The invention discloses a double-wheel leg tail end logistics distribution robot which comprises a supporting leg rod system and a vehicle body, the supporting leg rod system is a parallel mechanism, and the supporting leg rod system and the vehicle body form a seven-connecting-rod mechanism. The vehicle body is provided with a front camera, and an ultrasonic sensor is arranged below the front camera; a mechanical arm is arranged in the vehicle body, a laser radar transmitter is arranged above the rear portion of the vehicle body, a storage box is arranged on the lower portion of a base of the mechanical arm, and an electronic speed controller center plate, a development board and a Raspberry Pi development board are arranged on the upper portion of the storage box. According to the invention, a laser radar and vision combined mode is adopted, and the change of the external environment is detected in real time, so that the robot can avoid obstacles in time in the transportation process, and reasonable path planning is carried out. The mechanical arm is matched with the camera to complete the function of automatically pressing the elevator, and accurate key pressing is achieved by calculating the distance between the operating rod and the key. The lifting double-wheel legs keep balance and stability of the vehicle body all the time through gyroscope detection, and the tail end logistics distribution requirements such as take-out and express delivery of the distribution service robot are met.
本发明公开了一种双轮腿末端物流配送机器人,包括支腿杆系及车体,支腿杆系是一个并联机构,与车体形成一个七连杆机构。车体设有前置摄像头,其下面有超声波传感器;车体内设有机械臂,车体的后部上方设有激光雷达发射器,机械臂底座下部为储物盒,储物盒上部设有电调中心板、开发板及树莓派开发板。本发明采用激光雷达与视觉结合的方式,实时检测外部环境的变化,使机器人在运送过程中能及时躲避障碍,并进行合理的路径规划。机械臂配合摄像头完成自主按电梯功能,通过计算操作杆到按键的距离,实现精准按键。可升降双轮腿通过陀螺仪检测时刻保持车身的平衡稳定,满足配送服务机器人外卖、快递等末端物流配送需求。
Logistics distribution robot with two wheel legs at tail end
双轮腿末端物流配送机器人
2023-06-23
Patent
Electronic Resource
Chinese