CN111661668A

CN111661668A - Unmanned distribution system

Info

Publication number: CN111661668A
Application number: CN202010501942.3A
Authority: CN
Inventors: 屠强; 彭峻; 黄小杰; 王理林; 蒋太海; 彭常玉
Original assignee: Shenzhen Colibri Technologies Co ltd
Current assignee: Shenzhen Colibri Technologies Co ltd
Priority date: 2020-06-04
Filing date: 2020-06-04
Publication date: 2020-09-15
Anticipated expiration: 2040-06-04
Also published as: CN111661668B

Abstract

The invention discloses an unmanned distribution system, comprising: unmanned aerial vehicle air park includes: the parking apron comprises an apron body and a cabin door opening and closing mechanism arranged on the apron body; the parking apron body is provided with a delivery port penetrating through the parking apron body; the pick-and-place device is positioned below the delivery port and is used for picking goods from the delivery port or delivering the goods to the delivery port; a dispensing device, comprising: the distribution device comprises a distribution track, at least one distribution vehicle and a fork arranged on the distribution vehicle. The unmanned aerial vehicle that the string carried the goods descends to the delivery port department of air park body, and the hatch door of delivery port department opens the delivery port, gets to put the device and takes away the goods from this delivery port department, and this goods shifts to the delivery car by the fork on the delivery car among the distribution device, and the delivery car reaches the preset delivery position department along the delivery track with the goods. In this way, goods can be delivered to the position specified by the user accurately.

Description

Unmanned distribution system

Technical Field

The application relates to the technical field of logistics distribution, in particular to an unmanned distribution system.

Background

With the rapid development of the express delivery industry, the logistics technology applied to express delivery transportation is also rapidly developed. As everyone knows, no matter the cost of labor or the time cost of sending is in the express delivery industry, and the most expensive is in "last kilometer", and present solution adopts the mode of intelligent express delivery cabinet delivery mostly to go on, perhaps, reaches the express delivery cabinet through unmanned aerial vehicle with the express delivery, gets the service of posting by oneself in 24 hours that the express delivery cabinet provided, can effectively reduce express delivery person's secondary delivery.

However, in this way, the goods are delivered to the public express delivery cabinet by the unmanned aerial vehicle and then taken by the user, but the goods cannot be delivered to the hands of the user directly.

Disclosure of Invention

The application aims to provide an unmanned distribution system for accurately delivering goods to a position specified by a user.

The application provides an unmanned delivery system, includes:

unmanned aerial vehicle air park includes: the parking apron comprises an apron body and a cabin door opening and closing mechanism arranged on the apron body; the cabin door opening and closing mechanism is used for opening the delivery opening after the unmanned aerial vehicle is positioned in the positioning area, or closing the delivery opening after the unmanned aerial vehicle flies away;

the picking and placing device is positioned below the delivery port and is used for picking goods from the delivery port or sending the goods to the delivery port;

a dispensing device, comprising: the distribution track, at least one distribution vehicle and a fork arranged on the distribution vehicle; one end of the distribution track is in butt joint with the pick-and-place device, and the other end of the distribution track is in butt joint with at least one preset goods delivery position; the distribution vehicle can reciprocate along the length direction of the distribution track to distribute; the fork is used for taking goods from the taking and placing device and delivering the goods to the preset goods delivering position, or taking goods from the preset goods delivering position and delivering the goods to the taking and placing device.

Optionally, the unmanned distribution system further includes: the buffer device is arranged between the pick-and-place device and one end of the distribution track and is used for buffering the goods taken from the delivery port or the goods conveyed to the delivery port; and the fork takes the goods from the buffer device and delivers the goods to the preset delivery position, or takes the goods from the preset delivery position and delivers the goods to the buffer device.

Optionally, the unmanned delivery system, wherein the delivery track comprises: the main track, a plurality of branch's track to and a plurality of track deviator, the track deviator includes: the rail-changing power mechanism and the moving rail are arranged on the conveying rail, and the length of the moving rail at least can accommodate a conveying vehicle which travels on the conveying rail; one end of the main track is in butt joint with the cache device, and the tail end of the branch track is the preset goods delivery position; the main track is provided with a plurality of first orbital transfer vacancies, the branch track is provided with a second orbital transfer vacancy, and the first orbital transfer vacancies and the second orbital transfer vacancies are both adapted to the moving track so that the moving track is in butt joint with the main track at the first orbital transfer vacancies, or in butt joint with the branch track at the second orbital transfer vacancies; the rail transfer power mechanism is used for driving the moving rail to switch between the first rail transfer vacant site and the second rail transfer vacant site so as to realize rail transfer of the delivery vehicle.

Optionally, the unmanned delivery system is configured, where the cargo is provided with a delivery information identifier matching the preset delivery location, a moving rail of each track direction changing device is provided with an identification unit for identifying the delivery information identifier, the identification unit is electrically connected to the rail transfer power mechanism, and is configured to control the delivery vehicle to move to a first rail transfer vacancy of the main track corresponding to a second rail transfer vacancy of the branch track when identifying the delivery information identifier of the preset delivery location corresponding to the branch track, and enable the rail transfer power mechanism to drive the moving rail corresponding to the preset delivery location to switch between the first rail transfer vacancy corresponding to the preset delivery location and the second rail transfer vacancy corresponding to the preset delivery location.

Optionally, the unmanned delivery system, wherein the main track and the branch track are each a monorail, the monorail comprising: one or more combinations of a straight rail, a first straight curved rail, a second straight curved rail, a first turning curved rail and a second turning curved rail; the straight rail is used for enabling the distribution vehicle to do linear motion, the first vertical bent rail is used for enabling the distribution vehicle to change from horizontal forward to upward forward, the second vertical bent rail is used for enabling the distribution vehicle to change from upward forward to horizontal forward, the first turning bent rail is used for enabling the distribution vehicle to turn left, and the second turning bent rail is used for enabling the distribution vehicle to turn right.

Optionally, in the unmanned distribution system, the main track and the branch track each include a track profile, the track profile is provided with a power supply mechanism mounting groove, a transmission mechanism mounting groove and a signal line mounting groove, the power supply mechanism mounting groove is provided with a plurality of trolley line brackets, each trolley line bracket is fixed with a trolley line, and the trolley line is used for being slidably connected to a trolley line contact on the distribution vehicle to supply power to the distribution vehicle; a transmission rack is arranged in the transmission mechanism mounting groove and is used for being meshed with a transmission gear on the distribution vehicle; and a cable support is arranged in the signal wire mounting groove, a signal cable is fixed on the cable support, and the signal cable is used for signal transmission between the distribution vehicle and the track.

Optionally, the unmanned delivery system, wherein the delivery vehicle comprises: a running gear for driving the running gear to reciprocate along the length direction of the distribution track, the running gear comprises: the distribution vehicle comprises a distribution vehicle body, a mounting bracket for fixedly mounting the distribution vehicle body, and a transmission gear, a driving mechanism and a guide mechanism which are arranged on the mounting bracket; the fork is arranged on the distribution vehicle body, the distribution vehicle body is used for bearing cargos, and the guide mechanism is used for guiding and limiting the distribution vehicle body; the driving mechanism is in transmission connection with the transmission gear and is used for driving the transmission gear to rotate forwards or reversely, and the transmission gear is meshed with a transmission rack on the distribution track to drive the distribution vehicle body to move back and forth along the distribution track.

Optionally, the unmanned distribution system, wherein the distribution vehicle body includes: a turnover device for turning over the dispensing vehicle body to always maintain a horizontal state when the dispensing vehicle body is changed from a horizontal advance to an upward advance or from the upward advance to the horizontal advance along a dispensing track, the turnover device comprising: the connecting base, the turnover driving mechanism, the supporting plate and at least one connecting rod mechanism with a folding state and an unfolding state; the upper end of the connecting rod mechanism is hinged with the supporting plate, the lower end of the connecting rod mechanism is connected with the connecting base in a sliding mode, and the overturning driving mechanism is connected with the connecting rod mechanism and used for driving the lower end of the connecting rod mechanism to slide on the connecting base so as to enable the connecting rod mechanism to be switched between a folded state and an unfolded state; when the connecting rod mechanism is in a folded state, the connecting base and the supporting plate are both in a horizontal state; when the link mechanism is in an unfolded state, an included angle is formed between the connecting base and the supporting plate, and the supporting plate is kept in a horizontal state; the connecting base is arranged on the mounting bracket.

Optionally, the unmanned distribution system, wherein the distribution vehicle body further includes: a swing device for swinging the dispensing vehicle body to be always kept in a horizontal state when the dispensing vehicle body turns left or right along the dispensing track, the swing device comprising: the goods base is connected with the connecting base in a rotating mode, the mounting support is arranged on the goods base, a first fixing portion is arranged on the goods base, a second fixing portion is arranged on the connecting base, and the first fixing portion is connected with the second fixing portion in a rotating mode through a rotating shaft.

Optionally, the unmanned dispensing system, wherein the fork is a bi-directional telescopic fork, the bi-directional telescopic fork comprising: the telescopic forklift comprises a fixed fork, a first telescopic fork arranged on the fixed fork, a second telescopic fork arranged on the first telescopic fork and a telescopic driving mechanism, wherein the fixed fork is provided with a fixed rack, the first telescopic fork is provided with a first rack and at least one rotatable gear, the second telescopic fork is used for bearing goods, and a second rack is arranged on the second telescopic fork; the second rack and the fixed rack are both meshed with the gear, and the gear is positioned between the second rack and the fixed rack; the telescopic driving mechanism comprises: the telescopic driving motor is arranged on the fixed fork and the driving gear is in transmission connection with the telescopic driving motor, the driving gear is meshed with the first rack, and the telescopic driving motor is used for driving the driving gear to rotate positively or negatively.

Optionally, the unmanned dispensing system, wherein the bi-directional retractable fork further comprises: at least one cargo positioning mechanism disposed on the second telescopic fork, the cargo positioning mechanism being configured to block cargo carried on the second telescopic fork from disengaging from the second telescopic fork; the goods positioning mechanism includes: the positioning driving motor and the two stop blocks are respectively arranged at two ends of the second telescopic fork along the telescopic direction of the fork; the two stop blocks are rotatably arranged on the second telescopic fork and are in transmission connection with the positioning driving motor, and the positioning driving motor is used for driving the two stop blocks to rotate between a release position and a stop position in a reciprocating manner; in the blocking position, the blocking block faces to the inner side of the second telescopic fork so as to block the movement of goods along the telescopic direction of the fork; in the release position, the stop is facing the outside of the second telescopic fork to release the load.

Optionally, the unmanned dispensing system, wherein the hatch opening and closing mechanism is disposed on a bottom surface of the tarmac body, and comprises: hatch door lift guiding mechanism and horizontal migration actuating mechanism, hatch door lift guiding mechanism includes: the cabin door comprises two guide plates which are parallel to each other and provided with guide grooves, a cabin door body arranged between the two guide plates, and rolling pieces clamped in the guide grooves; the cabin door body is pivoted on the rolling piece, and the rolling piece can reciprocate along the length direction of the guide groove; the guide groove includes: the device comprises a horizontal section and a vertical section, wherein the vertical section is positioned below the horizontal section, and one end of the vertical section is connected with one end of the horizontal section; the horizontal movement driving mechanism includes: the horizontal moving part is arranged below the guide plate and can reciprocate along the horizontal direction, and at least one driving component is used for providing power for the movement of the horizontal moving part; the horizontal moving part is hinged on the cabin door body; the horizontal section is parallel to the apron body, and the vertical section is perpendicular to the apron body; a horizontal connecting line between the vertical sections of the two guide plates is right opposite to the middle part of the delivery opening; the pivoting position on the cabin door body is the middle part of one side of the cabin door body facing the guide plate.

Optionally, unmanned delivery system, wherein, be equipped with the location district on the air park body, the delivery port is located the location district, the unmanned aerial vehicle air park still including being used for pressing from both sides the unmanned aerial vehicle tight and fix a position the tight positioner of clamp in location district, press from both sides tight positioner and include: the positioning device comprises an apron body, and a first clamping and positioning device and a second clamping and positioning device which are arranged on the apron body, wherein a positioning area for positioning the unmanned aerial vehicle is arranged on the apron body; the first clamping and positioning device comprises: two first clamping pieces which are symmetrical about a first straight line, and a first driving mechanism arranged on the apron body; the first driving mechanism is in transmission connection with the two first clamping pieces and is used for driving the two first clamping pieces to move oppositely or relatively along a second straight line; the second clamping and positioning device comprises: two second clamping pieces which are symmetrical about a second straight line, and a second driving mechanism which is arranged on the apron body; the second driving mechanism is in transmission connection with the two second clamping pieces and is used for driving the two second clamping pieces to move oppositely or relatively along a first straight line; the first straight line and the second straight line intersect at the positioning area.

Optionally, the unmanned delivery system, wherein the pick-and-place device comprises: the picking and placing lifting assembly is used for driving the bearing platform to ascend to the delivery port or driving the bearing platform to reset from the delivery port; the positioning assembly is used for positioning goods taken from the delivery port or goods conveyed to the delivery port.

Optionally, the unmanned delivery system, wherein the cache apparatus includes: the buffer memory comprises a buffer memory line, at least one buffer memory stop block arranged on the buffer memory line and a buffer memory stop block lifting driving component used for driving the buffer memory stop block to lift; the buffer stop block lifting driving assembly drives the buffer stop block to rise to stop the goods and fall to release the goods; the cache line includes: the device comprises a mounting frame, a plurality of rollers which are arranged along the horizontal direction and are rotatably mounted on the mounting frame, and a roller driving assembly for driving the rollers to rotate so as to convey goods; the buffer stop block is positioned between two adjacent rollers after being lifted; the goods on the bearing table are transferred to the second belt transmission assembly, and the second belt transmission assembly is used for transferring the goods on the buffer line to the first belt transmission assembly.

The invention has the beneficial effects that:

the application provides an unmanned delivery system, includes: unmanned aerial vehicle air park, it includes: the parking apron comprises an apron body and a cabin door opening and closing mechanism arranged on the apron body; the cabin door opening and closing mechanism is used for opening the delivery opening after the unmanned aerial vehicle is positioned in the positioning area, or closing the delivery opening after the unmanned aerial vehicle flies away; the picking and placing device is positioned below the delivery port and is used for picking goods from the delivery port or sending the goods to the delivery port; a dispensing device, comprising: the distribution track, at least one distribution vehicle and a fork arranged on the distribution vehicle; one end of the distribution track is in butt joint with the pick-and-place device, and the other end of the distribution track is in butt joint with at least one preset goods delivery position; the distribution vehicle can reciprocate along the length direction of the distribution track to distribute; the fork is used for taking goods from the taking and placing device and delivering the goods to the preset goods delivering position, or taking goods from the preset goods delivering position and delivering the goods to the taking and placing device. The unmanned aerial vehicle who has the load of hanging descends to the unmanned aerial vehicle parking apron to through pressing from both sides tight positioner with the unmanned aerial vehicle location in the location district, the delivery opening is opened to the hatch door mechanism that opens and shuts of location district department, gets to put the device and takies the goods from this delivery opening department away, and this goods shifts to the delivery car by the fork on the delivery car among the dispenser, and the delivery car reaches the goods along the delivery track and predetermines delivery position department. In this way, goods can be delivered to the position specified by the user accurately.

Drawings

Fig. 1 is a perspective view of an unmanned delivery system provided herein;

fig. 2 is a perspective view of the unmanned delivery system provided by the present application from another perspective;

fig. 3 is a schematic structural diagram of a pick-and-place device and a cache device provided in the present application;

fig. 4 is a schematic perspective view of an unmanned aerial vehicle apron provided by the present application;

fig. 5 is a schematic perspective view of the unmanned aerial vehicle apron provided by the present application from another view angle;

fig. 6 is an effect of the unmanned aerial vehicle landing on the unmanned aerial vehicle apron provided by the present application, fig. 1;

fig. 7 is a diagram of the effect of having an unmanned aerial vehicle landing on the unmanned aerial vehicle apron provided by the present application, fig. 2;

FIG. 8 is a front view of a dispensing track provided herein;

FIG. 9 is a rear view of a dispensing track provided herein;

fig. 10 is a schematic structural diagram of the orbital transfer power mechanism provided in the present application;

FIG. 11 is a schematic structural view of a second curved turning rail in the dispensing track provided by the present application;

FIG. 12 is a schematic structural view of a first vertical curved rail provided herein;

FIG. 13 is a perspective view of an end of a rail profile provided herein;

fig. 14 is a schematic perspective view of the walking device provided in the present application;

fig. 15 is a schematic perspective view of another perspective view of the walking device provided in the present application;

fig. 16 is a schematic perspective view of the turning device provided in the present application;

fig. 17 is a schematic perspective view of the turning device provided in the present application from another viewing angle;

FIG. 18 is an exploded view of the pendulum device provided herein 1;

FIG. 19 is an exploded view of the pendulum mechanism provided herein 2;

FIG. 20 is a perspective view of a fork provided herein;

FIG. 21 is an exploded view of a fork as provided herein;

FIG. 22 is a schematic perspective view of the fork of the present application with the load removed;

FIG. 23 is a perspective view of the fork provided herein in a retracted state;

fig. 24 is a schematic perspective view of a door opening and closing mechanism 1 according to the present application;

fig. 25 is a schematic perspective view of a door opening and closing mechanism provided in the present application, which is shown in fig. 2;

figure 26 is an exploded view of the hatch opening and closing mechanism provided in the present application;

fig. 27 is a diagram illustrating an installation effect of the apron body and the hatch opening and closing mechanism provided by the present application.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.

The application provides an unmanned delivery system, which can accurately deliver goods to be delivered to a position designated by a user and can also deliver the goods to be sent out from the position designated by the user.

Referring to fig. 1, 2 and 3, the present embodiment provides an unmanned distribution system including: unmanned aerial vehicle air park 100, get and put device 200, buffer memory device 300 and dispenser 400, unmanned aerial vehicle air park 100 is used for supplying the unmanned aerial vehicle 500 who has hung the goods to take off and land to delivery port department, delivery port department's hatch door opening and shutting mechanism 13 opens the delivery port, get and put device 200 and take away the goods of hanging on unmanned aerial vehicle 500 from this delivery port, and send this goods to buffer memory device 300, take away the goods from buffer memory device for the fork on the delivery car among the dispenser 400, thereby the delivery car is followed the delivery track and is removed the goods and reach preset delivery location D (as shown in fig. 8) department.

Referring to fig. 4, 5, 6 and 7, the unmanned airplane apron 100 includes: parking apron body 11, press from both sides tight positioner 12 and hatch door mechanism 13 that opens and shuts, the parking apron body is used for supplying unmanned aerial vehicle 500 to take off and land, press from both sides tight positioner 12 and set up on parking apron body 11, hatch door mechanism 13 that opens and shuts sets up the bottom surface at parking apron body 11, be equipped with the locating area C that is used for unmanned aerial vehicle 500 location on parking apron body 11, press from both sides tight positioner 12 and be used for pressing from both sides unmanned aerial vehicle 500 tight and fix a position at this locating area C, be equipped with the delivery opening (not shown in the figure) that link up parking apron body 11 in this locating area C department, hatch door mechanism 13 that opens and shuts is used for after pressing from both sides tight positioner 12 with unmanned aerial vehicle 500 location at locating area C, open this delivery opening, or, after pressing from both sides tight positioner 12 release unmanned aerial vehicle 500 and unmanned aerial vehicle 500 flies from.

It can be understood that, the last load of hanging of unmanned aerial vehicle 500 is with the delivery thing of seeing off from the express delivery point, this delivery thing is for waiting to deliver goods, after unmanned aerial vehicle 500 descends to air park body 11 on, press from both sides tight positioner 12 and press from both sides the tight location of unmanned aerial vehicle 500 to the locating area C, afterwards, hatch door opening and closing mechanism 13 is opened in order to open the delivery port of locating area C department, wait to deliver goods and enter into next delivery link, finally reach user's appointed position department, also be exactly reach and preset delivery position department. Correspondingly, if the user needs to send the goods, the goods to be sent are sent to the delivery port of the positioning area C through the reverse flow in the next distribution link, are mounted on the unmanned aerial vehicle 500, and are sent to the express delivery point by the unmanned aerial vehicle 500 for express delivery. The specific flow of the next delivery link will be described in detail in the following embodiments.

In this application, unmanned aerial vehicle air park 100 sets up in the open air, and is corresponding, still is provided with two canopy subassemblies 14 (as shown in fig. 1 and fig. 2) on air park body 11, and two canopy subassemblies 14 can open when unmanned aerial vehicle 500 lands, close after unmanned aerial vehicle 500 flies from. Under the closed state, the apron body 11 can be protected from being corroded by rainwater, and the normal work of each electric device is ensured.

The pick-and-place device 200 is located below the delivery port, and the pick-and-place device 200 is used for picking up goods from the delivery port or delivering goods to the delivery port. Specifically, the pick-and-place device 200 takes away the goods to be delivered, which are mounted on the unmanned aerial vehicle 500, from the open delivery port, or the pick-and-place device 200 conveys the goods to be posted to the unmanned aerial vehicle 500 at the delivery port, and the goods to be posted are mounted on the unmanned aerial vehicle 500 and delivered to the express delivery point by the unmanned aerial vehicle 500.

The buffer device 300 is disposed between the pick-and-place device 200 and the delivery device 400, and the buffer device 300 is used for buffering the goods to be delivered taken away from the unmanned aerial vehicle 500 at the delivery port and delivering the goods to the position (i.e. the preset delivery position) designated by the user by the subsequent delivery device 400, or the buffer device 300 is used for buffering the goods to be posted taken away from the position (i.e. the preset delivery position) designated by the user and delivering the goods to the unmanned aerial vehicle 500 by the pick-and-place device 200.

When the goods to be delivered need to be delivered, the pick-and-place device 200 takes the goods to be delivered mounted on the unmanned aerial vehicle 500 away from the delivery port, and delivers the goods to be delivered to the buffer device 300, the buffer device 300 buffers and places the goods, the fork on the delivery vehicle in the delivery device 400 takes the goods to be delivered buffered on the buffer device 300 away, and the delivery vehicle runs along the delivery track to deliver the goods to be delivered to the preset delivery position. Conversely, when the user needs to send the goods to be sent out, the reverse process is performed. This is the next distribution flow described above.

Referring to fig. 4, 5 and 6, the present application provides a clamp positioning device 12 comprising: a first clamping and positioning device 121 and a second clamping and positioning device 122 provided on the apron body 11.

The air park body 11 is used for supplying the take-off and landing of unmanned aerial vehicle 500, is equipped with the locating area C that is used for supplying unmanned aerial vehicle 500 location on this air park body 11, and after unmanned aerial vehicle 500 descended on the air park body 11, the effect through first tight positioner 121 of clamp and second tight positioner 122 of clamp was pressed from both sides the location and is being located locating area C. At this location district C, through corresponding configuration equipment, can load, unload the thing to unmanned aerial vehicle 500 to satisfy logistics distribution's demand.

It is understood that an openable and closable hatch may be provided at the positioning area C and the tarmac body 11 may be erected high, of course, in such a way that the hatch opens below the tarmac body 11. Under the apron body 11, other devices (for example, an AGV car with a carrying function) can be used in cooperation, and after the hatch door is opened, the unmanned aerial vehicle 500 can be loaded and unloaded. In this embodiment, the loading and unloading operations are performed by the pick-and-place device.

The first clamping and positioning device 121 includes: two first clamping members 1211, which are arranged symmetrically with respect to a first straight line L1, and a first drive mechanism 1212, which is arranged on the apron body 11, are provided, which first drive mechanism 1212 is in driving connection with the two first clamping members 1211 for driving the two first clamping members 1211 towards or towards each other along a second straight line L2 at the same time. The two first clamps 1211 are moved toward each other along the second straight line L2 at the same time by the driving of the first driving mechanism 1212, thereby clamping and positioning the drone 500 in the direction of the second straight line L2, and are disengaged to release the drone 500 at the time of the relative movement, thereby returning to the initial position to be ready for the next positioning operation.

The second clamping and positioning device 122 includes: two second clamping members 1221 and a second driving mechanism 1222, the two second clamping members 1221 are symmetrically arranged about the second straight line L2, the second driving mechanism 1222 is arranged on the apron body 11, and the second driving mechanism 1222 is in transmission connection with the two second clamping members 1221 and is used for driving the two second clamping members 1221 to move towards or relative to each other along the first straight line L1 at the same time. The two second clamping members 1221 are driven by the second driving mechanism 1222 to move toward each other along the first line L1 at the same time, so as to clamp and position the drone 500 in the direction of the first line L1, and are disengaged to release the drone 500 during the relative movement, so as to be reset to the initial position to prepare for the next positioning operation.

It should be noted that the two first clamping members 1211 and the two second clamping members 1221 enclose and form a square structure, and the unmanned aerial vehicle 500 is necessarily landed in the square structure when landing on the apron body 11. Accordingly, a navigation positioning device (e.g., an infrared navigation device or a laser navigation device) for guiding the landing of the drone 500 may be disposed within the square-shaped structure. After the drone 500 is lowered, the two first clamping members 1211 move towards each other along the second straight line L2 under the action of the first driving mechanism 1212, and the two second clamping members 1221 move towards each other along the first straight line L1 under the action of the second driving mechanism 1222, so as to push and clamp the drone to the positioning area C. In this embodiment, through the synergism of first actuating mechanism 1212 and second actuating mechanism 1222, can move unmanned aerial vehicle in two dimensions, finally reach and press from both sides tight location in locating area C, simple structure, and only realize the drive of two dimensions through two power supplies to the cost is with low costs.

In this application, the two dotted lines shown in fig. 4 and fig. 5 are a first straight line L1 and a second straight line L2, respectively, the first straight line L1 and the second straight line L2 intersect at the aforementioned positioning region C, so that the two first clamping members 1211 move in opposite directions along the second straight line L2 under the action of the first driving mechanism 1212, and when the two second clamping members 1221 move in opposite directions along the first straight line L1 under the action of the second driving mechanism 1222, the two corresponding clamping members cooperate to push the unmanned aerial vehicle 500 to the positioning region C, and after the unmanned aerial vehicle 500 reaches the positioning region C, the two first clamping members 1211 and the two second clamping members 1221 continue to clamp the unmanned aerial vehicle 500 to position the unmanned aerial vehicle 500 at the positioning region C, and the door 1211 arranged at the positioning region C is opened, so that the unmanned aerial vehicle 500 is loaded and unloaded at the positioning region C.

As a preferred embodiment, the first straight line L1 and the second straight line L2 intersect, and the intersection point is located at the center of the positioning area C, so that the drone 500 can be accurately positioned at the positioning area C.

As shown in fig. 5 and 6, the first drive mechanism 1212 includes: a first sliding guide assembly 12121 and a first belt drive assembly 12122 provided on the apron body 11, the first sliding guide assembly 12121 being adapted to guide the two first grippers 1211 for movement toward or away from each other along a second straight line L2. A first belt drive assembly 12122 is coupled to first sliding guide assembly 12121 for powering movement of first sliding guide assembly 12121. The second driving mechanism 1222 includes: a second sliding guide assembly 12221 and a second belt drive assembly 12222 provided on the tarmac body 11, the second sliding guide assembly 12221 being configured to guide the two second clamping members 1221 to move towards or relative to each other along the first line L1. A second belt drive assembly 12222 is coupled to the second sliding guide assembly 12221 for powering movement of the second sliding guide assembly 12221.

In the present application, the first sliding guide assembly 12121 and the second sliding guide assembly 12221 are implemented by means of a guide rail and a slider. As shown in fig. 5, the first sliding guide assembly 12121 includes: at least one first guide rail 121211, and two first sliding portions, wherein the first guide rail 121211 is provided on the tarmac body 11, and the two first sliding portions are slidably provided on the first guide rail 121211, in other words, two first sliding portions are provided on each first guide rail 121211. The length direction of the first guide rail 121211 is parallel to the second straight line L2, the two first clamping members 1211 are respectively disposed on two first sliding portions, the two first sliding portions are fixed to the first belt transmission driving assembly 12122, and the first belt transmission driving assembly 12122 is configured to drive the two first sliding portions to move towards or towards each other along the second straight line L2, so as to drive the two first clamping members 1211 to move towards or towards each other along the second straight line L2.

With continued reference to fig. 5, the second sliding guide assembly 12221 includes: at least one second guide rail 122211, and two second sliding portions, the second guide rail 122211 is provided on the tarmac body 11, and the two second sliding portions are slidably provided on the second guide rail 122211, in other words, two second sliding portions are provided on each second guide rail 122211. The length direction of the second guide rail 122211 is parallel to the first straight line L1, the two second clamping members 32 are respectively disposed on two second sliding portions, the two second sliding portions are fixed on the second belt transmission driving assembly 12222, and the second belt transmission driving assembly 12222 is configured to drive the two second sliding portions to move towards or relative to each other along the first straight line L1.

With continued reference to fig. 5, the first belt drive assembly 12122 and the second belt drive assembly 12222 are disposed on the underside of the apron body 11, and the first belt drive assembly 12122 includes: the driving device comprises a first driving motor 121221, a first driving synchronous pulley 121222 disposed at a motor shaft end of the first driving motor 121221, a first driven synchronous pulley 121223 disposed along a second straight line L2 with the first driving synchronous pulley 121222, and a first synchronous belt 121224 sleeved on the first driving synchronous pulley 121222 and the first driven synchronous pulley 121223. The first driving motor 121221, the first driving synchronous pulley 222, and the first driven synchronous pulley 121223 are all fixed on the bottom surface of the tarmac body 11, and the two first sliding portions are respectively and fixedly connected to two opposite belt surfaces of the first synchronous belt 121224, so that the two first sliding portions can be driven by the first driving motor 121221 to move along the second straight line L2 in an opposite or opposite direction.

The second belt drive assembly 12222 includes: the driving timing belt comprises a second driving motor 122221, a second driving synchronous pulley 122222 disposed at the motor shaft end of the second driving motor 122221, a second driven synchronous pulley 122223 disposed along a first straight line L1 with the second driving synchronous pulley 122222, and a second synchronous belt 122224 sleeved on the second driving synchronous pulley 122222 and the second driven synchronous pulley 122223. The second driving motor 122221, the second driving timing pulley 122222, and the second driven timing pulley 122223 are all fixed on the bottom surface of the tarmac body 11, and the two second sliding portions are respectively and fixedly connected to two opposite belt surfaces of the second timing belt 122224, so that the two second sliding portions can be driven by the second driving motor 122221 to move along the first straight line L1 in an opposite direction or in a relative motion.

In the above embodiment, the first belt driving unit 12122 and the second belt driving unit 12222 intersect with each other, and the first timing belt 121224 and the second timing belt 122224 are displaced from each other in the vertical direction.

The first sliding portion includes: and a first slider 12223, the first slider 12223 being fixed to the first clamp 1211, the first slider 12223 being slidably disposed on the first guide rail 121211, the first sliders 12223 of the two first clamp 1211 being fixedly attached to two opposite belt surfaces of the first timing belt 121224, respectively. More specifically, the first guide rail 121211 is provided with two first guide rails 121211, the two first guide rails 121211 are respectively provided at two ends of the two first clamping members 1211, the two ends of the first clamping members 1211 are both provided with the first sliding blocks 12223, and the first sliding portion further includes: and a first connecting member 12224, wherein the first connecting member 12224 is used for connecting the first sliding blocks 12223 respectively arranged at two ends of the first clamping member 1211, and the first sliding blocks 12223 at the same end of each first clamping member 1211 are slidably arranged on the corresponding first guide rail 121211. The first connecting members 12224 are located below the bottom surface of the apron body 11, and the first connecting members 12224 corresponding to the first clamping members 1211 are fixedly connected to the opposite belt surfaces of the first timing belt 121224, respectively.

The second sliding portion includes: and the second slide block 12323, the second slide block 12323 is fixed on the second clamping member 1221, the second slide block 12323 is slidably disposed on the second guide rail 122211, and the second slide blocks 12323 on the two second clamping members 1221 are fixedly connected to two opposite belt surfaces of the second timing belt 122224, respectively. More specifically, the second guide rails 122211 are also provided with two, the two second guide rails 122211 are respectively provided at two ends of the two second clamping members 1221, the two ends of the second clamping members 1221 are both provided with the second sliding blocks 12323, and the second sliding portion further includes: and a second connecting member 12324, the second connecting member 12324 being used to connect the second sliding blocks 12323 respectively disposed at two ends of the second clamping member 1221, and the second sliding block 12323 at the same end of each second clamping member 1221 is slidably disposed on the corresponding second guiding rail 122211. The second connecting member 12324 is located below the bottom surface of the apron body 11, and the second connecting member 12324 corresponding to each second clamping member 1221 is fixedly connected to two opposite belt surfaces of the second timing belt 122224.

In the present embodiment, in order to prevent the first link 12224 and the second link 12324, which move, from affecting each other, the first link 12224 and the second link 12324 are displaced from each other in the vertical direction.

As above, slider and guide rail are led for the removal of clamping piece, and driving motor, initiative synchronous pulley, driven synchronous pulley and hold-in range provide power for the removal of slider, so, not only the operation is stable, and the clamping piece both ends atress is balanced, and adopts slip direction and hold-in range driven mode, still can effectively reduce the production of noise.

In this application, first driving motor 121221 and second driving motor 122221 are all servo motors, and the control through servo controller can set up corresponding angular displacement to servo motors to avoid first slider 12223 and second slider 12323 to roll off first guide rail 121211 and second guide rail 122211 respectively. Of course, in some embodiments, the sliding travel of the first slider 12223 and the second slider 12323 may be limited by providing a proximity switch. For example, taking the case of providing a proximity switch on the first guide rail 121211, the proximity switch may be provided at each end of the first guide rail 121211 in the length direction, and another proximity switch may be provided at the end position of the first slider 12223 after sliding toward each other (i.e., at the position where the drone is positioned in the positioning area), and each proximity switch is electrically connected to the first driving motor 121221, so that the stroke of the first slider 12223 may be controlled.

In the present application, the tarmac body 11 has two opposite first sides 111 parallel to the first line L1 and two opposite second sides 112 parallel to the second line L2. The two first guide rails 121211 are disposed on the two second side surfaces 112, respectively, and the two second guide rails 122211 are disposed on the two first side surfaces 111, respectively.

In a preferred embodiment, the apron body 11 is a rectangular parallelepiped apron body, and the two first side surfaces 111 and the two second side surfaces 112 enclose the sides of the rectangular apron body. The first clamping member 1211 is a first clamping bar, the second clamping member 1221 is a second clamping bar, the axes of the two first clamping bars are parallel to the second side surface 112 of the rectangular apron body, the axes of the two second clamping bars are parallel to the first side surface 111 of the rectangular apron body, and the positioning area provided on the apron body 11 is located at the middle of the rectangular apron body. The first straight line L1 and the second straight line L2 are perpendicular to each other.

In the above embodiment, the length of the first clamping bar is equal to the length of the second side surface 112, and the length of the second clamping bar is equal to the length of the first side surface 111, and in order to prevent the moving first clamping bar and the moving second clamping bar from interfering with each other, the first clamping bar and the second clamping bar are vertically displaced from each other.

Referring to fig. 3, the pick-and-place device 200 includes: the pick-and-place lifting assembly 21, the bearing table 22 and the positioning assembly 23, the bearing table 22 is disposed on the pick-and-place lifting assembly 21, and the pick-and-place lifting assembly 21 is used for driving the bearing table 22 to ascend to the delivery opening, or driving the bearing table 22 to reset from the delivery opening. The positioning assembly 23 is used to position goods removed from or delivered to the delivery port, which are displaced during ascent or descent.

In particular, the carrier 22 is used for carrying goods, that is, can carry goods to be delivered, and can also carry goods to be sent out. The pick-and-place lift assembly 21 serves to output a reciprocating motion in a vertical direction to ascend or descend. When the pick-and-place lifting assembly 21 drives the bearing platform 22 to ascend to the delivery opening, the bearing platform 22 receives the goods to be delivered conveyed from the unmanned aerial vehicle 500, or conveys the goods to be sent to the unmanned aerial vehicle 500. When the pick-and-place lifting assembly 21 drives the bearing table 22 to descend and reset, the bearing table 22 conveys the goods to be delivered conveyed from the unmanned aerial vehicle 500 to the buffer device 300, or receives the goods to be delivered from the buffer device 300.

With continued reference to fig. 3, the caching apparatus 300 includes: a cache line 31, at least one cache block 32, and a cache block elevation drive assembly 33, all of the cache blocks 32 disposed on the cache line 31 and forming cache bits on the cache line 31. The buffer stop lifting driving component 33 is disposed below the buffer line 31, and is configured to drive the buffer stop 32 to perform a lifting motion in a vertical direction, specifically, the buffer stop lifting driving component 33 drives the buffer stop 32 to lift to stop the cargo and to lower to release the cargo.

Specifically, the cache line 31 includes: the buffer stop lifting mechanism comprises a mounting frame 311, a plurality of rollers 312 and a roller driving assembly (not shown), wherein one end of the mounting frame 311 is connected to the pick-and-place device 200, all the rollers 312 are horizontally arranged and rotatably mounted on the mounting frame 311, the roller driving assembly is used for driving all the rollers to rotate so as to convey goods, and when the goods are conveyed to a corresponding buffer position, the buffer stop lifting driving assembly 33 drives the buffer stop 32 to lift, so that the goods are stopped at the buffer position. Specifically, the buffer stopper 32 is raised or lowered from between the adjacent two rollers 312.

In this embodiment, two buffering devices 300 are provided, one buffering device 300 may be used for buffering the goods to be delivered, and the other buffering device 300 may be used for buffering the goods to be posted. Of course, the category of the goods cached by the two caching devices may not be limited, and only the goods information identification mark on the goods is used for identification.

In the above embodiment, the first belt driving unit is disposed on the carrier table 22, the second belt driving unit is disposed on the buffer line 31, and when the carrier table 22 is lowered to be substantially in the same plane as the buffer line 31, the first belt driving unit is abutted against the second belt driving unit, and the first belt driving unit can transfer the goods thereon to the second belt driving unit, that is, transfer the goods from the carrier table 22 to the buffer line 31. The second belt drive assembly may transfer the goods thereon onto the first belt drive assembly, i.e. from the buffer line 31 to the carrier table 22.

Referring to fig. 1, 8, 9, and 14-19, the dispensing device 400 includes: a dispensing track 41, at least one dispensing car 42, and a fork 43, the fork 43 being arranged on the dispensing car 42, i.e. each dispensing car 42 is provided with a fork 43. One end of the distribution rail 41 is butted with the pick-and-place device 200, and the other end is butted with at least one preset goods delivering position D. The distribution vehicle 42 can reciprocate along the length direction of the distribution track, so as to take the goods to be distributed at the position where the pick-and-place device 200 is butted with or convey the goods to be sent out; or, the goods to be sent out are taken away at a position abutting against a preset delivery position, or the goods to be delivered are delivered. The fork 43 is used for taking the goods to be delivered from the pick-and-place device 200 and delivering the goods to be delivered to the preset delivery location, or the fork 43 is used for taking the goods to be mailed from the preset delivery location and delivering the goods to be mailed to the pick-and-place device 200.

Specifically, the fork 43 takes the goods to be delivered from the buffer device 300, or transfers the goods to be mailed to the buffer device 300, and a plurality of goods to be delivered or a plurality of goods to be mailed can be stored in the buffer device 300.

Referring to fig. 8, 9 and 10, the dispensing track 41 includes: a main track 411, a plurality of branch tracks 412, and a plurality of track deviators 413, wherein only one branch track 412 and one track deviator 413 are shown in fig. 8 and 9 for illustration. A plurality of first tracking gaps a (only one is shown) are provided in the main track 411, the number of which corresponds to the number of the plurality of branch tracks 412, and a second tracking gap B is provided in each branch track 412.

Referring to fig. 9 and 10, the track changing device 413 includes: the rail-changing power mechanism 4131 and the moving rail 4132, wherein the rail-changing power mechanism 4131 drives the moving rail 4132 to switch between the first rail-changing vacant position A and the second rail-changing vacant position B so as to realize rail changing. The moving rail 4132 has a length at least capable of accommodating the delivery vehicles 42 traveling on the delivery rails 41 (main rail and branch rail). In other words, the delivery vehicle 42 can stay on the moving rail 4132. The track-changing power unit 4131 is used to drive the moving track 4132 to change the track of the delivery vehicle 42 between the main track 411 and the branch track 412. Specifically, the rail change is realized by moving the moving rail 4132, so that the distribution vehicles 42 in the same distribution path can share one distribution rail, the distribution vehicles 42 can change the distribution path in the rail change manner, the distribution rail system can be flexibly arranged, and the arrangement efficiency is improved.

The rail-changing power mechanism 4131 may adopt different driving methods to realize the movement of the moving rail 4132, as shown in fig. 10, the rail-changing power mechanism 4131 is a cylinder driving method, a piston rod 41312 of a cylinder is fixed with the moving rail 4132, and the piston rod 41312 extends and contracts in the cylinder 41311, so that the moving rail 4132 switches between two positions A, B. Alternatively, the track-changing power mechanism may include a linear motor, and the linear motor may drive the movable track 4132 to move, thereby realizing the track-changing operation. Furthermore, the rail-changing power mechanism may also be composed of a servo motor and a transmission mechanism, wherein the servo motor is in transmission connection with the moving rail 4132 through the transmission mechanism to realize the rail-changing action of the moving rail 4132.

In the above embodiment, one end of the main track 411 is butted against the aforementioned buffer device 300, the end of the branch track 412 is the aforementioned preset delivery space D, the second orbital transfer space B is provided on the branch track 412, and both the first orbital transfer space a and the second orbital transfer space B are adapted to the moving rail 4132 so that the moving rail 4132 is butted against the main track 411 at the first orbital transfer space a or butted against the branch track 412 at the second orbital transfer space B. Accordingly, the rail-changing power mechanism 4131 drives the moving rail 4132 to switch between the first rail-changing vacant position a and the second rail-changing vacant position B, so as to realize the rail-changing operation of the delivery carriage 42.

In order to realize an automatic cargo delivery scheme, a delivery information identifier matched with a preset delivery position D can be arranged on the cargo to be delivered or the cargo to be sent out, an identification unit for identifying the delivery information identifier is arranged on each moving rail 4132 of each track direction changing device 413, the identification unit is electrically connected with the track-changing power mechanism 4131, and is used for controlling the delivery vehicle 42 to move to a first track-changing vacancy a of the main track 411 corresponding to a second track-changing vacancy B of the branch track 412 and enabling the track-changing power mechanism 4131 to drive the moving rail 4132 corresponding to the preset delivery position D to switch between the first track-changing vacancy a of the main track 411 and the second track-changing vacancy B of the branch track 412 corresponding to the preset delivery position D so as to realize track changing, and further delivering the cargo to be delivered to the preset delivery position D, or, the goods needing to be sent out from the preset goods delivery position D are delivered to the unmanned aerial vehicle.

As shown in fig. 8 and 9, the main track 411 and the branch track 412 are both single tracks, the movable track 4132 is straight, the first rail-changing vacancy a and the second rail-changing vacancy B are arranged in parallel, and the rail-changing power mechanism 4131 drives the movable track 4132 to switch between the first rail-changing vacancy a and the second rail-changing vacancy B, so as to realize the rail-changing operation of the delivery vehicle 42.

Specifically, the main rail 411 and the branch rail 412 may be assembled by a rail assembly to which the moving rail 4132 belongs. Referring to fig. 11 and 12 together, the track assembly has: straight rail 4111, first upright curved rail 4112, second upright curved rail 4113, first turn rail 4114, and second turn rail 4115. In other words, main track 411 and branch track 412 both include: one or more of straight rail 4111, first upright curved rail 4112, second upright curved rail 4113, first turn-around rail 4114, and second turn-around rail 4115.

The straight rail 4111 is used for the dispensing cart 42 to move linearly. The straight rail 4111 is straight, and the body thereof is a rail profile, that is, the rail of the present invention is a monorail, the main body is made of profiles, and other parts are provided on the profiles, which will be described in detail later. The length of the moving rail 4132 is usually not more than the length of the straight rail 4111, and its body is also a rail profile.

First upright bend 4112 is used to transition dispensing cart 42 from horizontal to upward advancement. Of course, the dispensing car generally reciprocates on the track so that the dispensing car 42 moves from a downward travel to a horizontal travel as it returns past the first upright curved rail 21. For ease of description, the present invention will be described in terms of the direction in which the dispensing vehicle 42 is advanced. Likewise, the body of the first upright curved rail 4112 is a rail profile, which in this embodiment differs from the rail profile of the straight rail 4111 in length and shape (one straight and one curved).

A second upright angled rail 4113 is used to transition the dispensing cart 42 from upward travel to horizontal travel. Similarly, the second upright curved rail 4113 is a rail profile, which is different from the rail profile of the first upright curved rail 21 in the bending direction in this embodiment.

It can be seen that both vertical curved tracks allow the dispensing vehicle 42 to switch between horizontal and vertical movement. The track profiles of the two upright bent rails can be symmetrical left and right, so that the first upright bent rail 4112 and the second upright bent rail 4113 are identical. In this embodiment, the two rail profiles of the upright curved rails are not symmetrical to each other, so they are different.

First turnaround rail 4114 is used to turn cart 42 to the left. Likewise, first turnaround bend 4114 is a track profile.

Second turnaround bend 4115 provides for right-hand turnaround of cart 42. Similarly, the body of second curved deflecting rail 4115 is a track profile.

It can be seen that both types of deflecting tracks allow the dispensing vehicle 42 to deflect in a horizontal plane or in a vertical plane. The track profiles of both types of turnaround bends may be symmetrical from side to side so that first turnaround bend 4114 and second turnaround bend 4115 are identical. In this embodiment, the two track profiles of the turning curved rail are not symmetrical to each other, so that the two track profiles are different.

Move between rail 4132, straight rail 4111, first upright curved rail 4112, second upright curved rail 4113, first turn to curved rail 4114 and second turn to curved rail 4115 these six all adaptations, promptly these six can make up wantonly, realize the equipment of various orbits, the various installation environment of adaptation that can be fine has improved the efficiency that the track was laid.

The rail profiles of the straight rail 4111 and the moving rail 4132 are straight. The track profile of the first vertical curved rail 4112 is curved upwards in the moving direction of the distribution vehicle and is in arc transition; for example, the side surface of the rail profile of the first upright rail 4112 is "L" shaped, and the corners are circular arc transitions. The track profile of the second upright curved rail 4113 is bent downwards in the moving direction of the distribution vehicle and is in arc transition; for example, the side surface of the rail profile of the second upright bent rail 4113 is shaped like "7", and the corners are rounded. The track profile of the first turning rail 4114 is bent to the left in the moving direction of the distribution vehicle and is in arc transition; for example, the front face of the rail profile of the first turnaround rail 4114 is "7" shaped, and the corners are rounded off. The rail profile of the second deflecting curved rail 4115 is bent to the right in the moving direction of the distribution vehicle and is in arc transition; for example, the back surface of the rail profile of the second turning rail 4115 is shaped like a "7", and the corners are rounded off.

The track assembly also includes a support seat 414. The support base 414 is used for supporting the track profile of the moving rail 4132, and also for supporting the track profile of the straight rail 4111, and also for supporting the track profile of the first upright bent rail 4112, and also for supporting the track profile of the second upright bent rail 4113, and also for supporting the track profile of the first turning bent rail 4114, and also for supporting the track profile of the second turning bent rail 4115. The supporting seat 414 is adopted to support the rail, so that the space can be saved more than the hoisting mode, and the arrangement of the rail is convenient.

As shown in fig. 9 and 12, in the present embodiment, the supporting seat 414 includes: a connecting plate 415 disposed at the top, a bottom plate 416 disposed at the bottom, and a post 417 connecting the connecting plate 415 and the bottom plate 416. The base plate 416 is used to be fixed to an external object such as a floor, a building, etc. The upright 417 serves primarily as a support. The connection plate 415 is used to connect two rail profiles, for example, a rail profile connecting two straight rails 4111, a rail profile connecting a straight rail and a curved rail, and a rail profile connecting two curved rails. The cross section structures and the sizes of the rail profiles of the moving rail 4132, the straight rail 4111, the first vertical bent rail 4112, the second vertical bent rail 4113, the first turning bent rail 4114 and the second turning bent rail 4115 are the same, so that when the rails are installed, the two rail profiles are butted and fixed on the connecting plate 415, the assembly of the two rail profiles is completed, and the operation is very convenient.

The cross-sectional structures of the rail profiles of the straight rail 4111, the first upright bent rail 4112, the second upright bent rail 4113, the first turning bent rail 4114 and the second turning bent rail 4115 are the same, and in this embodiment, as shown in fig. 13, a power supply mechanism mounting groove 430, a transmission mechanism mounting groove 432 and a signal line mounting groove 434 are arranged on the rail profiles. The power supply mechanism mounting groove 430 is used for mounting a trolley line support 440, a trolley line 441 is fixed on the trolley line support 440, and the trolley line 441 is in sliding contact with a trolley line contact on the distribution vehicle 42 to supply power to the distribution vehicle 42. The transmission mechanism mounting groove 432 is used for mounting a transmission rack 4214, the transmission rack 4214 can be mounted in each rail section in advance, and the transmission rack 4214 can also be mounted uniformly after the rail section is laid. The transmission rack 4214 is used for matching with a transmission gear 4212 on the delivery vehicle to drive the delivery vehicle. The signal line installation groove 434 is used for installing the cable holder 442, and a signal cable 443 is fixed to the cable holder 442, and the signal cable 443 is used for transmitting a control signal of the dispensing vehicle. Therefore, the trolley track 441, the signal cable 442 and the transmission rack 4214 can be integrated on the track, so that the trolley track is high in integration level, small in overall size, small in occupied space after being arranged on the site, and high in arrangement efficiency.

A sliding guide portion 431 is further disposed on each of two sides of the transmission mechanism mounting groove 432, and the sliding guide portion 431 of this embodiment is a guide surface for sliding contact with a guide wheel on the dispensing vehicle to guide the guide wheel.

The front surface of the track profile is also provided with a sliding label mounting position 433, the sliding label mounting position 433 is used for mounting a label containing position information, and the distribution vehicle is provided with a scanner which is used for scanning the label to obtain the current position of the distribution vehicle; the label can be one or a combination of a plurality of electronic labels, one-dimensional codes, two-dimensional code labels and bar code labels. And when the current position information acquired by scanning of the scanner corresponds to a preset delivery position D with the delivery goods required to be delivered, the delivery vehicle can be controlled to stop at the current position.

The left end face, the right end face and the back face of the rail profile are respectively provided with at least one guide limiting part 435, and the guide limiting parts 435 are used for being matched with guide wheels (namely, a rigid guide wheel and a flexible guide wheel in the following embodiment) on a distribution vehicle, guiding the guide wheels and positioning the guide wheels to prevent the guide wheels from swinging. In this embodiment, the left and right sides of the back of the track profile are respectively provided with a guiding limiting part 435. The guide limiting part 435 may be a rectangular guide limiting groove, and the guide wheel may slide in the guide limiting groove to guide the distribution vehicle; meanwhile, two end faces of the guide wheel are in contact with the inner parts of two sides of the guide limiting groove so as to axially limit the guide wheel.

Two sides of the back of the end of the rail section bar are respectively provided with a limit connecting groove 436 arranged along the moving direction of the distribution vehicle. The limit connecting groove 436 is used for sliding the head of the screw and the bolt and preventing the screw and the bolt from falling off. The limiting connection groove 436 of the present embodiment is T-shaped, the head of the bolt or screw is disposed in the limiting connection groove 436, and the limiting connection groove 436 limits the head of the bolt or screw, so that the head of the bolt or screw cannot be disengaged. The connecting plate is fixed with the rail section bar through screws or bolts in the limiting connecting grooves 436. The connecting plate can be provided with a plurality of bolt through holes for bolts in the limiting connecting groove 436 to pass through, and the nuts are screwed during installation, so that the operation is very convenient and fast, the process is simplified, and the track laying speed is improved.

Wherein, spacing connecting groove 436 can run through whole track section bar, so, when needs adjustment track section bar length, directly cut off some section bars can, convenient and fast. The limit connecting grooves 436 do not penetrate through the whole track profile, namely, the two ends of the track profile are both provided with the limit connecting grooves 436, the length of the limit connecting grooves 436 is not more than half of that of the track profile, and thus, the profile with a certain length can be cut off.

Referring to fig. 14 and 15, the delivery vehicle 42 includes: a traveling device 421 for driving the rail to reciprocate along the length direction of the dispensing track, the traveling device 421 comprising: the dispensing vehicle includes a dispensing vehicle body, a mounting bracket 4211, a transmission gear 4212 provided on the mounting bracket 4211, a drive mechanism 4213, and a guide mechanism. The mounting bracket 4211 is used for fixedly mounting the distribution vehicle body, and the distribution vehicle body is used for bearing goods. The transmission gear 4212 is rotatably mounted on the mounting bracket 4211 through transmission rotation, the guide mechanism is used for being matched with the guide limiting part 435 on the track profile to guide and limit the walking device, the running stability of the walking device is guaranteed, the driving mechanism 4213 is in transmission connection with the transmission gear 4212 through a transmission shaft to drive the transmission gear 4212 to rotate clockwise or anticlockwise, and the rotating transmission gear 4212 moves along the transmission rack 4214 to drive the distribution vehicle body to reciprocate. Preferably, the driving mechanism 4213 drives the transmission shaft to rotate by adopting a mode of matching a servo motor and a speed reducer, so as to drive the transmission gear 4212 to rotate.

With continued reference to fig. 14 and 15, the guiding mechanism in the above embodiment includes at least one rigid guiding member 4215 disposed at the bottom of the mounting bracket 4211, and the rigid guiding member 4215 is configured to cooperate with the guiding and limiting portion 161 at the bottom of the track to guide the dispensing vehicle 42, and simultaneously limit the dispensing vehicle 42 in the horizontal direction, so as to prevent the vehicle from swinging left and right, and ensure the stability of the running device.

The guide mechanism of the embodiment further comprises flexible guide members 4216 arranged on the side wall of the mounting support 2, at least one flexible guide member 4216 is respectively arranged on the left side wall and the right side wall of the mounting support, the flexible guide members 4216 are used for being matched with the guide limiting parts 435 on the left end face and the right end face of the track to guide the distribution vehicle 42, meanwhile, the distribution vehicle 42 is limited in the vertical direction, the vertical swing of the distribution vehicle is prevented, and the running stability of the running device is guaranteed.

Through the cooperation of the rigid guide 4215 and the flexible guide 4216 in the embodiment, the movement track of the walking device can be accurately guided, and meanwhile, the rigid guide 4215 and the flexible guide 4216 are matched to limit the walking device in the horizontal and vertical directions, so that the running stability of the walking device is ensured.

Preferably, the rigid guide 4215 of the present embodiment is a rigid guide wheel 4215, the flexible guide 4216 is a flexible guide wheel, and the rigid guide wheel 4215 and the flexible guide wheel 4216 each comprise a mounting shaft and a rotating wheel, and the mounting wheel is mounted on the mounting shaft and is rotationally connected with the mounting shaft. The guide limiting parts 435 on the bottom and the side walls of the track are rectangular guide limiting grooves, the rotating wheels of the rigid guide wheel 4215 and the flexible guide wheel 4216 are arranged in the guide limiting grooves, and when the walking device runs, the rotating wheels rotate in the guide limiting grooves so as to accurately guide the walking device. The two end faces of the rigid guide wheel 4215 and the flexible guide wheel 4216 are respectively contacted with the two inner side walls of the guide limiting groove, and the guide limiting groove 435 is used for axially limiting the rigid guide wheel and the flexible guide wheel, so that the distribution vehicle 42 is limited in the horizontal direction at the same time, the left and right swinging of the distribution vehicle is prevented, and the running stability of the running device is ensured.

When the traveling device in the above embodiment is used for cargo distribution, the distribution vehicle 42 is fixed on the mounting bracket 4211, and the traveling device is fixed on the distribution track 41 through the limit and guide matching of the rigid guide wheel 4215, the flexible guide wheel 4216 and the guide limit groove 435, so that the transmission gear 4212 and the transmission rack 4214 are engaged all the time in the operation process, the separation phenomenon is avoided, and the stable traveling of the distribution vehicle 42 is ensured.

Referring to fig. 16 and 17, the present application provides a distribution vehicle body including: a turnover unit 45 for turning over the body of the dispensing vehicle to be always kept in a horizontal state when the body of the dispensing vehicle is changed from a horizontal advance to an upward advance or from the upward advance to the horizontal advance along the dispensing track 42, the turnover unit 45 comprising: a connection base 451, a tumble drive mechanism, a blade 452, and at least one linkage having a collapsed state and an expanded state. The upper end of the link mechanism is hinged to the support plate 452, the lower end of the link mechanism is connected with the connecting base 451 in a sliding mode, and the turnover driving mechanism is connected with the link mechanism in a transmission mode and used for driving the lower end of the link mechanism to slide on the connecting base 451, so that the link mechanism is switched between the folding state and the unfolding state. When the link mechanism is in a folded state, the connecting base 451 and the supporting plate 452 are both in a horizontal state; when the linkage is in the unfolded state, an included angle is formed between the connecting base 451 and the supporting plate 452, and the supporting plate 452 is kept in a horizontal state. The car body is fixed to the supporting plate 452, so that the car body is always kept horizontal.

When the rail is distributed, the connecting base 451 is arranged on the mounting bracket 4211, when the distribution vehicle 42 changes the direction from the advancing direction to the horizontal direction, the lower end of the link mechanism is driven by the driving mechanism to slide on the connecting base 451, so that the connecting base 451 is gradually switched from a parallel state relative to the supporting plate 452 to a perpendicular state relative to the supporting plate 452, that is, the plane where the connecting base 451 is located and the plane where the supporting plate 452 is located are gradually switched from a parallel state to a state where the supporting plate 452 forms a certain included angle, and the supporting plate 452 keeps the horizontal state, which means that when the vehicle changes the direction, only the connecting base follows the distribution vehicle 42 to change the direction, so that the supporting plate always keeps the horizontal state in the whole direction changing process, that when the distribution vehicle changes the direction, only the connecting base 451 follows the distribution vehicle, and the supporting plate 452 always keeps the horizontal state in the whole direction changing process, the articles placed on the supporting plate can not be toppled over, and the distribution safety is improved.

Wherein, still symmetry is provided with a pair of articulated parts 453 between the left end of the bottom of connecting base 451 and the left end of layer board 452, and the left end of the bottom of connecting base 451 is articulated through this articulated parts 453 with the left end of layer board 452 for both connect more stably.

Correspondingly, when the direction is changed, when the connecting base 451 and the supporting plate 452 are switched to the horizontal state from the state of forming a certain included angle, the driving mechanism drives the lower end of the connecting rod mechanism to slide on the connecting base 451 in the opposite direction, so that the connecting base 451 is gradually switched to the state of being horizontal relative to the supporting plate 452 from the state of forming a certain included angle relative to the supporting plate 452, namely, the plane where the connecting base 451 is located and the plane where the supporting plate 452 is located are gradually switched to the state of being parallel to the supporting plate 452 from the state of forming a certain included angle, which is equivalent to that when the distribution vehicle changes the direction, only the connecting base changes the direction along with the distribution vehicle, so that the supporting plate is always kept in the horizontal state in the whole direction changing process, articles placed on the supporting plate.

In the embodiment, the angle formed by the connecting base 451 and the supporting plate 452 is changed between 0-90 °, that is, when the connecting base 451 and the supporting plate 452 are switched from a horizontal state to a state of forming a certain included angle, the two limit positions are perpendicular to each other.

When the rail distribution is carried out, the connecting base 451 is fixed on the distribution vehicle 42 or the moving mechanism, when the distribution vehicle 42 or the moving mechanism changes the direction from the horizontal moving direction to the vertical moving direction, the driving mechanism drives the lower end of the link mechanism to slide on the connecting base 451, so that the connecting base 451 is gradually switched from a parallel state relative to the supporting plate 452 to a perpendicular state relative to the supporting plate 452, namely, the plane where the connecting base 451 is located and the plane where the supporting plate 452 is located are switched from a parallel state to a perpendicular state relative to each other, which is equivalent to that when the vehicle changes the direction, only the connecting base 451 changes the direction along with the distribution vehicle 42, and the supporting plate 452 is always kept in a horizontal state in the whole changing process, so that articles placed on the supporting plate cannot topple over, and the distribution. Similarly, when the connecting base 451 is gradually switched from a state perpendicular to the supporting plate 452 to a state parallel to the supporting plate 452, the driving mechanism drives the sliding direction and displacement of the lower end of the link mechanism on the connecting base 451, and the movement principle is the same as that described above, and will not be described again.

The link mechanism of the present embodiment includes a first link 454, a second link 455, and a third link 456, and the upper ends of the first link 454 and the second link 455 are the upper ends of the link mechanism, that is, the upper ends of the first link 454 and the second link 455 are hinged to the supporting plate 452. A hinge portion is provided on the second link 455, and one end of the third link 456 is hinged to the lower end of the first link 454, and the other end is hinged to the hinge portion on the second link 455. Specifically, the hinge joint of this embodiment is a rotary connection, for example, the hinge joint may be a connection hole or a connection shaft, and the other end of the third link 456 is provided with a connection shaft or a connection hole corresponding thereto, and the two are matched through a shaft hole to realize the rotary connection. The lower end of the second link 455 is the lower end of the link mechanism, the lower end of the second link 455 is used for being slidably connected with the connecting base 451, and the sliding direction is parallel to the plane formed by the first link 454, the second link 455 and the third link 456.

Of course, in other embodiments, the linkage mechanism may be formed by combining other types of links.

The connecting base 451 of the present embodiment is a rectangular groove, and includes a bottom plate 4511 and a side plate 4512, wherein a sliding groove 4513 is disposed on an inner wall of the front side plate and the rear side plate 4512, the flipping device 45 further includes a transmission rod 457, a lower end of the second connecting rod 455 is hinged to the transmission rod 457, two ends of the transmission rod 457 are respectively disposed in the sliding grooves 4513 of the front side plate and the rear side plate 4512, and the driving mechanism is connected to the transmission rod 457 and is configured to drive the transmission rod 457 to slide in the sliding groove 4513, so as to drive the lower end of the second connecting rod 455 to slide on the bottom plate 4511. The driving connecting rod is retracted and then is accommodated in the rectangular groove.

In another embodiment, the connection base 451 may only include a bottom plate 4511, the bottom plate 4511 is provided with a sliding slot, the lower end of the second link 455 is located in the sliding slot of the bottom plate 4511, and the driving mechanism is used to drive the lower end of the second link 455 to slide in the sliding slot of the bottom plate 4511, which also can achieve the purpose of the present application.

In this embodiment, the sliding displacement of the lower end of the second link 455 on the bottom plate 4511 (i.e., the sliding distance of the transmission rod 457 in the sliding slot) is positively or negatively correlated with the size of the included angle formed by the connecting base 451 and the supporting plate 452, and the positive correlation and the negative correlation are based on the sliding direction due to the displacement direction.

The turning device of this embodiment includes two of the above-mentioned link mechanisms, wherein the two link mechanisms are respectively disposed at the bottom of the supporting plate 452 near to the two sides to realize stable support of the supporting plate. In other embodiments, one or more linkages may be provided as desired.

The driving mechanism of this embodiment includes a retractable push rod 458, and the front end of the push rod 458 is connected to the driving rod 457 for driving the driving rod 457 to slide in the sliding slot of the side plate 4512. The driving device of this embodiment is fixed on the bottom plate 4511, and may use a linear driving motor or an air cylinder.

Further, the turning device of the embodiment further includes an angle sensor, which is disposed at any position of the connection base 451 and moves along with the connection base 451 when the connection base 451 is turned or changes direction, so as to measure the rotation angle of the connection base 451 relative to the horizontal plane in real time. The turnover device further comprises a controller, the controller is connected with the angle sensor and the driving mechanism through cables, and the controller is used for controlling the movement displacement of the driving mechanism according to the rotation angle measured by the angle sensor. The telescopic displacement of the push rod 458 is controlled, the sliding displacement of the lower ends of the transmission rod 457 and the second connecting rod 455 is further controlled, the turning angle of the connecting base 451 can be controlled according to the turning angle in real time, namely, the angle compensation is performed, so that the supporting plate 452 is always kept in a horizontal state, articles placed on the supporting plate 452 cannot topple over, and the distribution safety is improved.

Wherein the connection base 451 is used for connection with the dispensing car 42 or the moving mechanism. Further, in order to reduce the vibration damage to the conveyed product during the turning process, a plurality of shock absorbing pads are further arranged on the connecting base 451 of the embodiment at the position contacting with the supporting plate 452, so as to reduce the contact vibration between the supporting plate 452 and the connecting base 451 when the connecting base 451 is turned to the horizontal position or the vertical position.

Referring to fig. 18 and 19, the present application provides a dispensing vehicle body further including: a swing unit 46 for swinging the body of the dispensing vehicle 42 to be always kept in a horizontal state when the body of the dispensing vehicle turns left or right along the dispensing track 41, the swing unit 46 comprising: a cargo base 461 rotatably connected to the connecting base 451, wherein the cargo base 461 is disposed on the mounting bracket 4211, and the top of the cargo base 461 has a first fixing portion 463. The connecting base 451 is used for fixing with the traveling device 421 of the delivery vehicle 42, the connecting base 451 is provided with a second fixing portion 464, and the first fixing portion 463 and the second fixing portion 464 are rotatably connected through a rotating shaft 465.

The goods base 461 and the connecting base 451 each include a plate-shaped structure having a thickness, so that the goods base 461 can relatively rotate with respect to the connecting base 451 when the first fixing portion 463 and the second fixing portion 464 are connected by the rotation shaft 465.

The goods base 461 is provided with a limiting sliding groove 466, the connecting base 451 is provided with a positioning pin 467, and the positioning pin 467 is suitable for being inserted into the limiting sliding groove 466, so that the limiting sliding groove 466 can limit the rotation angle of the connecting base 451.

Referring to fig. 19, in the present embodiment, the limiting sliding groove 466 is an arc-shaped track, two ends of the limiting sliding groove 466 are end points of the track, and two ends of the limiting sliding groove 466 are provided with locking openings for limiting the positioning pin 467, so that when the positioning pin 467 moves to a certain end point, the positioning pin 467 can stay at the end point to limit the deflection amplitude of the connecting base 451. It will be appreciated that limiting the amount of yaw of the attachment base 451 means limiting the angle of rotation of the attachment base 451 relative to the cargo base 461. In this embodiment, the limit sliding groove 466 limits the connection base 451 to swing within a range of plus or minus 95 °. In other embodiments, the limit runner 466 may also limit the connection base 451 from deflecting within a range of plus or minus 45 °.

In this embodiment, the position of the positioning pin 467 corresponds to the midpoint of the positioning sliding groove 466, the moving track of the positioning pin 467 is a partial circumference taking the center of the rotating shaft as the center of the circle and the distance from the center of the rotating shaft to the positioning pin 467 as the radius, or the shape of the positioning sliding groove 466 is a partial circumference taking the center of the rotating shaft as the center of the circle and the distance from the center of the rotating shaft to the positioning pin 467 as the radius.

According to the swing device 46 for the dispensing vehicle 42 as described above, the present embodiment may be provided with an angle sensor (not shown) and a holder 469 on the running gear 421, the angle sensor being used for measuring the rotation state of the running gear 421; the rotating state comprises a first state and a second state; the traveling device 421 is in the first state without rotating with respect to the connection base 451, and the traveling device 421 is in the second state with rotating with respect to the connection base 451.

For example, when the running gear 421 only moves on the horizontal track, or the running gear 421 only moves on the vertical track, the cargo on the tray 460 is kept stable by the gravity H, and the running gear 421 does not have an angular deflection with respect to the horizontal plane, that is, the running gear 421 does not rotate with respect to the connection base 451, and the angle sensor measures the movement state of the running gear 421 as the first state.

For example, when the running gear 421 is steered from the horizontal rail of the vertical rail to the left or right, since the cargo base 461 can rotate relatively to the connection base 451 and the cargo on the pallet 460 is acted by the gravity H, the cargo base 461 does not rotate relative to the horizontal plane, only the running gear 421 rotates, that is, the running gear 421 rotates relative to the cargo base 461, and the angle sensor measures the motion state of the running gear 421 to be the second state.

In this embodiment, the retainer 469 is activated to operate in the first state of the running gear 421 to limit the relative rotation between the running gear 421 and the cargo support 461. For example, when the running gear 421 is not angularly deflected with respect to the horizontal plane, the holder 469 operates to restrict the relative rotation between the running gear 421 and the cargo bed 461.

In this embodiment, the retainers 469 may include electromagnets and metal may be provided on the cargo mount 461 at corresponding locations. When running gear 421 does not take place the angle for the horizontal plane and deflect, the electro-magnet work, through magnetic force absorption live running gear 421 to restrict and rotate relatively between running gear 421 and the goods base 461, and then when guarantee running gear 421 moves in level or vertical track, reduce the possibility that goods base 461 rocks, improve the security in the freight transportation process.

The retainer 469 is closed by the trigger of the second state of the running gear 421, and the relative rotation between the running gear 421 and the cargo base 461 is released.

For example, when the walking device 421 deflects at an angle relative to the horizontal plane, the electromagnet is turned off, so that the walking device 421 and the cargo base 461 can rotate relatively, that is, only the walking device 421 rotates relative to the cargo base 461, and the cargo base 461 does not rotate relative to the horizontal plane, thereby ensuring the level of the cargo on the tray 460 during the steering process and ensuring the distribution safety of the cargo during the distribution process.

In this embodiment, the holder 469 includes at least two electromagnets symmetrically disposed on both sides of the connection base 451, that is, on both sides of the running gear 421.

In this embodiment, balls are disposed between the cargo base 461 and the traveling device 421 to reduce friction between the cargo base 461 and the traveling device 421, so as to reduce resistance when the cargo base 461 and the traveling device 421 rotate relatively, improve rotation efficiency, and ensure the service life of the distribution vehicle 42. In some embodiments, a layer of lubricating oil may be disposed between cargo bed 461 and running gear 421 to achieve the above-mentioned effects.

Distribution car 42 and pendulous device can be applied to track commodity circulation transmission field, especially medical treatment, takeaway dispatch, express delivery, aspect such as machine-building, have guaranteed that in distribution car 42 switched into horizontal rail by vertical track, the surface that goods base 461 is used for bearing the goods remains the level all the time to avoid the goods to topple over, guaranteed the distribution safety of product.

Referring to fig. 20, 21, 22 and 23, the present application provides for the fork 43 to be a bi-directional telescoping fork comprising: the method comprises the following steps: a fixed fork 431, a first telescopic fork 432, a second telescopic fork 433, and a telescopic driving mechanism 434.

The fixed fork 431 is fixed, and a first telescopic fork 432 is provided on the fixed fork 431, slidably coupled to the fixed fork 431, and reciprocally movable in a telescopic direction with respect to the fixed fork 431. The second telescopic fork 433 is used for carrying the cargo 600, is disposed on the first telescopic fork 432, is slidably connected with the first telescopic fork 432, and can move synchronously with the first telescopic fork 432 in the telescopic direction. A fixed rack 4311 is fixedly arranged on the fixed fork 431, and a first rack 4321 and at least one rotatable gear 4322 are arranged on the first telescopic fork 432. A second rack 4331 is provided on the second telescopic fork 433. Wherein the aforementioned gear 4322 provided on the second telescopic fork 433 is engaged with the second rack 4331 and the fixed rack 4311, and the gear 4322 is located between the second rack 4331 and the fixed rack 4311. Thus, when the first telescopic fork 432 extends relative to the fixed fork 431, the extending first telescopic fork 432 drives the gear 4322 to rotate, the rotating gear 4322 drives the second telescopic fork 433 to extend along the same direction, and the moving speed of the second telescopic fork 433 is twice as fast as the moving speed of the first telescopic fork 432.

The telescopic driving mechanism 434 includes: the telescopic driving motor 4341 is arranged on the fixed fork 431, the telescopic driving motor 4341 is in transmission connection with the driving gear 4342, the driving gear 4342 is meshed with the first rack 4321 on the first telescopic fork 432, the telescopic driving motor 4341 is used for driving the driving gear 4342 to rotate forwards or backwards, so that the first telescopic fork 432 is driven to extend or retract, and the extended or retracted first telescopic fork 432 drives the second telescopic fork 433 to extend or retract through the gear 4322.

In order to prevent the first telescopic fork 432 from being separated from the fixed fork 431 and the second telescopic fork 433 from being separated from the first telescopic fork 432, and meanwhile, in order to control the telescopic direction of the pallet fork, the telescopic driving motor 4341 adopts a servo motor, the telescopic driving mechanism 41 further comprises a servo driver, the servo driver is used for controlling the angular displacement and the rotating direction output by the servo motor, the corresponding angular displacement is output, the stroke of the first telescopic fork 432 can be controlled, and the rotating direction of the servo motor is controlled through the change of input current, so that the telescopic direction of the pallet fork can be controlled.

In this embodiment, the lengths of the fixed fork 431, the first telescopic fork 432, and the second telescopic fork 433 are substantially the same, the gear 4322 provided on the first telescopic fork 432 is fixed to the middle of the first telescopic fork 432 in the length direction, and the driving gear 4342 of the telescopic driving mechanism 434 is provided in the middle of the fixed fork 431 in the length direction. Thus, when the forks are in the retracted state, the drive gear 4342 is engaged in the middle of the first rack 4321, and the gear 4322 is engaged in the middle of the fixed rack 4311 and the second rack 4331.

When the pallet fork extends out, the telescopic driving motor 4341 starts to work to output a forward torque, the driving gear 4342 drives the first rack 4321 to move, the moving first rack 4321 drives the gear 4322 to rotate through the first telescopic fork 432, and the rotating gear 4322 drives the second rack 4331 to move, so that the second telescopic fork 433 is driven to synchronously extend out until the gear 4322 is meshed with the end part of the second rack 4331 and stops. When the fork is retracted, the telescopic driving motor 4341 outputs a reverse torque, and if the telescopic driving motor 4341 continues to rotate according to the output reverse torque, the first telescopic fork 432 and the second telescopic fork 433 extend in opposite directions, and likewise, stop until the gear 4322 engages with the end position of the second rack 4331. Cargo 600 is thus transferred back and forth in a cycle.

With continued reference to fig. 22, the telescopic driving mechanism 434 provided by the present application uses a synchronous belt transmission method for transmission, and the telescopic driving mechanism 434 further includes: the pallet fork driving device comprises a first driving synchronous pulley 4343, a first driven synchronous pulley 4344, a first driven driving shaft 4345 and a first synchronous belt 4346, wherein the first driving synchronous pulley 4343 is mounted at the motor shaft end of a telescopic driving motor 4341, the first driven synchronous pulley 4344 is arranged along the telescopic direction of the pallet fork, the first driven driving shaft 4345 is connected between the first driven synchronous pulley 4344 and two driving gears 4342, and the first synchronous belt 4346 is sleeved on the first driving synchronous pulley 4343 and the first driven synchronous pulley 4344.

When the second telescopic fork 433 is concertina movement, the goods 600 of bearing on the second telescopic fork 433 can break away from the second telescopic fork 433 in flexible direction because of the effect of inertia, consequently, the two-way telescopic fork that this application provided still includes: at least one load positioning mechanism 435 disposed on the second telescopic fork 433, the load positioning mechanism 435 being configured to block the load carried on the second telescopic fork 433 from disengaging from the second telescopic fork 433.

Specifically, the cargo positioning mechanism 435 includes: the positioning driving motor 4351 and the two stoppers 4352 are respectively disposed at two ends of the second telescopic fork 433 along the telescopic direction of the fork, the two stoppers 4352 are rotatably mounted on the second telescopic fork 433, and the two stoppers 4352 are both in transmission connection with the positioning driving motor 4351, and the positioning driving motor 4351 is used for driving the two stoppers 4352 to rotate back and forth between the release position and the blocking position. In the blocking position, the two stoppers 4352 face the inner side of the second telescopic fork 433 to block the displacement of the cargo 600 in the fork telescopic direction; in the release position, the two stops 4352 face outward of the second telescopic fork 433 to release the load 600. It will be appreciated that when the two stops 4352 are in the release position, a smooth transfer or roll-out of the second telescopic fork 433 of the load 600 is ensured.

In a preferred embodiment, both stops 4352 are rods, and when the rods are in a vertical state, they are in a release position of the stops 4352, and when the rods are in a horizontal state, they are in a blocking position of the stops 4352. The positioning driving motor 4351 drives the two stoppers 4352 to rotate from the vertical state to the horizontal state to block the cargo 600, and drives the two stoppers 4352 to rotate from the horizontal state to the vertical state to release or transfer the cargo 600. Accordingly, in order to better control the rotation angle of the stop 4352, the positioning driving motor 4351 also employs a servo motor, and controls the rotation angular displacement of the servo motor through another servo driver.

In the above embodiment, the transmission of the cargo positioning mechanism 435 is realized by a gear transmission, and then the cargo positioning mechanism 435 further includes: a driving gear provided on a motor shaft of the positioning driving motor 4351, a transmission shaft 4353 provided in a telescopic direction of the fork, a driven gear provided on the transmission shaft 4353, and two transmission gears 4354 provided at both ends of the transmission shaft 4353, respectively. The driving gear is engaged with the driven gear, an arc-shaped rack engaged with the transmission gear 4354 is further arranged on the stopper 4352, and the radian of the arc-shaped rack is greater than or equal to the required rotation angle of the stopper 4352.

The two-way telescopic fork that this embodiment provided still includes: a first sliding guide assembly disposed between the fixed fork 431 and the first telescopic fork 432, and a second sliding guide assembly disposed between the second telescopic fork 433 and the first telescopic fork 432. Wherein, first slip direction subassembly includes: first spout 4312 and first fixture block, first spout 4312 set up on fixed fork 431 along the length direction of fixed rack 4311, and first fixture block sets up on first flexible fork 432, and this first fixture block slidable joint is in first spout 4312, so, can guarantee that first flexible fork 432 stable sliding connection is on fixed fork 431. The second sliding guide assembly includes: second spout 4323 and second fixture block, second spout 4323 set up on first telescopic fork 432 along the length direction of first rack 4321, and the second fixture block sets up on second telescopic fork 433, and second fixture block slidable sets up in second spout 4323, so, can guarantee that stable sliding connection of second telescopic fork 433 is on first telescopic fork 432.

Of course, in other embodiments, the sliding connection between the fixed fork 431 and the first telescopic fork 432 and the sliding connection between the second telescopic fork 433 and the first telescopic fork 432 may also be implemented by using a rail slider.

As shown in fig. 20, 22 and 23, in the present application, a telescopic channel 4313 is further provided on the fixed fork 431 in a telescopic direction of the fork, the fixed rack 4311 is fixed to a bottom of the telescopic channel 4313, and a first sliding groove 4312 is formed at a side of the telescopic channel 4313. Alternatively, in other embodiments, a fixing plate 4314 is disposed on a side surface of the telescopic channel 4313, and the first sliding groove 4312 is formed on the fixing plate 4314. The first telescopic fork 432 is a first sliding plate 4324 having a side surface provided with the first latch, the first rack 31 is formed at the bottom of the first sliding plate 4324, and the gear 4322 and the second sliding slot 4323 are both disposed on the other side surface of the first sliding plate 4324. The second telescopic fork 433 is a second sliding plate 4333 provided with the second clamping block on the side surface, and the first telescopic fork 432 and the second telescopic fork 433 are accommodated in the telescopic channel 4313 after being contracted, so that the situation that an operator is clamped by a gear rack due to misoperation can be avoided, and the use safety of the equipment is improved.

In this embodiment, two telescopic channels 4313 are provided, and correspondingly, two fixed racks 4311, two first telescopic forks 432 and two second telescopic forks 433 are provided, each first telescopic fork 432 in each telescopic channel 4313 is provided with a first rack 4321 and at least one gear 4322, each second telescopic fork 433 in each telescopic channel 4313 is provided with a second rack 4331, and similarly, two driving gears 4342 are provided, and are respectively engaged with the first racks 4321 in each telescopic channel 4313 and synchronously rotate through the telescopic driving motors 4341, so that the two sides of the fork are stressed uniformly, and the stable operation of the fork is ensured.

Referring to fig. 24, 25, 26 and 27, the door opening and closing mechanism 13 of the unmanned aerial vehicle apron provided in the present embodiment includes: a hatch elevation guide mechanism 131 and a horizontal movement drive mechanism 132.

The hatch lift guide mechanism 131 includes: two guide plates 1311 each provided with a guide groove 1312, a hatch body 1313 positioned between the two guide plates 1311, and a roller 1314 caught in each guide groove 1312. The two guide plates 1311 are parallel to each other, in other words, the guide grooves 11 provided on the two guide plates 1311 are symmetrical to each other. The rolling member 1314 is reciprocally movable in the length direction of the guide channel 1312 by rolling itself. The two sides of the hatch body 1313 facing the two guide plates 1311 are respectively pivoted on the rolling members 1314. The guide groove 1312 includes: a horizontal segment 13121 and a vertical segment 13122, wherein the vertical segment 13122 is located above the horizontal segment 13121, and one end of the vertical segment 13122 is connected to one end of the horizontal segment 13121.

In this embodiment, the junction between the horizontal segment 13121 and the vertical segment 13122 is in a circular arc transition to ensure the stability of the movement of the rolling member 1314. The hatch body 1313 is raised when the rollers 1314 are moved from the horizontal segments 13121 in the direction of the vertical segments 13122, and the hatch body 1313 is retracted when the rollers 1314 are moved from the vertical segments 13122 in the direction of the horizontal segments 13121.

The horizontal movement driving mechanism 132 includes: a horizontal moving part 1321 and at least one second driving assembly 1322, wherein the horizontal moving part 1321 is disposed below the two guide plates 1311, and the horizontal moving part 1321 can reciprocate in a horizontal direction, which is substantially parallel to the length direction of the horizontal segment 13121. The horizontal displacement portion 1321 is hingedly connected to the door body 1313, in particular by two parallelogram hinges 1330. The second driving assembly 1322 is used to power the reciprocating movement of the horizontal moving part 1321 in the horizontal direction. When the second driving assembly 1322 drives the horizontal moving portion 1321 to move along the horizontal direction from the horizontal segment 13121 to the vertical segment 13122, the horizontal moving portion 1321 drives the rolling member 1314 to rotate, and the rotating rolling wheel moves in the sliding chute 12 along the direction from the horizontal segment 13121 to the vertical segment 13122, so that the door body 1313 is lifted. When the second driving assembly 1322 drives the horizontal movement portion 1321 to move in the opposite direction, the door body 1313 is retracted. Meanwhile, as the door body 1313 is hinged to the horizontal moving part 1321, and the door body 1313 is pivoted to the two rolling members 1314, the door body 1313 is always kept horizontal during the lifting and retracting process.

Referring to fig. 27, fig. 27 is a schematic view of the structure of a drone apron, the drone apron including: an apron body 11 and a hatch opening and closing mechanism 13 provided in the present embodiment. A delivery opening with a size adapted to the cabin door body 1313 is provided on the apron body 11, and the cabin door opening and closing mechanism 13 is provided on the bottom surface of the apron body 11. Specifically, the top sides of the two guide plates 1311 are fixedly installed on the bottom surface of the apron body 11 and are respectively located at two opposite sides of the delivery opening. In a preferred embodiment, the pivoting position of the door body 1313 is the middle of the door body 1313 towards one side of the guide plates 1311, and the horizontal connecting line between the vertical sections 13122 of the two guide plates 1311 is aligned with the middle of the delivery opening, so that when the door body 1313 is lifted, the door body is aligned with the delivery opening of the tarmac body 11 to close the delivery opening.

In this embodiment, the guide plate 1311 is provided with a long hole along a length direction thereof, and the long hole includes a horizontal section long hole and a vertical section long hole, wherein the vertical section long hole is located above the horizontal section long hole, the horizontal section long hole is formed as the horizontal section 13121 of the guide groove 1312, and the vertical section long hole is formed as the vertical section 13122 of the guide groove 1312. The rolling member 1314 is a roller disposed in the elongated hole. It can be understood that the roller is clamped in the elongated hole and can reciprocate along the length direction of the elongated hole.

As shown in fig. 26, to ensure smooth movement of the horizontal movement portion 1321, a linear guide 1315 is further provided on the bottom side of the guide plate 1311, the length direction of the linear guide 1315 is parallel to the horizontal section 13121, and a slider 1323 engaged with the linear guide 1315 is further provided on the horizontal movement portion 1321, and the slider 1323 is reciprocally slidable along the length direction of the linear guide 1315. In a preferred embodiment, the linear guide 1315 has a length equal to or greater than the length of the guide groove 1312 so as to satisfy the stroke requirement for horizontal movement.

As above, to prevent the sliding block 1323 from sliding off the linear guide 1315, the linear guide 1315 is further provided with limiting blocks (not shown in the figure) at two ends along the length direction thereof, and the limiting blocks are used for limiting the reciprocating sliding of the sliding block 1323 along the length direction of the linear guide 1315, so as to improve the use safety of the device.

As shown in fig. 25, the second driving assembly 1322 is a belt driving assembly, which includes: the second driving motor 13221, the second driving timing pulley 13222, the second driven timing pulley 13223, and the second timing belt 13224, the second driving motor 13221 and the second driven timing pulley 13223 are all fixed on the bottom surface of the apron body 11, the second driving timing pulley 13222 is fixed on a motor shaft of the second driving motor 13221, the second driving timing pulley 13222 and the second driven timing pulley 13223 are arranged along the horizontal direction, the second timing belt 13224 is sleeved on the second driving timing pulley 13222 and the second driven timing pulley 13223, and the second driving motor 13221 is used for driving the driving timing pulley to rotate. The horizontal movement unit 1321 is fixed to the second timing belt 13224.

In this embodiment, the horizontal moving portion 1321 is a horizontal moving plate, two ends of the horizontal moving plate facing the guide plate 1311 extend to the outer side of the guide plate 1311, a second driving synchronous pulley 13222, a second driven synchronous pulley 13223 and a second synchronous pulley 13224 are disposed at the two ends, the extending portions of the horizontal moving plate are respectively and fixedly mounted on the belt surfaces of the two synchronous belts on the same side, one of the second driving synchronous pulleys 13222 is mounted on the motor shaft of the second driving motor 13221, and the two second driving synchronous pulleys 13222 are connected through a transmission shaft 13225, so that the sliding stability of the horizontal moving plate can be ensured, and meanwhile, one of the second driving motors 13221 drives the belt transmission mechanisms on two sides to move, thereby saving the production cost.

The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.

Claims

1. An unmanned dispensing system, comprising:

2. The unmanned dispensing system of claim 1, further comprising: the buffer device is arranged between the pick-and-place device and one end of the distribution track and is used for buffering the goods taken from the delivery port or the goods conveyed to the delivery port; and the fork takes the goods from the buffer device and delivers the goods to the preset delivery position, or takes the goods from the preset delivery position and delivers the goods to the buffer device.

3. The unmanned dispensing system of claim 1, wherein the dispensing track comprises: the main track, a plurality of branch's track to and a plurality of track deviator, the track deviator includes: the rail-changing power mechanism and the moving rail are arranged on the conveying rail, and the length of the moving rail at least can accommodate a conveying vehicle which travels on the conveying rail; one end of the main track is in butt joint with the cache device, and the tail end of the branch track is the preset goods delivery position; the main track is provided with a plurality of first orbital transfer vacancies, the branch track is provided with a second orbital transfer vacancy, and the first orbital transfer vacancies and the second orbital transfer vacancies are both adapted to the moving track so that the moving track is in butt joint with the main track at the first orbital transfer vacancies, or in butt joint with the branch track at the second orbital transfer vacancies; the rail transfer power mechanism is used for driving the moving rail to switch between the first rail transfer vacant site and the second rail transfer vacant site so as to realize rail transfer of the delivery vehicle.

4. The unmanned distribution system as claimed in claim 3, wherein the goods is provided with distribution information identifiers matching the preset delivery locations, each moving rail of each track direction changing device is provided with an identification unit for identifying the distribution information identifiers, and the identification unit is electrically connected to the track transfer power mechanism and configured to control the distribution vehicle to move to a first track transfer vacancy of the main track corresponding to a second track transfer vacancy of the branch track and enable the track transfer power mechanism to drive the moving rail corresponding to the preset delivery location to switch between the first track transfer vacancy corresponding to the preset delivery location and the second track transfer vacancy corresponding to the preset delivery location when identifying the distribution information identifiers of the preset delivery locations corresponding to the branch track.

5. The unmanned dispensing system of claim 3, wherein the main track and the branch track are each a monorail, the monorail comprising: one or more combinations of a straight rail, a first straight curved rail, a second straight curved rail, a first turning curved rail and a second turning curved rail; the straight rail is used for enabling the distribution vehicle to do linear motion, the first vertical bent rail is used for enabling the distribution vehicle to change from horizontal forward to upward forward, the second vertical bent rail is used for enabling the distribution vehicle to change from upward forward to horizontal forward, the first turning bent rail is used for enabling the distribution vehicle to turn left, and the second turning bent rail is used for enabling the distribution vehicle to turn right.

6. The unmanned dispensing system of claim 5, wherein the main track and the branch track each comprise a track profile, the track profile is provided with a power supply mechanism mounting groove, a transmission mechanism mounting groove and a signal line mounting groove, the power supply mechanism mounting groove is provided with a plurality of trolley line brackets, each trolley line bracket is fixed with a trolley line, and the trolley line is used for being slidably connected with a trolley line contact on the dispensing vehicle to supply power to the dispensing vehicle; a transmission rack is arranged in the transmission mechanism mounting groove and is used for being meshed with a transmission gear on the distribution vehicle; and a cable support is arranged in the signal wire mounting groove, a signal cable is fixed on the cable support, and the signal cable is used for signal transmission between the distribution vehicle and the track.

7. The unmanned dispensing system of claim 6, wherein the dispensing vehicle comprises: a running gear for driving the running gear to reciprocate along the length direction of the distribution track, the running gear comprises: the distribution vehicle comprises a distribution vehicle body, a mounting bracket for fixedly mounting the distribution vehicle body, and a transmission gear, a driving mechanism and a guide mechanism which are arranged on the mounting bracket; the fork is arranged on the distribution vehicle body, the distribution vehicle body is used for bearing cargos, and the guide mechanism is used for guiding and limiting the distribution vehicle body; the driving mechanism is in transmission connection with the transmission gear and is used for driving the transmission gear to rotate forwards or reversely, and the transmission gear is meshed with a transmission rack on the distribution track to drive the distribution vehicle body to move back and forth along the distribution track.

8. The unmanned dispensing system of claim 7, wherein the dispensing vehicle body comprises: a turnover device for turning over the dispensing vehicle body to always maintain a horizontal state when the dispensing vehicle body is changed from a horizontal advance to an upward advance or from the upward advance to the horizontal advance along a dispensing track, the turnover device comprising: the connecting base, the turnover driving mechanism, the supporting plate and at least one connecting rod mechanism with a folding state and an unfolding state; the upper end of the connecting rod mechanism is hinged with the supporting plate, the lower end of the connecting rod mechanism is connected with the connecting base in a sliding mode, and the overturning driving mechanism is connected with the connecting rod mechanism and used for driving the lower end of the connecting rod mechanism to slide on the connecting base so as to enable the connecting rod mechanism to be switched between a folded state and an unfolded state; when the connecting rod mechanism is in a folded state, the connecting base and the supporting plate are both in a horizontal state; when the link mechanism is in an unfolded state, an included angle is formed between the connecting base and the supporting plate, and the supporting plate is kept in a horizontal state; the connecting base is arranged on the mounting bracket.

9. The unmanned dispensing system of claim 8, wherein the dispensing vehicle body further comprises: a swing device for swinging the dispensing vehicle body to be always kept in a horizontal state when the dispensing vehicle body turns left or right along the dispensing track, the swing device comprising: the goods base is connected with the connecting base in a rotating mode, the mounting support is arranged on the goods base, a first fixing portion is arranged on the goods base, a second fixing portion is arranged on the connecting base, and the first fixing portion is connected with the second fixing portion in a rotating mode through a rotating shaft.

10. The unmanned dispensing system of claim 1, wherein the fork is a bi-directional telescoping fork comprising: the telescopic forklift comprises a fixed fork, a first telescopic fork arranged on the fixed fork, a second telescopic fork arranged on the first telescopic fork and a telescopic driving mechanism, wherein the fixed fork is provided with a fixed rack, the first telescopic fork is provided with a first rack and at least one rotatable gear, the second telescopic fork is used for bearing goods, and a second rack is arranged on the second telescopic fork; the second rack and the fixed rack are both meshed with the gear, and the gear is positioned between the second rack and the fixed rack; the telescopic driving mechanism comprises: the telescopic driving motor is arranged on the fixed fork and the driving gear is in transmission connection with the telescopic driving motor, the driving gear is meshed with the first rack, and the telescopic driving motor is used for driving the driving gear to rotate positively or negatively.

11. The unmanned dispensing system of claim 10, wherein the bi-directional telescoping fork further comprises: at least one cargo positioning mechanism disposed on the second telescopic fork, the cargo positioning mechanism being configured to block cargo carried on the second telescopic fork from disengaging from the second telescopic fork; the goods positioning mechanism includes: the positioning driving motor and the two stop blocks are respectively arranged at two ends of the second telescopic fork along the telescopic direction of the fork; the two stop blocks are rotatably arranged on the second telescopic fork and are in transmission connection with the positioning driving motor, and the positioning driving motor is used for driving the two stop blocks to rotate between a release position and a stop position in a reciprocating manner; in the blocking position, the blocking block faces to the inner side of the second telescopic fork so as to block the movement of goods along the telescopic direction of the fork; in the release position, the stop is facing the outside of the second telescopic fork to release the load.

12. The unmanned dispensing system of claim 1, wherein the hatch opening and closing mechanism is disposed on an underside of the tarmac body and comprises: hatch door lift guiding mechanism and horizontal migration actuating mechanism, hatch door lift guiding mechanism includes: the cabin door comprises two guide plates which are parallel to each other and provided with guide grooves, a cabin door body arranged between the two guide plates, and rolling pieces clamped in the guide grooves; the cabin door body is pivoted on the rolling piece, and the rolling piece can reciprocate along the length direction of the guide groove; the guide groove includes: the device comprises a horizontal section and a vertical section, wherein the vertical section is positioned below the horizontal section, and one end of the vertical section is connected with one end of the horizontal section; the horizontal movement driving mechanism includes: the horizontal moving part is arranged below the guide plate and can reciprocate along the horizontal direction, and at least one driving component is used for providing power for the movement of the horizontal moving part; the horizontal moving part is hinged on the cabin door body; the horizontal section is parallel to the apron body, and the vertical section is perpendicular to the apron body; a horizontal connecting line between the vertical sections of the two guide plates is right opposite to the middle part of the delivery opening; the pivoting position on the cabin door body is the middle part of one side of the cabin door body facing the guide plate.

13. The unmanned delivery system of claim 1, wherein the tarmac body is provided with a positioning area, the delivery opening is located in the positioning area, the unmanned tarmac further comprises a clamping and positioning device for clamping and positioning the unmanned aerial vehicle in the positioning area, the clamping and positioning device comprises: the positioning device comprises an apron body, and a first clamping and positioning device and a second clamping and positioning device which are arranged on the apron body, wherein a positioning area for positioning the unmanned aerial vehicle is arranged on the apron body; the first clamping and positioning device comprises: two first clamping pieces which are symmetrical about a first straight line, and a first driving mechanism arranged on the apron body; the first driving mechanism is in transmission connection with the two first clamping pieces and is used for driving the two first clamping pieces to move oppositely or relatively along a second straight line; the second clamping and positioning device comprises: two second clamping pieces which are symmetrical about a second straight line, and a second driving mechanism which is arranged on the apron body; the second driving mechanism is in transmission connection with the two second clamping pieces and is used for driving the two second clamping pieces to move oppositely or relatively along a first straight line; the first straight line and the second straight line intersect at the positioning area.

14. The unmanned dispensing system of claim 2, wherein the pick-and-place device comprises: the picking and placing lifting assembly is used for driving the bearing platform to ascend to the delivery port or driving the bearing platform to reset from the delivery port; the positioning assembly is used for positioning goods taken from the delivery port or goods conveyed to the delivery port.

15. The unmanned delivery system of claim 14, wherein the caching apparatus comprises: the buffer memory comprises a buffer memory line, at least one buffer memory stop block arranged on the buffer memory line and a buffer memory stop block lifting driving component used for driving the buffer memory stop block to lift; the buffer stop block lifting driving assembly drives the buffer stop block to rise to stop the goods and fall to release the goods; the cache line includes: the device comprises a mounting frame, a plurality of rollers which are arranged along the horizontal direction and are rotatably mounted on the mounting frame, and a roller driving assembly for driving the rollers to rotate so as to convey goods; the buffer stop block is positioned between two adjacent rollers after being lifted; the goods on the bearing table are transferred to the second belt transmission assembly, and the second belt transmission assembly is used for transferring the goods on the buffer line to the first belt transmission assembly.