WO2022144033A1

WO2022144033A1 - Delivery robot

Info

Publication number: WO2022144033A1
Application number: PCT/CN2022/075841
Authority: WO
Inventors: 陈焕昌; 何源
Original assignee: 深圳市普渡科技有限公司
Priority date: 2020-12-31
Filing date: 2022-02-10
Publication date: 2022-07-07
Also published as: CN218614066U; CN215920467U

Abstract

A delivery robot, comprising: a delivery robot body (10), the delivery robot body (10) comprising a support mechanism (20), the support mechanism (20) being provided with connection bases (23); and tray mechanisms (30), each tray mechanism (30) comprising a tray (31) and cantilever beams (32). One end of each cantilever beam (32) is detachably connected to a connection base (23). Each tray (31) is fixedly connected to a cantilever beam (32). The present delivery robot achieves detachable connection between the trays and the delivery robot, has a simple structure, and is easy to operate.

Description

delivery robot

This application claims the priority of the Chinese patent application filed on December 31, 2020 with the application number 2020233067198 and titled "A Delivery Robot with Detachable Tray Structure", the entire contents of which are incorporated by reference in this application.

This application claims the priority of the Chinese patent application with the application number 2021213216052 and the application name "delivery robot" filed with the China Patent Office on June 11, 2021, the entire contents of which are incorporated into this application by reference.

technical field

The present application relates to the field of robotics, and in particular, to a delivery robot.

Background technique

With the popularity of indoor mobile robots in the market, mobile robots have been gradually applied in public service scenarios (for example, indoor scenarios such as restaurants, hotels, office buildings, etc.) to provide customers with delivery services. Such mobile robots are usually called delivery robots. The delivery robot usually uses a tray fixed on the robot body to support the items to be delivered. In the past, the fixing method of the tray was complicated, and it was difficult for non-professional technicians to disassemble and assemble the tray.

SUMMARY OF THE INVENTION

According to various embodiments of the present application, a delivery robot is provided.

A delivery robot, comprising:

a distribution robot body, the distribution robot body includes a support mechanism, and the support mechanism is provided with a connecting seat;

The tray mechanism includes a tray and a cantilever beam; one end of the cantilever beam is detachably connected to the connecting seat; the tray is fixedly connected to the cantilever beam.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the present application will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, the drawings of other embodiments can also be obtained according to these drawings without creative efforts.

1 is a perspective view of a delivery robot provided by an embodiment;

2 is a schematic diagram of a part of a structure in a delivery robot provided by an embodiment;

Fig. 3 is the exploded view of Fig. 2;

Fig. 4 is the partial enlarged schematic diagram of C place in Fig. 3;

FIG. 5 is a perspective view of a delivery robot provided by another embodiment.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the invention are for the purpose of describing particular embodiments only and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The distribution robot provided by the present application includes a distribution robot body, the distribution robot body includes a support mechanism, and a connecting seat is provided on the support mechanism; the distribution robot further includes a tray mechanism, and the tray mechanism includes a tray and a cantilever beam, The tray is fixedly connected to the cantilever beam, and one end of the cantilever beam is detachably connected to the connection seat, so that the tray and the delivery robot can be detachably connected, with a simple structure and convenient operation. The delivery robot is mainly used to provide delivery services for customers in restaurants, office buildings and hotels, the tray is used to carry the items to be delivered, and the items to be delivered are transferred to the customers through the movement of the delivery robot body.

Referring to FIGS. 1 and 2 , a delivery robot provided in an embodiment includes a delivery robot body 10 and a tray mechanism 30 . The distribution robot body 10 includes a support mechanism 20 and a walking mechanism 11 , and a connection seat 23 is provided on the support mechanism 20 .

The distribution robot body 10 has a navigation system that can realize autonomous navigation, an anti-collision system that can realize anti-collision function, and an interactive system that can interact with users. The walking mechanism 11 may be used to provide power for the walking of the mobile robot body 10 .

The support mechanism 20 includes a bottom plate 21 and a support frame 22 . The bottom plate 21 is fixed on the walking mechanism 11 of the distribution robot body 10 , the support frame 22 is fixed on the bottom plate 21 along the vertical direction, and the connecting seat 23 is fixed on the support frame 22 .

The tray mechanism 30 includes a tray 31 and a cantilever beam 32 . One end of the cantilever beam 32 is detachably connected to the connecting base 23 , and the tray 31 is fixedly connected to the cantilever beam 32 . In this way, the tray 31 fixed on the cantilever beam 32 and the cantilever beam 32 form an integral tray mechanism 30 , and the tray mechanism 30 is detachably connected to the connecting seat 23 by one end of the cantilever beam 32 . A detachable connection is achieved, thereby facilitating the operator to detach the tray 31 .

Specifically, referring to FIG. 3 and FIG. 4 , the connecting seat 23 includes a fixing plate 231 and a positioning seat body 232 . The fixing plate 231 is fixed on the support frame 22 , and the positioning base 232 is arranged on the fixing plate 231 . A receiving hole 233 is formed on the positioning seat body 232 , and the receiving hole 233 penetrates the positioning seat body 232 in the height direction of the positioning seat body 232 . One end of the cantilever beam 32 is provided with a positioning projection 33, which is accommodated in the accommodating hole 233, so that the tray mechanism 30 and the delivery robot body 10 can be connected together to realize delivery service.

In one embodiment, the positioning seat body 232 is further provided with a via hole 234 , and the via hole 234 penetrates the width direction of the positioning seat body 232 and communicates with the accommodating hole 233 . Correspondingly, the positioning protrusion 33 is also provided with a threaded hole, and after the positioning protrusion 33 is accommodated in the receiving hole 233 , the via hole 234 provided on the positioning base 232 and the thread provided on the positioning protrusion 33 The holes 331 are coaxial. In this way, by passing the screw through the through hole 234 and screwing it into the threaded hole 331, the tray mechanism 30 can be connected with the delivery robot body 10 more firmly.

In this embodiment, the aforementioned screws are quick-release screws, that is, the tray mechanism 30 further includes a quick-release screw, and the quick-release screw includes a handle and a stud fixed on the handle, and the thread on the stud is adapted to the positioning projection. The threaded hole 331 on the locating block 33, the quick-release screw is passed through the through hole 234 provided on the positioning base body 232 and screwed into the threaded hole 331 provided on the positioning bump 33, so that the cantilever beam 32 is connected to the The seat 23 realizes a more stable and detachable connection. It can be understood that the aforementioned screws can also be directly used as ordinary screws, so that the same stabilization effect can be achieved by screwing the screws into the threaded holes 331 with other tools, but the installation and disassembly are not as convenient as using the quick-release screws.

In this embodiment, each fixing plate 231 is provided with two positioning bases 232 , and the two positioning bases 232 are arranged at intervals up and down along the vertical direction. It can be understood that, in other embodiments, a common side surface can also be provided on the sides of the two positioning bases 232 , so that the two positioning bases 232 are integrally formed.

In this embodiment, the number of trays 31 is two, and each tray 31 corresponds to two cantilever beams 32 and two connecting seats 23 . The two connecting bases 23 are fixed on the support frame 22 at the same height, so as to ensure that the tray 31 is in a horizontal state and to ensure that the items to be delivered are stably placed on the tray 31 .

It can be understood that, in other embodiments, the number of trays is only required to be at least one, and each tray 31 corresponds to at least one cantilever beam and at least one connecting seat, and the number of them is not strictly limited. That is, one of the cantilever beams or a plurality of the cantilever beams can be correspondingly provided for each of the trays. Similarly, each of the cantilever beams may correspond to one of the connection bases, or a plurality of the cantilever beams may share one of the connection bases for connection. For example, when each pallet is equipped with a cantilever beam, the cantilever beam can be arranged in the middle of the lower surface of the pallet, and a connection seat corresponding to the cantilever beam can be arranged in the middle of the support frame position, when each tray is equipped with multiple cantilever beams, the multiple cantilever beams can be evenly arranged on the lower surface of the tray; when multiple cantilever beams share one of the connecting seat, The connecting seat may be arranged in a structure extending in a direction parallel to the surface of the tray and perpendicular to each of the cantilever beams.

In one embodiment, a positioning structure may be provided on the tray 31 for positioning the items to be delivered, so as to prevent the items to be delivered from being displaced and toppling over.

In one embodiment, the support frame 22 is disposed along a vertical direction, and the vertical direction is the height direction of the delivery robot body 10 in normal use. The cantilever beam 32 is an elongated structure, and the height direction of the cantilever beam 32 is the direction along the height of the mobile robot body 10 when the tray is horizontally connected to the mobile robot body 10 , and the positioning bumps 33 protrude from the height direction of the cantilever beam 32 . , the height direction is the vertical direction. In one embodiment, the height of the cantilever beam 32 gradually decreases from its connection with the positioning bump 33 to the direction away from the positioning bump 33 .

In one embodiment, the cantilever beam 32 includes a first beam and a second beam, the first beam being in direct contact with the tray 31 . In order to ensure the connection strength between the cantilever beam 32 and the positioning bump 33, a reinforcing rib 34 is also provided between the first beam and the second beam. The cantilever beam 32 and the reinforcing rib 34 are hollowed out, which can effectively reduce overall weight.

In this embodiment, a triangular-shaped reinforcing rib is also included, wherein one side of the triangular-shaped reinforcing rib is connected to the positioning projection 33, and the other side is connected to the cantilever beam 32, and the reinforcing rib 43 is connected to The length of the side surface of the cantilever beam 32 is greater than the length of the side surface connected to the positioning projection 33 . The length of the side surface connected to the cantilever beam 32 can be set to be twice or three times the length of the side surface connected to the positioning projection 33 , so as to effectively enhance the stability of the cantilever beam 32 . It can be understood that, in other embodiments, the triangular-shaped reinforcing rib is directly integrated with the cantilever beam 32, which is equivalent to making the second beam an approximate arch shape.

In one embodiment, an avoidance groove 332 is further provided between the positioning protrusion 33 and the reinforcing rib 34 . After the positioning protrusion 33 is accommodated in the accommodating hole 233 of the positioning base 23 , the accommodating hole 233 is avoided to be close to the cantilever beam. 32 side of the hole wall.

In one embodiment, the fixing plate 231 is provided with two positioning bases 232 , and the two positioning bases 232 are arranged at intervals along the height direction of the fixing plate 231 . Correspondingly, two positioning protrusions 33 are provided at one end of the cantilever beam 33 corresponding to the two positioning bases 232 , and the two positioning protrusions 33 are also arranged in a spaced manner. The distance between the two positioning bases 232 can ensure that the two positioning protrusions 33 move to the corresponding positioning bases 232 without interfering with each other.

During assembly, the positioning protrusions 33 are inserted in parallel above the corresponding accommodating holes 233 , and there is a certain gap between the accommodating holes 233 and the positioning protrusions 33 , and then the positioning protrusions are vertically accommodated in the accommodating holes 233 , until it fits in place, so that the via hole 234 provided on the positioning base 232 is coaxial with the threaded hole 331 provided on the positioning projection 33 , and the installation clearance is minimal at this time. After that, the quick-release screw is passed through the through hole 234 and screwed into the threaded hole 331 , so that the cantilever beam 32 is firmly fixed.

In one embodiment, the support frame 22 further includes: two support rods 221 and a connecting rod 222, and the support rods 221 and the connecting rod 222 are preferably made of profiles. The bottom end of the support rod 221 is fixed on the bottom plate 21 , and the two ends of the connecting rod 222 are respectively connected to the top ends of the two support rods 221 . There are two connection bases 23 mentioned above, and the two connection bases 23 are respectively fixed to the support rod 221 at the same height.

In this embodiment, the support structure 20 further includes: two fixing bases 24, the two fixing bases 24 are fixed on the bottom plate 21, and the bottom ends of the two supporting rods 221 are respectively fixed to the two fixing bases by welding, bolting, etc. 25 on.

In one embodiment, the cantilever beam 32 is provided with a plurality of first fixing positions 321 along its length direction, the tray 31 is provided with a plurality of second fixing positions 311 , all the first fixing positions 321 and all the second fixing positions 311 The positions of 321 correspond to one another, and the number is the same, and the first fixing positions 321 and the second fixing positions 311 corresponding to each other are fixedly connected. It can be understood that, in other embodiments, it is only necessary to ensure that the number of the first fixing position 321 and the second fixing position 311 is more than one.

In one embodiment, the first fixing position 321 is a threaded hole provided on the cantilever beam 32 , the second fixing position 311 is a via hole provided on the tray 31 , and the space between the first fixing position 321 and the second fixing position 311 is The connection is fixed by fasteners (screws). Meanwhile, in order to ensure the flatness of the surface of the tray 31, the second fixing position 311 can be set as a countersunk hole.

As shown in FIG. 4 , the delivery robot provided for another embodiment is the same as the above-mentioned embodiment and will not be repeated here. The main difference is that the tray mechanism further includes a recycling bucket 50 for placing items to be recycled or placing Some light-weight items that are easily displaced, it can be understood that they are only listed here, and there is no restriction on the items placed in the recycling bin 50 .

To sum up, the delivery robot provided in this embodiment realizes the detachable connection with the support structure through the fixing method in which one end of the cantilever beam is detachably connected to the connecting seat, which is not only simple in structure, but also convenient for the operator. Disassemble the tray.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A delivery robot, comprising:

a distribution robot body, the distribution robot body includes a support mechanism, and the support mechanism is provided with a connecting seat;

The tray mechanism includes a tray and a cantilever beam; one end of the cantilever beam is detachably connected to the connecting seat; the tray is fixedly connected to the cantilever beam.
The delivery robot according to claim 1, wherein the connecting base comprises: a fixing plate and a positioning base body arranged on the fixing plate; the fixing plate is fixed on the supporting mechanism, and the positioning An accommodation hole is formed on the seat body;

One end of the cantilever beam is provided with a positioning bump, and the positioning bump is accommodated in the accommodating hole.
The delivery robot according to claim 2, wherein the positioning base is provided with a via hole, the positioning protrusion is provided with a threaded hole, and the positioning protrusion is accommodated in the accommodating hole When the via hole is coaxial with the threaded hole;

The tray mechanism further includes a quick-release screw that passes through the through hole and is screwed into the threaded hole.
The delivery robot according to claim 2, wherein the positioning bump protrudes in the height direction of the cantilever beam, and the height of the cantilever beam moves away from the position where it is connected with the positioning bump. The orientation of the positioning bumps gradually decreases.
The delivery robot of claim 2, wherein the cantilever beam comprises a first beam and a second beam, the first beam is in direct contact with the tray, and the first beam and the second beam There are also reinforcing ribs in between.
The delivery robot according to claim 5, wherein an escape groove is further provided between the reinforcing rib and the positioning protrusion, and the escape groove is used for accommodating the positioning protrusion in the accommodating block. When in the hole, avoid the accommodating hole close to the hole wall on one side of the cantilever beam.
The delivery robot according to claim 2, wherein two positioning bases are sequentially arranged on the fixed plate along a vertical direction, and one end of the cantilever beam is disposed corresponding to the two positioning bases There are two positioning bumps.
The delivery robot according to claim 1, wherein the support mechanism comprises a base plate and a support frame;

The support frame includes: two support rods and a connecting rod; the bottom ends of the support rods are fixed on the bottom plate, and the connecting rods are connected with the top ends of the two support rods; the connecting seat is fixed on the on the support rod.
The delivery robot according to claim 8, wherein the support structure further comprises: two fixing bases, the two fixing bases are fixed on the bottom plate, and the bottom ends of the two support rods are respectively fixed on the two mounts.
The delivery robot according to claim 1, characterized in that, the cantilever beam is provided with more than one first fixing position along its length direction, the tray is provided with more than one second fixing position, and more than one all the The first fixing position is in one-to-one correspondence with more than one second fixing position and is fixedly connected.
The delivery robot according to claim 1, wherein the number of the trays is at least one, and each tray corresponds to at least one cantilever beam and at least one connecting seat.
The delivery robot according to claim 11, wherein the number of the trays is 2, and each of the trays corresponds to two cantilever beams and two connecting seats.