracks 24 may be disposed opposite to each other with respect to the center line of the platform body 21, each track 24 may be provided with a guide member 25, and the guide member 25 on each track 24 is slidably connected to the first support section 221 of one foot rest 22, so that the first support section 221 of each foot rest 22 can also slide in the axial direction of the platform 21.

Meanwhile, in the present embodiment, each rail 24 is an independent member provided in the cavity 214. Alternatively, each rail 24 may be a rail groove formed in the top plate 211 or the bottom plate 212.

In addition, as a preferable mode, in the present embodiment, as shown in fig. 13 and 14, the foot stool platform 2 further includes: and a driving device 26 disposed in the cavity, wherein the driving device 26 is respectively connected to the first supporting sections 221 of the stands 22, and the driving device 26 can be used for simultaneously driving the first supporting sections 221 of the stands 22 to slide toward the axial direction of the platform body 21.

Next, as shown in fig. 13 and 14, the foot stool platform 2 of the present embodiment further includes: the plurality of elastic stretching pieces 27 are arranged, at least two elastic stretching pieces 27 are arranged on each track 24, and the two elastic stretching pieces 27 on any track 24 are respectively connected with the two guide parts 25 on the track 24. Each elastic stretching member 27 is used to be stretched when the first support section 221 of each foot frame 22 slides in the axial direction of the platform body 2. Of course, it should be noted that when eight tracks 24 are provided, only one elastic tension member 27 may be provided on each track 24. And. In the present embodiment, the elastic tension member 27 may be a tension spring or the like.

As apparent from the above description, the foot stool platform of the present embodiment includes: in the practical application process, the driving device 26 and the elastic stretching members 27 can simultaneously drive the first supporting sections 221 of the foot rests 22 to slide towards the axial direction of the platform body 21 through the driving device 26, and after the driving device 26 is closed, the first supporting sections 221 of the foot rests 22 can slide towards the axial direction far away from the platform body 21 under the pulling force of the elastic stretching members 27, and the automatic operation can be realized on the sliding of the foot rests 22 of the foot rest platform of the embodiment through the driving device 26 and the elastic stretching members 27.

Specifically, in the present embodiment, as shown in fig. 13 and 14, the driving device 26 includes: a knob 261 arranged along the axial direction of the platform body 21, a first line group 262, a second line group 263, and a driving part (not labeled) for driving the knob 261 to rotate.

As shown in fig. 13 and 14, the first wire group 262 includes: a first pulling wire 2621, a first wire pulley 2622 slidably disposed on the first pulling wire 2621, and a first pulling wire 2623 connected to the knob 261. Moreover, two ends of the first pulling wire 2621 are respectively connected to the first supporting sections 221 of the two foot stands 22 on one of the sliding sides 216, and one end of the first pulling wire 2623 away from the knob 261 is connected to the first wire pulley 2622.

In addition, as shown in fig. 13 and fig. 14, the second wire group 263 includes: a second traction wire 2631, a second wire pulley 2632 slidably disposed on the second traction wire 2631, and a second pull wire 2633 connected to the knob 261. Also, both ends of the second pulling wire 2631 are connected to the first supporting sections 221 of the two foot rests 22 on the other sliding side 216, respectively, and one end of the second pulling wire 2633 away from the knob 261 is connected to the second wire pulley 2632.

In addition, as shown in fig. 13 and 14, the first pulling wire 2623 and the second pulling wire 2633 are both tangent to the knob 261, and a direction from a first tangent point formed by the first pulling wire 2623 and the knob 261 to a second tangent point formed by the second pulling wire 2633 and the knob 261 is a diameter direction of the knob 261.

In practical use, as can be seen from fig. 14, when the driving part drives the knob 261 to rotate clockwise, the first pulling wire 2623 and the second pulling wire 2633 connected to the knob 261 are wound around the knob 261 respectively, so that the first pulling wire 2623 and the second pulling wire 2633 can generate a certain pulling force on the first wire pulley 2622 and the second wire pulley 2632 respectively, and the first pulling wire 2621 and the second pulling wire 2631 can pull the first supporting sections 221 of the four foot rests 22 to slide towards the axial direction of the platform body 21 until sliding to the first preset position, so as to ensure that the second supporting sections 222 of the foot rests 22 can be received in the grooves of the chassis body 11. When the driving part is turned off, as shown in fig. 13, the knob 261 is driven to lose the driving force, so that the guiding parts 25 connected to the first supporting sections 221 slide in the axial direction away from the platform body 21 under the pulling force of the elastic stretching parts 27 until the guiding parts slide to the second predetermined position, thereby ensuring the chassis 1 and the footrest platform 2 to be separated perfectly. In the present embodiment, the driving member may be a motor, and the knob 261 may be fitted to an output shaft of the motor and fixed coaxially with the output shaft of the motor during assembly, so that the motor may drive the knob 261 to rotate. Of course, in practical applications, the driving member may also adopt other driving elements, and in the present embodiment, the specific type of the driving member is not particularly limited.

A fourth embodiment of the present invention relates to a delivery robot, and is substantially the same as the third embodiment, and is mainly different in that in the third embodiment, each foot stand 22 is slid in the axial direction of the platform body 21 to change the volume of the entire foot stand platform 2. In the present embodiment, as shown in fig. 15 and 16, four foot rests 22 are provided, two of the foot rests 22 constitute a support assembly 22A, and the other two foot rests 22 constitute another support assembly 22A. Meanwhile, the two support members 22A are disposed to cross and are adapted to pivot with each other about the crossing point by at least one slide groove 215.

When the two support assemblies 22A are pivoted to the first predetermined position relative to each other, as shown in fig. 16, the second support section 222 of each foot rest 22 is located within the orthographic projection range of the platform body 21 in the axial direction, and when the two support assemblies 22A are pivoted to the second predetermined position relative to each other, as shown in fig. 15, the second support section 222 of each foot rest 22 is located outside the orthographic projection range of the platform body 21 in the axial direction. Also, the pivoting direction of the two support assemblies 22A when pivoted relative to each other to the first preset position is opposite to the pivoting direction when pivoted to the second preset position.

Specifically, in the present embodiment, as shown in fig. 15 and 16, any two opposite sides of the side wall 213 of the platform body 21 are sliding sides 216 for rotating at least one foot rest 22 around the intersection point, each sliding side 216 is provided with at least one sliding slot 215, and each sliding slot 215 is provided for at least one first support section 221 of one foot rest 22 to extend from the inside of the cavity 214 to the outside of the cavity 214 and for at least one first support section 221 of one foot rest 22 to rotate around the intersection point. For example, as shown in fig. 19, four sliding grooves 215 may be provided, two sliding grooves 215 are opened on one sliding side 216 of the platform body 21 and are oppositely disposed along the length direction of the sliding side 216, and the other two sliding grooves 215 are opened on the other sliding side 216 of the platform body 21 and are oppositely disposed along the length direction of the sliding side 216. For example, as shown in fig. 15, 16 and 19, two sliding grooves 215 on each sliding side 216 may be respectively disposed along both ends of the sliding side 216 in the longitudinal direction. Meanwhile, each sliding groove 215 uniquely corresponds to the first support section 221 of each foot rest 22, and any sliding groove 215 is used for enabling the first support section 221 of the uniquely corresponding foot rest 22 to extend from the inside of the cavity 214 to the outside of the cavity 214 and also used for enabling the first support section of the uniquely corresponding foot rest 22 to rotate around the intersection point of the 221. Of course, it should be noted that, in practical applications, there may be only two sliding grooves 215, that is, only one sliding groove 215 is opened in each sliding side 216, and each sliding groove 215 may extend from one end of the sliding side 216 to the other end, so that two foot rests 22 on one of the sliding sides 216 can rotate around the intersection point by sharing one sliding groove 215.

Further, it is to be noted that, in the present embodiment, as shown in fig. 17 and 18, in order to enable the two support assemblies 22A to be mutually pivotable about the intersection point, each support assembly 22A further includes: collars 223 are rotatably disposed within the cavity 214, each collar 223 being disposed coaxially with the intersection of two support assemblies 22A. Also, the two first support sections 221 of any support assembly 22A are connected to the collar 223 of that support assembly 22A and extend in opposite directions to each other. In practical applications, a column (not shown) may be disposed in the cavity 214 of the platform body 21, and the collars 223 of the two supporting members 22A are rotatably disposed on the column and coaxially disposed with the column, so that the two supporting members 22A can pivot relative to each other around the axis of the column.

In the present embodiment, as shown in fig. 19, the two slide grooves 215 formed in any of the slide sides 216 are arranged symmetrically with respect to the center line of the slide side 216. Meanwhile, as shown in fig. 17 and 18, the two first support sections 221 in any one support assembly 22A are equal in length. For example, as shown in fig. 17 and 18, in any of the support assemblies 22A, the two first support sections 221 are tangent to the collar 223, and a direction from a first tangent point formed by one of the first support sections 221 and the collar 223 to a second tangent point formed by the other first support section 221 and the collar 223 is a diameter direction of the collar 223. It should be noted that, of course, in this embodiment, the lengths of the two first support sections 221 in any support assembly 22A may be different, for example, as shown in fig. 20, 21, 23 and 24, in any support assembly 22A, the shorter first support section 221 is directly connected to the collar 223, while the longer first support section 221 is partially bent and extends in a direction away from the shorter first support section 221, and as shown in fig. 22, on any sliding side 216, the distance between the two sliding grooves 215 and the center line of the sliding side 216 may also be set according to the lengths of the two first support sections 221. It can be seen that when the two support assemblies 22A are pivoted to the first predetermined position in the opposite direction, as shown in fig. 21, the first support section 221 of each foot stool 22 can be completely received in the cavity 214, so that the second support section 222 connected to each first support section 221 can be located in the orthographic projection range of the platform body 21 in the axial direction, and when the two support assemblies 22A are pivoted to the second predetermined position in the opposite direction, as shown in fig. 20, the second support section 222 connected to each first support section 221 can be located outside the orthographic projection range of the platform body 21 in the axial direction, so as to ensure that the chassis 1 of the robot can be smoothly separated from the foot stool platform 2.

In addition, it is desirable that the foot stool platform 2 in the present embodiment also includes: a drive mechanism disposed within the cavity 214 for simultaneously driving the two support members 22A to pivot relative to each other.

Specifically, as shown in fig. 20 and 21, the driving device includes: a knob 28, and a driving member (not shown) for driving the knob 28 to rotate. The collar 223 of each support component 22A is sleeved on the knob 28 and is fixedly connected to the knob 28. It can be seen that when the driving member drives the knob 28 to rotate clockwise, as shown in fig. 21, so that the knob 28 can simultaneously drive the two supporting assemblies 22A to pivot to the first predetermined position around the intersection point, the first supporting sections 221 of the four foot rests 22 can be received in the cavity 214 of the platform body 2, and the second supporting sections 222 of the four foot rests 22 can be located in the orthographic projection range of the platform body 21 in the axial direction. When the driving member drives the knob 28 to rotate counterclockwise, as shown in fig. 20, the knob 28 can simultaneously drive the two supporting assemblies 22A to pivot to a second predetermined position around the intersection point, the first supporting sections 221 of the four foot rests 22 can be partially moved out of the cavity 214 of the platform body 21, and the second supporting sections 222 of the four foot rests 22 can be located outside the orthographic projection range of the platform body 21 in the axial direction. In the present embodiment, the driving member may be a motor, and the knob 28 may be fitted to the output shaft of the motor and fixed coaxially with the output shaft of the motor during assembly, so that the motor can drive the knob 28 to rotate. Of course, in practical applications, the driving member may also adopt other driving elements, and in the present embodiment, the specific type of the driving member is not particularly limited.

It will be appreciated that the rotation of each of the two support assemblies 22A of the foot rest platform 2 in this embodiment can be automated as well by providing a drive means within the cavity 214 of the platform body 2.

A fifth embodiment of the present invention relates to a dispensing robot, and is a further improvement of any of the first to fifth embodiments, and is mainly improved in that, as shown in fig. 25 and 26, the dispensing robot according to the present embodiment further includes: and a detection mechanism 4 arranged on the chassis body 11. Wherein, this detection mechanism 4 includes: radar 41, tray 42 supporting and fixing radar 41, tray rotary driving device 43 arranged on one side of tray 42 departing from radar 41, and tray moving driving device 44 connected with tray rotary driving device 43.

As shown in fig. 27, 28 and 29, the tray rotating drive device 43 is connected to the tray 42, the tray rotating drive device 43 is used for driving the tray 42 to rotate, and the tray moving drive device 44 is used for driving the tray rotating drive device 43 and the tray 42 to move linearly along the advancing direction of the chassis 1.

It can be easily found from the above description that, since the detection mechanism 4 is disposed on the chassis body 11 of the robot in the present embodiment, and the tray 42 is driven by the tray moving driving device 44, and the tray 42 is driven by the tray rotating driving device 43, so that the radar 41 can scan and detect at both ends of the chassis 1 of the robot along the forward direction, when the robot enters a narrow scene such as a gate, an elevator, etc., it can directly leave the corresponding scene by a backward mode without rotating in situ to change the direction, which not only facilitates the robot to enter and exit the narrow scene, but also reduces the design requirements for the size and appearance of the robot.

Specifically, as shown in fig. 27, in the present embodiment, the tray rotation driving device 43 includes: a rotating shaft 431 and a rotary driving member 432 connected with the rotating shaft 431, wherein the rotating shaft 431 is coaxially connected with the tray 42. In practical application, the rotary driving member 432 can drive the rotary shaft 431 to rotate, so as to drive the tray 42 to rotate, thereby realizing the steering of the radar 41. In the present embodiment, as shown in fig. 27, a rotary drive motor may be used as the rotary drive member 432, but it is needless to say that other drive elements may be used as the drive means for rotating the tray 42, and the type of the rotary drive member 432 is not particularly limited in the present embodiment.

Next, in the present embodiment, as shown in fig. 27, the tray moving drive device 44 includes: the take-up and pay-off line 441, the first take-up and pay-off line driving member 442 connected with one end of the take-up and pay-off line 441, and the second take-up and pay-off line driving member 443 connected with the other end of the take-up and pay-off line 441, wherein the first take-up and pay-off line driving member 442 and the second take-up and pay-off line driving member 443 are arranged opposite to each other along the advancing direction of the chassis 1, and the length of the take-up and pay-off line 441 needs to be larger. In addition, since the take-up and pay-off line 441 is connected to the rotation driving member 432 of the tray rotation driving device 43, in actual use, when the first take-up and pay-off line driving member 442 takes up the line, as shown in fig. 29, the take-up and pay-off line 441 can drive the tray 42 to move in the direction of the first take-up and pay-off line driving member 442, and when the second take-up and pay-off line driving member 443 takes up the line, as shown in fig. 28, the take-up and pay-off line 441 can drive the tray 42 to move in the direction of the second take-up and pay-.

Further, in the present embodiment, as shown in fig. 27, the first take-up and pay-off wire driving member 442 includes: a first take-up and pay-off motor 4421, and a first roller 4422 coaxially connected to a main shaft of the first take-up and pay-off motor 4421. And the second take-up and pay-off line driving member 443 includes: a second wire take-up and pay-off motor 4431, and a second roller 4432 coaxially connected to the main shaft of the second wire take-up and pay-off motor 4431. Also, a first roller 4422 is connected to one end of the take-up and pay-off wire 441, and the first roller 4422 is used to wind the take-up and pay-off wire 441 to effect take-up thereof when driven to rotate by a first take-up and pay-off motor 4421, so that the tray 42 can be gradually moved toward the first take-up and pay-off motor 4421, as shown in fig. 29. Accordingly, a second roller 4432 is further connected to the other end of the take-up and pay-off wire 441, and the second roller 4432 is used to wind the take-up and pay-off wire 441 to effect take-up when driven to rotate by a second take-up and pay-off motor 4431, so that the tray 42 can be gradually moved toward the second take-up and pay-off motor 4431, as shown in fig. 28.

Secondly, in order to make the structure of the whole chassis 1 more compact, as shown in fig. 25 and fig. 30, a through groove 111 is formed on one side of the chassis body 11 opposite to the supporting platform 13, the detection mechanism 4 can be placed in the through groove 111, and both ends of the through groove 111 along the advancing direction of the chassis 1 are not closed, so as to form a gap 112 for scanning and detecting by the radar 41.

Preferably, as shown in fig. 25, the groove bottom 112 of the through groove 111 is further provided with a groove 113 along the linear moving direction of the tray 42, the detecting mechanism 4 can be placed in the groove 113 during the assembling process, and the groove depth of the groove 113 is not too deep when the groove 113 is provided so as to not affect the detecting scanning of the radar 41 of the detecting mechanism 4, thereby ensuring that the detecting end 411 of the radar 41 can be exposed above the groove bottom 112 of the through groove 111 and positioned in the through groove 111. In addition, in order to improve the moving performance of the pallet, as shown in fig. 25 and 30, the chassis 1 of the robot according to the present embodiment further includes: and the partition plate 16 is arranged in the groove 113, and the partition plate 16 is arranged parallel to the groove bottom of the groove 113. The partition 16 divides the groove 113 into a passage layer 1131 for moving the tray 42 in the forward direction of the chassis 1, and a drive layer 1132 for storing the tray rotation drive device 43 and the tray movement drive device 44. Meanwhile, as shown in fig. 25 and fig. 30, the partition 16 is provided with a sliding slot 161 along the linear moving direction of the tray 42, and the sliding slot 161 can allow the rotating shaft 431 of the tray rotation driving device 43 to be connected with the tray 42, that is, the rotating shaft 431 can pass through the sliding slot 161 to be coaxially connected with the tray 42. Therefore, it is easy to see that, the groove 113 is divided into the driving layer 1131 and the channel layer 1132 by the partition 16, so that the layout of the detection mechanism 4 in the chassis 1 is more reasonable, and the linear movement of the tray 42 can be guided to a certain extent by the aid of the sliding grooves 161 on the partition 16, thereby improving the movement performance of the tray 42.

It should be noted that, in order to avoid the blind spot of the detection mechanism 4 during the scanning process, the detection mechanism in the present embodiment should be disposed in the center of the chassis body 11, that is, the through groove 111 and the groove 113 are formed along the center line of the chassis body 11. Of course, in practical application, the detecting mechanism may be disposed at other positions on the upper surface of the chassis body 11.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

An embodiment of the present application discloses a1, a delivery robot, includes: the movable chassis and the foot rest platform are used for bearing the cabin body;

the chassis includes: the chassis comprises a chassis body, a first butt joint mechanism arranged on the chassis body, a supporting platform arranged opposite to the chassis body along the height direction of the chassis body, and a driving mechanism arranged on the chassis body; the driving mechanism is connected with the supporting platform and is used for driving the supporting platform to move relative to the chassis body;

A2, the dispensing robot of A1, the first docking mechanism being located below the support platform, the first docking mechanism comprising: the first docking device is connected with the first driving assembly and used for docking with the second docking mechanism;

A3, the dispensing robot of A2, the first drive assembly comprising: the chassis comprises a chassis body, a shell arranged on the chassis body and a first driving part arranged in the shell;

the first driving part is connected with the first butt joint device and is used for driving the first butt joint device to perform rotary motion or driving the first butt joint device to perform linear motion relative to the supporting platform;

A4, the dispensing robot of A2, wherein the first docking mechanism is a front docking mechanism, and the second docking mechanism at least comprises: the positive butt-joint device is arranged on the platform body and provided with a butt-joint hole, and the positive butt-joint device is used for being inserted into the butt-joint hole of the negative butt-joint device.

A5, the dispensing robot of A2, the drive mechanism comprising:

A6, the dispensing robot of A5, the support platform comprising: the supporting plate is used for supporting the foot rest platform, and the side plate surrounds the supporting plate, the supporting plate and the side plate jointly form a cover body with a bottom opening, and the supporting plate is provided with the through hole for the first butt connector to penetrate through;

each driving part is used for entering the cover body when the cover body is driven to move to a preset position towards the direction of the chassis body.

A7, the dispensing robot of A5, the chassis further comprising: the coaming is arranged on one side of the chassis body relative to the supporting platform;

the supporting platform is used for entering an area surrounded by the enclosing plates when moving to a preset position in the direction of the chassis body.

A8, the dispensing robot of A7, the coaming being integrally formed with the chassis body.

A9, the dispensing robot of A1, each of said stands comprising: the platform comprises a platform body, a first supporting section and a second supporting section, wherein the first supporting section is arranged on the platform body, the second supporting section is connected with the first supporting section, each first supporting section is parallel to the platform body, and each second supporting section is perpendicular to the platform body and used for supporting the platform body together.

A10, the dispensing robot of A9, the platform body comprising: the top plate is used for bearing the cabin body, the bottom plate is opposite to the top plate, and the side wall is used for connecting the top plate and the bottom plate;

the second docking mechanism is arranged on one side, away from the top plate, of the bottom plate.

A11, the dispensing robot of A10, the first support section of each foot rest being slidable in a direction inside or outside the cavity;

when the first supporting section of each foot rest slides to a first preset position towards the direction in the cavity, the second supporting section of each foot rest is positioned in the orthographic projection range of the platform body in the axial direction;

when the first supporting section of each foot rest slides to a second preset position in the direction outside the cavity, the second supporting section of each foot rest is positioned outside the orthographic projection range of the platform body in the axial direction.

A12, according to the distribution robot of A11, any two opposite sides of the side wall of the platform body are sliding sides for allowing the foot rests to slide, at least one sliding groove is formed in each sliding side, and each sliding groove at least allows the first supporting section of one foot rest to enter the cavity and allows the first supporting section of the foot rest to slide towards the inside or the outside of the cavity.

A13, the distribution robot according to A12, wherein the number of the sliding grooves is four, two of the sliding grooves are arranged on one of the sliding sides and are oppositely arranged along the length direction of the sliding side; the other two sliding grooves are formed in the other sliding side and are oppositely arranged along the length direction of the sliding side;

the quantity of foot rest with the quantity of spout is the same, and only corresponds, arbitrary the spout all is used for supplying only corresponding the foot rest first support section gets into the cavity, still be used for supplying only corresponding the foot rest first support section towards in the cavity or towards the direction slip outside the cavity.

A14, the dispensing robot of A13, the foot stool platform further comprising:

A15, according to the distribution robot of A14, every be equipped with two on the track guide part, every two on the track guide part respectively with the same two on the side of sliding the first support section sliding connection of foot rest.

A16, the dispensing robot of A15, the foot stool platform further comprising:

A17, the dispensing robot of A16, the driving device comprising:

a knob;

a drive member that drives the knob to rotate;

A18, according to the distribution robot of A10, the number of the foot rests is four, two of the foot rests form a supporting component, and the other two of the foot rests form another supporting component;

the two supporting components are arranged in a crossed mode and are used for mutually pivoting around the crossed point through at least one sliding groove;

A19, according to the distribution robot of A18, any two opposite sides of the side wall of the platform body are sliding sides provided with the sliding grooves, each sliding side is provided with at least one sliding groove, and any sliding groove is used for allowing at least one first supporting section to rotate around the intersection point.

A20, the distribution robot according to A19, wherein the number of the sliding grooves is four, two of the sliding grooves are arranged on one of the sliding sides and are oppositely arranged along the length direction of the sliding side; the other two sliding grooves are formed in the other sliding side and are oppositely arranged along the length direction of the sliding side;

A21, the dispensing robot of A18, the foot stool platform further comprising:

A22, the dispensing robot of A18, each said support assembly further comprising:

A23, the distribution robot of any one of claims A11 to A22, wherein a plurality of grooves are formed on the periphery of the chassis body, each groove is annularly formed around the periphery of the chassis body, and the number of the grooves is the same as that of the foot rests and is only corresponding to that of the foot rests;

A24, the dispensing robot of A1, further comprising: and the detection mechanism is arranged on the chassis body.

A25, the dispensing robot of A24, the detection mechanism comprising:

a radar;

a tray; the radar is fixedly arranged on the tray;

A26, according to the distribution robot of A25, a through groove is formed in one side of the chassis body, which is opposite to the supporting platform, the detection mechanism is arranged in the through groove, and two ends of the through groove in the chassis advancing direction are not closed, so that a notch for radar scanning detection is formed.

A27, according to the distribution robot of A26, a groove is formed in the groove bottom of the through groove along the linear moving direction of the tray, the detection mechanism is arranged in the groove, and the detection end of the radar is at least exposed on the groove bottom of the through groove and is positioned in the through groove.

A28, the dispensing robot of A27, the chassis further comprising: the partition plate is arranged in the groove and is parallel to the groove bottom of the groove;

A29, the dispensing robot of any one of a24 to a28, the tray revolving drive device comprising: the rotary driving part is connected with the rotary shaft, and the rotary shaft is coaxially connected with the tray.

A30, the dispensing robot of any one of a24 to a28, the tray moving drive device comprising: the base plate comprises a take-up and pay-off wire, a first take-up and pay-off wire driving part connected with one end of the take-up and pay-off wire, and a second take-up and pay-off wire driving part connected with the other end of the take-up and pay-off wire, wherein the first take-up and pay-off wire driving part and the second take-up and pay-off wire driving part are arranged oppositely along the advancing direction of the base plate, and the length of the take-up and pay-off wire is greater than the distance;

A31, the dispensing robot of A30, the first take-up and pay-off wire drive comprising: the wire winding and unwinding device comprises a first wire winding and unwinding motor and a first roller coaxially connected with a main shaft of the first wire winding and unwinding motor;

Claims

1. A dispensing robot, comprising: the movable chassis and the foot rest platform are used for bearing the cabin body;

2. The dispensing robot of claim 1, wherein the first docking mechanism is located below the support platform, the first docking mechanism comprising: the first docking device is connected with the first driving assembly and used for docking with the second docking mechanism;

3. The dispensing robot of claim 2, wherein the first drive assembly comprises: the chassis comprises a chassis body, a shell arranged on the chassis body and a first driving part arranged in the shell;

4. The dispensing robot of claim 2, wherein the first docking mechanism is a front docking mechanism, the second docking mechanism comprising at least: the positive butt-joint device is arranged on the platform body and provided with a butt-joint hole, and the positive butt-joint device is used for being inserted into the butt-joint hole of the negative butt-joint device.

5. The dispensing robot of claim 2, wherein the drive mechanism comprises:

6. The dispensing robot of claim 5, wherein the support platform comprises: the supporting plate is used for supporting the foot rest platform, and the side plate surrounds the supporting plate, the supporting plate and the side plate jointly form a cover body with a bottom opening, and the supporting plate is provided with the through hole for the first butt connector to penetrate through;

7. The dispensing robot of claim 5, wherein the chassis further comprises: the coaming is arranged on one side of the chassis body relative to the supporting platform;

8. The dispensing robot of claim 7, wherein the shroud is integrally formed with the chassis body.

9. The dispensing robot of claim 1, wherein each foot rest comprises: the platform comprises a platform body, a first supporting section and a second supporting section, wherein the first supporting section is arranged on the platform body, the second supporting section is connected with the first supporting section, each first supporting section is parallel to the platform body, and each second supporting section is perpendicular to the platform body and used for supporting the platform body together.

10. The dispensing robot of claim 9, wherein the platform body comprises: the top plate is used for bearing the cabin body, the bottom plate is opposite to the top plate, and the side wall is used for connecting the top plate and the bottom plate;