CN110626775A

CN110626775A - Distribution system

Info

Publication number: CN110626775A
Application number: CN201910578385.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Beijing Zhixing Muyuan Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2019-12-31
Anticipated expiration: 2039-06-28

Abstract

The invention discloses a distribution system, which comprises: at least one carrying device; a delivery robot, the delivery robot comprising: the lifting device is arranged at the top of the machine body and is used for lifting and transporting the carrying device; rack, the rack includes: the fixed frame and the movable frame are arranged on the fixed frame and can move relative to the fixed frame in the first direction, the top of the movable frame is used for placing the carrying device, the movable frame is provided with a shutdown groove which is open towards one side of the second direction, and the first direction is perpendicular to the second direction. From this, through setting up the delivery device, can guarantee the delivery security of express delivery or takeaway, through setting up delivery robot, can break through the bottleneck of last kilometer delivery, can promote delivery efficiency and accurate nature moreover, through setting up a plurality of delivery devices, can form fixed express delivery and takeaway and place the point, can promote takeaway delivery system's capacity and precision to a great extent.

Description

Distribution system

Technical Field

The invention relates to the technical field of logistics, in particular to a distribution system.

Background

With the rapid development of the internet, more and more residents choose to shop online. The online shopping is convenient, and the consumer can complete the operations of commodity selection, payment and the like without going out. One of the disadvantages of online shopping is that the consumer cannot get the goods in real time after paying the payment as in a conventional retail store, and needs to wait for the seller to deliver the goods to the consumer by way of express parcel.

When the consumer purchases the catering product, the product is delivered to the consumer by the seller through the takeout personnel. Because the delivery time of delivery personnel and the delivery time of a consumer cannot be coordinated and unified, the delivery of express packages and takeouts always has the bottleneck of real-time accurate delivery of the last kilometer and the last hundred meters.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a distribution system, which can solve the problems of poor distribution accuracy and low capacity, and can improve user experience.

The distribution system according to the present invention comprises: at least one carrying device; a delivery robot, the delivery robot comprising: the lifting device is arranged at the top of the machine body and used for lifting and transporting the carrying device; a rack, the rack includes: the movable rack is arranged on the fixed rack and can move relative to the fixed rack in a first direction, the top of the movable rack is used for placing the carrying device, the movable rack is provided with a shutdown slot which is open towards one side in a second direction, and the first direction is vertical to the second direction; wherein the distribution robot lifts the carrying device to a predetermined height by the lifting device and then enters or leaves the parking slot.

From this, through setting up the delivery device, can guarantee the delivery security of express delivery or takeaway, through setting up delivery robot, can break through the bottleneck of last kilometer delivery, can promote delivery efficiency and accurate nature moreover, through setting up the rack, can form fixed express delivery and takeaway and place the point, can promote takeaway delivery precision by very big degree. In addition, the moving frame enables the carrying device to be better aligned with the lifting device, and the efficiency of the delivery robot entering the parking slot can be improved.

In some examples of the invention, the mobile frame comprises: a support body formed with the parking slot and having a top for placing the carrier; the movable main body is connected to at least one side of the first direction of the supporting main body, and the movable main body is arranged at the top of the fixing frame and can move relative to the fixing frame in the first direction.

In some examples of the present invention, the two fixing frames are respectively disposed at two sides of the supporting main body in the first direction, the two moving main bodies are respectively connected to two sides of the supporting main body in the first direction, and each fixing frame corresponds to one moving main body.

In some examples of the present invention, a lower portion of the moving body is provided with a slider, and the fixing frame is provided with a slide rail extending in the first direction, the slider being slidably provided on the slide rail.

In some examples of the invention, an elastic member is disposed between the moving body and the fixing frame, and the elastic member is used for providing a transverse tension to the moving body.

In some examples of the invention, each of the moving bodies comprises: the movable arm extends along the first direction, one end of the movable arm is connected to one side of the first direction of the supporting main body, and the movable arm is movably arranged at the top of the fixing frame.

In some examples of the invention, each of the moving bodies comprises: two the removal arm, two the removal arm is in the second direction interval sets up, the removal main part still includes: a connecting arm connected between the two moving arms.

In some examples of the invention, the support body comprises: the two support rods are arranged at intervals in the first direction, and a support part is arranged on the upper surface of each support rod; the rear connecting rod extends in the first direction and is connected between the two supporting rods, wherein the two supporting rods and the rear connecting rod jointly define the stopping groove which is open towards one side of the second direction.

In some examples of the invention the support portion is provided with a vertically everted guide plate on the side of the support bar remote from the rear link.

In some examples of the invention, the support body is further connected to a first guide for guiding the dispensing robot.

In some examples of the invention, the first guiding device comprises: the upper end of the lower connecting rod is connected to the supporting rod; the guide rod is connected to the lower end of the lower connecting rod, and a guide portion bent towards the outer side is arranged at the position, located on the opening side of the stop groove, of the guide rod.

In some examples of the invention, the guide portion is a slope or a curved surface for guiding the dispensing robot, and the body is correspondingly provided with a guide wheel adapted to fit at the guide portion.

In some examples of the present invention, the first guide means is two and corresponds to the two support bars, respectively, wherein a minimum distance of inner surfaces of the two support bars in the first direction is smaller than a minimum distance of inner surfaces of the two guide bars in the first direction.

In some examples of the invention, the holder is a frame consisting of a plurality of rods in different directions.

In some examples of the invention, the top of the lifting device is provided with a limiting member for limiting the carrying device, and the bottom of the carrying device is provided with a limiting hole matched with the limiting member.

In some examples of the present invention, the limiting member is a plurality of limiting pins extending upward, the plurality of limiting pins are spaced apart in the second direction, the plurality of limiting holes are spaced apart in the second direction, and the plurality of limiting pins and the plurality of limiting holes correspond to each other one by one.

In some examples of the present invention, the stopper pin and the stopper hole are two, wherein one of the stopper holes is a circular hole and the other of the stopper holes is a long hole.

In some examples of the invention, the vehicle comprises: a tank base; the positioning pieces are arranged on two sides of the box base in the first direction, the number of the positioning pieces is at least three, and the movable frame is used for supporting the positioning pieces.

In some examples of the invention, the positioning member is a circular tube, and the movable frame is provided with an arc-shaped groove matched with the circular tube.

In some examples of the invention, the vehicle further comprises: the box body is placed on the box base and is of a split structure with the box base.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a front view of a dispensing system according to an embodiment of the present invention;

FIG. 2 is a perspective view of the dispensing system shown in FIG. 1;

FIG. 3 is an enlarged view of area A of FIG. 2;

FIG. 4 is an enlarged view of area B of FIG. 2;

FIG. 5 is a schematic view of the dispensing robot locking the carrier by the locking device;

FIG. 6 is a schematic view of the locking and unlocking arrangement in a locked condition;

FIG. 7 is a schematic view of the top frame engaging with the limiting hole of the carrying device through a limiting member;

FIG. 8 is a schematic view of a dispensing robot lifting a carrier via a lifting device;

FIG. 9 is a schematic view of the locking and unlocking device in the unlocked state;

FIG. 10 is a perspective view of the lift device of the dispensing robot in an initial position;

FIG. 11 is a cross-sectional view of the lift device of the dispensing robot in an initial position;

FIG. 12 is a side elevational view of the lift device of the dispensing robot in a raised position;

FIG. 13 is a cross-sectional view of the lift device of the dispensing robot in a raised position;

fig. 14 is a perspective view of the rack;

FIG. 15 is a perspective view of the carrier;

fig. 16 is a bottom view of the carrier.

Reference numerals:

a delivery system 1000;

a carrier device 100; a case base 110; a stopper hole 111; a locking fitting 120; a mounting plate 121;

a mating post 122; a positioning member 130; a case 140;

a delivery robot 200; a body 210; a drive wheel 211; a driven wheel 212;

a lifting device 220; a chassis 221; a bottom slide rail 2211; a top frame 222; a top slide rail 2221;

a stopper 2222; a lifting arm 223; a first sub-arm 2231; a second sub-arm 2232;

a driver 224; a lead screw 2241; a nut 2242; a drive arm 225; bottom slide 2251; a driven arm 226;

a top slider 2261; a support column 227; a stepped groove 2271; a damper block 228; the guide wheels 229;

a locking device 230; the locking piece 231; locking grooves 2311; a latch tongue 232; a paddle 233; a shift lever 2331;

an unlocking device 240; an unlocking block 241; an unlocking slot 242; detent region 2421; a first guide area 2422;

an unlock zone 2423; a second guide area 2424;

a placing rack 300; a fixed frame 310; a slide rail 311; a moving frame 320; the support body 321; a support rod 3211;

a support portion 3212; a rear link 3213; a shutdown slot 3214; a guide plate 3215; a lower link 3216;

a guide rod 3217; a guide portion 3218; a moving body 322; the moving arm 3221; a connecting arm 3222;

a slider 323; an elastic member 330.

Detailed Description

Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.

A distribution system 1000 according to an embodiment of the present invention will be described with reference to fig. 1 to 16, and the distribution system 1000 may be used for distribution of couriers and takeouts, which may be applied to areas such as parks, communities, and office buildings.

As shown in fig. 1 and 2, a distribution system 1000 according to an embodiment of the present invention may include: at least one carrier 100, a delivery robot 200, and a rack 300, where the carrier 100 may be one, two, or more than two, for example, ten, the delivery robot 200 is used to deliver one carrier 100, the carrier 100 may be placed on the delivery robot 200 and the rack 300, when the carrier 100 is placed on the rack 300, a courier may place a courier in the carrier 100, a takeout may place a takeout in the carrier 100, and then the delivery robot 200 may take out the carrier 100 placed on the rack 300, deliver the courier or the takeout to a corresponding user, and finally return to the carrier 100, and place the carrier 100 on the rack 300 again, and then take out another carrier 100 again for transportation. The number of the delivery robots 200 may be smaller than the number of the carriers 100, for example, it may be two, and two delivery robots 200 may satisfy the requirement of transporting a large number of couriers and takeoffs.

As shown in fig. 1, 2, 5, and 8, the dispensing robot 200 includes: a machine body 210 and a lifting device 220, the lifting device 220 being disposed on the top of the machine body 210, the lifting device 220 being used to lift and transport the carrier device 100. The body 210 may be provided with a plurality of wheels including a driving wheel 211 and driven wheels 212, the driving wheel 211 being a power wheel, the driving wheel 211 may be two, and the driven wheels 212 may be set according to actual conditions, for example, the driven wheels 212 may be four, two driving wheels 211 may be disposed at a middle portion of the bottom of the body 210 in the front-rear direction, wherein two driven wheels 212 are disposed at front sides of the two driving wheels 211, that is, the two driven wheels 212 are disposed at positions near the front end of the bottom of the body 210, and the other two driven wheels 212 are disposed at rear sides of the two driving wheels 211, that is, the two driven wheels 212 are disposed at positions near the rear end of the bottom of the body 210, and the six wheels thus disposed may ensure transportation stability of the dispensing. The driving wheel 211 may be a hub motor.

As shown in fig. 1, 2 and 14, the rack 300 includes: a fixed frame 310 and a movable frame 320, wherein the movable frame 320 is disposed on the fixed frame 310, and the movable frame 320 is movable in a first direction relative to the fixed frame 310, i.e., the left and right direction shown in fig. 1 and 2. The top of the moving rack 320 is used for placing the carrier 100, the moving rack 320 is formed with a stopping slot 3214 opened toward one side of the second direction, and the stopping slot 3214 is used for the distribution robot 200 to enter and exit. The first direction is perpendicular to the second direction, i.e. the front-to-back direction as shown in fig. 1 and 2, and the first direction and the second direction may be in a horizontal plane. The arrangement of the moving frame 320 can facilitate the alignment with the distribution robot 200, and during the process that the distribution robot 200 enters the shutdown slot 3214, the moving frame 320 can generate a certain displacement under the influence of the distribution robot 200, so as to enable the carrier 100 to be better aligned with the lifting device 220, and improve the efficiency that the distribution robot 200 enters the shutdown slot 3214.

Wherein, the distribution robot 200 lifts the carrier 100 to a predetermined height by the lifting device 220 and then enters or leaves the parking slot 3214. It will be appreciated that when carrier 100 is not being transported and access to shutdown slot 3214 is desired, lift device 220 is in an un-lifted position, i.e., the initial position; when the carrier 100 needs to leave the parking slot 3214, the delivery robot 200 lifts the carrier 100 to a certain height, that is, to reach a lifting position, so that the carrier 100 is higher than the moving rack 320 in the up-down direction, and then walks forward and leaves the parking slot 3214; when carrier 100 is transported and needs to enter parking slot 3214, dispensing robot 200 lifts carrier 100 to a certain height, i.e., to a lift position, such that carrier 100 is raised above moving rack 320 in the up-down direction, and after entering parking slot 3214, lift 220 is lowered from the lift position until it returns to the initial position, during which carrier 100 will be placed on top of moving rack 320.

From this, through setting up carrying device 100, can guarantee the delivery security of express delivery or takeaway, through setting up delivery robot 200, can break through the bottleneck of last kilometer delivery, can promote delivery efficiency and accurate nature moreover, through setting up rack 300, can form fixed express delivery and takeaway and place the point, can promote takeaway delivery precision greatly. In addition, the moving frame 320 enables the carrier 100 to be better aligned with the lifting device 220, and may improve the efficiency of the dispensing robot 200 entering the parking slot 3214.

According to an alternative embodiment of the present invention, as shown in fig. 14, the moving frame 320 may include: the carrier device comprises a supporting main body 321 and a moving main body 322, wherein the supporting main body 321 is provided with a stopping groove 3214, the top of the supporting main body 321 is used for placing the carrier device 100, the moving main body 322 is connected to at least one side of the supporting main body 321 in a first direction, namely, the moving main body 322 can be connected to one side of the supporting main body 321 in the left-right direction, the moving main body 322 is arranged at the top of the fixed frame 310, and the moving main body 322 can move relative to the fixed frame 310 in the first direction. By arranging the supporting body 321, the carrier device 100 can be supported, and the placing stability of the carrier device 100 on the supporting body 321 can be ensured; by arranging the moving body 322, the moving body can move left and right relative to the fixed frame 310, and the moving body 322 is located right above the fixed frame 310, which can further ensure the reliability of the supporting body 321 and the carrying device 100. The rack 300 that so sets up structural stability is good.

As shown in fig. 14, there are two fixing frames 310, the two fixing frames 310 are respectively disposed on two sides of the supporting main body 321 in the first direction, that is, one fixing frame 310 is disposed on each of the left side and the right side of the supporting main body 321, the two moving main bodies 322 are respectively connected to two sides of the supporting main body 321 in the first direction, and each fixing frame 310 corresponds to one moving main body 322. Thus, the structural stability of the placing frame 300 can be ensured by the cooperation of the two fixing frames 310 and the two moving bodies 322, and the stability of the moving frame 320 moving after contacting the dispensing robot 200 can be ensured. The rack 300 thus provided can better support the carrier 100.

Alternatively, as shown in fig. 4 and 14, a slider 323 is disposed at a lower portion of the moving body 322, the fixing frame 310 is provided with a slide rail 311 extending in the first direction, and the slider 323 is slidably disposed on the slide rail 311 in a left-right direction. By the cooperation of the slider 323 and the slide rail 311, the moving frame 320 can be ensured to move smoothly in the left-right direction. Each moving body 322 may correspond to a combination of two sliders 323 and the slide rail 311, the combination of the two sliders 323 and the slide rail 311 is arranged at intervals in the front-rear direction, and the combination of the two sliders 323 and the slide rail 311 is arranged, so that the moving stability of the moving frame 320 can be further ensured.

Further, as shown in fig. 4 and 14, an elastic member 330 is disposed between the moving body 322 and the fixing frame 310, and the elastic member 330 is used for providing a lateral pulling force to the moving body 322. The elastic member 330 is a coil spring, one end of which is connected to the fixed frame 310 and the other end of which is connected to the moving body 322, and the axis of the coil spring is in the left-right direction, so that the coil spring can generate a lateral pulling force to pull the moving frame 320, thereby enabling the moving frame 320 to be better aligned with the dispensing robot 200. The number of the coil springs may be two, that is, two coil springs are provided for each of the holders 310, and the two coil springs are spaced apart in the front-rear direction.

Specifically, as shown in fig. 14, each moving body 322 includes: and a moving arm 3221, the moving arm 3221 extending along a first direction, one end of the moving arm 3221 being connected to one side of the supporting body 321 along the first direction, the moving arm 3221 being movably disposed on the top of the fixing frame 310. The moving arm 3221 is arranged to make the moving body 322 simple in structure, ensure the supporting body 321 to move left and right relative to the fixed frame 310, and effectively prevent the carrier device 100 from collapsing due to gravity by the moving arm 3221.

Further, as shown in fig. 14, each moving body 322 includes: two moving arms 3221, the two moving arms 3221 are disposed at intervals in the second direction, that is, at intervals in the front-back direction, and the moving body 322 may further include: connecting arm 3222, connecting arm 3222 being connected between two moving arms 3221. That is, the moving body 322 may be formed of two moving arms 3221 and one connecting arm 3222 to constitute a basic frame, and the moving body 322 thus configured is simple and stable in structure, and can effectively support the carrier device 100 placed on the supporting body 321. In which the connecting arm 3222 extends in the front-rear direction as shown in fig. 4, the above-mentioned slider 323 may be provided on the lower surface of the connecting arm 3222, and the above-mentioned coil spring may be attached to the lateral surface of the connecting arm 3222.

Alternatively, as shown in fig. 14, the support body 321 includes: two bracing pieces 3211 and back connecting rod 3213, two bracing pieces 3211 set up at the interval of first direction, two bracing pieces 3211 extend in the front and back direction, the length of bracing piece 3211 in the front and back direction can be greater than the length of mount 310 in the front and back direction, can be favorable to bracing piece 3211 to support carrying device 100 better like this. The upper surface of each support rod 3211 is provided with a support portion 3212, and the support portion 3212 is used for supporting and matching with the carrying device 100.

The rear link 3213 extends in a first direction, that is, the rear link 3213 extends in a left-right direction, and the rear link 3213 is connected between the two support bars 3211. Therefore, the rear link 3213 may connect the two support rods 3211 and the two moving frames 320 to form an integrated moving frame 320, so that structural reliability of the moving frame 320 may be improved. Wherein, the two support rods 3211 and the rear link 3213 together define a parking groove 3214 opened toward one side in the second direction. In a horizontal plane, the front side of the support body 321 is open, so that the parking slot 3214 allows the dispensing robot 200 to enter and exit from the front side thereof. The rear link 3213 may be provided with a sensor for transmitting a stop signal to the dispensing robot 200 when the dispensing robot 200 reaches a position in cooperation with the sensor. Alternatively, the robot is provided with a sensor for detecting the position of the rear link 3213 and then issuing a stop signal. Wherein, the sensor can be a position switch which confirms that the stop signal is reached by contacting the rear connecting rod 3213; the sensor may be an eddy current sensor that can detect the distance to the metal on the rear link 3213, and the rear link 3213 may be a metal rod.

As shown in fig. 3 and 14, the supporting portion 3212 is provided with a guide plate 3215 which is vertically turned outward on a side of the supporting rod 3211 away from the rear link 3213. The guiding plate 3215 can guide the positioning element 130 of the carrier 100 to enter the supporting portion 3212 more quickly and effectively, so as to ensure the accuracy of the supporting body 321 supporting the carrier 100 and facilitate the transportation of the next delivery robot 200.

According to an embodiment of the present invention, as shown in fig. 14, the support body 321 is further connected with a first guide means for guiding the dispensing robot 200. It should be noted that the first guiding device may function to guide the dispensing robot 200 into and out of the stopping slot 3214, and since the first guiding device is connected to the supporting body 321, when the first guiding device guides the dispensing robot 200, the supporting body 321 moves along with the first guiding device, so as to guide the dispensing robot 200 into and out of the stopping slot 3214 more quickly.

Alternatively, as shown in fig. 14, the first guide means includes: a lower link 3216 and a guide rod 3217, wherein the upper end of the lower link 3216 is connected to the support rod 3211, the guide rod 3217 is connected to the lower end of the lower link 3216, and the guide rod 3217 is provided with a guide portion 3218 bent outward at a position located at the open side of the parking slot 3214. It can be understood that, when there is a slight deviation of the dispensing robot 200 with respect to the stopping groove 3214, the guiding portion 3218 may guide the dispensing robot 200 in advance, and then adjust the position of the stopping groove 3214, so as to guide the dispensing robot 200 into the stopping groove 3214, and the guiding rod 3217 is further provided with a straight portion extending forward and backward after the bent guiding portion 3218, which may smoothly guide the dispensing robot 200 to stop stably in the stopping groove 3214.

As shown in fig. 10 and 14, the guiding portion 3218 is an inclined surface or a curved surface for guiding the dispensing robot 200, and the body 210 is correspondingly provided with a guiding wheel 229, wherein the guiding wheel 229 is adapted to fit at the guiding portion 3218. The guiding wheel 229 and the guiding portion 3218 cooperate to better guide the dispensing robot 200 into the stopping slot 3214, and the guiding portion 3218 is prevented from directly contacting the main structure of the dispensing robot 200 by the guiding wheel 229, so as to ensure the operation stability of the dispensing system 1000.

The guide wheels 229 may be provided in a plurality of, for example, four positions, front, back, left and right, of the dispensing robot 200, two sets of first guide devices are provided, the two sets of first guide devices are spaced in the left and right directions, each set of first guide devices corresponds to two guide wheels 229 on the left or right side of the dispensing robot 200, and the guide wheels 229 provided in this way may further improve the stability of the dispensing robot 200 moving out of the parking slot 3214.

Each first guiding device may include two lower links 3216, two lower links 3216 are spaced apart in the front-rear direction, for example, the two lower links 3216 are respectively connected to the front lower surface and the rear lower surface of the supporting rod 3211, the lower link 3216 located at the rear side is further fixed to the rear link 3213, for example, fixed to the rear link 3213 by a fastener, and the lower link 3216 and the rear link 3213 thus configured may improve the structural reliability of the moving frame 320. The height of the rear link 3213 in the vertical direction may be equal to the distance between the support rod 3211 and the guide rod 3217 in the vertical direction.

Wherein, the minimum distance of the inner surfaces of the two support rods 3211 in the first direction is less than the minimum distance of the inner surfaces of the two guide rods 3217 in the first direction. Since the guide wheel 229 is disposed outside the main structure of the dispensing robot 200, the two guide bars 3217 thus disposed can be better fitted with the guide wheel 229, and the operational stability of the dispensing system 1000 can be ensured. And the two support rods 3211 thus provided can better correspond to the lifting device 220.

Alternatively, as shown in fig. 14, the fixing frame 310 is a frame composed of a plurality of rods with different directions. The fixing frame 310 is formed by a plurality of rods, so that the weight of the fixing frame 310 can be effectively reduced, and the structural strength of the fixing frame 310 can be ensured. The holder 310 may be a vertical type, i.e., it has a height greater than its length and width. The fixing frame 310 forms a bottom frame and a top frame by the rods extending in the front and rear direction and the rods extending in the left and right direction, and then the top frame and the bottom frame are connected by four rods extending in the up and down direction, and the two connected rods are connected by the rods inclined in the horizontal plane or the vertical plane, so that the structural reliability of the fixing frame 310 can be improved.

According to an alternative embodiment of the present invention, as shown in fig. 1, 2 and 15, the carrier device 100 comprises: the container base 110 and the positioning members 130, the positioning members 130 are disposed at both sides of the container base 110 in the first direction, and the moving frame 320 is used to support the positioning members 130. The tank base 110 is adapted to cooperate with the dispensing robot 200, and the positioning member 130 is adapted to cooperate with the supporting portion 3212 of the supporting body 321 of the moving frame 320. Through the cooperation of the positioning member 130 and the supporting portion 3212, the placing stability of the carrier 100 on the placing rack 300 can be ensured.

Wherein, the number of the positioning members 130 is at least three, for example, three, two positioning members 130 spaced front and back may be disposed on the left side of the box base 110, and one positioning member 130 may be disposed on the right side of the box base 110; for another example, four positioning members 130 are disposed on the left and right sides of the box base 110, each supporting rod 3211 is provided with two supporting portions 3212, and the distance between the two supporting portions 3212 on the same side is the same as the distance between the two positioning members 130 on the same side, so that each positioning member 130 can be exactly placed on the supporting portion 3212, and the stability of the supporting rod 3211 supporting the carrying device 100 can be further ensured.

As shown in fig. 15, the positioning member 130 may be a circular tube, and the moving frame 320 is provided with an arc-shaped groove engaged with the circular tube. The arc-shaped groove, i.e. the supporting portion 3212, can further reduce the difficulty of the fit between the carrying device 100 and the supporting body 321 through the fit between the circular tube and the arc-shaped groove. In which a circular tube is used as the positioning member 130, the structure of the carrier device 100 can be further simplified.

As shown in fig. 15, the carrier device 100 further includes: the box body 140, the box body 140 is placed on the box base 110, and the box body 140 and the box base 110 are in a split structure. It should be noted that the container 140 can be removed from the base 110, so that the base 110 can be used alone, and the carrier device 100 thus configured can provide a possibility for transporting very large express packages. The box 140 may be provided with a plurality of storage areas, and each storage area may hold one or more couriers and takeoffs. The box 140 arranged in this way can play a role in separation, and can transport express and take out for a plurality of users at a time.

As shown in fig. 10-13 and 16, the top of the lifting device 220 is provided with a limiting member 2222 for limiting the carrying device 100, and the bottom of the carrying device 100 is provided with a limiting hole 111 engaged with the limiting member 2222. Through the cooperation of the position-limiting member 2222 and the position-limiting hole 111, the reliability of the carrying device 100 on the lifting device 220 can be ensured to at least a certain extent, and the cooperation of the position-limiting member 2222 and the position-limiting hole 111 can ensure that the tops of the carrying device 100 and the lifting device 220 are aligned, so that the stability of the carrying device 100 can be further improved.

Specifically, as shown in fig. 7, 10 to 13, the position-limiting member 2222 is a position-limiting pin extending upward, the position-limiting pin is plural, and the plural position-limiting pins are arranged at intervals in the second direction. As shown in fig. 16, there are a plurality of limiting holes 111, and the limiting holes 111 are arranged at intervals in the second direction, and a plurality of limiting pins correspond to the plurality of limiting holes 111 one to one. For example, the number of the limiting pins is two, the number of the limiting holes 111 is two, the two limiting pins and the two limiting holes 111 are matched in a one-to-one alignment manner, and the transportation stability of the carrying device 100 can be ensured by the limiting pins and the limiting holes 111 arranged in this manner.

As shown in fig. 16, one of the limiting holes 111 is a circular hole, and the other limiting hole 111 is a long hole. The two limiting holes 111 are convenient for the alignment of the two limiting pins, so that the delivery robot 200 can conveniently take and place the carrying device 100 better. The box base 110 may include left and right spaced side rods and an inner connecting rod connected between the two side rods, the inner connecting rod may be two, and the two inner connecting rods are respectively provided with a limiting hole 111. The positioning member 130 is disposed at the outer side of the side bar.

According to an alternative embodiment of the present invention, as shown in fig. 5 and 8, the carrier device 100 includes locking fittings 120, and the locking fittings 120 may be provided on the tank base 110, for example, the locking fittings 120 may be provided at left and right side edges of the tank body 140, and then the locking fittings 120 extend downward from the edges. The dispensing robot 200 includes: and a locking device 230, wherein the locking device 230 is arranged at the top of the machine body 210 or at the bottom of the lifting device 220, and the locking device 230 is used for locking the locking fitting piece 120 of the carrying device 100 in transportation. It should be noted that the locking device 230 may be in locking engagement with the locking fitting 120, so that the transportation stability of the carrier device 100 on the dispensing robot 200 may be ensured. In the process, the lifting device 220 is in an initial position, i.e., an unlifted position.

From this, through the cooperation of locking fitting piece 120 and locking means 230, can guarantee the transportation stability of carrying device 100 to can further guarantee the transportation stability of express delivery and takeaway, and then can promote user experience.

Specifically, as shown in fig. 10 to 13, the lifting device 220 includes: a bottom frame 221, a top frame 222, a lifting arm 223 and a driving member 224, wherein the bottom frame 221 is fixed on the top of the machine body 210, and the bottom frame 221 is used for connecting the machine body 210. The locking device 230 is provided on the chassis 221, and for example, the locking device 230 may be fixed to the chassis 221 by a bracket.

The top frame 222 is located above the bottom frame 221, the top frame 222 is used for placing the carrier device 100, and the above-mentioned stop 2222 is disposed on the top frame 222. The lifting arm 223 is connected between the bottom frame 221 and the top frame 222 for lifting the top frame 222, the driving member 224 is used for driving the lifting arm 223 to ascend and descend, and the driving member 224 is disposed on the bottom frame 221. It is understood that the lifting device 220 can be powered by the driving member 224 to drive the lifting arm 223 to lift the top frame 222, thereby achieving the purpose of lifting the carrying device 100. The driving member 224 may be a driving motor. The lifting device 220 thus arranged has good stability for lifting the carrier device 100.

As shown in fig. 9, the locking device 230 includes: the locking piece 231, the locking tongue 232 and the pulling piece 233, the locking piece 231 is arranged on the bottom frame 221, the locking piece 231 is formed with a locking groove 2311 which is opened towards the upper part, and the locking groove 2311 which is opened towards the upper part can facilitate the entering and the leaving of the locking matching piece 120. The locking tongue 232 may be rotatably disposed within the locking block 231, for example, the locking tongue 232 may be rotatably disposed within the locking block 231 by a pivot shaft. Wherein, the carrying device 100 forces the locking tongue 232 to lock the locking mating member 120 under the action of gravity, the shifting piece 233 is movably arranged in the locking block 231, and the shifting piece 233 selectively locks the locking tongue 232. It can be understood that, when the carrying device 100 descends to a certain position from the lifting position, the locking fitting piece 120 contacts with the locking tongue 232 and then drives the locking tongue 232 to rotate relatively, after the locking tongue 232 rotates by a certain angle, the toggle piece 233 locks the locking tongue 232, then the locking tongue 232 locks the locking fitting piece 120 again, or the matching of the toggle piece 233 and the locking tongue 232 completes the locking of the locking fitting piece 120, at this time, the carrying device 100 is in a locking state at the distribution robot 200. When the carrying device 100 is unlocked, the dial 233 needs to be pulled, the latch 232 is unlocked by the dial 233, the latch 232 correspondingly unlocks the locking mating member 120, and the lifting device 220 can lift the carrying device 100. The locking device 230 thus provided can effectively ensure the safety of the carrier device 100.

Specifically, the lock tongue 232 includes a first lock tongue portion, a second lock tongue portion and a connecting portion, the first lock tongue portion and the second lock tongue portion are connected on the connecting portion, and first lock tongue portion and second lock tongue portion set up at an interval, the connecting portion can set up in the locking piece 231 with rotating, the plectrum 233 moves between the unlocking position of holding against the first lock tongue portion and the locking position of locking the second lock tongue portion, when the plectrum 233 and the second lock tongue portion cooperate with the locking fitting piece 120, the locking fitting piece 120 cooperates in the space between the first lock tongue portion and the second lock tongue portion. It can be understood that when the lifting device 220 with the carrier 100 descends, the locking fitting member 120 now contacts the first locking tongue portion in the locking groove 2311 and then forces the locking tongue 232 to rotate, and then enters a position between the first locking tongue portion and the second locking tongue portion, so that the locking fitting member 120 enters a space defined by two side walls of the locking groove 2311, the first locking tongue portion and the second locking tongue portion, and the toggle piece 233 locks the second locking tongue portion, thereby completing the locking of the locking fitting member 120. It should be noted that a spring is connected to one end of the pick 233, and the pick 233 can lock the second latch portion under the elastic force of the spring.

Further, the paddle 233 includes: a plate body disposed inside the locking block 231, and a lever 2331 disposed on the plate body, and the lever 2331 protrudes from one side of the locking block 231. The plate and the lever 2331 may be an integral part, with the spring resting between the locking block 231 and one end of the plate, the other end of the plate being used to lock and unlock the second locking tongue. The lever 2331 is a cylindrical rod, and the second latch portion can be unlocked by shifting the lever 2331, so that the structure of the toggle piece 233 is simple, and the second latch portion is easy to unlock.

As shown in fig. 6 and 9, the dispensing robot 200 may further include: and the unlocking device 240, the unlocking device 240 is arranged on the top frame 222, and the unlocking device 240 is used for toggling the poking rod 2331 when the lifting arm 223 lifts the top frame 222 so that the second latch part and the poking piece 233 unlock the carrier device 100. That is, when the lifting arm 223 lifts the top frame 222 and the carrier 100, the unlocking device 240 synchronously pulls the lever 2331 and then causes the sheet body to unlock the second locking tongue portion, and the unlocking device 240 thus configured is simple in structure and can synchronously unlock the locking fitting piece 120 without separately adding an unlocking control program.

Specifically, as shown in fig. 6 and 9, the unlocking means 240 includes: the unlocking block 241 is provided with an unlocking groove 242, the unlocking groove 242 extends in the vertical direction and is open at the lower end, the locking groove 2311 is divided into a locking area 2421 and an unlocking area 2423 from top to bottom, the locking area 2421 is located above the unlocking area 2423, the width of the locking area 2421 is larger than that of the unlocking area 2423, the driving lever 2331 is located in the locking area 2421, the second bolt locks the carrier device 100, the driving lever 2331 is located in the unlocking area 2423, and the second bolt unlocks the carrier device 100. It will be appreciated that when toggle 2331 is in unlocking zone 2423, the blade is in the unlocked state unlocking the second latch portion and when toggle 2331 is in locking zone 2421, the blade is in the locked state locking the second latch portion. By arranging the locking area 2421 above the unlocking area 2423, the descending process of the top frame 222 and the carrying device 100 can be matched, and the lifting device 220 arranged in the way is ingenious in design and reliable in function.

Also, as shown in fig. 6 and 9, a first guide area 2422 is further disposed between the locking area 2421 and the unlocking area 2423, a second guide area 2424 is further disposed below the unlocking area 2423, the first guide area 2422 corresponds to a first guide slope, and the second guide area 2424 corresponds to a second guide slope. The first guiding area 2422 mainly corresponds to the rotation process of the latch 232, in which the lever 2331 moves synchronously, and the first guiding area 2422 thus configured can play a guiding role, so that the locking device 230 can be switched smoothly and naturally between the locking state and the unlocking state. Second guide area 2424 may facilitate movement of lever 2331 into and out of locking slot 2311.

As shown in fig. 15, the locking fitting 120 includes: the fitting post 122 and the two mounting plates 121, the two mounting plates 121 are arranged in parallel, the fitting post 122 is connected between the lower ends of the two mounting plates 121, and the fitting post 122 is adapted to fit in the locking groove 2311. The two mounting plates 121 ensure the mounting reliability of the engagement posts 122, and the engagement posts 122 thus provided can better enter and exit the locking grooves 2311, thereby further facilitating the locking device 230 to lock and unlock the locking engagement pieces 120.

Alternatively, as shown in fig. 11 to 13, the lifting arm 223 is a cross-type lifting arm 223, and the lifting arm 223 includes a first sub-arm 2231 and a second sub-arm 2232 which cross each other, a lower end of the first sub-arm 2231 is connected to the driving member 224, an upper end of the first sub-arm 2231 is hinged to the top frame 222, a lower end of the second sub-arm 2232 is hinged to the bottom frame 221, and an upper end of the second sub-arm 2232 is movably disposed on the top frame 222. Thus, when the driving member 224 drives the lower end of the first sub-arm 2231 to move, the upper end of the second sub-arm 2232 moves synchronously, so that the top frame 222 and the carrier device 100 can be lifted by the action of the two sub-arms. The lifting arm 223 is high in structural reliability and better in lifting stability.

As shown in fig. 11 and 13, the driving member 224 is a motor, a motor shaft of the motor is connected with a lead screw 2241 extending in the second direction, the lead screw 2241 is rotatably provided on the base frame 221, a nut 2242 is provided at a lower end of the first sub arm 2231, and the nut 2242 is fitted on the lead screw 2241. That is to say, the motor shaft of the motor can drive the screw 2241 to rotate, then the nut 2242 moves on the screw 2241, so that the rotation motion of the motor can be converted into the movement of the nut 2242, and then converted into the pivoting motion of the lifting arm 223, thereby completing the lifting.

Specifically, as shown in fig. 10, the lifting arms 223 are two sets, a driving arm 225 is connected between the first sub-arms 2231 of the two sets of lifting arms 223, and the driving arm 225 is provided with a nut 2242. Therefore, the two sets of lifting arms 223 share one driving member 224, so that the number of the driving members 224 can be reduced, the structure of the lifting device 220 can be simplified, and the lifting stability of the lifting device 220 can be improved.

As shown in fig. 11, the nut 2242 is located at the midpoint of the driving arm 225, the bottom frame 221 is further provided with a bottom slide rail 2211 extending along the second direction, and the driving arm 225 is provided with a bottom slide 2251 cooperating with the bottom slide rail 2211. The arrangement of the bottom slide rail 2211 and the bottom slide block 2251 can ensure the moving stability of the driving arm 225, and further ensure the lifting stability of the lifting arm 223. And the nut 2242 and the bottom sliding rail 2211 which are arranged in this way can avoid mutual interference, so that the lifting device 220 can be reasonably arranged. Wherein, two sets of bottom slide rails 2211 can be arranged on the bottom frame 221, and the two sets of bottom slide rails 2211 are respectively located on the left and right sides of the lead screw 2241.

Further, as shown in fig. 11, a driven arm 226 is connected between the second sub-arms 2232 of the two sets of lifting arms 223, the top frame 222 is provided with a top slide rail 2221 extending in the second direction, and the driven arm 226 is provided with a top slider 2261 engaged with the top slide rail 2221. The arrangement of the top slide rail 2221 and the top slide block 2261 can ensure the moving stability of the driven arm 226, and further ensure the lifting stability of the lifting arm 223. The top frame 222 may be provided with two sets of top sliding rails 2221, and the two sets of top sliding rails 2221 are respectively located at the left and right sides of the lower surface of the top frame 222.

As shown in fig. 5, 10-13, the bottom frame 221 is further provided with a plurality of supporting columns 227, the supporting columns 227 are distributed outside the top frame 222, and the height of the upper surface of each supporting column 227 is greater than or equal to the height of the upper surface of the top frame 222 before the lifting arm 223 does not lift the top frame 222. It will be appreciated that when the lifting device 220 is lowered to the initial position by the top frame 222, the components of the lifting device 220 for supporting the carrier device 100 are converted from the top frame 222 to the supporting columns 227, the supporting columns 227 can ensure the transportation stability of the carrier device 100 on the dispensing robot 200, and the supporting columns 227 are arranged in such a way that the driving members 224 can be stopped without being in a pressure state all the time, so that the service life of the driving members 224 can be prolonged, and the service life of the dispensing robot 200 can be prolonged. The number of the support columns 227 may be four, and four support columns 227 are respectively disposed at four corners of the bottom frame 221, so that the four support columns 227 can better support the carrying device 100.

Optionally, the top of the supporting column 227 is provided with a damper block 228, the top of the supporting column 227 is provided with a stepped groove 2271, and the damper block 228 is provided at the stepped groove 2271. The damping block 228 may have a damping effect, so as to reduce the vibration transmitted from the machine body 210 to the carrying device 100, improve the stability of the carrying device 100 on the distribution robot 200, and avoid the problems of take-out and spilling. The height of the upper surface of the damper block 228 may be equal to or greater than the height of the upper surface of the support column 227.

As shown in fig. 10 to 13, a guide wheel 229 is mounted on the outer side of the support column 227. The guide wheel 229 thus provided is securely mounted.

The following describes in detail the delivery flow of the delivery system 1000 according to an embodiment of the present invention.

After a certain number of parcels and takeoffs are placed in the carrier 100, the dispensing robot 200 starts to walk and then enters the parking slot 3214, during the process of entering the parking slot 3214, the guide rod 3217 of the first guide device and the guide wheel 229 of the dispensing robot 200 are matched with each other, and then the position of the moving frame 320 is adjusted, so that the dispensing robot 200 can be accurately located right below the carrier 100 when entering the parking slot 3214.

When the lifting device 220 starts to work, the driving member 224 rotates in the forward direction to drive the first sub-arm 2231 of the lifting arm 223 to rotate around the pivot shaft, the second sub-arm 2232 follows up, the first sub-arm 2232 and the second sub-arm 2231 lift the top frame 222 together, the top frame 222 contacts the box base 110 of the carrying device 100, and the two limiting posts on the top frame 222 all enter the two limiting holes 111 on the box base 110, so that the primary limiting is completed, the top frame 222 continues to rise until the box base 110 is lifted to a certain height above the supporting portion 3212 of the supporting rod 3211, and at this time, the supporting body 321 no longer supports the carrying device 100, i.e., the state shown in fig. 5.

The dispensing robot 200 moves forward and leaves the parking slot 3214, and after the dispensing robot 200 leaves the parking slot 3214, the driving member 224 rotates reversely, the first sub-arm 2231 of the lifting arm 223 rotates around the pivot shaft, the second sub-arm 2232 follows, the top frame 222 descends along with the rotation, after descending a certain height, the engagement post 122 of the locking engagement member 120 enters the locking groove 2311, and under the action of gravity, which forces the first bolt portion of the bolt 232 to rotate and enter the space between the first bolt portion and the second bolt portion, and at this time, the rod 2331 also enters the unlocking slot 242 of the unlocking device 240, after entering locking zone 2421 from unlocking zone 2423, the blade of paddle 233 locks the second locking tongue portion, so that the locking of locking mating element 120 by unlocking device 240 is completed, namely, the delivery robot 200 locks the carrier device 100, so that the transportation stability of takeout and express delivery on the carrier device 100 can be ensured. At the same time, the driving member 224 is stopped and the four supporting columns 227 of the lifting device 220 support the carrier device 100.

The distribution robot 200 enters a corresponding floor according to addresses of express delivery and takeout, after a user takes all the takeout and express delivery, the distribution robot 200 returns to the placing frame 300, at this time, the driving piece 224 rotates forwards to drive the first sub-arm 2231 of the lifting arm 223 to rotate around the pivot shaft, the second sub-arm 2232 follows up, the first sub-arm 2231 and the second sub-arm 2232 lift the top frame 222 together, the unlocking device 240 ascends synchronously with the top frame 222, in the ascending process, the driving rod 2331 is forced to move from the locking area 2421 to the unlocking area 2423, then the sheet body releases the locking of the second locking tongue portion, the locking tongue 232 rotates under the action of the torsion spring at the pivot shaft, then the matching column 122 of the locking fitting piece 120 is unlocked, the matching column 122 moves out of the locking groove 2311, and therefore the unlocking device 240 completes.

After the carrier 100 is lifted to the lifting position by the lifting device 220, that is, in the state shown in fig. 8, the dispensing robot 200 moves backward and enters the parking slot 3214 again under the guidance of the guide rod 3217, after the parking slot 3214 is parked stably, the driving member 224 rotates reversely, the first sub-arm 2231 of the lifting arm 223 is driven to rotate around the pivot shaft, the second sub-arm 2232 follows the top rack 222 to descend, after descending for a certain height, the supporting portion 3212 supports the positioning member 130 of the carrier 100, the guide plate 3215 can guide the positioning member 130 to enter the supporting portion 3212 quickly, the top rack 222 continues to descend until it is separated from the carrier 100 and returns to the initial position, finally, the dispensing robot 200 leaves the parking slot 3214 again, a whole dispensing process is completed, and then the next dispensing process can be performed again.

The rack 300 is provided in plural, and after the empty carrier 100 is placed in the rack 300, the courier and the takeout person can place items such as express delivery and takeout again inside the rack. The delivery robot 200 may search for the carrier device 100 on which the article such as the express delivery or the takeout has been loaded again, and when a plurality of carrier devices 100 are loaded with the article such as the full express delivery or the takeout, the delivery robot 200 may confirm the time when the plurality of carrier devices 100 are loaded with the full express delivery or the takeout, and may give priority to the carrier device 100 with the earliest delivery time. For example, the carrier 100 may be provided with a timer, and the dispensing robot may acquire timing information of the timer.

It should be noted that the distribution system 1000 may also be used in a factory for transporting parts, etc., or the distribution system may be used in an office building inside a company for transferring objects between different parts, which will not be described in detail.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features. In the description of the present invention, "a plurality" means two or more. In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween. In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dispensing system, comprising:

at least one carrying device;

a delivery robot, the delivery robot comprising: the lifting device is arranged at the top of the machine body and used for lifting and transporting the carrying device;

a rack, the rack includes: the movable rack is arranged on the fixed rack and can move relative to the fixed rack in a first direction, the top of the movable rack is used for placing the carrying device, the movable rack is provided with a shutdown slot which is open towards one side in a second direction, and the first direction is vertical to the second direction;

wherein the distribution robot lifts the carrying device to a predetermined height by the lifting device and then enters or leaves the parking slot.

2. The dispensing system of claims 1-2, wherein the moving rack comprises:

a support body formed with the parking slot and having a top for placing the carrier;

the movable main body is connected to at least one side of the first direction of the supporting main body, and the movable main body is arranged at the top of the fixing frame and can move relative to the fixing frame in the first direction.

3. The dispensing system of claims 2-3 wherein the two holders are disposed on two sides of the supporting body in the first direction, and the two moving bodies are connected to two sides of the supporting body in the first direction, respectively, and each holder corresponds to one moving body.

4. The dispensing system of claims 2-4 wherein a lower portion of the movable body is provided with a slide, and the mount is provided with a slide rail extending in the first direction, the slide being slidably disposed on the slide rail.

5. The dispensing system of claim 4 wherein a resilient member is disposed between the movable body and the mounting bracket, the resilient member being configured to provide lateral tension to the movable body.

6. The dispensing system of claim 2 wherein each of the moving bodies comprises: the movable arm extends along the first direction, one end of the movable arm is connected to one side of the first direction of the supporting main body, and the movable arm is movably arranged at the top of the fixing frame.

7. The dispensing system of claim 6 wherein each of the moving bodies comprises: two the removal arm, two the removal arm is in the second direction interval sets up, the removal main part still includes: a connecting arm connected between the two moving arms.

8. The dispensing system of claim 2 wherein the support body comprises:

the two support rods are arranged at intervals in the first direction, and a support part is arranged on the upper surface of each support rod;

the rear connecting rod extends in the first direction and is connected between the two supporting rods, wherein the two supporting rods and the rear connecting rod jointly define the stopping groove which is open towards one side of the second direction.

9. The dispensing system of claim 8 wherein the support is provided with a vertically everted guide plate on a side of the support bar remote from the rear link.

10. The dispensing system of claim 8 wherein a first guide is further coupled to the support body for guiding the dispensing robot.

11. The dispensing system of claim 10 wherein said first guide means comprises:

the upper end of the lower connecting rod is connected to the supporting rod;

the guide rod is connected to the lower end of the lower connecting rod, and a guide portion bent towards the outer side is arranged at the position, located on the opening side of the stop groove, of the guide rod.

12. The dispensing system of claim 11 wherein the guide is a bevel or a curve that guides the dispensing robot, and the body is correspondingly provided with a guide wheel adapted to fit at the guide.

13. The dispensing system of claim 11 wherein the first guide means are two and correspond to two of the support bars, respectively, wherein the minimum distance between the inner surfaces of the two support bars in the first direction is less than the minimum distance between the inner surfaces of the two guide bars in the first direction.

14. The dispensing system of any of claims 1-13 wherein the holder is a frame comprised of a plurality of differently oriented rods.

15. The dispensing system of any of claims 1-13 wherein the top of the lifting device is provided with a stop for limiting the carrier and the bottom of the carrier is provided with a stop hole for engaging the stop.

16. The dispensing system of claim 15 wherein the retaining member is an upwardly extending retaining pin, the retaining pins are spaced apart in the second direction, the retaining holes are spaced apart in the second direction, and the retaining pins and the retaining holes are in one-to-one correspondence.

17. The dispensing system of claim 16 wherein there are two of the limit pins and the limit holes, wherein one of the limit holes is a circular hole and the other of the limit holes is a slotted hole.

18. The dispensing system of any of claims 1-13, wherein the carrier comprises:

a tank base;

the positioning pieces are arranged on two sides of the box base in the first direction, the number of the positioning pieces is at least three, and the movable frame is used for supporting the positioning pieces.

19. The dispensing system of claim 18 wherein the positioning member is a circular tube and the movable frame is provided with an arcuate recess that mates with the circular tube.

20. The dispensing system of claim 18 wherein the carrier further comprises: the box body is placed on the box base and is of a split structure with the box base.