CN107458836A - A kind of building delivery system - Google Patents

Abstract

The invention discloses a kind of building delivery system, including delivery track, delivery dolly, drop-off box and control system；Delivery track includes backbone and attached rail；Backbone is vertically-mounted along building wall, and each layer of building is equipped with corresponding attached rail；Transition guide is additionally provided between backbone and attached rail, is connected with rail changing device, rail changing device causes the both ends of transition guide to be connected/come off with backbone, attached rail respectively；Delivery dolly is connected with delivery track, and is walked in the presence of drive device on delivery track；One end of drop-off box and backbone is connected, and part and dolly pickup are deposited for courier or distributed robot；Control system includes control centre and the backbone part being attached thereto, attached rail part, becomes rail part and deliver part；Solve the problems, such as that logistics is last " 100 meters "；Facilitate addressee personnel and deliver the article receiving and sending of personnel；The building delivery system architecture is simple, simple operation, improves building delivery system delivery efficiency.

Description

A kind of building delivery system

Technical field

The present invention relates to logistics delivery engineering device technique field, especially a kind of building delivery system.

Background technology

With the offer that scientific and technological progress and people live, ecommerce is gradually come into the life of people, while is also driven Logistic industry flourishes, and efficiently, the quick synonym for having become hyundai electronicses commercial affairs and logistics distribution, gives people Life brings great convenience.

Existing office building, commercial center's contour level building, have accumulated most of white collars, and densely populated place elevator lacks Problem is serious, while the demand such as daily express delivery, parcel, take-away is vigorous.And existing high-end office building or commercial center, it is not Courier is allowed to enter Office Area or enter in building so that delivery mode is generally using two kinds of realizations：When in building or The bottom of office building installs intelligent express delivery cabinet, and such as express delivery is easily set, and express delivery or parcel are placed in the intelligent express delivery by delivery person Cabinet, consignee is notified to go to extraction by intelligent express delivery cabinet, consignee is needed in person downstairs to intelligent express delivery cabinet, because elevator lacks Taken a substantial amount of time during above going downstairs.Second, delivery person in building or the bottom of office building, notifies consignee to go to receipts Take, similarly, consignee is also required to downstairs take a substantial amount of time in person.With the development of logistlcs technology, automatic distributed robot Etc. being developed rapidly, but existing automatic distributed robot is still the bottom that goods is delivered to building from shunt centre, Consignee's extraction is reinformed, consignee, which still has, downstairs expends a large amount of valuable times.Therefore it is last how to solve logistics The delivery of " 100 meters " registers one's residence/enter layer, avoid on consignee downstairs and the problem of waste the quality time, and it is extremely urgent.

The content of the invention

The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of building delivery system, by that will receive Pickup, delivery track and receipts pick-off unit are organically combined and rationally set, and solve the problems, such as that logistics is last " 100 meters "；Solution That has determined high-rise building user collects the cumbersome problem of express mail；The express mail for solving courier or distributed robot sends inconvenience with charge free Problem；The building delivery system architecture of the present invention is simple, simple operation, and it is low to solve building delivery system delivery efficiency, control The problem of complex operation.

The technical solution adopted by the present invention is as follows：

The building delivery system of the present invention, including delivery track, delivery dolly, drop-off box and control system；The delivery track Including backbone and attached rail；The backbone is vertically-mounted along building wall, and each layer of building is equipped with corresponding attached rail；The master Transition guide is additionally provided between rail and attached rail, is connected with rail changing device, rail changing device make it that the both ends of transition guide respectively can be with Backbone, attached rail are connected/come off；The delivery dolly is connected with delivery track, and in delivery track in the presence of drive device Upper walking；One end connection of the drop-off box and backbone, part and dolly pickup are deposited for courier or distributed robot；The control System includes control centre and the backbone part being attached thereto, attached rail part, becomes rail part and deliver part, wherein：

Backbone part includes backbone, which is provided with floor identification, and the floor identification corresponds to respective storey；

Attached rail part includes attached rail, which is provided with destination mark, and the destination mark corresponds to the destination of respective storey, Destination i.e. corresponding to purpose earth signal；Floor identification, destination mark, rail changing device per floor is corresponding；

Becoming rail part includes transition guide and inductor, and transition guide is when becoming rail, for being connected the backbone and attached rail；It is described Inductor is set in transition guide, for sensing whether the transition guide with backbone and attached rail is connected completion；It is additionally operable to feeling When should be completed to linking, send linking to control centre and complete signal；The change for becoming rail part and being additionally operable to receive control centre Rail drive signal, driving transition guide becomes rail, to be connected backbone part and attached rail part；

Delivering part includes delivery dolly, and it can receive the purpose earth signal of control centre, transport parcel；The delivery dolly is also For identifying the floor identification, positioning signal one is sent to control centre；The brake signal one of control centre is received, performs system It is dynamic；The recovery signal one of control centre is received, recovers to deliver work；The destination mark is identified, it is fixed to be sent to control centre Position signal two；The brake signal two of control centre is received, performs braking；

Control centre is used for delivery dolly sending destination signal, and mark delivery dolly is delivery state；Receive delivery state Delivery dolly positioning signal one, when the floor corresponding with the destination of delivery dolly of position corresponding to positioning signal one is into predetermined During relation, brake signal one is sent to delivery dolly, is sent to rail changing device corresponding to the destination of the delivery dolly and becomes rail Drive signal；Signal is completed in the linking for receiving inductor, is sent to delivery dolly and is recovered signal one；Positioning signal two is received, to Delivery dolly sends brake signal two.

Due to using said structure, building delivery system of the invention is by by delivery track, delivery dolly and delivery case Body controls under the ingenious control of control system, realizes its mutual linkage action so that parcel object can pass through The building delivery system of the present invention is quickly and easily sent in the hand of pickup people, and pickup people is without going downstairs, courier does not have to difference Send with charge free, saved the time of addressee, the operating efficiency of courier is greatly enhanced, and solves the last of present generally existing The delivery problem of " 100 meters "；The present invention enable by using transition guide the attached rail that sets on backbone and each floor with When connect, change rail of the delivery dolly on traveling track is realized, when needing to give another the right of way or to during respective storey delivery, can control Transition guide is borrowed in the presence of mechanism processed enables dolly to become rail to the transverse direction of floor with the connection function of backbone, attached rail Opening position so that other delivery dollies upwardly or downwardly can walk according to its set track, realize one with backbone The walking of multiple dollies can be realized and mutually interference effect, the delivery track structure of building delivery system of the invention be not non- Often simple, making, cost of installation and use are low, solve the problems such as dolly delivery, mutual avoidance of giving another the right of way, have good use Value.

The building delivery system of the present invention, the backbone are set parallel to building wall, and at least side is provided with tooth on backbone Bar；The rack is installed with the gear teeth meshing on delivery dolly driving wheel；On the direction perpendicular to wall, on the backbone also Provided with race；The race is used for the directive wheel for accommodating delivery dolly, and directive wheel is under the driving effect of driving wheel in race Walking；The connector for being connected with every transition guide is additionally provided with the backbone；The depth of the connector is equal to race Depth；Width of the width of the connector at least equal to race；The transition guide is arc-shaped guide rail, the one of transition guide End is rotatablely connected with attached rail, and the other end can be connected/come off with backbone in the presence of rail changing device；The transition guide and backbone Connection end be provided with connection support plate and bayonet socket；Connect support plate and bayonet socket l-shaped or U-shape structure and connector clamping on backbone； The rack and race for delivery carriage walking also are provided with the transition guide.

Further, two groups of races are arranged with the backbone, they are race one and race two respectively, i.e. backbone Cross section is I-shaped；Advance the side that delivery dolly is wrapped in backbone in the presence of directive wheel and driving wheel；It is described symmetrical It is equipped with connector on the race one and race two of setting, the connector on every group of race is also arranged symmetrically.

Further, the rail changing device includes electromagnet and spring；One end of the spring is fixedly connected with electromagnet, Electromagnet is fixedly mounted on building wall and is connected with supply unit；The other end of the spring is connected with transition guide；Institute It can also be air-leg mechanism to state rail changing device, and it includes cylinder and push rod；One end of the push rod and the power of cylinder are defeated Go out end connection, the other end of push rod and being flexibly connected for transition guide；The rail changing device can also be electric pushrod or liquid Press push rod or Electrohydraulic push rod mechanism.

Due to playing a part of stable carriage walking using the cooperation of said structure, the directive wheel and race of delivery dolly, When the gear teeth on road wheel with backbone walk tooth engagement during dishonour advance when, dolly can directive wheel with The mutual cooperation effect of race is lower stable to be run on backbone, while the also walking on the gear teeth and backbone on guarantee road wheel The engagement that tooth can be stablized, ensure the stability of whole delivery system；Connector is used for the connection of transition guide, so as to realize master Transition connection between rail and attached rail, when the size for being equal to race one of the size of connector, transition guide and backbone Connection end, which need not be stretched into, can easily realize connection in race one, transition guide overlaps with backbone, and by transition guide The walking tooth reasonable combination walked on tooth and backbone, ensure the normal operation of dolly；Arc-shaped guide rail enables dolly naturally steady Fixed transition is run on attached rail, and the bayonet socket of the connection end of transition guide and backbone is arranged to L-type or U-shape structure so that It unilateral or bilateral can be connected on upright guide rail, while causes the walking tooth in transition guide and the walking on backbone Tooth can natural transition, avoid influenceing the normal walking of delivery dolly, its clamping control is also more convenient.

The building delivery system of the present invention, the drop-off box include shell, rotate container, the manipulator for capturing object And controller, shell are provided with storing mouth and taking mouth；The rotation container is located in shell, and is connected with drive mechanism, Around main axis in the presence of drive mechanism；The manipulator, which is located on housing interior side-wall, to be installed, and can be relative on madial wall It is mobile；The rotation container, manipulator are connected with controller with drive mechanism, and are controlled by it；The controller also with outside Data Enter end connection on shell side wall；Described information typing end is used to deposit part Data Enter and for the pickup with delivery dolly Signal docks.

Further, the rotation container includes upper cover plate, some storage boxes and lower cover；The upper cover plate and lower cover it Between be some multilayer storage boxes arranged in a ring；The lower cover and/or upper cover plate are also connected by connecting shaft with external motor, Upper cover plate, storage box and the lower cover unitary rotation in the presence of motor；The motor is connected with controller；The volume of the storage box Between upper cover plate and lower cover, gradually increase under upper；The manipulator is provided with two groups, is arranged symmetrically in the inner side of shell On wall；The manipulator is rotatably coupled on a sliding block, and the sliding block and the chute clamping on housing interior side-wall simultaneously can phases Chute is moved；A screw mandrel is fixed with the chute, driving rotating mechanism is connected on screw mandrel；The sliding block, which is worn, is connected on screw mandrel On, and moved up and down under the rotary action of screw mandrel in chute.

Because using said structure, the structure setting for rotating container causes the compact-sized of storing casing, and installation takes empty Between it is small, the combination of manipulator and Data Enter end and controller, can quickly respond and access object, access object effect Rate is high, and its is simple in construction, easy to install and use；After object storage, controller can store the storage information of pickup, when needs take When going out object, it is only necessary to which the information of the corresponding object of input, just energy control machinery hand finds the object of relevant position storage simultaneously for control Take out, the structure design make it that the storage of locker is convenient, and container utilization rate is high；Motor, which can drive, rotates container unitary rotation, The sylphon that object needs to deposit is turned into manipulator side, so that object can be put into corresponding storage box by manipulator, turned Dynamic container can act on simultaneously with manipulator, improve the efficiency of object storage.

The building delivery system of the present invention, the dolly include frame, the first ring arm and the second ring arm are connected with frame, First ring arm and the second ring arm are respectively engaged with race one and race two；Two are provided with first ring arm and the second ring arm Guide wheel post, is provided with bearing on two guide wheel posts, and roller shaft, roller shaft are connected with by bearing between two guide wheel posts Directive wheel is provided with, dolly is fixed in orbit by the first ring arm and the second ring arm.

Further, drive shaft is connected with the frame, driving wheel is provided with drive shaft；The driving wheel bag The first driving wheel and the second driving wheel are included, the first driving wheel and the second driving wheel are meshed with the rack on track respectively；It is described Drive is provided with the middle part of drive shaft, turbine is provided with frame, be connected with the rotating shaft of turbine be meshed with drive it is dynamic Wheels；Motor is arranged in frame, and worm screw is connected with the rotating shaft of motor, and worm screw is connected with turbine.

The building delivery system of the present invention, the floor identification are located at the middle part of every two floor；The control of the control system Process processed is：

In the case where delivery dolly is delivery state：Position corresponding to positioning signal one is in floor mark corresponding to the destination of delivery dolly When knowing position, the control centre sends brake signal one to delivery dolly, to change corresponding to the destination of the delivery dolly Rail device, which is sent, becomes rail drive signal；

The technical scheme that uses of reset become after rail into：Control centre receives positioning signal two, to the purpose of the delivery dolly Rail changing device corresponding to ground sends reset drives signal；The rail changing device is additionally operable to：Receive the reset drives letter of control centre Number, driving becomes rail partial reset；The change rail part is additionally operable to：Reset, to separate the rank of the backbone part and attached rail part Connect；

After parcel is taken out by addressee, technical scheme is used by delivery dolly returns：Delivery dolly senses the parcel Whether it is removed；After sensing that the parcel is removed, delivery signals are sent to control centre；Receive the extensive of control centre Complex signal two, start to return；The floor identification is identified, positioning signal one is sent to control centre；The control centre receives Delivery signals, mark delivery dolly is return state, is sent to rail changing device corresponding to the destination of delivery dolly and becomes rail drive Dynamic signal；Signal is completed in the linking for receiving inductor, is sent to delivery dolly and is recovered signal two；The delivery for receiving return state is small The positioning signal one of car, when the floor corresponding with the destination of delivery dolly of position corresponding to positioning signal one is into predetermined relationship, Reset drives signal is sent to rail changing device corresponding to the destination of delivery dolly；In the case where delivery dolly is return state, positioning Position corresponding to signal one is during floor identification position, the control centre is to delivery dolly corresponding to the destination of delivery dolly Destination corresponding to rail changing device send reset drives signal；

The delivery dolly setting is some, when at least two delivery dollies, one is in delivery state, and one in return shape When under state：Inductor is additionally operable to sense whether the change rail part resets completion；It is additionally operable to sensing that change rail partial reset is complete Cheng Shi, send to reset to control centre and complete signal.

Closer, the backbone part can be integral type or segmented；

When the backbone part is integral type：When becoming rail completion, the backbone part to backbone part is held in the mouth with becoming rail part The part of contact, become rail part and the insertion of attached rail part；When resetting completion, the backbone part and the change rail part point From；

When the backbone part is segmented：The change rail part is adapted to the gap of the backbone part；Becoming, rail is complete Cheng Shi, backbone part, become rail part and the insertion of attached rail part；When resetting completion, backbone part and the insertion of change rail part, become rail Part and attached rail are partially separated.

In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：

1st, realize and parcel is transported to designated floor by delivery dolly, so as to realize that addressee can take parcel in respective storey Function.By this kind of mode, can greatly save addressee's original need to go downstairs time of pickup.Meanwhile if this solution provides The management and running of dry delivery apparatus while delivery of packages, realize the schemes of some parcels while delivery.It is preferential to set shipping situation Principle, shorten the delivery used time in scheduling process.Meanwhile increase and become rail part linking/reset sensing, it can guarantee that delivery apparatus The security of motion, avoid because the problem of becoming rail part causes whole system non-normal working.

2nd, the present invention is simple and reasonable for structure, the delivery dolly of respective numbers can be selected according to actual conditions, configuration is flexibly； The present invention occupies little space, and can also be used for built building.

3rd, delivery dolly and body structure are simple, and access part is convenient, and can in the presence of control quick response, and Parcel object is sent in addressee human hand, the pickup time of addressee has been saved, has improved the operating efficiency of delivery personnel.

4th, delivery system entirety control principle of the invention is simple, and system unit is easy to install and use, practical, fits Close popularization and application.

Brief description of the drawings

Fig. 1 is the delivery system layout of the present invention；

Fig. 2 is the connecting installation structure schematic diagram of backbone and attached rail；

Fig. 3 is the structural representation of backbone and attached rail connecting interface；

Fig. 4 is the left view of backbone in Fig. 3；

Fig. 5 is the connection end structural representation of attached rail and backbone；

Fig. 6 is the connection scheme of installation of delivery dolly and delivery track；

Fig. 7 is delivery vehicle structure schematic diagram；

Fig. 8 is the structural representation of drop-off box；

Fig. 9 is the installation site arrangement schematic diagram of control system communication component and delivery track；

Figure 10 is the control flow to the course of work of delivery apparatus one.

Figure 11 is the control flow to the course of work of delivery apparatus one and two.

Figure 12 is the control flow to the course of work of delivery apparatus two and three.

Figure 13 is the structure chart of the control system based on building.

Figure 14 is another structure chart of the control system based on building.

Marked in figure：100- delivery tracks, 101- backbones, 1011- racks, 1012- races one, 1013- races two, 1014- connectors, the attached rails of 102-, 103- transition guides, 1031- connection support plates, 1032- bayonet sockets, 1033- necks, 104- become rail Device, 105- rotary shafts, 200- delivery dollies, 201- frames, the ring arm of 202- first, the ring arm of 203- second, 204- guide wheel posts, 205- bearings, 206- roller shafts, 207- directive wheels, 208- drive shafts, the driving wheels of 209- first, the driving wheels of 210- second, 211- Drive, 212- turbines, 213- power wheels, 214- motors, 215- worm screws, 300- drop-off boxs, 301- shells, 302- storings Mouthful, 303- taking mouths, 304- rotates container, 3041- upper cover plates, 3042- lower covers, 3043- storage boxes, 305- main shafts, 306- companies Spindle, 307- manipulators, 308- sliding blocks, 309- screw mandrels, 310- chutes, 400- floors, 501- floor identifications, the terrestrial reference of 502- mesh Know, 503- inductors, 504- identifiers.

Embodiment

With reference to embodiment, the present invention is described in detail.

In order that the object, technical solution and advantage of invention are more clearly understood, with reference to embodiments, the present invention is entered Row is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit The fixed present invention.

As shown in each accompanying drawing of specification, a kind of building delivery system, including delivery track 100, delivery dolly 200, delivery Case 300 and control system；The delivery track 100 includes backbone 101 and attached rail 102；The backbone 101 is vertical along building wall Installation, each layer of building are equipped with corresponding attached rail 102；Transition guide is additionally provided between the backbone 101 and attached rail 102 103, connected with rail changing device 104, rail changing device 104 make it that the both ends of transition guide 103 respectively can be with backbone 101, attached rail 102 Connect/come off；The delivery dolly 200 is connected with delivery track 100, and in delivery track 100 in the presence of drive device Upper walking；The drop-off box 300 is connected with one end of backbone 101, and part and dolly pickup are deposited for courier or distributed robot；Institute Stating control system includes control centre and the backbone part being attached thereto, attached rail part, becomes rail part and deliver part, wherein：

Backbone part includes backbone 101, which is provided with floor identification 501, and the floor identification 501 corresponds to respective storey 400；

Attached rail part includes attached rail 102, which is provided with destination mark 502, and the destination mark 502 corresponds to respective storey 400 destination, i.e., destination corresponding to purpose earth signal；Floor identification 501, destination mark 502, change rail dress per floor It is corresponding to put 104；

Becoming rail part includes transition guide 103 and inductor 503, and transition guide 103 is when becoming rail, for being connected the backbone 101 and attached rail 102；The inductor 503 is set in transition guide 103, for sense the transition guide 103 whether with backbone 101 and attached rail 102 linking complete；It is additionally operable to when sensing that linking is completed, sending linking to control centre completes signal；It is described Become the change rail drive signal that rail part is additionally operable to receive control centre, driving transition guide 103 becomes rail, be connected backbone part and Attached rail part；

Delivering part includes delivery dolly 200, and it can receive the purpose earth signal of control centre, transport parcel；The delivery is small Car 200 is additionally operable to identify the floor identification 501, and positioning signal one is sent to control centre；Receive the braking letter of control centre Number one, perform braking；The recovery signal one of control centre is received, recovers to deliver work；The destination mark 502 is identified, to Control centre sends positioning signal two；The brake signal two of control centre is received, performs braking；

Control centre is used for the sending destination signal of delivery dolly 200, and mark delivery dolly 200 is delivery state；Receive and throw The positioning signal one of the delivery dolly 200 of state is passed, when position corresponding to positioning signal one and the destination pair of delivery dolly 200 When answering floor 400 into predetermined relationship, brake signal one is sent to delivery dolly 200, to the destination pair of the delivery dolly 200 The rail changing device 104 answered, which is sent, becomes rail drive signal；Signal is completed in the linking for receiving inductor 503, is sent to delivery dolly 200 Recover signal one；Positioning signal two is received, brake signal two is sent to delivery dolly 200.

Wherein, the floor identification 501 is located at the middle part of every two floor；The control process of control system is：

In the case where delivery dolly 200 is delivery state：Position is corresponding to the destination of delivery dolly 200 corresponding to positioning signal one During 501 position of floor identification, the control centre sends brake signal one to delivery dolly 200, to the delivery dolly 200 Rail changing device 104 corresponding to destination, which is sent, becomes rail drive signal；

The technical scheme that uses of reset become after rail into：Control centre receives positioning signal two, to the mesh of the delivery dolly 200 Ground corresponding to rail changing device 104 send reset drives signal；The rail changing device 104 is additionally operable to：Receive answering for control centre Position drive signal, driving become rail partial reset；The change rail part is additionally operable to：Reset, to separate the backbone part and attached rail Partial linking；

After parcel is taken out by addressee, technical scheme is used by delivery dolly 200 returns：Delivery dolly 200 senses institute State whether parcel is removed；After sensing that the parcel is removed, delivery signals are sent to control centre；Receive in control The recovery signal two of the heart, starts to return；The floor identification 501 is identified, positioning signal one is sent to control centre；The control Center receives delivery signals, and mark delivery dolly 200 is return state, becomes rail to corresponding to the destination of delivery dolly 200 Device 104, which is sent, becomes rail drive signal；Signal is completed in the linking for receiving inductor 503, is sent to delivery dolly 200 and is recovered signal Two；The positioning signal one of the delivery dolly 200 of return state is received, when position corresponding to positioning signal one and delivery dolly 200 Destination when corresponding to floor 400 into predetermined relationship, sent to rail changing device 104 corresponding to the destination of delivery dolly 200 multiple Position drive signal；In the case where delivery dolly 200 is return state, position corresponding to positioning signal one is the purpose of delivery dolly 200 Corresponding to ground during 501 position of floor identification, rail changing device 104 corresponding to the control centre to the destination of delivery dolly 200 Send reset drives signal；

The delivery dolly 200 set it is some, when at least two delivery dollies 200, one is in delivery state, and one is in When under return state：Inductor 503 is additionally operable to sense whether the change rail part resets completion；It is additionally operable to sensing change rail portion When dividing reset completion, sent to control centre and reset completion signal.

Backbone part can be integral type or segmented：

When the backbone part is integral type：When becoming rail completion, the backbone part to backbone part is held in the mouth with becoming rail part The part of contact, become rail part and the insertion of attached rail part；When resetting completion, the backbone part and the change rail part point From；

When the backbone part is segmented：The change rail part is adapted to the gap of the backbone part；Becoming, rail is complete Cheng Shi, backbone part, become rail part and the insertion of attached rail part；When resetting completion, backbone part and the insertion of change rail part, become rail Part and attached rail are partially separated.

As shown in FIG. 10 to 14, when delivery dolly is provided with two：I.e. described system also includes：Delivery dolly two, institute It is return state to state delivery dolly two；The delivery dolly one is delivery state；

The delivery dolly two is used for：The floor identification 501 is identified, positioning signal three is sent to control centre；Receive control The brake signal three at center, performs braking；Receive the counter motion signal of control centre, counter motion；Receive control centre Brake signal four, performs braking；The recovery signal three of control centre is received, recovers to return to work；

The control centre is additionally operable to：Positioning signal three is received, in position corresponding to positioning signal three in the mesh of delivery dolly one Ground correspond to below floor, and when corresponding to positioning signal one more than position, send brake signal three to delivery dolly two, also Counter motion signal is sent to delivery dolly two；In position corresponding to positioning signal three building is corresponded in the destination of delivery dolly one More than layer, and when floor corresponding with the destination of delivery dolly one is into predetermined relationship, to the transmission brake signal four of delivery dolly two； It is additionally operable to receive to reset and completes signal, is sent to delivery dolly two and recover signal three.

Further, at least two delivery dollies be present, and one is in return state, one just switches to return shape State, and the delivery dolly in return state is corresponded on floor in the position of backbone part in another destination, for solution Certainly technical scheme is used by both false relations：

Similarly, when system also includes delivery dolly three：

The control centre is additionally operable to：When it is return state to switch the delivery dolly three, the delivery dolly two The relation of the floor corresponding with the destination of the delivery dolly three of position corresponding to positioning signal three；It is additionally operable to work as the positioning Position corresponding to signal three is corresponded on floor in the destination of the delivery dolly three, and with the purpose of the delivery dolly three When floor corresponding to ground is into predetermined relationship, postpones rail changing device corresponding to some durations to the destination of delivery dolly three and send change Rail drive signal；Some durations are not less than：The delivery dolly two moves to since position corresponding to positioning signal three Become the joining place of rail part and backbone part corresponding to the destination of the delivery dolly three, until the duration passed through.

Further, the relation of the floor corresponding with the destination of delivery dolly three of position corresponding to above-mentioned positioning signal three For：The destination that position corresponding to positioning signal three is in delivery dolly three corresponds to floor last layer or the floor corresponding to two layers The position of mark 501.

Further, above destination mark is arranged on the attached rail part, away from corresponding rail changing device The end at end.

Further, above-mentioned delivery dolly one or two or three identifies the floor identification 501 or mesh by an identifier 504 Ground mark；The identifier 504 is arranged on delivery dolly, close to the end of purpose ground terminal.

Further, above-mentioned backbone part is integrated；Realize backbone part to master when becoming rail completion in above-mentioned change rail part Insertion between rail part and the part, change rail part and attached rail part that become rail part connecting points；When resetting completion, master is realized Rail part and the separation become between rail part.

Or above-mentioned backbone part is segmented, above-mentioned change rail part is adapted to the gap of backbone part；Above-mentioned change rail Backbone part, the insertion become between rail part and attached rail part are realized when becoming rail completion in part；When resetting completion, realize Backbone part, the insertion for becoming rail part, become rail part and attached rail is partially separated.

Above-mentioned all delivery vehicle structures, function all same, the numbering is on device concrete function without influence.

Further, delivery dolly includes data transmission unit and information receiving unit, in information receiving unit connection control The heart, purpose earth signal is received, also receive brake signal and recover signal；Data transmission unit connect the output end of identifier 504 and Control centre, the recognition result of identifier 504 is sent to control centre；Delivery dolly also includes sensing unit, for sensing State whether parcel is removed, sensing unit output end connection data transmission unit.

As shown in Figures 1 to 5, backbone 101 is set parallel to building wall, and at least side is provided with rack on backbone 101 1011；The rack 1011 is installed with the gear teeth meshing on the driving wheel of delivery dolly 200；On the direction perpendicular to wall, institute State and be additionally provided with race on backbone 101；The race is used for the directive wheel 207 for accommodating delivery dolly 200, and directive wheel 207 is driving Walked under the driving effect of wheel in race；The connection for being connected with every transition guide 103 is additionally provided with the backbone 101 Mouth 1014；The depth of the connector 1014 is equal to the depth of race；The width of the connector 1014 is at least equal to race Width；The transition guide 103 is arc-shaped guide rail, and one end of transition guide 103 is rotated with attached rail 102 by rotary shaft 105 to be connected Connect, the other end can be connected/come off with backbone 101 in the presence of rail changing device 104；The transition guide 103 and backbone 101 Connection end is provided with connection support plate 1031 and bayonet socket 1032；Connect support plate 1031 and the l-shaped of bayonet socket 1032 or U-shape structure and backbone The upper clamping of connector 1014；The rack 1011 and race walked for delivery dolly 200 also are provided with the transition guide 103. Two groups of races are arranged with backbone 101, they are the cross section of race 1 and race 2 1013, i.e. backbone 101 respectively To be I-shaped；Advance the side that delivery dolly 200 is wrapped in backbone 101 in the presence of directive wheel 207 and driving wheel；It is described right Claim to be equipped with connector 1014 on the race 1 and race 2 1013 of setting, the connector 1014 on every group of race is also symmetrical Arrangement；Symmetrically arranged race causes backbone to be led into I-shaped guide rail, side directive wheel, road wheel and the opposite side of delivery dolly Arranged to U-shaped symmetrical structure connection is taken turns, and be wrapped on backbone and advance so that the Meshing stability of road wheel and walking tooth Good, the kinetic stability of dolly, now both sides are respectively provided with the connector being connected with transition guide, also make it that connection is more steady It is fixed, it is difficult for drop-off.Rail changing device 104 includes electromagnet and spring；One end of the spring is fixedly connected with electromagnet, electromagnet It is fixedly mounted on building wall and is connected with supply unit；The other end of the spring is connected with transition guide 103；The change Rail device 104 can also be air-leg mechanism, and it includes cylinder and push rod；One end of the push rod and the power output of cylinder End connection, the other end of push rod and being flexibly connected for transition guide 103；The rail changing device 104 can also be electric pushrod or Person's hydraulic push rod or Electrohydraulic push rod mechanism.Connection support plate 1031 can stretch into the side wall of race on backbone 101, connect support plate 1031 With being provided with neck 1033 at the joint face of connector 1014, the gear with 1033 corresponding clamping of neck is provided with the connector 1014 Block, block is provided with two pieces, respectively positioned at the inner side upper and lower ends of connector 1014；Race in the transition guide 103 is corresponding And fall between two blocks and be connected with backbone 101；Width between two block is equal to the width of race, and block is monolithic When, its width between the madial wall of connector 1014 is equal to the width of race, no matter shape that is, between block and connector 1014 Into width two blocks is still set when width between the two, it is actually the transition fifth wheel mouth between race, To ensure that directive wheel smoothly can be run on attached rail 102 or backbone 101 in transition.

As shown in figure 8, drop-off box 300 includes shell 301, rotates container 304, the and of manipulator 307 for capturing object Controller, shell 301 are provided with storing mouth 302 and taking mouth 303；It is described rotation container 304 be located in shell 301, and with drive Motivation structure connects, and is rotated in the presence of drive mechanism around main shaft 305；The manipulator 307, which is located on the madial wall of shell 301, pacifies Dress, and can be relatively moved on madial wall；The rotation container 304, manipulator 307 are connected with drive mechanism with controller, And it is controlled by it；The controller is also connected with the Data Enter end in the side wall of shell 301；Described information typing end is used to deposit part Data Enter and docked for the pickup signal with delivery dolly 200.Rotating container 304 includes upper cover plate 3041, some storage boxes 3043 and lower cover 3042；It is some multilayer storage boxes arranged in a ring between the upper cover plate 3041 and lower cover 3042 3043；The lower cover 3042 and/or upper cover plate 3041 are also connected by connecting shaft 306 with external motor, upper cover plate 3041, storage Box 3043 and lower cover 3042 unitary rotation in the presence of motor；The motor is connected with controller；The storage box 3043 Volume gradually increases under upper between upper cover plate 3041 and lower cover 3042；The manipulator 307 is provided with two groups, symmetrically It is arranged on the madial wall of shell 301；The manipulator 307 is rotatably coupled on a sliding block 308, the sliding block 308 with The clamping of chute 310 on the madial wall of shell 301 can simultaneously move relative to chute 310；A screw mandrel is fixed with the chute 310 309, connection driving rotating mechanism on screw mandrel 309；The sliding block 308, which is worn, to be connected on screw mandrel 309, and is made in the rotation of screw mandrel 309 Moved up and down under in chute 310.

The mechanism of drop-off box is：When distributed robot or courier need to deposit object, information record will pass through Enter to hold typing article information（Either Quick Response Code or the number of the taking access of coding, bar code）, controller receives signal, controls storing mouth 302 are opened, manipulator 307 is moved at storing mouth 302, then object are sent into shell 301, manipulator 307 senses thing After part and capture object, storing mouth 302 is closed, opening degree when controller captures according to it measures to object size, control After device processed receives the dimension information of the transmission of manipulator 307, control machinery hand 307 is moved to storage box 3043 corresponding to similar sizes Layer, rotate the position that container 304 preferentially turns to the storage box 3043 that nearest sylphon state is write according to rotational angle on manipulator 307 Put, when the storage box 3043 is moved to 307 position of manipulator by rotation container 304, manipulator 307 will in the presence of controller Object is put into storage box 3043, and information and the positional information progress store-memory of place storage box 3043 to the object, storage Finish；When building resident family needs pickup, the order of pickup is needed by sending it in wireless terminal, building delivery system receives To after the correct pickup information, the manipulator behavior of preparation is controlled with rotating container 304 while acting on to the position of target piece Put, now, control machinery hand 307 and rotation container 304 act on controller simultaneously again, and crawl needs the object taken out, and mobile To taking mouth 303, controller controls taking mouth 303 to open again, and object is sent to the delivery dolly of building delivery system 200, after delivery dolly 200 takes object away, taking mouth 303 is closed in controller control, and pickup finishes.

As shown in Figure 6 and Figure 7, dolly includes frame 201, and the first ring arm 202 and the second ring arm are connected with frame 201 203, the first ring arm 202 and the second ring arm 203 are respectively engaged with race 1 and race 2 1013；The He of first ring arm 202 Two guide wheel posts 204 are provided with second ring arm 203, bearing 205, two guide wheel posts 204 are provided with two guide wheel posts 204 Between roller shaft 206 is connected with by bearing 205, roller shaft 206 is provided with directive wheel 207, and dolly passes through the first ring The ring arm 203 of arm 202 and second is fixed in orbit；Drive shaft 208 is connected with the frame 201, is set in drive shaft 208 It is equipped with driving wheel；The driving wheel includes the first driving wheel 209 and the second driving wheel 210, the first driving wheel 209 and the second driving Wheel 210 is meshed with the rack 1011 on track respectively；The middle part of the drive shaft 208 is provided with drive 211, in frame 201 Turbine 212 is provided with, the power wheel 213 being meshed with drive 211 is connected with the rotating shaft of turbine 212；Motor 214 is set Put in frame 201, worm screw 215 is connected with the rotating shaft of motor 214, worm screw 215 is connected with turbine 212.

In use, delivery dolly 200 is fixed on delivery track 100, in the presence of directive wheel 207, delivery dolly 200 are firmly attached on delivery track 100, by driving the first driving wheel 209 and the second driving wheel 210 that delivery can be driven small Car 200 moves on delivery track 100.

Carrying out practically process, after delivery dolly 200 is fixed on delivery track 100, because dolly employs the He of turbine 212 Worm screw 215 is driven, and turbine 212 and worm screw 215 have an auto-lock function, delivery dolly 200 stop in orbit, without In the presence of gravity, delivery dolly 200 slides downwards.When motor 214 rotates forward, worm screw 215 is driven to rotate, worm screw 215 drive turbines 212 rotate, and turbine 212 drives power wheel 213 to rotate in same direction.Power wheel 213 is driven by drive 211 and driven Moving axis 208 rotates backward, and the first driving wheel 209 and the second driving wheel 210 in drive shaft 208 rotate backward, the first driving wheel 209 and second driving wheel 210 moved upwards in the presence of rack 1011.Similarly, when the back of motor 214 rotates, band Dynamic worm screw 215 rotates, and worm screw 215 drives turbine 212 to rotate, and turbine 212 drives power wheel 213 to rotate in same direction.Power wheel 213 is logical Crossing drive 211 drives drive shaft 208 to rotate forward, and the first driving wheel 209 and the second driving wheel 210 in drive shaft 208 are just To rotation, the first driving wheel 209 and the second driving wheel 210 move downward in the presence of rack 1011.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

1. a kind of building delivery system, it is characterised in that including delivery track（100）, delivery dolly（200）, drop-off box（300） And control system；The delivery track（100）Including backbone（101）With attached rail（102）；The backbone（101）Along building wall Vertically-mounted, each layer of building is equipped with corresponding attached rail（102）；The backbone（101）With attached rail（102）Between be additionally provided with Transition guide（103）, use rail changing device（104）Connection, rail changing device（104）So that transition guide（103）Both ends respectively can With backbone（101）, attached rail（102）Connect/come off；The delivery dolly（200）With delivery track（100）Connection, and driving In delivery track in the presence of device（100）Upper walking；The drop-off box（300）With backbone（101）One end connection, for express delivery Member or distributed robot deposit part and dolly pickup；The control system includes control centre and the backbone part, attached being attached thereto Rail part, become rail part and deliver part, wherein：

Backbone part includes backbone（101）, which is provided with floor identification（501）, the floor identification（501）Corresponding to corresponding building Layer（400）；

Attached rail part includes attached rail（102）, which is provided with destination mark（502）, the destination mark（502）Corresponding to phase Answer floor（400）Destination, i.e., destination corresponding to purpose earth signal；Floor identification per floor（501）, destination mark （502）, rail changing device（104）It is corresponding；

Becoming rail part includes transition guide（103）And inductor（503）, transition guide（103）It is described for being connected when becoming rail Backbone（101）With attached rail（102）；The inductor（503）Transition guide is set（103）On, for sensing the transition guide （103）Whether with backbone（101）With attached rail（102）Linking is completed；It is additionally operable to, when sensing that linking is completed, send out to control centre Linking is sent to complete signal；The change rail drive signal for becoming rail part and being additionally operable to receive control centre, drives transition guide（103） Become rail, to be connected backbone part and attached rail part；

Delivering part includes delivery dolly（200）, it can receive the purpose earth signal of control centre, transport parcel；The delivery Dolly（200）It is additionally operable to identify the floor identification（501）, positioning signal one is sent to control centre；Receive control centre Brake signal one, performs braking；The recovery signal one of control centre is received, recovers to deliver work；Identify the destination mark （502）, positioning signal two is sent to control centre；The brake signal two of control centre is received, performs braking；

Control centre is used for delivery dolly（200）Sending destination signal, mark delivery dolly（200）For delivery state；Connect Receive the delivery dolly of delivery state（200）Positioning signal one, when position corresponding to positioning signal one and delivery dolly（200）'s Destination corresponds to floor（400）During into predetermined relationship, to delivery dolly（200）Brake signal one is sent, to the delivery dolly （200）Destination corresponding to rail changing device（104）Send and become rail drive signal；Receive inductor（503）Linking complete letter Number, to delivery dolly（200）Send and recover signal one；Positioning signal two is received, to delivery dolly（200）Send brake signal Two.

2. building delivery system according to claim 1, it is characterised in that：The backbone（101）Parallel to building wall Set, backbone（101）On at least side be provided with rack（1011）；The rack（1011）With delivery dolly（200）On driving wheel Gear teeth meshing installation；On the direction perpendicular to wall, the backbone（101）On be additionally provided with race；The race is used to hold Receive delivery dolly（200）Directive wheel（207）, directive wheel（207）Walked under the driving effect of driving wheel in race；It is described Backbone（101）On be additionally provided with for and every transition guide（103）The connector of connection（1014）；The connector（1014）'s Depth is equal to the depth of race；The connector（1014）Width at least equal to race width；The transition guide（103） For arc-shaped guide rail, transition guide（103）One end and attached rail（102）Rotation connection, the other end can be in rail changing device（104）Work With lower and backbone（101）Connect/come off；The transition guide（103）With backbone（101）Connection end be provided with connection support plate （1031）And bayonet socket（1032）；Connect support plate（1031）And bayonet socket（1032）L-shaped or U-shape structure and connector on backbone （1014）Clamping；The transition guide（103）On also be provided with being used for delivery dolly（200）The rack of walking（1011）And race.

3. building delivery system according to claim 2, it is characterised in that：The backbone（101）On be arranged with two groups Race, they are race one respectively（1012）With race two（1013）, i.e. backbone（101）Cross section to be I-shaped；Delivery is small Car（200）In directive wheel（207）With backbone is wrapped in the presence of driving wheel（101）Side advance；It is described symmetrically arranged Race one（1012）With race two（1013）On be equipped with connector（1014）, the connector on every group of race（1014）Also it is symmetrical Arrangement.

4. the building delivery system according to claim 1 or 2 or 3, it is characterised in that：The rail changing device（104）Including Electromagnet and spring；One end of the spring is fixedly connected with electromagnet, electromagnet be fixedly mounted on building wall and with electricity Source device connects；The other end and transition guide of the spring（103）Connection；The rail changing device（104）Can also be pneumatic Transfer bar mechanism, it includes cylinder and push rod；The clutch end of one end of the push rod and cylinder connects, the other end of push rod with Transition guide（103）Flexible connection；The rail changing device（104）It can also be electric pushrod either hydraulic push rod or electro-hydraulic Transfer bar mechanism.

5. building delivery system according to claim 1, it is characterised in that：The drop-off box（300）Including shell （301）, rotate container（304）, manipulator for capturing object（307）And controller, shell（301）It is provided with storing mouth （302）And taking mouth（303）；The rotation container（304）Positioned at shell（301）It is interior, and be connected with drive mechanism, in driving machine Around main shaft in the presence of structure（305）Rotate；The manipulator（307）Positioned at shell（301）Installed on madial wall, and can be in inner side Relatively moved on wall；The rotation container（304）, manipulator（307）It is connected with controller with drive mechanism, and is controlled by it System；The controller also with shell（301）Data Enter end connection in side wall；Described information typing end is used to deposit the record of part information Enter and for delivery dolly（200）Pickup signal docking.

6. building delivery system according to claim 5, it is characterised in that：The rotation container（304）Including upper cover plate （3041）, some storage boxes（3043）And lower cover（3042）；The upper cover plate（3041）With lower cover（3042）Between be some The multilayer storage box arranged in a ring（3043）；The lower cover（3042）And/or upper cover plate（3041）Also pass through connecting shaft（306） It is connected with external motor, upper cover plate（3041）, storage box（3043）And lower cover（3042）The unitary rotation in the presence of motor；Institute Motor is stated to be connected with controller；The storage box（3043）Volume in upper cover plate（3041）With lower cover（3042）Between, from upper Under gradually increase；The manipulator（307）Provided with two groups, shell is arranged symmetrically in（301）Madial wall on；The manipulator （307）It is rotatably coupled to a sliding block（308）On, the sliding block（308）With shell（301）Chute on madial wall（310） Clamping simultaneously can be with respect to chute（310）It is mobile；The chute（310）Inside it is fixed with a screw mandrel（309）, screw mandrel（309）Upper connection Drive rotating mechanism；The sliding block（308）Wear and be connected on screw mandrel（309）On, and in screw mandrel（309）Rotary action under in chute （310）Inside move up and down.

7. building delivery system according to claim 3, it is characterised in that：The delivery dolly includes frame（201）, machine Frame（201）On be connected with the first ring arm（202）With the second ring arm（203）, the first ring arm（202）With the second ring arm（203）Respectively It is connected to race one（1012）With race two（1013）In；First ring arm（202）With the second ring arm（203）On be provided with two Guide wheel post（204）, two guide wheel posts（204）On be provided with bearing（205）, two guide wheel posts（204）Between pass through bearing（205） It is connected with roller shaft（206）, roller shaft（206）It is provided with directive wheel（207）, dolly passes through the first ring arm（202）With Second ring arm（203）It is fixed in orbit.

8. building delivery system according to claim 5, it is characterised in that：The frame（201）Inside it is connected with drive Moving axis（208）, drive shaft（208）On be provided with driving wheel；The driving wheel includes the first driving wheel（209）With the second driving wheel （210）, the first driving wheel（209）With the second driving wheel（210）Respectively with the rack on track（1011）It is meshed；The driving Axle（208）Middle part is provided with drive（211）, frame（201）On be provided with turbine（212）, turbine（212）Rotating shaft on connect Have and drive（211）The power wheel being meshed（213）；Motor（214）It is arranged on frame（201）On, motor （214）Rotating shaft on be connected with worm screw（215）, worm screw（215）With turbine（212）It is connected.

9. the building delivery system according to claim 1 or 2 or 3 or 5 or 6 or 7, it is characterised in that：The floor identification （501）Located at the middle part of every two floor；The control process of the control system is：

In delivery dolly（200）For under delivery state：Position is in delivery dolly corresponding to positioning signal one（200）Destination pair The floor identification answered（501）During position, the control centre is to delivery dolly（200）Brake signal one is sent, to the delivery Dolly（200）Destination corresponding to rail changing device（104）Send and become rail drive signal；

The technical scheme that uses of reset become after rail into：Control centre receives positioning signal two, to the delivery dolly（200）'s Rail changing device corresponding to destination（104）Send reset drives signal；The rail changing device（104）It is additionally operable to：Receive in control The reset drives signal of the heart, driving become rail partial reset；The change rail part is additionally operable to：Reset, to separate the backbone part With the linking of attached rail part；

After parcel is taken out by addressee, delivery dolly（200）Technical scheme is used by return：Delivery dolly（200）Sense Answer whether the parcel is removed；After sensing that the parcel is removed, delivery signals are sent to control centre；Receive control The recovery signal two at center processed, starts to return；Identify the floor identification（501）, positioning signal one is sent to control centre；Institute State control centre and receive delivery signals, mark delivery dolly（200）To return to state, to delivery dolly（200）Destination Corresponding rail changing device（104）Send and become rail drive signal；Receive inductor（503）Linking complete signal, to delivery dolly （200）Send and recover signal two；Receive the delivery dolly of return state（200）Positioning signal one, when the correspondence of positioning signal one Position and delivery dolly（200）Destination correspond to floor（400）During into predetermined relationship, to delivery dolly（200）Purpose Rail changing device corresponding to ground（104）Send reset drives signal；In delivery dolly（200）For under return state, positioning signal one Corresponding position is delivery dolly（200）Destination corresponding to floor identification（501）During position, the control centre is to delivery Dolly（200）Destination corresponding to rail changing device（104）Send reset drives signal；

The delivery dolly（200）Set it is some, when at least two delivery dollies（200）In, one is in delivery state, one When under return state：Inductor（503）It is additionally operable to sense whether the change rail part resets completion；It is additionally operable to sensing When becoming the completion of rail partial reset, send to reset to control centre and complete signal.

10. building delivery system according to claim 9, it is characterised in that：The backbone part can be integral type or Person's segmented；

When the backbone part is integral type：When becoming rail completion, the backbone part to backbone part is held in the mouth with becoming rail part The part of contact, become rail part and the insertion of attached rail part；When resetting completion, the backbone part and the change rail part point From；

When the backbone part is segmented：The change rail part is adapted to the gap of the backbone part；Becoming, rail is complete Cheng Shi, backbone part, become rail part and the insertion of attached rail part；When resetting completion, backbone part and the insertion of change rail part, become rail Part and attached rail are partially separated.