CN107599938B - Intelligent express delivery device - Google Patents

Intelligent express delivery device Download PDF

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Publication number
CN107599938B
CN107599938B CN201710928439.4A CN201710928439A CN107599938B CN 107599938 B CN107599938 B CN 107599938B CN 201710928439 A CN201710928439 A CN 201710928439A CN 107599938 B CN107599938 B CN 107599938B
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storage area
carriage
platform
mail
gear
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CN107599938A (en
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李国卿
岳一领
郝俊杰
杨琪
任鸿
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Taiyuan University of Science and Technology
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Taiyuan University of Science and Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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Abstract

The invention relates to an intelligent express delivery device, belongs to the technical field of logistics transportation devices, and solves the technical problem that express delivery and pickup efficiency is low in the prior art. The solution scheme is as follows: the storage area is arranged at the front part of the carriage, the storage area unfolding device is arranged at the top of the carriage, and the top of the carriage is also provided with an automatic cabin door; the pick-up device is arranged in the middle of the bottom surface of the carriage, an upper layer and a lower layer are arranged at the rear part of the carriage, the lower layer is a pickup platform, the upper layer of the carriage is an unmanned aerial vehicle pick-up device, and a hydraulic lifting device is arranged between the bottom of the carriage and the carrier vehicle. The invention applies the improvement of the automatic three-dimensional library technology to the express delivery vehicle, realizes high intensification, gets rid of the limit of time on the sending and taking of express delivery, realizes the intellectualization and unmanned sending and taking of the express delivery process, saves manpower resources, solves the problem of the last kilometer of express delivery to a greater extent, accords with the development trend of Internet and express delivery, and has wide popularization and application values.

Description

Intelligent express delivery device
Technical Field
The invention belongs to the technical field of logistics transportation devices, and particularly relates to an intelligent express device.
Background
With the rise of the E-commerce industry, the online purchase of the fire explosion promotes the prosperity of the express industry, so that the development of macroscopic logistics is very rapid. However, the development of microscopic logistics is relatively lagging, and the distribution from the distribution center to the last kilometer of users becomes the bottleneck of the development of the current logistics express industry.
The current express industry 'last kilometer' relies heavily on the work of the courier, and after the courier arrives at the designated dispatch area, the customer is notified and waits for the consignee to pick up the goods before. The uncertainty of the picking time causes the consumption of manpower and the waste of time.
The express cabinet alleviates the problem to a certain extent, but the following disadvantages still exist:
1. the method has the advantages that the quick-service items are required to be manually loaded and taken and the clients are informed, the operation is complicated, and the labor cost is not saved;
2. the box body of the express cabinet is limited, the storage method of express items with different shapes is not considered, the storage efficiency is reduced, and the stock quantity is difficult to guarantee;
3. in order to expand the storage space, the express cabinet terminal can only expand the transverse size, and the height of the self-lifting cabinet is difficult to expand in the common picking mode nowadays, so that the utilization rate of the three-dimensional space is low, and the flexibility is lacking;
4. The express cabinet is a third party product between an express company and a client, so that an industry chain of express delivery is increased, the functional integration level is low, and the delivery cost of express is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, solve the technical problems of low express delivery and pickup efficiency and high labor cost in the prior art, and provide an intelligent express delivery device.
The invention is realized by the following technical scheme.
An intelligent express delivery device, it includes carrier loader and carriage, carriage detachably installs on the carrier loader, wherein: the carriage comprises a storage area, a storage area unfolding device, a pickup platform, an unmanned aerial vehicle pickup device and a hydraulic lifting device, wherein the pickup platform comprises a pickup platform and a pickup platform, and the pickup platform comprises a pickup platform A area and a pickup platform B area;
the storage area is arranged at the front part of the carriage and comprises a fixed storage area, a movable storage area A and a movable storage area B, wherein the fixed storage area is fixedly arranged at the front part of the carriage, and the movable storage area A and the movable storage area B are symmetrically arranged on the front side surface and the rear side surface of the right side of the fixed storage area;
the storage area unfolding device is arranged at the top of the carriage and comprises a moving cantilever, and the movable storage area A and the movable storage area B are arranged on the moving cantilever; the top of the carriage is also provided with an automatic cabin door;
The pick-up device is arranged in the middle of the bottom surface of the carriage, and is a five-degree-of-freedom rectangular coordinate manipulator with a clamp holder arranged at the tail end;
an upper layer and a lower layer are arranged at the rear part of the carriage, wherein the lower layer is a mail picking platform, a work area of a mail picking device is divided into a first area or a second area by an indexable chain type conveying device, and a mail is taken down from the mail picking platform and conveyed to the work area of the mail picking device; the upper layer of the carriage is an unmanned aerial vehicle delivery device, an unmanned aerial vehicle is arranged on the unmanned aerial vehicle delivery device, the unmanned aerial vehicle delivery device is driven by a stepping motor to lift the unmanned aerial vehicle to a preset height, and the automatic cabin door is automatically opened to finish take-off or recovery of the unmanned aerial vehicle;
an upper layer and a lower layer are arranged at the rear part of the carriage, wherein the lower layer is a mail picking platform, a work area of a mail picking device is divided into a first area or a second area by an indexable chain type conveying device, and a mail is taken down from the mail picking platform and conveyed to the work area of the mail picking device; the upper layer of the carriage is an unmanned aerial vehicle delivery device, the unmanned aerial vehicle delivery device comprises a stop platform and a stop platform lifting mechanism, the stop platform is provided with an unmanned aerial vehicle, the stop platform lifting mechanism is driven by a stepping motor to lift the unmanned aerial vehicle to a preset height, and the automatic cabin door is opened to finish take-off or recovery of the unmanned aerial vehicle;
And a hydraulic lifting device is arranged between the bottom of the carriage and the carrier vehicle and is used for mounting the carriage on the carrier vehicle or dismounting the carriage from the carrier vehicle.
Further, the carrier vehicle is a light flat transport vehicle; the upper surface of the carriage is provided with a solar photovoltaic panel which converts solar energy into electric energy to provide electric energy for electric elements in the device.
Further, the storage area comprises a plurality of storage grids for storing express items, the storage grids are dense narrow-body grids, the middle of a supporting plate on the bottom surface of each storage grid is hollowed out, and each storage grid is respectively provided with a unique number.
Further, the size of the storage grid in the storage area is set to be in various specifications according to the size of the express mail.
Further, the storage area unfolding device comprises linear guide rails 15 and 16, transmission nuts, a transmission screw rod fixed on the top of a carriage through bearings, two driving motors 11 and 12, the two driving motors 11 and 12 are respectively arranged above the movable storage area A and the movable storage area B, the two transmission nuts are respectively correspondingly arranged on the upper surfaces of the movable storage area A and the movable storage area B, the movable storage area A and the movable storage area B are hung on the linear guide rails 15 and 16, the transmission nuts are correspondingly arranged on the transmission screw rod, a controller sends motion signals to the two driving motors 11 and 12 at the same time, the driving motors 11 and 12 drive the transmission screw rod to rotate through reduction chain transmission mechanisms 13 and 14, the transmission screw rod converts rotary motion into linear motion through a screw rod nut mechanism, the movable storage area A and the movable storage area B synchronously move in opposite directions or back to back directions along the linear guide rails 15 and 16, the movable storage area A and the movable storage area B on both sides are synchronously unfolded or closed, and the motion standard stroke is the width of the storage area when the limit switches 17 and 18 are triggered, and the movable storage area A and the movable storage area B stop moving.
Further, the unmanned aerial vehicle delivery device comprises a express mail loading mechanism, a stopping platform lifting mechanism and an automatic cabin door mechanism, the manipulator loosens after delivering the express mail into an inlet of the unmanned aerial vehicle delivery device, the express mail slides into a carrying cabin which is arranged at the tail end of the roller conveyor and is positioned below the stopping platform lifting mechanism under the action of gravity by an inclined roller conveyor, the stopping platform lifting mechanism drives the unmanned aerial vehicle to descend to the upper part of the carrying cabin, and the unmanned aerial vehicle clamping mechanism clamps and loads the carrying cabin to the abdomen of the unmanned aerial vehicle to finish loading work;
the unmanned aerial vehicle loading carrying cabin is arranged at the tail end of the roller conveyor, two sides of the stopping platform are mounted on lifting chains on the two sides through double-side bent plate buckles, an unmanned aerial vehicle loading motor fixed on an upper bottom plate at the rear part of the carriage drives an unmanned aerial vehicle loading reduction box to transmit power to a drive bevel gear arranged in a transfer case, the opposite transfer bevel gears meshed with the drive bevel gear decompose the motion into two opposite rotary motions, the other end of a transfer bevel gear shaft is rigidly connected with a transfer worm, a transfer worm wheel meshed with the transfer worm is mounted on a chain wheel shaft at the lower part of the lifting chain, and a worm wheel reduction mechanism is utilized to drive a chain wheel to rotate so as to realize lifting motion of the stopping platform; limit switches are arranged at the lifting pole positions of the platform to limit the stroke;
The automatic cabin door mechanism is arranged right above the shutdown platform, a cabin door direct current motor fixed on the top plate transmits motion to a gear a through a cabin door gear reduction box, a gear b is arranged above the gear a and meshed with the gear a, a gear c fixedly connected to the other end of the central shaft of the gear b is meshed with a cabin door shaft gear d, and the door shaft is driven to rotate through the direct current motor; the gear b transmits motor power to the gear e through the first and second pass wheels, the rotation speed of the gear b is the same as that of the gear e, the gear e transmits power to the cabin door shaft gear to drive the other door shaft to rotate, and the opening or closing of the automatic cabin door is controlled by controlling the number of turns and the rotating direction of the cabin door direct current motor.
Further, the pick-up device is a five-degree-of-freedom manipulator based on rectangular coordinates, and comprises rectangular coordinates for realizing X, Y, Z three-direction movement degrees of freedom and a rotary joint for realizing the rotational degrees of freedom of the gripper at the tail end of the manipulator around an X axis and a stand column around a Z axis, wherein the rotary joint comprises an X axis rotary motion module and a Z axis rotary motion module; the rectangular coordinate joint comprises an X-axis translational movement module, a Y-axis translational movement module and a Z-axis translational movement module; the Y-axis translational movement module is arranged on the connecting frame, and the X-axis translational movement module drives the connecting frame to move along the X direction;
The X-axis translational motion module comprises a direct-current high-power motor X, X-axis linear guide rails 21 and 22, wheels, a screw rod X and nuts X, wherein the direct-current high-power motor X is fixed on a bottom plate of a carriage main body and arranged below a fixed storage area, the two X-axis linear guide rails 21 and 22 are fixed on the bottom plate of the carriage main body and respectively arranged below a movable storage area A and a movable storage area B, and the X-axis linear guide rails 21 and 22 bear the load of a manipulator and guide a connecting frame to do reciprocating linear motion in the X direction; a pair of wheels are respectively arranged below two sides of the connecting frame, and the wheels at two sides respectively slide in a reciprocating manner along the X-axis linear guide rails 21 and 22; an output shaft of the direct-current high-power motor X is connected with the axis of the screw rod X through a rigid coupling, and the rotary motion of the direct-current high-power motor X is converted into the translational motion of the connecting frame along the X direction through a screw rod nut mechanism fixedly connected below the connecting frame;
the Y-axis translational motion module comprises a conveying motor Y, a Y-axis linear guide rail, a rotating base, a reduction gearbox Y and a rack, wherein the rotating base is arranged above the connecting frame, a boss below the rotating base is matched with the connecting frame, and the rotating base can do translational motion along the Y direction of the connecting frame; the Y-axis linear guide rail and the rack are arranged in parallel in the connecting frame; the reduction gearbox Y is fixed below the rotating base, a motor rotor of the conveying motor Y provides a power source for the reduction gearbox Y, and the rotating base is driven by the gear rack mechanism to realize translational movement of the manipulator along the Y direction;
The Z-axis translational motion module comprises a conveying motor Z, an upright post, a rotating base, a Z-axis linear guide rail, a steering engine Z, a reduction gearbox Z, a screw rod Z and a nut Z, wherein the rotating base is arranged in the rotating base and forms a revolute pair with the rotating base, and the relative rotation of the rotating base and the rotating base can be realized; the upright post is fixedly connected above the rotating base, the Z-axis linear guide rails are arranged on two sides of the upright post, the conveying motor Z is arranged above the upright post, and an output shaft of the conveying motor Z is used as an input shaft of the reduction gearbox Z; the screw rod Z is fixedly arranged above the rotating base and is parallel to the Z-axis linear guide rail, and serves as an output shaft of the reduction gearbox Z; the base of the steering engine Z is connected with a nut Z, and the rotating motion of the conveying motor Z is converted into the lifting motion of the steering engine Z along the Z direction through a screw-nut mechanism;
the X-axis rotary motion module comprises a manipulator tail end clamp holder, an output shaft of the steering engine z is fixedly connected with a bottom plate of the manipulator tail end clamp holder, and rotary motion of the manipulator tail end clamp holder around an X axis is realized through operation of the steering engine z; the Z-axis rotary motion module comprises a coding motor, a rotary base and a planetary gear, wherein the coding motor is fixedly connected to the upper side of the rotary base to drive the planetary gear and play a role of a planet carrier, a gear ring meshed with the planetary gear is arranged on the edge of the rotary base, and the rotary base, the rotary base and the planetary gear jointly realize rotation of the rotary base around the Z-axis direction relative to the rotary base.
Further, the manipulator tail end clamp comprises a steering engine a, a steering engine b, a connecting rod a, a connecting rod b, a connecting rod c, a clamping plate and an anti-slip pad, wherein the anti-slip pad covers the inner surface of the clamping plate, the connecting rod a, the connecting rod b, the connecting rod c and a rack of the steering engine a sequentially form a revolute pair to form a parallelogram plane connecting rod mechanism, an output shaft of the steering engine a is fixedly connected with the connecting rod a, the clamping plate is fixedly connected with the connecting rod b, and the rotating motion of the steering engine a drives the clamping plate to do translational motion; the clamp holder is composed of two symmetrical parallelogram plane link mechanisms, the two plane link mechanisms symmetrically arranged on two sides control the closing and the unfolding of the two clamping plates through controlling the rotation angles of the steering engine a and the steering engine b, and the clamping action and the loosening action of the clamp holder are realized.
Further, the mail picking platform consists of an indexable chain type conveying device, a mail picking platform and a mail picking platform:
the indexable chain type conveying device is arranged at the lower layer at the rear part of the carriage, a worm wheel is arranged at the bottom of the conveying device, a worm is arranged at the bottom of the conveying device in cooperation with the worm wheel, and a direct current motor a fixedly connected to the carriage bottom plate drives a worm wheel and worm mechanism to realize the rotary motion of the conveying device; limit switches are respectively arranged on the carriage bottom plate at the corresponding positions of the conveying device, which are opposite to the mail sending port and the mail taking port, and the conveying device stops rotating when rotating to the mail sending platform or the inlet position of the mail taking platform; the upper part of the conveying device is provided with a chain type conveying belt, the front end of the chain type conveying belt is arranged in the working space of the manipulator, the two sides of the chain type conveying belt are provided with photoelectric proximity switches, and the direct current motor drives the chain type conveying belt to move through a chain wheel;
The mail platform is arranged at the rear of the chain type conveying device, the direct current motor b drives the parallelogram mechanism through the worm gear and worm transmission mechanism to realize lifting movement of the mail platform, the width of the mail platform is not smaller than that of the conveying belt, the limit switch is triggered when the surface of the mail platform moves to a position attached to the belt surface of the conveying belt, and the movement is stopped; a scraping plate mechanism for pushing the express mail from the express mail platform to the conveying belt is arranged on a baffle above the far-end limit position of the surface of the express mail platform, the scraping plate mechanism is driven by a chain wheel fixed on the other side of the parallelogram mechanism of the express mail platform, the movement is transmitted to a small chain wheel fixed on the baffle through chain transmission and drives a cam to rotate, the rotation movement is converted into the translation of a cam ejector rod through the cam mechanism, and then the rotation of 0-95 degrees of the scraping plate is realized through a crank slider mechanism;
the piece taking platform is arranged on the right side of the chain type conveying device, the piece taking platform is a 30-degree smooth inclined surface, the pieces slide from the conveying belt of the chain type conveying device to the piece taking platform, and the pieces are distributed to the piece taking port A or the piece taking port B through the baffle plate; the baffle is driven by a micro motor below the workpiece taking platform, a baffle rotating shaft is connected with a motor output shaft through a universal coupling, and limit switches 62 and 63 are arranged at two motion pole positions of the baffle; and a man-machine interaction LCD display screen is arranged above the pickup platform outlet.
Further, the hydraulic lifting device comprises hydraulic cylinders and bearing beams, wherein the two bearing beams are respectively and longitudinally distributed at the bottom of a carriage, the cylinder bodies of the two hydraulic cylinders are fixedly connected onto one bearing beam front and back, the other two hydraulic cylinders are symmetrically and fixedly connected onto the other bearing beam, and piston rods of the four hydraulic cylinders synchronously move to drive lifting and descending of the carriage.
Compared with the prior art, the invention has the following beneficial effects.
1. The site type intelligent express delivery vehicle adopting the self-service express delivery system gets rid of time limitation on express delivery, so that the process of express delivery by a user becomes more convenient; a piece taking reservation mechanism is adopted, so that the utilization rate of equipment is improved;
2. the intelligent express delivery vehicle carriage design combines the concept of dense storage, designs the grids with various specifications, adopts the design of an extensible goods shelf, improves the flexibility, and is matched with a five-degree-of-freedom goods taking manipulator, so that the utilization rate of a three-dimensional space is higher, and the express items can be efficiently and rapidly distributed; the mail is the reverse process, and the express mail is put into an empty frame by combining with mail path planning;
3. an external auxiliary part loading manipulator is adopted, and after the express mail is sorted, the express mail can be directly loaded into the grid automatically by the part loading manipulator; the design of one car with multiple compartments improves the flexibility of the distribution site setting, and is convenient for integrating the assembly, the fetching and the sending;
4. The delivery unmanned aerial vehicle is arranged in the carriage and matched with the lifting mechanism of the stopping platform in the carriage and the automatic cabin door positioned at the top of the carriage, so that the unmanned aerial vehicle and the express carriage are integrated, and the delivery external edge of the express carriage is favorably enlarged;
5. by utilizing the advantages of the Internet of things technology and combining an intelligent control system, the intelligent and unmanned operation of the mail sending and taking process is realized; the matched information system integrates express mail picking reservation, deferring, sending and returning services.
The service point of self-service has reached a certain scale, and then its function is also equivalent to a small-sized logistics center. The design is applied to the express delivery vehicle by improving the automatic three-dimensional library technology which is widely applied at present, realizes high intensification, gets rid of the limitation of time on express delivery, realizes the intellectualization and unmanned of the express delivery and the express delivery process, saves manpower resources, solves the problem of the last kilometer of the express delivery to a greater extent, accords with the development trend of Internet and express delivery, and has good popularization and application values.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic overall perspective view of the storage area.
Fig. 3 is a schematic diagram of the front view structure in fig. 2.
Fig. 4 is a schematic top view of fig. 2.
Fig. 5 is a schematic diagram of the left-view structure in fig. 2.
Fig. 6 is a schematic top view of the pick-up device.
Fig. 7 is a schematic diagram of a left-hand construction of the pick-up device.
Fig. 8 is a schematic perspective view of a holder.
Fig. 9 is a schematic overall perspective view of the mail receiving platform.
Fig. 10 is a schematic front view of the mail receiving platform in fig. 9.
Fig. 11 is a schematic left-view structure of the mail receiving platform in fig. 9.
Fig. 12 is a schematic side view of the unmanned aerial vehicle feeder.
Fig. 13 is a schematic overall perspective view of the lifting mechanism of the shutdown platform in fig. 12.
Fig. 14 is a schematic diagram of a front view of the lifting mechanism of the shutdown platform in fig. 13.
Fig. 15 is a schematic top view of the lift mechanism of the shutdown platform of fig. 13.
FIG. 16 is a schematic side view of the lift mechanism of the shutdown platform of FIG. 13.
Figure 17 is a schematic view of the overall perspective of the automatic door mechanism.
Figure 18 is a schematic view of the front view of the automatic door mechanism of figure 17.
Figure 19 is a schematic top view of the automatic door mechanism of figure 17.
Figure 20 is a schematic side view of the automatic door mechanism of figure 17.
Figure 21 is a schematic view of the bottom view of the automatic door mechanism of figure 17.
Fig. 22 is a schematic overall perspective view of the external accessory device.
Fig. 23 is a schematic front view of the external aid kit of fig. 22.
Fig. 24 is a schematic top view of the external accessory device of fig. 22.
Fig. 25 is a left side view of the external aid kit of fig. 22.
Fig. 26 is a right side view of the external aid kit of fig. 22.
Fig. 27 is a flow chart of a user self-lifting mode.
Fig. 28 is a block diagram of a mailing mode flow.
Detailed Description
The invention is illustrated in detail below with reference to examples: the present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
As shown in fig. 1, an intelligent express delivery device in this embodiment includes a carrier vehicle 1 and a carriage, the carriage is detachably mounted on the carrier vehicle 1, wherein: the carriage comprises a storage area 2, a storage area unfolding device 3, a pickup device 4, a pickup platform 5, an unmanned aerial vehicle delivery device 6 and a hydraulic lifting device 7, wherein the pickup platform 5 comprises a pickup platform and a pickup platform, and the pickup platform comprises a pickup platform A area and a pickup platform B area;
the storage area 2 is arranged at the front part of the carriage, the storage area 2 comprises a fixed storage area 8, a movable storage area A9 and a movable storage area B10, the fixed storage area 8 is fixedly arranged at the front part of the carriage, and the movable storage area A9 and the movable storage area B10 are symmetrically arranged on the front side surface and the rear side surface of the right side of the fixed storage area 8;
The storage area unfolding device 3 is arranged at the top of the carriage, the storage area unfolding device 3 comprises a moving cantilever, and the movable storage area A9 and the movable storage area B10 are arranged on the moving cantilever; the top of the carriage is also provided with an automatic cabin door;
the pick-up device 4 is arranged in the middle of the bottom surface of the carriage, and the pick-up device 4 is a five-degree-of-freedom rectangular coordinate manipulator with a clamp 19 arranged at the tail end;
an upper layer and a lower layer are arranged at the rear part of the carriage, wherein the lower layer is a mail picking platform 5, a quick mail is split into a first section or a second section of the mail picking platform by a working area of the mail picking device 4 through an indexable chain type conveying device, and otherwise, the quick mail is taken down from the mail picking platform and conveyed to the working area of the mail picking device 4; the upper layer of the carriage is provided with an unmanned aerial vehicle delivery device 6, the unmanned aerial vehicle delivery device 6 is provided with an unmanned aerial vehicle, the unmanned aerial vehicle delivery device 6 is driven by a stepping motor to lift the unmanned aerial vehicle to a preset height, and the automatic cabin door is automatically opened to finish take-off or recovery of the unmanned aerial vehicle;
a hydraulic lifting device 7 is arranged between the bottom of the carriage and the carrier vehicle 1 and is used for the carriage to be mounted on the carrier vehicle or the carriage to be dismounted from the carrier vehicle.
Further, the carrier vehicle 1 is a light flat transport vehicle, and mainly comprises a power part, a steering part, a frame part and a suspension part, wherein the whole device adopts an electric dragging mode, and is characterized in that: a pair of high-power motors which are parallelly arranged in the middle of the frame are used as driving, and matched with a high-speed reduction gearbox, power is input to a rear axle by using a universal coupling; electronic speed regulation is carried out by a control board, and 8 speed grade model values are output; the steering part is an electric steering system, a driving motor positioned at the front end of the device drives a gear reduction box to move, the gear reduction box slides on a rack fixed rack, and the gear reduction box converts the movement into translational movement of a steering sliding block by utilizing a gear rack mechanism; the steering slide block mechanism drives the four-bar mechanism and the front trapezoid mechanism to move and drives wheels positioned on two trapezoid edges to synchronously swing around a steering shaft; the frame part is of a matrix structure, takes an angle beam as a main structural unit and integrates a power part, a steering part and a suspension part into a whole; the front wheel adopts an independent suspension, the rear wheel adopts a non-independent plate spring suspension, the middle part and two ends of the plate spring are provided with hinge points, the plate spring is connected with the frame, various forces and moments are transmitted, and the two ends of the plate spring are hinged with the double rear axles.
Further, a solar photovoltaic panel is arranged on the upper surface of the carriage, and solar energy is converted into electric energy to provide electric energy for electric elements in the device.
Further, the hydraulic lifting device comprises hydraulic cylinders 86 and bearing beams 87, the two bearing beams 87 are respectively and longitudinally distributed at the bottom of a carriage, the cylinder bodies of the two hydraulic cylinders 86 are fixedly connected to one bearing beam 87 front and back, the other two hydraulic cylinders 86 are symmetrically fixedly connected to the other bearing beam, and the piston rods of the four hydraulic cylinders 86 synchronously move to drive the lifting and the descending of the carriage.
As shown in fig. 2 to 5, the storage area 2 includes a plurality of storage grids for storing express items, the storage grids are dense narrow grids, the middle of a supporting plate on the bottom surface of each storage grid is hollowed out, and each storage grid is respectively provided with a unique number.
Further, the size of the storage grid in the storage area 2 is set to be various specifications according to the size of the express mail.
Further, the storage area unfolding device 3 comprises linear guide rails 15 and 16, transmission nuts, a transmission screw rod fixed to the top of a carriage through bearings, two driving motors 11 and 12, the two driving motors 11 and 12 are respectively arranged above the movable storage area A9 and the movable storage area B10, the two transmission nuts are respectively correspondingly arranged on the upper surfaces of the movable storage area A9 and the movable storage area B10, the movable storage area A9 and the movable storage area B10 are hung on the linear guide rails 15 and 16, the transmission nuts are correspondingly arranged on the transmission screw rod, a controller simultaneously sends motion signals to the two driving motors 11 and 12, the driving motors 11 and 12 drive the transmission screw rod to rotate through speed reducing chain transmission mechanisms 13 and 14, the transmission screw rod converts rotary motion into linear motion through screw rod nut mechanisms, the movable storage area A9 and the movable storage area B10 synchronously move along the linear guide rails 15 and 16 or move back to back, the movable storage area A9 and the movable storage area B10 are synchronously unfolded or closed, the motion standard is the width of the storage area, and when the movable storage area A9 and the movable storage area B10 stop moving, namely the movable storage area B10 stop moving.
As shown in fig. 6 to 8, the pick-up device 4 is a five-degree-of-freedom manipulator based on a rectangular coordinate joint, and includes a rectangular coordinate joint for realizing a movement degree of freedom in three directions X, Y, Z and a rotary joint for realizing a rotation degree of freedom of the manipulator end gripper 19 around an X axis and the upright 31 around a Z axis, wherein the rotary joint includes an X axis rotary motion module and a Z axis rotary motion module; the rectangular coordinate joint comprises an X-axis translational movement module, a Y-axis translational movement module and a Z-axis translational movement module; the Y-axis translational movement module is arranged on the connecting frame 23, and the X-axis translational movement module drives the connecting frame 23 to move along the X direction;
the X-axis translational motion module comprises a direct-current high-power motor X20, X-axis linear guide rails 21 and 22, wheels 38, a screw rod X24 and a nut X, wherein the direct-current high-power motor X20 is fixed on the bottom plate of the carriage body and arranged below the fixed storage area 8, the two X-axis linear guide rails 21 and 22 are fixed on the bottom plate of the carriage body and respectively arranged below the movable storage area A9 and the movable storage area B10, and the X-axis linear guide rails 21 and 22 bear the load of a mechanical arm and guide the connecting frame 23 to do reciprocating linear motion in the X direction; a pair of wheels 38 are respectively arranged below two sides of the connecting frame 23, and the wheels 38 at two sides respectively slide along the X-axis linear guide rails 21 and 22 in a reciprocating manner; the output shaft of the direct current high-power motor X20 is connected with the axis of the screw rod X24 through a rigid coupling, and the rotary motion of the direct current high-power motor X20 is converted into the translational motion of the connecting frame 23 along the X direction through a screw rod nut mechanism fixedly connected below the connecting frame 23;
The Y-axis translational motion module comprises a conveying motor Y, a Y-axis linear guide rail 25, a rotating base 26, a reduction gearbox Y and a rack 27, wherein the rotating base 26 is arranged above the connecting frame 23, a boss below the rotating base 26 is matched with the connecting frame 23, and the rotating base 26 can do translational motion along the Y direction of the connecting frame 23; the Y-axis linear guide 25 and the rack 27 are arranged in parallel with each other inside the connecting frame 23; the reduction gearbox Y is fixed below the rotating base 26, a motor rotor of the conveying motor Y provides a power source for the reduction gearbox Y, and the rotating base 26 is driven by the gear rack mechanism to realize translational movement of the manipulator along the Y direction;
the Z-axis translational motion module comprises a conveying motor Z, an upright post 31, a rotating base 28, a Z-axis linear guide rail 32, a steering engine Z29, a reduction gearbox Z33, a screw rod Z34 and a nut Z35, wherein the rotating base 28 is arranged in the rotating base 26 and forms a revolute pair with the rotating base 26, and the relative rotation between the rotating base 28 and the rotating base 26 can be realized; the upright posts 31 are fixedly connected above the rotating base 28, the Z-axis linear guide rails 32 are arranged on two sides of the upright posts 31, the conveying motor Z is arranged above the upright posts 31, and an output shaft of the conveying motor Z is used as an input shaft of the reduction gearbox Z33; the screw rod Z34 is fixedly arranged above the rotating base 28 and is parallel to the Z-axis linear guide rail 32, and the screw rod Z34 is used as an output shaft of the reduction gearbox Z33; the base of the steering engine Z29 is connected with a nut Z35, and the rotating motion of the conveying motor Z is converted into the lifting motion of the steering engine Z29 along the Z direction through a screw-nut mechanism;
The X-axis rotary motion module comprises a manipulator tail end clamp 19, an output shaft of the steering engine z29 is fixedly connected with a bottom plate 39 of the manipulator tail end clamp 19, and rotary motion of the manipulator tail end clamp 19 around the X-axis is realized through operation of the steering engine z 29; the Z-axis rotary motion module comprises a coding motor 36, a rotary base 26, a rotary base 28 and a planetary gear 37, wherein the coding motor 36 is fixedly connected above the rotary base 28 to drive the planetary gear 37 and plays a role of a planet carrier, a gear ring meshed with the planetary gear 37 is arranged on the edge of the rotary base 26, and the rotary base 26, the rotary base 28 and the planetary gear 37 jointly realize rotation of the rotary base 28 around the Z-axis direction relative to the rotary base 26.
Further, the manipulator end gripper 19 includes a steering engine a40, a steering engine b41, a connecting rod a42, a connecting rod b43, a connecting rod c44, a clamping plate 45 and an anti-slip pad 46, the inner surface of the clamping plate 45 is covered with the anti-slip pad 46, the connecting rod a42, the connecting rod b43, the connecting rod c44 and a rack of the steering engine a40 sequentially form a revolute pair to form a parallelogram plane connecting rod mechanism, an output shaft of the steering engine a40 is fixedly connected with the connecting rod a42, the clamping plate 45 is fixedly connected with the connecting rod b43, and the rotating motion of the steering engine a40 drives the clamping plate 45 to do translational motion; the clamp is composed of two symmetrical parallelogram plane link mechanisms, and the two plane link mechanisms symmetrically arranged on two sides control the closing and the opening of the two clamping plates 45 through controlling the rotation angles of the steering engine a40 and the steering engine b41, so that the clamping action and the releasing action of the clamp are realized.
As shown in fig. 9 to 11, the mail picking platform is composed of an indexable chain conveyor, a mail picking platform and a mail picking platform:
the indexable chain type conveying device is arranged at the lower layer at the rear part of the carriage, the bottom of the conveying device is provided with a worm gear 47, the bottom of the conveying device is provided with a worm 49 in cooperation with the worm gear 47, and a direct current motor a48 fixedly connected to the bottom plate of the carriage drives a worm gear mechanism to realize the rotary motion of the conveying device; limit switches are respectively arranged on the carriage bottom plate at the corresponding positions of the conveying device, which are opposite to the mail sending port and the mail taking port, and the conveying device stops rotating when rotating to the mail sending platform or the inlet position of the mail taking platform; the upper part of the conveying device is provided with a chain type conveying belt 50, the front end of the chain type conveying belt 50 is arranged in the working space of the manipulator, the two sides of the chain type conveying belt 50 are provided with photoelectric proximity switches 51, a direct current motor drives the chain type conveying belt 50 to move through a chain wheel, and the chain type conveying belt 50 moves to drive the conveying device to synchronously move forwards or backwards;
the mail platform is arranged at the rear of the chain type conveying device, the direct current motor b52 drives the parallelogram mechanism 54 through the worm gear and worm transmission mechanism 53 to realize lifting movement of the mail platform, the width of the mail platform is not smaller than that of the conveying belt, the limit switch is triggered when the surface of the mail platform moves to a position attached to the surface of the conveying belt, and the movement is stopped; a scraping plate mechanism for pushing the express mail from the express mail platform to the conveying belt is arranged on a baffle plate above the far-end limit position of the surface of the express mail platform, the scraping plate mechanism is driven by a chain wheel 55 fixed on the other side of the parallelogram mechanism of the express mail platform, the movement is transmitted to a small chain wheel 56 fixed on the baffle plate through chain transmission and drives a cam 57 to rotate, the rotation movement is converted into the translation of a cam ejector rod 58 through the cam mechanism, and then the rotation of 0-95 degrees of the scraping plate is realized through a crank slider mechanism 59;
The picking platform is arranged on the right side of the chain type conveying device, the picking platform is a 30-degree smooth inclined surface 60, the quick-speed parts slide from the conveying belt of the chain type conveying device to the picking platform, and the quick-speed parts are distributed to the picking port A or the picking port B through the baffle 61; the baffle is driven by a micro motor below the workpiece taking platform, a baffle rotating shaft is connected with a motor output shaft through a universal coupling, and limit switches 62 and 63 are arranged at two motion pole positions of the baffle; and a man-machine interaction LCD display screen is arranged above the pickup platform outlet.
As shown in fig. 12 to 21, the unmanned aerial vehicle delivery device comprises a express loading mechanism 64, a stopping platform lifting mechanism 65 and an automatic cabin door mechanism 66, wherein a manipulator loosens after delivering the express into an inlet of the unmanned aerial vehicle delivery device, the express slides into a carrying cabin 68 arranged at the tail end of the roller conveyor 67 and below the stopping platform lifting mechanism 65 under the action of gravity by an inclined roller conveyor 67, the stopping platform lifting mechanism 65 drives the unmanned aerial vehicle to descend to the upper side of the carrying cabin 68, and an unmanned aerial vehicle clamping mechanism clamps and loads the carrying cabin 68 to the abdomen of the unmanned aerial vehicle to complete loading work;
the unmanned aerial vehicle loading carrying cabin 68 is arranged at the tail end of the roller conveyor 67, two sides of the stopping platform are mounted on lifting chains 69 on two sides by double-sided bent plate buckles, an unmanned aerial vehicle loading motor 70 fixed on an upper bottom plate at the rear part of the carriage drives an unmanned aerial vehicle loading reduction box 71 to transmit power to a drive bevel gear arranged in a transfer case, an opposite transfer bevel gear 72 meshed with the drive bevel gear breaks up the motion into two opposite rotary motions, the other end of a transfer bevel gear shaft is rigidly connected with a transfer worm 73, a transfer worm gear 74 meshed with the transfer worm 73 is mounted on a chain wheel shaft at the lower part of the lifting chain, and the worm gear reduction mechanism drives the chain wheel to rotate so as to realize lifting motion of the stopping platform; limit switches are arranged at the lifting pole positions of the platform to limit the stroke;
The automatic cabin door mechanism 66 is arranged right above the shutdown platform, a cabin door direct current motor 75 fixed on the top plate transmits motion to a gear a77 through a cabin door gear reduction box 76, a gear b78 is arranged above the gear a77 and meshed with the gear a77, a gear c79 fixedly connected to the other end of the central shaft of the gear b78 is meshed with a cabin door shaft gear d80, and the door shaft is driven to rotate through the direct current motor; the gear b78 transmits motor power to the gear e83 through the first idler wheel 81 and the second idler wheel 82, the rotation speed of the gear b78 is the same as that of the gear e83, the gear e83 transmits power to the door shaft gear 84 to drive the other door shaft to rotate, and the door 85 is controlled to be opened or closed through controlling the rotation number and the rotation direction of the door direct current motor 75.
As shown in fig. 22 to 26, an auxiliary loading device is further arranged outside the device, and the auxiliary loading device is a five-degree-of-freedom manipulator capable of performing translational movement along the X direction and the Y direction and performing rotational movement around the X axis, the Y axis and the Z axis, and mainly completes the external loading and unloading work of the express mail on the express delivery vehicle body. The five-degree-of-freedom manipulator motion mainly comprises: the base 88 translates in the X direction, the column 104 rotates about the Z direction, the large arm 89 translates in the Y direction, the small arm 90 moves up and down in the Z direction, and the small arm tip rotates about the Y direction. The translation joint comprises an X-axis translation movement module and a Y-axis translation movement module. The rotary joint comprises an X-axis rotary motion module, a Y-axis rotary motion module and a Z-axis rotary motion module;
In the auxiliary fitting apparatus: the X-axis translational motion module comprises a direct current driving motor 91, a reduction gearbox 92, a base platform 93, an X-axis linear guide rail 94, a chain 95, a screw 96, a nut, a limit switch 97 and a moving platform 98. The direct current drive motor 1 and the gear reduction box are positioned on the base platform, and the output gear of the gear reduction box is used as a chain transmission input gear. The screw shaft is arranged on the base platform and is fixedly connected with the chain transmission output gear shaft. The linear guide rail is fixedly connected to the base platform in parallel with the lead screw. The nut is fixedly connected with the moving platform, and the direct current driving motor 1 realizes the translational movement of the moving platform and the upper manipulator along the X direction by utilizing a screw nut mechanism through chain transmission. The limit switch is placed on the base platform according to the position of the storage grid and used for detecting the position of the manipulator;
in the auxiliary fitting apparatus: the Z-axis rotary motion module comprises a moving platform 98, a rotary base 99, a rotary base, a worm 100, a direct current motor 101, a reduction gearbox 102 and a code wheel. The rotating base is fixed on the moving platform and matched with the rotating base. The edge of the rotating base is provided with a gear ring which is matched with a worm beside the gear ring to form a worm and gear mechanism. The direct current motor shaft is connected with the input shaft of the reduction gearbox and is fixed on the mobile platform. The output shaft of the reduction gearbox is fixedly connected with the worm shaft, and the rotation of the mechanical arm around the Z-axis direction is realized through the rotation of the direct current motor. The other end of the worm shaft is provided with a code wheel, and the rotation angle is controlled by controlling the number of pulses;
In the auxiliary fitting apparatus: the Y-axis translational motion module comprises a Y-axis linear guide rail 103, a large arm 89, a rotary base, an upright post 104, a screw rod, a nut, a direct current motor 105 and a speed reducer 106. The upright post is positioned above the rotating base. The two Y-axis linear guide rails and the screw rod are positioned above the upright post, and the guide rails and the screw rod are mutually parallel. The DC motor is positioned above the upright post, and the output shaft of the DC motor is used as the input shaft of the speed reducer. The output shaft of the speed reducer is rigidly connected with one end of the screw rod, and the other end of the screw rod is provided with a code disc for controlling the displacement distance of the large arm. The nut is matched with the screw rod and fixed below the large arm 89, the direct current motor rotates, and the telescopic movement of the large arm along the Y direction is realized through a screw rod nut mechanism;
in the auxiliary fitting apparatus: the X-axis rotary motion module comprises a direct current motor 107, a reduction gearbox 108, a screw rod 109, a nut sliding block 110, a gear 111, a gear 112, a gear 113, a crank sliding block mechanism and a parallelogram mechanism. The dc motor, gear 111, gear 112, gear 113, and lead screw are fixed above the boom. The direct current motor drives the reduction gearbox to output power to the gear 111, and the gear 112 meshed with the reduction gearbox drives the screw rod to rotate, and the screw rod nut mechanism converts the motor rotation motion into linear motion of the nut sliding block 110 along the Y-axis direction. The connecting rod 114 is connected to the nut runner 110 and the crank 115 by a hinge, and the crank-runner mechanism converts the linear motion of the nut runner 110 into a rotational motion of the crank about the hinge. The crank is fixedly connected with one side of the parallelogram mechanism, so that the rotation motion of the small arm of the manipulator around the X axis is realized, and the parallelogram mechanism ensures that the tail end piece of the manipulator is always vertical to the ground. The gear 113 is meshed with the gear 112, and a code disc is arranged at the other end of the shaft of the gear 113 and used for controlling the rotation angle of the small arm of the manipulator around the X-axis.
In the auxiliary fitting apparatus: the Y-axis rotary motion module comprises a steering engine 116 and a manipulator tail end clamp 117. The frame of steering wheel 116 links firmly in the manipulator forearm end, and steering wheel 116 output shaft links firmly with the terminal holder bottom plate of manipulator, through the operation of steering wheel 116, can realize the rotary motion of the terminal holder of manipulator around the Y axle.
The end gripper structure of the external auxiliary device robot is identical to the end gripper structure of the aforementioned pick-up device robot and will not be described here.
During the use process:
1. the external auxiliary assembly device works in the distribution center, is installed in the assembly area of the express delivery belt and the carriage, the clamp holder at the tail end of the assembly device picks up the express, corresponding frames are distributed according to the outline dimension of the express, and the position and the pose of the manipulator are adjusted through the controller so that the express is accurately conveyed into the frames of the carriage from the outside. The plurality of loading devices respectively load express items from three sides of the carriage, thereby improving loading efficiency.
2. The user self-lifting mode: the flow chart is shown in fig. 27, the carriage is transported to a designated position by the carriage, separated and placed at a predetermined place, and the storage area unfolding device is automatically started to unfold the movable storage area, the pick-up device is automatically reset, and the carriage enters a service state. The carriage internal controller sends a pickup message to the user client to inform the user of reserving pickup time according to the self requirement, and two persons can be allowed to operate simultaneously in the same time period according to carriage pickup function design. When a user takes a piece according to the reserved time, a two-dimensional code of the piece taken received by a user client is scanned at a code scanning window, or the piece taking code is input on an operation panel, information reading and safety matching are carried out, a carriage controller sends a motion instruction to a piece taking device, a clamp at the tail end of a piece taking manipulator is moved to a target position, the piece taking device is taken out, the piece taking device continues to move, the position of the clamp at the tail end of the manipulator is adjusted under the motion instruction of the controller, the piece is conveyed to the front end inlet of an indexable chain type conveying device, the clamp moves a certain distance in the negative Z-axis direction, the piece is unloaded onto a conveying belt, the piece taking device finishes work and resets and stands by, the chain type conveying device starts work and indexes to an interval platform inlet, the piece slides from the conveying belt of the chain type conveying device to the piece taking platform, the piece taking port A and the piece taking port B are distributed through a baffle, and the user takes the piece from the piece taking port, and the piece taking process is completed.
3. Unmanned aerial vehicle dispatch mode: after reserving the picking time, a user can select an unmanned aerial vehicle dispatch mode, after confirmation and other operations, a carriage controller receives a dispatch command, after information reading and safety matching are carried out, the controller sends a motion command to a picking device, a picking manipulator tail end clamp is moved to a target position, a express mail is taken out, the position of the manipulator tail end clamp is adjusted under the motion command of the controller, the express mail is conveyed to a roller conveyor inlet at the upper layer of the rear end of the carriage, at the moment, the clamp releases the express mail, the express mail slides into a carrying cabin below a stopping platform lifting mechanism through the roller conveyor, the picking device finishes work and resets and stands by, the stopping platform lifting mechanism drives the unmanned aerial vehicle to descend to the upper part of the carrying cabin, and the unmanned aerial vehicle clamping mechanism clamps and loads the carrying cabin to the abdomen of the unmanned aerial vehicle to finish loading work; and then the lifting mechanism of the shutdown platform starts to move, the special delivery unmanned aerial vehicle is lifted to a preset height, and meanwhile, an automatic cabin door at the top of a carriage is opened, and the unmanned aerial vehicle carries a express mail to take off and go to a target position. Thereafter, the automatic door is closed. After the user takes out the express mail from carrying the thing cabin, unmanned aerial vehicle returns to the journey, when being close automatic hatch door position, automatic hatch door is opened, and unmanned aerial vehicle retrieves, accomplishes unmanned aerial vehicle dispatch task.
4. Mail mode: when the flow chart is shown in fig. 28, a user clicks a mail sending button on an operation panel, after confirmation and other operations are carried out, a carriage controller generates a mail sending task, a mail sending port is opened, the user places a express mail on a special E-shaped flat plate on the upper surface of a mail sending device, and a direct current motor drives a parallelogram mechanism to move so as to complete lifting and transferring actions of the express mail. When the express mail moves to chain conveyer belt entrance, the scraper mechanism of top baffle department promotes the express mail from sending a platform to the chain conveyer belt on, and parallelogram mechanism resets, and the pick-up unit moves to the exit of chain conveyer belt simultaneously, and the conveyer belt moves, carries the express mail to the manipulator end and gets on the piece board, and the controller retrieves spare frame, carries out the route planning, sends the motion instruction to the pick-up unit, will get the terminal piece board of getting the manipulator and remove to target position to pack into the express mail, pick-up unit resets, send the piece to accomplish.
5. Unloading carriage on carrier vehicle: when the express delivery car arrives at the express delivery distribution site, the carriage is required to be detached from the carrier vehicle. When the carriage is stopped at a proper position for placing the carriage, the motor is started to drive the oil pump to suck pressure oil from the oil tank and send the pressure oil into the hydraulic cylinder to enable the piston rod to do extension movement, and when the maximum limit position is reached, the piston rod lifts the carriage through the bearing beam, the carriage is separated from the carriage, and at the moment, the carriage is driven out, and the carriage is placed at a target position; when the car needs to be returned to the logistics distribution center, the car needs to be loaded onto a carrier vehicle. Firstly, parking a carrier vehicle at a proper position, and placing a rear flat plate below a carriage; then, starting a motor to drive an oil pump to suck out pressure oil from a hydraulic cylinder and send the pressure oil to an oil tank to enable a piston rod to do shrinkage movement, and when the pressure oil reaches a minimum limit position, supporting a carriage by a rear flat plate of the carrier vehicle; finally, the fixed pin is inserted, and the carriage can be transported to the logistics distribution center by the carrier vehicle.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (7)

1. The utility model provides an intelligence express delivery device, it includes carrier loader (1) and carriage, carriage detachably installs on carrier loader (1), its characterized in that: the carriage comprises a storage area (2), a storage area unfolding device (3), a picking device (4), a picking platform (5), an unmanned aerial vehicle picking device (6) and a hydraulic lifting device (7), wherein the picking platform (5) comprises a picking platform and a picking platform, and the picking platform comprises a picking platform A area and a picking platform B area;
the storage area (2) is arranged at the front part of the carriage, the storage area (2) comprises a fixed storage area (8), a movable storage area A (9) and a movable storage area B (10), the fixed storage area (8) is fixedly arranged at the front part of the carriage, and the movable storage area A (9) and the movable storage area B (10) are symmetrically arranged on the front side surface and the rear side surface of the right side of the fixed storage area (8);
The storage area unfolding device (3) is arranged at the top of the carriage, the storage area unfolding device (3) comprises a moving cantilever, and the movable storage area A (9) and the movable storage area B (10) are arranged on the moving cantilever; an automatic cabin door (85) is further arranged at the top of the carriage;
the pick-up device (4) is arranged in the middle of the bottom surface of the carriage, and the pick-up device (4) is a five-degree-of-freedom rectangular coordinate manipulator with a clamp holder (19) arranged at the tail end;
an upper layer and a lower layer are arranged at the rear part of the carriage, wherein the lower layer is a mail picking platform (5), a quick mail is split into a first section or a second section of the mail picking platform from a working section of the mail picking device (4) through an indexable chain type conveying device, and otherwise, the quick mail is taken down from the mail picking platform and conveyed to the working section of the mail picking device (4); the upper layer of the carriage is an unmanned aerial vehicle delivery device (6), the unmanned aerial vehicle delivery device (6) is provided with an unmanned aerial vehicle, the unmanned aerial vehicle is driven by a stepping motor to lift the unmanned aerial vehicle to a preset height by the unmanned aerial vehicle delivery device (6), and the automatic cabin door (85) is automatically opened to finish take-off or recovery of the unmanned aerial vehicle;
a hydraulic lifting device (7) is arranged between the bottom of the carriage and the carrier vehicle (1) and is used for mounting the carriage on the carrier vehicle or dismounting the carriage from the carrier vehicle;
The unmanned aerial vehicle delivery device comprises a express mail loading mechanism (64), a stopping platform lifting mechanism (65) and an automatic cabin door mechanism (66), a manipulator loosens after delivering express mail into an inlet of the unmanned aerial vehicle delivery device, the express mail slides into a carrying cabin (68) arranged at the tail end of the roller conveyor (67) and positioned below the stopping platform lifting mechanism (65) under the action of gravity by an inclined roller conveyor (67), the stopping platform lifting mechanism (65) drives the unmanned aerial vehicle to descend to the position above the carrying cabin (68), and an unmanned aerial vehicle clamping mechanism clamps and loads the carrying cabin (68) to the abdomen of the unmanned aerial vehicle to finish loading work;
the unmanned aerial vehicle loading cargo cabin (68) is arranged at the tail end of the roller conveyor (67), two sides of the stopping platform are mounted on lifting chains (69) at two sides by double-side bent plate buckles, an unmanned aerial vehicle loading motor (70) fixed on an upper bottom plate at the rear part of a carriage drives an unmanned aerial vehicle loading reduction gearbox (71) to transmit power to a drive bevel gear arranged in the transfer box, an opposite transfer bevel gear (72) meshed with the drive bevel gear breaks up the motion into two opposite rotary motions, the other end of the transfer bevel gear shaft is rigidly connected with a transfer worm (73), a transfer worm wheel (74) meshed with the transfer worm (73) is mounted on a chain wheel shaft at the lower part of the lifting chain, and a worm wheel reduction mechanism is utilized to drive a chain wheel to rotate so as to realize lifting motion of the stopping platform; limit switches are arranged at the lifting pole positions of the platform to limit the stroke;
The automatic cabin door mechanism (66) is arranged right above the shutdown platform, a cabin door direct current motor (75) fixed on the top plate transmits motion to a gear a (77) through a cabin door gear reduction box (76), a gear b (78) is arranged above the gear a (77) and meshed with the gear a (77), a gear c (79) fixedly connected to the other end of the central shaft of the gear b (78) is meshed with a cabin door shaft gear d (80), and the door shaft is driven to rotate through the direct current motor; the gear b (78) transmits motor power to the gear e (83) through the first idler wheel (81) and the second idler wheel (82), the gear b (78) rotates reversely with the rotation speed of the gear e (83), the gear e (83) transmits power to the cabin door shaft gear (84) to drive the other door shaft to rotate, and the opening or closing of the automatic cabin door (85) is controlled by controlling the number of turns and the rotating direction of the cabin door direct current motor (75);
the workpiece taking device (4) is a five-degree-of-freedom manipulator based on rectangular coordinates, and comprises rectangular coordinates for realizing X, Y, Z three-direction movement degrees of freedom and a rotary joint for realizing the rotational degrees of freedom of a manipulator tail end clamp holder (19) around an X axis and a stand column (31) around a Z axis, wherein the rotary joint comprises an X axis rotary motion module and a Z axis rotary motion module; the rectangular coordinate joint comprises an X-axis translational movement module, a Y-axis translational movement module and a Z-axis translational movement module; the Y-axis translational movement module is arranged on the connecting frame (23), and the X-axis translational movement module drives the connecting frame (23) to move along the X direction;
The X-axis translational motion module comprises a direct-current high-power motor X (20), X-axis linear guide rails (21, 22), wheels (38), a screw rod X (24) and a nut X, wherein the direct-current high-power motor X (20) is fixed on a bottom plate of a carriage main body, is arranged below a fixed storage area (8), and two X-axis linear guide rails (21, 22) are fixed on the bottom plate of the carriage main body and are respectively arranged below a movable storage area A (9) and a movable storage area B (10), and the X-axis linear guide rails (21, 22) bear the load of a manipulator and guide a connecting frame (23) to do reciprocating linear motion in the X direction; a pair of wheels (38) are respectively arranged below two sides of the connecting frame (23), and the wheels (38) at two sides respectively slide along the X-axis linear guide rails (21, 22) in a reciprocating manner; an output shaft of the direct current high-power motor X (20) is connected with the axis of a screw rod X (24) through a rigid coupling, and the rotation motion of the direct current high-power motor X (20) is converted into the translational motion of the connecting frame (23) along the X direction through a screw rod nut mechanism fixedly connected below the connecting frame (23);
the Y-axis translational motion module comprises a conveying motor Y, a Y-axis linear guide rail (25), a rotating base (26), a reduction gearbox Y and a rack (27), wherein the rotating base (26) is arranged above the connecting frame (23), a boss below the rotating base (26) is matched with the connecting frame (23), and the rotating base (26) can do translational motion along the connecting frame (23) in the Y direction; the Y-axis linear guide rail (25) and the rack (27) are arranged in parallel in the connecting frame (23); the reduction gearbox Y is fixed below the rotating base (26), a motor rotor of the conveying motor Y provides a power source for the reduction gearbox Y, and the rotating base (26) is driven by the gear rack mechanism to realize translational movement of the manipulator along the Y direction;
The Z-axis translational motion module comprises a conveying motor Z, an upright post (31), a rotating base (28), a Z-axis linear guide rail (32), a steering engine Z (29), a reduction gearbox Z (33), a screw rod Z (34) and a nut Z (35), wherein the rotating base (28) is arranged in the rotating base (26) and forms a revolute pair with the rotating base (26), and the relative rotation of the rotating base (28) and the rotating base (26) can be realized; the upright post (31) is fixedly connected above the rotary base (28), the Z-axis linear guide rails (32) are arranged on two sides of the upright post (31), the conveying motor Z is arranged above the upright post (31), and an output shaft of the conveying motor Z is used as an input shaft of the reduction gearbox Z (33); the screw rod Z (34) is fixedly arranged above the rotating base (28) and is parallel to the Z-axis linear guide rail (32), and the screw rod Z (34) is used as an output shaft of the reduction gearbox Z (33); the base of the steering engine Z (29) is connected with a nut Z (35), and the rotating motion of the conveying motor Z is converted into the lifting motion of the steering engine Z (29) along the Z direction through a screw-nut mechanism;
the X-axis rotary motion module comprises a manipulator tail end clamp holder (19), an output shaft of the steering engine z (29) is fixedly connected with a bottom plate (39) of the manipulator tail end clamp holder (19), and rotary motion of the manipulator tail end clamp holder (19) around the X-axis is realized through operation of the steering engine z (29);
The Z-axis rotary motion module comprises a coding motor (36), a rotary base (26), a rotary base (28) and a planetary gear (37), wherein the coding motor (36) is fixedly connected above the rotary base (28) to drive the planetary gear (37) and plays a role of a planet carrier, a gear ring meshed with the planetary gear (37) is arranged on the edge of the rotary base (26), and the rotary base (26), the rotary base (28) and the planetary gear (37) jointly realize the rotation of the rotary base (28) around the Z-axis direction relative to the rotary base (26);
the mail sending and taking platform consists of an indexable chain type conveying device, a mail taking platform and a mail sending platform:
the indexable chain type conveying device is arranged at the lower layer at the rear part of the carriage, a worm wheel (47) is arranged at the bottom of the conveying device, a worm (49) is arranged at the bottom of the conveying device in cooperation with the worm wheel (47), and a direct current motor a (48) fixedly connected to the bottom plate of the carriage drives a worm wheel and worm mechanism to realize the rotary motion of the conveying device; limit switches are respectively arranged on the carriage bottom plate at the corresponding positions of the conveying device, which are opposite to the mail sending port and the mail taking port, and the conveying device stops rotating when rotating to the mail sending platform or the inlet position of the mail taking platform; the upper part of the conveying device is provided with a chain type conveying belt (50), the front end of the chain type conveying belt (50) is arranged in a working space of the manipulator, two sides of the chain type conveying belt (50) are provided with photoelectric proximity switches (51), and a direct current motor drives the chain type conveying belt (50) to move through a chain wheel;
The mail platform is arranged at the rear of the chain type conveying device, the direct current motor b (52) drives the parallelogram mechanism (54) through the worm gear and worm transmission mechanism (53) to realize lifting movement of the mail platform, the width of the mail platform is not smaller than that of the conveying belt, and when the surface of the mail platform moves to a position attached to the belt surface of the conveying belt, the limit switch is triggered, and the movement is stopped; a scraping plate mechanism for pushing the express mail from the mail platform to the conveying belt is arranged on a baffle plate above the far-end limit position of the surface of the mail platform, the scraping plate mechanism is driven by a chain wheel (55) fixed on the other side of the parallelogram mechanism of the mail platform, the movement is transmitted to a small chain wheel (56) fixed on the baffle plate through chain transmission and drives a cam (57) to rotate, the rotation movement is converted into the translation of a cam ejector rod (58) through the cam mechanism, and then the rotation of 0-95 degrees of scraping plate is realized through a crank slider mechanism (59);
the picking platform is arranged on the right side of the chain type conveying device, the picking platform is a 30-degree smooth inclined surface (60), the quick-speed parts slide from the conveying belt of the chain type conveying device to the picking platform, and the quick-speed parts are distributed to the picking port A or the picking port B through the baffle plate (61); the baffle is driven by a micro motor below the workpiece taking platform, a baffle rotating shaft is connected with a motor output shaft through a universal coupling, and limit switches (62, 63) are arranged at two motion pole positions of the baffle; and a man-machine interaction LCD display screen is arranged above the pickup platform outlet.
2. The intelligent express delivery device of claim 1, wherein: the carrier vehicle (1) is a light flat-plate carrier vehicle; the upper surface of the carriage is provided with a solar photovoltaic panel which converts solar energy into electric energy to provide electric energy for electric elements in the device.
3. The intelligent express delivery device of claim 1, wherein: the storage area (2) comprises a plurality of storage grids for storing express items, the storage grids are dense narrow-body grids, the middle of a supporting plate on the bottom surface of each storage grid is hollowed out, and each storage grid is respectively provided with a unique number.
4. The intelligent express delivery device of claim 3, wherein: the size of the storage grid in the storage area (2) is set into various specifications according to the size of the express mail.
5. The intelligent express delivery device of claim 1, wherein: the storage area unfolding device (3) comprises linear guide rails (15, 16), transmission nuts, a transmission screw rod fixed on the top of a carriage through bearings and two driving motors (11, 12), wherein the two driving motors (11, 12) are respectively arranged above the movable storage area A (9) and the movable storage area B (10), the two transmission nuts are respectively correspondingly arranged on the upper surfaces of the movable storage area A (9) and the movable storage area B (10), the movable storage area A (9) and the movable storage area B (10) are hung on the linear guide rails (15, 16), the transmission nuts are correspondingly arranged on the transmission screw rod, the controller simultaneously sends motion signals to the two driving motors (11, 12), the driving motors (11, 12) drive the transmission screw rod to rotate through a speed reduction chain transmission mechanism (13, 14), the transmission screw rod converts rotary motion into linear motion, the movable storage area A (9) and the movable storage area B (10) synchronously move in opposite directions or back to back along the linear guide rails (15, 16), the movable storage area A (9) and the movable storage area B (10) synchronously move to stop the movable storage area (10) when the movable storage area A (10) and the movable storage area (10) move in a standard storage area (17) are closed.
6. The intelligent express delivery device of claim 1, wherein: the manipulator tail end clamp holder (19) comprises a steering engine a (40), a steering engine b (41), a connecting rod a (42), a connecting rod b (43), a connecting rod c (44), a clamping plate (45) and an anti-slip pad (46), wherein the anti-slip pad (46) is covered on the inner surface of the clamping plate (45), the connecting rod a (42), the connecting rod b (43), the connecting rod c (44) and a rack of the steering engine a (40) sequentially form a revolute pair to form a parallelogram plane connecting rod mechanism, an output shaft of the steering engine a (40) is fixedly connected with the connecting rod a (42), the clamping plate (45) is fixedly connected with the connecting rod b (43), and the rotating motion of the steering engine a (40) drives the clamping plate (45) to do translational motion; the clamp holder is composed of two symmetrical parallelogram plane link mechanisms, and the two plane link mechanisms which are symmetrically arranged at two sides control the closing and the opening of the two clamping plates (45) through controlling the rotation angles of the steering engine a (40) and the steering engine b (41), so that the clamping action and the releasing action of the clamp holder are realized.
7. The intelligent express delivery device of claim 1, wherein: the hydraulic lifting device comprises hydraulic cylinders (86) and bearing beams (87), wherein the two bearing beams (87) are respectively longitudinally distributed at the bottom of a carriage, the front and back of the cylinder bodies of the two hydraulic cylinders (86) are fixedly connected to one bearing beam (87), the other two hydraulic cylinders (86) are symmetrically fixedly connected to the other bearing beam, and the piston rods of the four hydraulic cylinders (86) synchronously move to drive the lifting and the descending of the carriage.
CN201710928439.4A 2017-10-09 2017-10-09 Intelligent express delivery device Active CN107599938B (en)

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