CN209769526U - Wheel-shaped food delivery unmanned vehicle - Google Patents
Wheel-shaped food delivery unmanned vehicle Download PDFInfo
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- CN209769526U CN209769526U CN201920317919.1U CN201920317919U CN209769526U CN 209769526 U CN209769526 U CN 209769526U CN 201920317919 U CN201920317919 U CN 201920317919U CN 209769526 U CN209769526 U CN 209769526U
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Abstract
the utility model discloses a wheel-shaped unmanned car of food delivery is equipped with out the meal mouth including carrying the meal case on carrying the meal case, still including the first wheel and the second wheel that are parallel to each other, be equipped with the circumference track in two wheels, all be equipped with power device in the circumference track, transmission and drive arrangement, carry the transmission of meal case connection two wheels, the utility model discloses the setting inlays power device, drive arrangement and transmission dress in the wheel, has simplified vehicle structure, and control panel, orientation module and image acquisition device can effectively be analyzed out local surrounding environment and according to the destination of settlement through image identification technology for the meal delivery task can be accomplished to the target site smoothly to the year case that sets up between two wheels.
Description
Technical Field
the utility model relates to an automatic robot technical field, concretely relates to wheeled food delivery unmanned car.
background
In the social food delivery trolley, as seen from the carrier, the modified or no license plate has certain potential safety hazard on the road; on the other hand, the meal delivery staff driving the vehicle does not have enough traffic safety consciousness, and often drives in a reverse direction and robs the road in a high-speed driving state, so that serious immeasurable potential safety hazards are formed for people going out on the road, and the working state of the meal delivery staff is very easily influenced by emotion and environment. In addition, the food delivery link does not have certain threats to the health and safety of the food and the privacy and safety of the residents in certain social supervision environments.
SUMMERY OF THE UTILITY MODEL
the utility model aims at providing a can carry out the point-to-point removal of certain distance through unmanned control system to and joint image recognition carries out local path planning and keeps away the barrier promptly, the wheel-shaped food delivery unmanned car that prepares for the multirobot fusion work of future development.
in order to achieve the above purpose, the utility model adopts the following technical scheme:
A wheel-shaped food delivery unmanned vehicle comprises a shell, a food carrying box, a first wheel, a second wheel, an image acquisition device, a control panel and a positioning module; carry meal case, first wheel and second wheel setting in the inside of shell, first wheel and second wheel set up respectively in the both sides of carrying meal case mutually parallel, carry and be equipped with out the meal mouth on the meal case, carry the preceding of meal case and all be equipped with image acquisition device at the back, orientation module sets up on the control panel, the control panel respectively with image acquisition device and orientation module electrical connection. The first circumferential track is embedded into the first wheel, the second circumferential track is embedded into the second wheel, power devices, transmission devices and driving devices are arranged in the first circumferential track and the second circumferential track, and the control panel is electrically connected with the power devices in the first circumferential track and the second circumferential track respectively. The driving device comprises a driving wheel and a driven wheel. The driven wheel comprises a first driven wheel and a second driven wheel, a driving wheel, the first driven wheel and the second driven wheel in the first circumferential track are clamped in the first circumferential track and are in rolling connection with the first circumferential track, and a driving wheel, the first driven wheel and the second driven wheel in the second circumferential track are clamped in the second circumferential track and are in rolling connection with the second circumferential track. The transmission device comprises a first connecting rod, a second connecting rod and a frame, the driving wheel is hinged with one end of the first connecting rod, and the other end of the first connecting rod is hinged with the frame; the first driven wheel is connected with the frame, the second driven wheel is hinged with one end of a second connecting rod, and the other end of the second connecting rod is hinged with the frame. One side of the meal carrying box is fixedly connected with the frame arranged in the first circumferential track, and the other side of the meal carrying box is fixedly connected with the frame arranged on the second wheel transmission device.
it should be added that the technology that the power device, the transmission device and the driving device are all integrated into the wheel is called the hub motor technology, so that a large number of transmission parts can be omitted, and the structure of the vehicle is simpler and more compact. Particularly, the power device is an in-wheel motor, and the image acquisition device is a camera. The cameras arranged in front of and behind the shell are used for capturing images of surrounding road conditions in the running process of the meal carrying box in real time and transmitting the images to the control panel. The meal carrying box is fixed on the first wheel and the second wheel through respective independent transmission devices of the first wheel and the second wheel, and the first wheel and the second wheel are parallel in position, namely the first wheel, the meal carrying box and the second wheel are parallel in position. The control panel controls the differential operation of the hub motor on the first wheel and the hub motor on the second wheel to realize the differential rotation of the first wheel and the second wheel, thereby realizing the left-turn, the right-turn and the in-situ rotation of the meal carrying box. The deceleration and braking of the vehicle are realized through the reverse rotation of the hub motor. Particularly, the cargo carrying box does not rotate along with the wheels, and the frame fixedly connected with the cargo carrying box does not rotate, because the friction between the driving wheel, the first driven wheel and the second driven wheel and the track where the driving wheel, the first driven wheel and the second driven wheel are located is adjusted to be appropriate, and the center of gravity of the whole frame and the cargo carrying box is deviated, so that the first wheels and the second wheels rotate and the cargo carrying box translates. Since the frame is a relatively stable structure, the control board can be disposed on the frame.
Particularly, before meal delivery, a user transmits a target position set by an APP (application) to a control panel through a network, the control panel is connected with a positioning module, the positioning module positions and transmits the position of the meal carrying box to the control panel at the moment, the control panel carries out path planning, then the control panel controls the rotating speeds of hub motors of a first wheel and a second wheel to drive the meal carrying box to move, images can be captured in real time in the running process of the meal carrying box through cameras arranged in front of and behind a shell and transmitted to the control panel, the control panel identifies local environments based on an image identification technology, local path planning is carried out through an algorithm, and the rotating speeds of the hub motors of the first wheel and the second wheel are changed to realize turning, speed reduction or stopping of the meal carrying box, so that obstacles are avoided and a target position is.
In particular, the positioning module comprises a GPS positioning system and an AMCL positioning system. The control panel is simultaneously provided with a GPS positioning system and an AMCL positioning system, and the control panel can select the optimal positioning system under the current condition according to the standard deviation of the measured data of the two positioning systems during working. The method aims to provide AMCL for ensuring optimal positioning and orientation aiming at a good open ground of a GPS signal and a narrow street in a building group with weakened signals. And preparing for the cooperative work of multiple robots in the future.
Further, shock absorbers are arranged between the first connecting rod and the frame and between the second connecting rod and the frame. For the vibration caused by emergency braking and uneven road surface in the driving process, the longitudinal stability of the meal carrying box can be ensured through the shock absorbers arranged between the first connecting rod and the frame and between the second connecting rod and the frame. Specifically, the frame is a frame disposed within the first circumferential track and a frame disposed on the transmission on the second wheel. In particular, the shock absorber between the first link and the frame and between the second link and the frame is tuned to a suitable damping such that a range of longitudinal excitations will activate the operation of the shock absorber, which in general may be considered a fixed connection.
Still further, still include meal delivery mechanism, meal delivery mechanism is equipped with a plurality of meal check including meal check, electrically operated gate and sensor in carrying the meal case, all is equipped with the sensor in every meal check. The electrically operated gate sets up on carrying the meal case and relative with meal outlet position, and electrically operated gate and sensor all are connected with the control panel. After the electric door is opened and the user finishes taking the meal, the sensor in the meal grid transmits a signal to the control panel.
further, the intelligent control system also comprises an identification mechanism which is a human-computer interaction device, and the human-computer interaction device is connected with the control panel. After the meal carrying box arrives at a planned place, a user can scan the two-dimensional code through the man-machine interaction device to take meals, after the information is determined to be consistent, a signal is transmitted to the control panel, the control panel starts to open the electric door, and the user can take meals at a meal outlet. In specific application, the human-computer interaction device can be connected with a mobile phone app of a user, and the two-dimensional code on the human-computer interaction device is scanned through the mobile phone app.
Still further, still include power mechanism and battery box, power mechanism is the battery, and the battery box is equipped with battery door and charging socket, and the battery door sets up on the shell, and the battery setting is in the inside of battery box. For guaranteeing the utility model discloses a flexibility then adopts the form of direct current battery power supply, and wherein the setting of battery door is favorable to changing the battery, can also charge to the battery of battery box through charging socket.
Still further, the shape of meal carrying box is cylinder. The cylindrical meal carrying box can better conform to the shapes of the first wheel and the second wheel.
The working method of the wheel-shaped food delivery unmanned vehicle is characterized by comprising the following steps
S1, after the electric door is opened by the control panel, taking the meal lattice out of the meal outlet, putting the meal lattice back to the original position from the meal outlet after the meal lattice is loaded with meal, and controlling to close the electric door by the control panel; the food box does not need to be disassembled and enters the internal replacement food grid, and the food can be loaded reversely only in the same way as the food is taken out.
The S2 control panel sets a destination and plans a driving route based on the positioning information of the positioning module, and controls to start the hub motors on the first wheel and the second wheel and control the rotation speed of the hub motors;
S3 the hub motor on the first wheel drives the driving wheel in the first circumferential track to roll along the first circumferential track, and the hub motor on the second wheel drives the driving wheel in the second circumferential track to roll along the second circumferential track; the driving wheel in the first circumferential track rotates to drive the first connecting rod in the first circumferential track to move, the first connecting rod in the first circumferential track drives the frame in the first circumferential track to move, the frame in the first circumferential track drives the first driven wheel to move along the first circumferential track, at the moment, the frame in the first circumferential track shifts, the frame in the first circumferential track drives the second connecting rod to move, and the second connecting rod in the first circumferential track drives the second driven wheel to roll on the first circumferential track. The first driven wheel and the second driven wheel are matched to operate, so that the frame always keeps horizontal displacement and does not rotate along with the first wheel while the first wheel rotates. Thereby driving the first wheel to roll.
The operation steps of the hub motor, the driving wheel, the first driven wheel, the second driven wheel, the first connecting rod, the second connecting rod and the frame on the second circumferential track on the second wheel are all consistent with those of the first wheel, so that the second wheel also rolls.
The driving wheel, the first driven wheel and the second driven wheel on the first circumferential track rotate in the same clockwise direction on the first circumferential track, and the driving wheel, the first driven wheel and the second driven wheel on the second circumferential track rotate in the same clockwise direction on the second circumferential track, so that the first wheel and the second wheel rotate.
The control panel controls the rotating speeds of the hub motor of the first wheel and the hub motor of the second wheel, and realizes the deceleration and braking of the vehicle through the reverse rotation of the hub motor arranged in the first circumferential track and the hub motor arranged in the second circumferential track, the driving wheel arranged in the first circumferential track, the friction between the first driven wheel and the second driven wheel and the first circumferential track, the friction between the driving wheel arranged in the second circumferential track, the first driven wheel and the second circumferential track so as to complete the actions of advancing, backing, turning left, turning right and rotating on site, thereby driving the carrier box arranged between the first wheel and the second wheel to reach the designated position;
S4, in the driving process, the camera captures images of the front and the back of the shell at a certain frame number in the whole time period and transmits the images to the control panel, the control panel carries out local path planning after analyzing road conditions according to the images, and the movement and obstacle avoidance of the meal carrying box are realized by changing the rotating speeds of the hub motor arranged in the first circumferential track and the hub motor arranged in the second circumferential track;
S4 is close to the appointed place, the control panel controls the in-wheel motor that sets up in first circumference track and the in-wheel motor that sets up in the second circumference track reverse rotation simultaneously, stop the power device when arriving the appointed place simultaneously, the control panel stops the in-wheel motor that sets up in first circumference track and the in-wheel motor that sets up in the second circumference track, the user scans the two-dimensional code that shows on the human-computer interaction device through cell-phone app, treat that after the information is unanimous, the electrically operated gate is opened to the control panel, the control panel will place the meal check of the food of corresponding user and convey meal mouth, after the user took away the food in the meal check, the sensor of this meal check conveys the signal to the control panel, the electrically operated gate is closed to the control panel.
The utility model has the advantages of:
1. The power device, the driving device and the transmission device are embedded in the wheels, so that the structure of the vehicle is simplified, and the control panel, the positioning module and the image acquisition device can effectively analyze local surrounding environment through an image recognition technology and plan a reasonable route according to a planned position, so that a meal carrying box arranged between the first wheel and the second wheel can smoothly reach a target place to complete a meal delivery task;
2. For the vibration caused by emergency braking and uneven road surface in the driving process, the axial stability of the meal is ensured through the vibration absorbers on the frame, the frame structures in the first wheel and the second wheel and the heat-insulating interlayer in the meal grids;
3. At present, it is information age trend that the life robot gets into social service, combines future indoor robot, apartment robot, the utility model discloses will regard as outdoor robot and the mutual integration of robot in other working ranges. The transportation process can be optimized, the transportation efficiency is improved, the miscellaneous affair treatment is further simplified, and the human life is optimized.
Drawings
FIG. 1 is an external front view of embodiment 1;
FIG. 2 is an external side view of embodiment 1;
FIG. 3 is an internal front view of embodiment 1;
FIG. 4 is an internal side view of embodiment 1;
FIG. 5 is an external front view of embodiment 2;
FIG. 6 is an external side view of embodiment 2;
FIG. 7 is an internal front view of embodiment 2;
Fig. 8 is an internal side view of embodiment 2.
Reference numerals
A first wheel 1; a driving wheel 2; a shock absorber 3; a first battery 4; a meal outlet 5; a control panel 6; a frame 7; a second link 8; a second driven wheel 9; a second battery 10; a third battery 11; a first circumferential track 12; a meal carrying box 13; a hub motor 14; a housing 15; a battery compartment door 16; a camera 17; a power door 18.
Detailed Description
the present invention will be further described with reference to the accompanying drawings, and it should be noted that the following embodiments are based on the technical solution, and the detailed embodiments and the specific operation processes are provided, but the protection scope of the present invention is not limited to the embodiments.
example 1
as shown in fig. 1-4, meal outlet 5 is disposed on the side of housing 15.
A wheel-shaped food delivery unmanned vehicle comprises a shell, a food carrying box 13, a first wheel 1, a second wheel, an image acquisition device, a control panel 6 and a positioning module; first wheel 1 and second wheel are parallel to each other and set up respectively in the both sides of carrying meal case 13, be equipped with meal outlet 5 on carrying meal case 13, carry meal case 13 the preceding and all be equipped with image acquisition device at the back, control panel 6 is connected with orientation module and image acquisition device electricity respectively. The first circumferential track 12 is embedded into the first wheel 1, the second circumferential track is embedded into the second wheel, power devices, transmission devices and driving devices are arranged in the first circumferential track 12 and the second circumferential track, and the control panel 6 is electrically connected with the power devices in the first circumferential track 12 and the power devices in the second circumferential track respectively. The driving device comprises a driving wheel 2 and a driven wheel. The driven wheels comprise a first driven wheel and a second driven wheel 9, the driving wheel 2, the first driven wheel and the second driven wheel 9 in the first circumferential track 12 are clamped in the first circumferential track 12 and are in rolling connection with the first circumferential track 12, and the driving wheel, the first driven wheel and the second driven wheel in the second circumferential track are clamped in the second circumferential track and are in rolling connection with the second circumferential track. The transmission device comprises a first connecting rod, a second connecting rod 8 and a frame 7, the driving wheel 2 is hinged with one end of the first connecting rod, and the other end of the first connecting rod is hinged with the frame 7; the first driven wheel is connected with the frame, the second driven wheel 9 is hinged with one end of a second connecting rod 8, and the other end of the second connecting rod 8 is hinged with the frame 7. One side of the meal carrying box 13 is fixedly connected with the frame 7 of the transmission device arranged on the first wheel 1, and the other side of the meal carrying box 13 is fixedly connected with the frame of the transmission device arranged on the second wheel.
It should be added that the technology that the power device, the transmission device and the driving device are integrated into the wheel is called the hub motor technology, so that a large number of transmission parts can be omitted, and the vehicle structure is simpler. Specifically, the power device is an in-wheel motor 14, and the image acquisition device is a camera 17. The front and rear cameras 17 of the housing are arranged to capture images of the surrounding road conditions during operation of the meal box 13 in real time and transmit the images to the control panel. The meal carrying box 13 is fixed on the first wheel 1 and the second wheel through respective transmission devices of the first wheel 1 and the second wheel, and the first wheel 1 and the second wheel are parallel in position, so that the first wheel 1, the meal carrying box 13 and the second wheel are parallel in position. The control panel 6 controls the differential operation of the hub motor 14 on the first wheel 1 and the hub motor on the second wheel to realize the differential rotation of the two wheels, thereby realizing the left-turn, the right-turn and the in-situ rotation of the meal carrying box 13. The deceleration and braking of the vehicle are achieved by the reverse rotation of the in-wheel motor 14.
Particularly, before meal delivery, a user plans a target position through an APP (application program) and transmits the target position to the control panel through a network, the positioning module positions the position of the meal carrying box 13 and transmits the position to the control panel 6, the control panel 6 performs path planning, then the control panel 6 controls the rotating direction and the rotating speed of the hub motors of the first wheel 1 and the second wheel to drive the meal carrying box 13 to move, the cameras 17 arranged at the front and the back of the shell of the meal carrying box can capture images in the driving process and transmit the images to the control panel 6, the control panel 6 performs local path planning by combining with a live scene and using algorithm logic, and the rotating speed of the hub motors 14 of the first wheel 1 and the second wheel is changed to realize direction change, speed reduction or stop of the meal carrying box 13, so that obstacles are avoided and the target.
the utility model discloses can high-efficient planning merge food delivery route based on the algorithm. For example, in the process of delivering food, the service platform receives an order, the food taking position of the order is on the direct route of a wheel-shaped food delivery unmanned vehicle, the wheel-shaped food delivery unmanned vehicle has a vacancy, and the single destination and other destination routes of the vehicle can be merged to arrange the vehicle to take food. The food can not be delivered only after a vehicle is full, and the food can not be delivered again until the vehicle is completely delivered.
Further, a damper 3 is arranged between the first connecting rod and the frame 7 and between the second connecting rod 8 and the frame 7. For vibrations caused by emergency braking and rough road surfaces during driving, the longitudinal stability of the lunch box can be ensured by the dampers 3 provided between the first link and the frame 7 and between the second link 8 and the frame 7. Specifically, the frame is a frame arranged in the first circumferential track and a frame arranged on the transmission device on the second wheel. Since the control panel 6 needs to be disposed at a position with good stability, the control panel 6 may be disposed on the frame 7 and may be disposed on the meal box 13.
Still further, still include meal delivery mechanism, meal delivery mechanism is equipped with a plurality of meal check including meal check, electrically operated gate and sensor in carrying the meal case, all is equipped with pressure sensor in every meal check, and electrically operated gate 18 sets up on carrying meal case 13 and relative with meal outlet 5 position, and electrically operated gate and pressure sensor are connected with control panel 6. After the user finishes taking the meal, the pressure sensor in the meal grid transmits a signal to the control panel 6.
Further, the intelligent control system also comprises an identification mechanism which is a human-computer interaction device, and the human-computer interaction device is connected with the control panel 6. After the meal carrying box 13 arrives at a planned place, a user can scan the two-dimensional code displayed on the man-machine interaction device through the mobile phone app to take meals, after information is determined, a signal is transmitted to the control panel 6, the electric door is opened by the control panel 6, and meal grids can be taken out from a meal outlet.
In specific implementation, the material inside the meal carrying box 13 is a heat preservation material, and a heat preservation interlayer is further arranged in each meal grid.
Further, still include power supply mechanism, power supply mechanism is the battery, and the battery box is equipped with battery door 16 and charging socket, and battery door 16 sets up on carrying meal case 13, and the battery setting is in the inside of battery box. Wherein the battery compartment door 16 is arranged to facilitate the replacement of the battery and also to charge the battery in the battery box through the charging socket.
In the present embodiment, the battery boxes of the first wheel 1 and the second wheel have six groups, the battery boxes of each wheel are symmetrically arranged between the two wheel frames 7 at the position with the center of gravity being lower, and the last group is arranged below the two battery boxes, as shown in fig. 3, the first battery 4 is arranged beside the second battery 10, and the third battery 11 is arranged beside the second battery 10.
Still further, the shape of the meal box 13 is a cylinder. The cylindrical meal carrying box 13 can better conform to the shapes of the first wheel and the second wheel.
The working method of the wheel-shaped food delivery unmanned vehicle is characterized by comprising the following steps
s1, the control board 6 opens the electric door 18 and takes out the meal lattice from the meal outlet 5, and after the meal lattice is loaded with meal, the meal lattice is withdrawn from the meal outlet 5, and the control board 6 controls to close the electric door 18; the food box 13 does not need to be disassembled and enters the internal replacement food grid, and the food can be loaded reversely only in the same way as the food is taken out.
S2 the control board 6 sets the destination and plans the driving route based on the positioning information of the positioning module, and controls to turn on the hub motors 14 on the first wheel 1 and the second wheel and control the rotation speed of the hub motors;
S3 the hub motor 14 on the first wheel 1 drives the driving wheel 2 in the first circular track 12 to roll along the first circular track 12, and the power device on the second wheel drives the driving wheel in the second circular track to roll along the second circular track; the driving wheel 2 in the first circumferential track 12 rotates to drive the first connecting rod in the first circumferential track 12 to move, the first connecting rod in the first circumferential track 12 drives the frame 7 in the first circumferential track 12 to move, the frame 7 in the first circumferential track 12 drives the first driven wheel to move along the first circumferential track 12, at the moment, the frame 7 in the first circumferential track 12 (the edge where the first driven wheel is located) shifts, and the frame 7 in the first circumferential track drives the second connecting rod 9 in the first circumferential track 12 to move, so that the second driven wheel 8 is driven to roll on the first circumferential track 12. The first driven wheel and the second driven wheel 9 work in cooperation, so that the frame 7 always keeps horizontal displacement without rotating along with the first wheel 1 while the first wheel 1 rotates. Thereby bringing the first wheel 1 to roll.
the hub motor, the driving wheel, the first driven wheel, the second driven wheel, the first connecting rod, the second connecting rod and the frame in the second circumferential track on the second wheel are consistent with the operation steps of the first wheel, so that the second wheel rolls.
the driving wheel 2, the first driven wheel and the second driven wheel 9 on the first circumferential track rotate in the same direction in the first circumferential track, the driving wheel, the first driven wheel and the second driven wheel on the second circumferential track rotate in the same direction in the second circumferential track, so that the first wheel and the second wheel rotate, the control panel 6 controls the rotating speed of the hub motor 14 of the first wheel 1 and the rotating speed of the hub motor 14 of the second wheel, and realizes the speed reduction and braking of the vehicle through the reverse rotation and the differential rotation of the hub motor in the first circumferential track 12 and the hub motor in the second circumferential track, the friction between the driving wheel 2, the first driven wheel and the second driven wheel 9 in the first circumferential track 12 and the friction between the driving wheel 2, the first driven wheel and the second driven wheel 9 in the second circumferential track to finish the forward movement, the backward movement, Turning left, turning right and rotating in situ, thereby driving the meal carrying box 13 to reach the designated position;
In the driving process of S4, the camera 17 captures images constantly and transmits the images to the control panel 6, the control panel 6 carries out local path planning after analyzing road conditions according to the images, and the movement and obstacle avoidance of the meal carrying box 13 are realized by changing the rotating speed of the hub motor 14;
S5, when approaching a designated place, the control panel 6 controls the hub motors of the first wheel 1 and the second wheel to decelerate, after the designated place is reached, the control panel 6 stops the hub motors of the first wheel 1 and the second wheel, a user scans the two-dimensional code displayed on the man-machine interaction device through a mobile phone app, after the information is determined to be consistent, the control panel 6 opens the electric door 18, the user can take out the meal lattice from the meal outlet 5, after the user takes away food in the meal lattice, the pressure sensor of the meal lattice transmits a signal to the control panel 6, and the control panel 6 closes the electric door 18.
Example 2
As shown in FIGS. 5 to 8, the embodiment 2 is the same in structure and operation as the embodiment 1 except that the meal outlet 5 is provided at the top of the meal box 13.
Various corresponding changes and modifications can be made by those skilled in the art according to the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (6)
1. A wheel-shaped food delivery unmanned vehicle is characterized by comprising a shell, a food carrying box, a first wheel, a second wheel, an image acquisition device, a control panel and a positioning module; the food carrying box, the first wheel and the second wheel are arranged inside the shell, the front and the back of the shell are both provided with image acquisition devices, the first wheel and the second wheel are arranged on two sides of the food carrying box in parallel, the food carrying box is provided with a food outlet, and the control panel is respectively electrically connected with the image acquisition devices and the positioning module; a first circumferential track is arranged in the first wheel, a second circumferential track is arranged in the second wheel, power devices, transmission devices and driving devices are arranged in the first circumferential track and the second circumferential track, and the control panel is electrically connected with the power devices in the first circumferential track and the second circumferential track respectively; the driving device comprises a driving wheel and a driven wheel, the driven wheel comprises a first driven wheel and a second driven wheel, the driving wheel, the first driven wheel and the second driven wheel in the first circumferential track are all in rolling connection with the first circumferential track, and the driving wheel, the first driven wheel and the second driven wheel in the second circumferential track are all in rolling connection with the second circumferential track; the transmission device comprises a first connecting rod, a second connecting rod and a frame, the driving wheel is hinged with one end of the first connecting rod, and the other end of the first connecting rod is hinged with the frame; the first driven wheel is connected with the frame, the second driven wheel is hinged with one end of a second connecting rod, and the other end of the second connecting rod is hinged with the frame; one side of the meal carrying box is fixedly connected with the frame arranged in the first circumferential track, and the other side of the meal carrying box is fixedly connected with the frame arranged on the second wheel transmission device.
2. The wheel-shaped meal delivery unmanned vehicle of claim 1, wherein a shock absorber is disposed between the first link and the frame and between the second link and the frame.
3. The wheel-shaped food delivery unmanned vehicle of claim 1, further comprising a food delivery mechanism, wherein the food delivery mechanism comprises food compartments, an electric door and a sensor, a plurality of food compartments are arranged in the food carrying box, and a sensor is arranged in each food compartment; the electric door is arranged on the meal carrying box and is opposite to the meal outlet, and the electric door and the sensor are both connected with the control mechanism.
4. The wheel-shaped meal delivery unmanned vehicle of claim 1, further comprising an identification mechanism, wherein the identification mechanism is a human-computer interaction device, and the human-computer interaction device is connected with the control panel.
5. The wheel-shaped food delivery unmanned vehicle as claimed in claim 1, further comprising a power supply mechanism and a battery box, wherein the power supply mechanism is a battery, the battery box is provided with a battery compartment door and a charging socket, the battery compartment door is arranged on the outer shell, and the battery is arranged inside the battery box.
6. The wheel-shaped food delivery unmanned vehicle of claim 1, wherein the food carrying box is cylindrical in shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920317919.1U CN209769526U (en) | 2019-03-13 | 2019-03-13 | Wheel-shaped food delivery unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920317919.1U CN209769526U (en) | 2019-03-13 | 2019-03-13 | Wheel-shaped food delivery unmanned vehicle |
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| Publication Number | Publication Date |
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| CN209769526U true CN209769526U (en) | 2019-12-13 |
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| CN201920317919.1U Active CN209769526U (en) | 2019-03-13 | 2019-03-13 | Wheel-shaped food delivery unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770548A (en) * | 2019-03-13 | 2019-05-21 | 杜中天 | A kind of colyliform food delivery unmanned vehicle |
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2019
- 2019-03-13 CN CN201920317919.1U patent/CN209769526U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770548A (en) * | 2019-03-13 | 2019-05-21 | 杜中天 | A kind of colyliform food delivery unmanned vehicle |
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