CN111285293A

CN111285293A - Self-moving device, carrying device and dispensing device for dispensing articles

Info

Publication number: CN111285293A
Application number: CN202010074938.3A
Authority: CN
Inventors: 王恺; 闵伟; 李佩; 王小朝; 袁梦杰
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2020-06-16
Also published as: WO2021147870A1

Abstract

The embodiment of the application provides a from mobile device, load-bearing device, dispenser for delivering article, wherein, from mobile device includes: a self-moving body and a coupling mechanism; the combining mechanism is arranged on the self-moving body and enables the self-moving device and the bearing device to be in a combining state or a separating state; when the self-moving device is in a combined state, the self-moving device can drive the bearing device to move; when the carrying device is in the separation state, the carrying device is in a static loading waiting state or a loading waiting state. According to the embodiment of the application, the self-moving device automatically moves to the position capable of being in butt joint with the bearing device, the self-moving device can bear and carry the bearing device to the appointed distribution position through the combination mechanism and is separated from the bearing device, the bearing device is in a static object waiting state or object taking waiting state, the self-moving device can bear another bearing device at the current position and move to the distribution position, uninterrupted distribution of objects is achieved, and distribution efficiency is improved.

Description

Self-moving device, carrying device and dispensing device for dispensing articles

Technical Field

The application relates to the technical field of logistics, in particular to a self-moving device for delivering objects, a bearing device for delivering objects and a delivery device for delivering objects.

Background

With the rapid development of the internet, more and more users choose to shop online. The user can complete the operations of commodity selection, payment and the like without going out. One of the disadvantages of online shopping is that the user cannot get the goods in real time after paying the payment as in a conventional retail store, but needs to wait for the seller to deliver the goods to the user by express delivery and delivery of delivery personnel. When the user purchases the food and beverage goods, the seller delivers the goods to the user by the delivery person. The delivery time of delivery personnel and the delivery time of a user cannot be coordinated and unified frequently, so that the delivery timeliness of express delivery and delivery is affected.

At present, the main way to solve the above problems is that the user self-lifts through an intelligent extraction cabinet or delivers through an automatic delivery device. However, both of the above approaches have their significant drawbacks.

The intelligent extraction cabinet facility is generally centralized due to the reasons of complex setting, large occupied area and the like, so that the express delivery or the takeout of a user is inconvenient to take, and the convenience of online shopping is reduced.

Although the delivery device can deliver the express or the takeout to the user, when the delivery device delivers the express or the takeout, a delivery person needs to wait for the robot delivery person to return to a delivery point to place the express or the takeout on a bin body of the delivery device, and when the delivery device reaches a delivery appointed point, the delivery person needs to wait for the user to take the express or the takeout and return to the delivery point, so that the delivery efficiency of the delivery device is low, and the production cost of the delivery device is high due to the complex structure of the delivery device.

Therefore, how to improve the dispensing efficiency of the dispensing device and reduce the cost becomes a problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The embodiment of the application provides a self-moving device for delivering articles, and aims to solve the problems of low delivery efficiency and high cost of the conventional delivery device. The embodiment of the application also provides a bearing device for distributing the articles and a distributing device for distributing the articles.

An embodiment of the present application provides a self-moving device for delivering an article, including: a self-moving body and a coupling mechanism;

the self-moving body can move autonomously; the combination mechanism is arranged on the self-moving body, and the self-moving body can be in a combination state or a separation state with a bearing device matched with the self-moving body through the combination mechanism; when the mobile device is in the combination state, the self-moving device and the bearing device are combined into a whole, and the self-moving device can drive the bearing device to move; when the carrying device is in the separation state, the self-moving device can be separated from the carrying device, and the carrying device is in a static carrying waiting state or a carrying waiting state.

Optionally, the combining mechanism comprises a lifting mechanism and a first positioning mechanism; the lifting mechanism is arranged on the self-moving body and comprises a lifting rod capable of stretching in the vertical direction, and a lifting platform is arranged at the top of the lifting rod; the first positioning mechanism is arranged at the upper part of the lifting platform and comprises at least one or more first positioning devices; the first positioning device can be matched with a second positioning device installed on the bearing device, and when the lifting platform is lifted in place, the first positioning device and the second positioning device are combined with each other to realize the mutual positioning of the self-moving device and the bearing device.

Optionally, the first positioning device is a concave positioning slot.

Optionally, the first positioning mechanism further comprises a positioning guide post, the positioning guide post is arranged on the upper portion of the lifting table, and the positioning guide post can be matched with a positioning guide groove arranged on the bearing device.

Optionally, still include the kicking block, the kicking block sets up the upper portion of elevating platform when the elevating platform lifts, the kicking block with install removal guiding mechanism butt on the load bearing device, in order to drive removal guiding mechanism lifts.

Optionally, the combining mechanism further comprises a locking mechanism for clamping the carrying device when the lifting platform is lifted to the proper position.

Optionally, the locking mechanism includes a sliding locking portion and a swinging stretching portion, the sliding locking portion includes a locking piece slidably disposed in a horizontal direction, the swinging stretching portion includes a fixed end and a swinging end, the fixed end is pivotally connected to the self-moving body, and the swinging end is pivotally connected to a slidable portion of the sliding locking portion; the swinging stretching part swings inwards along with the ascending of the lifting platform, and provides a driving force sliding towards the clamping direction for the locking piece of the sliding locking part, so that the locking piece of the sliding locking part is closed on the lifting platform along the horizontal direction; the swinging stretching part swings outwards along with the descending of the lifting platform, and provides a driving force sliding towards a loosening direction for the locking piece of the sliding locking part, so that the locking piece of the sliding locking part moves to an initial position along the horizontal direction; when the lifting platform rises to the right position, the locking piece is abutted against a locking groove arranged on the bearing device to clamp the bearing device.

Optionally, the sliding lock further includes a first guide rail and a first slider as the slidable portion;

the first guide rail is arranged at the lower part of the lifting platform along the horizontal direction, the first sliding block is arranged on the first guide rail in a sliding mode, and the locking piece is connected with the first sliding block and moves on the first guide rail through the first sliding block.

Optionally, the main body of the swinging stretching part is symmetrically arranged pull rods, one end of each pull rod is a fixed end pivoted on the self-moving body, and the other end of each pull rod is a swinging end pivoted with the slidable part of the sliding locking part.

Optionally, the mobile terminal further comprises a support frame, wherein the support frame is arranged on the self-moving body; the stiff end pin joint is in on the self-moving body, specifically the stiff end pin joint is in on the support frame.

Optionally, the method further includes: a first guide mechanism disposed between the lift table and the self-moving body, the first guide mechanism comprising: a first bearing and a first guide shaft;

the first bearing is arranged on the self-moving body, and the axial direction of the first bearing is the vertical direction; one end of the first guide shaft is connected to the lifting platform, and the other end of the first guide shaft is sleeved in the first bearing in a slidable mode.

Optionally, the first guiding mechanism further includes: the bearing support is arranged on the self-moving body, and the first bearing is arranged on the bearing support.

Optionally, the method further includes: and the navigation mechanism is used for realizing navigation on the movement of the self-moving body.

An embodiment of the present application provides a carrying device for delivering articles, including: the bearing body and the butt joint mechanism;

the bearing body can bear an article; the docking mechanism is arranged on the bearing body, and the bearing body can be in a combined state or a separated state with the self-moving device matched with the bearing body through the docking mechanism; when the bearing device is in the combination state, the bearing device and the self-moving device are combined into a whole, and the bearing device is driven by the self-moving device to move; when the carrying device is in the separation state, the carrying device is separated from the self-moving device, and the carrying device is in a static object waiting state or object waiting state.

Optionally, the docking mechanism comprises a second positioning mechanism, and the second positioning mechanism comprises at least one or more second positioning devices; the second positioning device can be matched with the corresponding first positioning device arranged on the self-moving device, and when the self-moving device is lifted to the right position, the second positioning device is combined with the first positioning device, so that the bearing device and the self-moving device are positioned mutually.

Optionally, the second positioning device is a convex positioning groove.

Optionally, the second positioning mechanism further includes a positioning guide groove, the positioning guide groove is disposed at the lower portion of the bearing body, and the positioning guide groove can be matched with a positioning guide post installed on the self-moving device.

Optionally, the docking mechanism further includes a locking groove, the locking groove is disposed at the lower portion of the bearing body, a notch of the locking groove is disposed away from the center of the bearing body, and the locking groove can be matched with a locking piece mounted on the self-moving device.

Optionally, the carrying device further comprises a supporting leg telescoping mechanism for retracting and expanding the supporting legs of the carrying body.

Optionally, the support leg telescoping mechanism comprises a second guide rail and a second slider; the second guide rail is arranged at the lower part of the bearing plate of the bearing body along the horizontal direction, and the second sliding block is arranged on the second guide rail in a sliding manner; the supporting legs comprise connecting ends and grounding ends, the connecting ends are arranged along the horizontal direction, and the grounding ends are arranged along the vertical direction; the connecting end is connected with the second sliding block and moves along the second guide rail through the second sliding block.

Optionally, the support leg telescoping mechanism further comprises a movement guide mechanism, the movement guide mechanism comprises a movement guide base and a sliding bearing, and sliding grooves inclined inwards and downwards are symmetrically arranged on the movement guide base; the sliding bearing is connected with the second sliding block and the sliding groove of the movable guide base;

a connecting plate arranged in parallel with the bearing plate is arranged below the bearing plate of the bearing body; the moving guide base is arranged between the bearing plate and the connecting plate;

when the self-moving device and the bearing device are combined, the bottom surface of the moving guide base is abutted with a top block installed on the self-moving device so as to move upwards, the sliding bearing slides to the bottom end position from the high end position of the sliding groove, and the supporting leg is driven to move towards the center of the bearing body;

when the self-moving device and the bearing device are separated, the moving guide base descends, the sliding bearing slides to the high-end position from the low-end position of the sliding groove, and the supporting leg is driven to be away from the center of the bearing body.

Optionally, the bearing plate and the movable guide base are provided with a second guide mechanism along the vertical direction.

Optionally, the second guide mechanism includes a second bearing and a second guide shaft; the second bearing is arranged on the movable guide base, and the axial direction of the second bearing is the vertical direction; one end of the second guide shaft is connected to the lower part of the bearing plate, and the other end of the second guide shaft is sleeved in the second bearing in a slidable mode.

Optionally, a compression spring is arranged between the bearing plate and the moving guide base.

An embodiment of the present application provides a delivery device for delivering an article, including: a self-moving device and a carrier device, which may be combined or separate, wherein,

the self-moving device includes: the self-moving body can move autonomously, and the combining mechanism is arranged on the self-moving body;

the bearing device comprises: the article carrying device comprises a carrying body and a butt joint mechanism, wherein the carrying body can carry articles, and the butt joint mechanism is arranged on the carrying body;

the self-moving body can be in a combined state or a separated state with a bearing device matched with the self-moving body through the butt joint of the combining mechanism and the butt joint mechanism; when the mobile device is in the combination state, the self-moving device and the bearing device are combined into a whole, and the self-moving device can drive the bearing device to move; when the carrying device is in the separation state, the self-moving device can be separated from the carrying device, and the carrying device is in a static object waiting state or object waiting state.

Optionally, the combining mechanism comprises a lifting mechanism and a first positioning mechanism; the lifting mechanism is arranged on the self-moving body and comprises a lifting rod capable of stretching in the vertical direction, and a lifting platform is arranged at the top of the lifting rod; the first positioning mechanism is arranged on the upper part of the lifting platform and comprises at least one or a plurality of first positioning devices.

Compared with the prior art, the embodiment of the application has the following advantages:

an embodiment of the present application provides a self-moving device for delivering an article, including: a self-moving body and a coupling mechanism; the self-moving body can move autonomously; the combination mechanism is arranged on the self-moving body, and the self-moving body can be in a combination state or a separation state with a bearing device matched with the self-moving body through the combination mechanism; when the mobile device is in the combination state, the self-moving device and the bearing device are combined into a whole, and the self-moving device can drive the bearing device to move; when the carrying device is in the separation state, the self-moving device can be separated from the carrying device, and the carrying device is in a static carrying waiting state or a carrying waiting state. The embodiment of the application automatically moves to a position where the self-moving device can be in butt joint with the bearing device, the self-moving body can be in a combined state or a separated state with the bearing device matched with the self-moving body through the combining mechanism, the self-moving device can carry and carry the bearing device to a specified delivery position when in the combined state, the delivery position can be a position for acquiring articles or a position for sending out the articles, the self-moving device is separated from the bearing device after the delivery position is reached, the bearing device is in a static object waiting state or object waiting state, the self-moving device can carry another bearing device at the current position or another position and continuously moves to the specified delivery position, and therefore uninterrupted delivery operation of the self-moving device is achieved, and delivery efficiency is improved.

An embodiment of the present application provides a carrying device for delivering articles, including: the bearing body and the butt joint mechanism; the bearing body can bear an article; the docking mechanism is arranged on the bearing body, and the bearing body can be in a combined state or a separated state with the self-moving device matched with the bearing body through the docking mechanism; when the bearing device is in the combination state, the bearing device and the self-moving device are combined into a whole, and the bearing device is driven by the self-moving device to move; when the carrying device is in the separation state, the carrying device is separated from the self-moving device, and the carrying device is in a static object waiting state or object waiting state. According to the embodiment of the application, the self-moving device matched with the bearing body can be in the combined state or the separated state through the butt joint mechanism, and in the combined state, the bearing device can be moved to the appointed distribution position from the self-moving device, the distribution position can be the position for acquiring articles or the position for sending out the articles, and after the bearing device reaches the distribution position, the bearing device is separated from the self-moving device, so that the bearing device is in the static waiting loading state or waiting fetching state, therefore, the self-moving device can bear another bearing device at the current position or move to another position and continuously move to the appointed distribution position, uninterrupted distribution from the self-moving device is not influenced, and distribution efficiency is improved.

An embodiment of the present application provides a delivery device for delivering an article, including: a self-moving device and a carrying device which can be combined or separated, wherein the self-moving device comprises: the self-moving body can move autonomously, and the combining mechanism is arranged on the self-moving body; the bearing device comprises: the article carrying device comprises a carrying body and a butt joint mechanism, wherein the carrying body can carry articles, and the butt joint mechanism is arranged on the carrying body; the self-moving body can be in a combined state or a separated state with a bearing device matched with the self-moving body through the butt joint of the combining mechanism and the butt joint mechanism; when the self-moving device is in a combined state, the self-moving device and the bearing device are combined into a whole, and the self-moving device can drive the bearing device to move; when the carrying device is in the separation state, the self-moving device can be separated from the carrying device, and the carrying device is in a static object waiting state or object waiting state. The embodiment of the application automatically moves to a position where the self-moving device can be in butt joint with the bearing device, the self-moving body can be in a combined state or a separated state with the bearing device matched with the self-moving body through the combining mechanism, the self-moving device can carry and carry the bearing device to a specified delivery position when in the combined state, the delivery position can be a position for acquiring articles or a position for sending out the articles, the self-moving device is separated from the bearing device after the delivery position is reached, the bearing device is in a static object waiting state or object waiting state, the self-moving device can carry another bearing device at the current position or another position and continuously moves to the specified delivery position, uninterrupted delivery of the self-moving device is achieved, and delivery efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a front view of a self-moving device for dispensing articles according to a first embodiment of the present application.

Fig. 2 is a side view of a self-moving device for dispensing articles according to a first embodiment of the present application.

Fig. 3 is a front view of a carrier for dispensing articles according to a second embodiment of the present application.

FIG. 4 is a side view of a carrier for dispensing articles according to a second embodiment of the present application.

Fig. 5 is a bottom view of a carrier for dispensing articles according to a second embodiment of the present application.

Fig. 6 is a perspective view corresponding to a partially enlarged view a in fig. 3.

Fig. 7 is a schematic structural diagram of a dispensing device for dispensing articles according to a third embodiment of the present application.

The device comprises a self-moving device 1, a self-moving body 10, a base plate 10-1, a combination mechanism 11, a lifting mechanism 12, a lifting rod 12-1, a lifting adapter plate 12-2, a lifting table 12-3, a top block 12-4, a first positioning mechanism 13, a first positioning device 13-1, a positioning guide column 13-2, a locking mechanism 14, a sliding locking part 14-1, a locking part 14-1-1, a first guide rail 14-1-2, a first sliding block 14-1-3, a swinging stretching part 14-2, a pull rod 14-2-1, a fixed end 14-2-2, a swinging end 14-2-3, a support frame 14-2-4, a first guide mechanism 15, a first bearing 15-1, a first guide shaft 15-2 and a bearing support 15-3, navigation mechanism 16, driving mechanism 17, driving wheel 17-1 and universal wheel 17-2.

The device comprises a bearing device 2, a bearing body 20, a bearing plate 20-1, a connecting plate 20-2, a support column 20-3, a support leg 20-4, a connecting end 20-4-1, a grounding end 20-4-2 and a caster 20-5, the device comprises a butting mechanism 21, a second positioning mechanism 21-1, a second positioning device 21-1-1, a positioning guide groove 21-1-2, a locking groove 21-1-3, a notch 21-1-4, a support leg telescopic mechanism 22, a second guide rail 23, a second slider 24, a moving guide mechanism 25, a moving guide base 25-1, a sliding groove 25-1-1, a sliding bearing 25-2, a second guide mechanism 26, a second bearing 26-1, a second guide shaft 26-2, a compression spring 27 and a distribution device 3.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

A first embodiment of the present application provides a self-moving device for dispensing articles, which is briefly described as a self-moving device below. As shown in fig. 1 and 2, fig. 1 is a front view of a self-moving apparatus according to a first embodiment of the present application, and fig. 2 is a side view of the self-moving apparatus according to the first embodiment of the present application.

In the first embodiment of the present application, the self-moving apparatus 1 includes: a self-moving body 10 and a coupling mechanism 11; the self-moving body 10 can move autonomously, the coupling mechanism 11 is disposed on the self-moving body 10, and the self-moving body 10 can be coupled with or separated from the associated carrying device 2 (shown in fig. 3) by the coupling mechanism 11. As shown in fig. 7, when in the coupled state, the self-moving device 1 and the carrying device 2 are integrated, and the self-moving device 1 can drive the carrying device 2 to move. When in the separated state, the self-moving device 1 can be separated from the carrier device 2, and the carrier device 2 is in a static loading waiting state or a loading waiting state.

The first embodiment of the present application will describe a specific structure of the self-moving apparatus 1. Specifically, as shown in fig. 1 and fig. 2, the self-moving body 10 mainly includes a substrate 10-1, the substrate 10-1 is used for carrying the combining mechanism 11 and the driving mechanism 17, of course, the self-moving body 10 also includes other structures, and the first embodiment of the present application is mainly described in terms of the self-moving body 10 including the substrate 10-1. Wherein, the driving mechanism 17 is arranged at the bottom of the base plate 10-1, and the driving mechanism 17 comprises a driving motor (not shown), a driving wheel 17-1 and a universal wheel 17-2. The driving motor and the driving wheel 17-1 are arranged at the side position of the bottom of the substrate 10-1, and the driving motor is connected with the driving wheel 17-1 to realize the self-moving of the self-moving body 10; the universal wheels 17-2 are provided at the bottom of the base plate 10-1 to improve the smoothness of movement from the moving body 10. The number of the driving wheels 17-1 and the universal wheels 17-2 is not specifically limited in the embodiment of the present invention, and is the scope to be protected by the first embodiment of the present invention as long as the driving wheels can drive the self-moving body 10 to move and maintain the stability of the movement of the self-moving body 10.

Of course, the self-moving device 1 according to the first embodiment of the present application is self-moving, and in order to make the moving route and the position of the self-moving device 1 accurate, a navigation mechanism 16 is further disposed on the front side of the self-moving body 10, and the navigation mechanism 16 is used for implementing navigation of the self-moving body 10 during moving, wherein the navigation mechanism 16 may be a laser radar, an infrared detector, or the like.

The self-moving device 1 of the first embodiment of the present application is mainly integrated with the self-moving device 1 and the carrying device 2 by the combining mechanism 11, and the specific structure of the combining mechanism 11 will be further described as follows.

In the first embodiment of the present application, the coupling mechanism 11 is provided on the self-moving body 10, and includes: a lifting mechanism 12 and a first positioning mechanism 13. The lifting mechanism 12 is mounted on the self-moving body 10, that is, on the substrate 10-1, the lifting mechanism 12 includes a lifting rod 12-1, a lifting platform 12-3 and a lifting base (not shown), the lifting base is fixedly mounted on the substrate 10-1, the lifting rod 12-1 is mounted in the lifting base, the lifting rod 12-1 can extend and retract in the vertical direction, and the lifting platform 12-3 is mounted at the top position of the lifting rod 12-1, so that the lifting and the lowering of the lifting platform 12-3 are realized through the lifting and the lowering of the lifting rod 12-1. In the first embodiment of the present application, in order to improve the stability of the connection between the lifting rod 12-1 and the lifting platform 12-3, a lifting adapter plate 12-2 is installed at the top end of the lifting rod 12-1, and the lifting adapter plate 12-2 can increase the connection contact area between the lifting rod 12-1 and the lifting platform 12-3, thereby improving the stability of the connection between the lifting rod 12-1 and the lifting platform 12-3. It should be noted that the lifting rod 12-1 of the first embodiment of the present application may be the lifting rod 12-1 pushed by a pneumatic cylinder, or may be the lifting rod 12-1 pushed by a hydraulic cylinder. The lifting rod 12-1 pushed by the pneumatic cylinder or the lifting rod 12-1 pushed by the hydraulic cylinder is a mature product, so the first embodiment of the present application is not specifically described herein.

Of course, the lifting rod 12-1 of the first embodiment of the present application can also be lifted and lowered by a lifting driving mechanism (not shown) driver, wherein the lifting driving mechanism includes a driving motor, a cam and a connecting rod, an output end of the driving motor is a transmission shaft, the cam is connected to the transmission shaft, one end of the connecting rod is pivotally connected to the cam, and the other end is connected to the lifting rod 12-1. When a transmission shaft of the driving motor rotates clockwise for a certain angle, the cam can be driven to rotate, so that the connecting rod is driven to move upwards in the vertical direction, and the lifting rod 12-1 is driven to lift; on the contrary, when the transmission shaft of the driving motor rotates a certain angle counterclockwise, the cam is driven to rotate, so as to drive the connecting rod to move downwards in the vertical direction, and further drive the lifting rod 12-1 to descend, so as to realize the lifting motion of the lifting rod 12-1.

Further, in order to improve the stability of the lifting rod 12-1 for lifting the lifting platform 12-3, a first guiding mechanism 15 is further provided, the first guiding mechanism 15 is disposed between the lifting platform 12-3 and the self-moving body 10, and the first guiding mechanism 15 includes: the first guide shaft 15-2 is connected to the lifting platform 12-3, and the other end of the first guide shaft 15-2 is sleeved in the first bearing 15-1 to limit the movement of the first guide shaft 15-2 in the vertical direction. Further, in order to reduce the size of the first bearing 15-1 and the first guide shaft 15-2 without affecting the limited distance of the first guide mechanism 15 in the vertical direction, the first guide mechanism 15 further includes a bearing support 15-3, the bearing support 15-3 is disposed on the base plate 10-1, and the first bearing 15-1 is disposed on the bearing support 15-3. It can be seen that the bearing support 15-3 indirectly increases the supporting height of the base plate 10-1, so that the volumes of the first bearing 15-1 and the first guide shaft 15-2 can be respectively reduced without affecting the limited distance of the first guide mechanism 15 in the vertical direction, and the connection stability of the first bearing 15-1 and the first guide shaft 15-2 is also improved.

In the first embodiment of the present application, the elevating table 12-3 is provided in a plate shape, which is disposed in parallel with the base plate 10-1. The first positioning mechanism 13 is installed on the upper portion of the elevating platform 12-3, i.e., on the upper end surface of the elevating platform 12-3. The first positioning mechanism 13 comprises at least one or more first positioning devices 13-1; the first positioning device 13-1 can be matched with the second positioning device 21-1-1 installed on the bearing device 2, and when the lifting platform 12-3 is lifted to the right position, the first positioning device 13-1 and the second positioning device 21-1-1 are combined with each other to realize the mutual positioning of the self-moving device 1 and the bearing device 2. The first positioning device 13-1 may be a concave positioning slot and correspondingly the second positioning device 21-1-1 may be a convex positioning slot. Of course, while the first positioning device 13-1 may be a convex positioning slot, the second positioning device 21-1-1 may be a concave positioning slot for positioning. The number of the concave positioning slots is not limited specifically, and is within the scope of the first embodiment of the present application as long as the self-moving device 1 and the carrying device 2 can be positioned with each other.

In the first embodiment of the present application, in order to achieve accurate and fast docking between the self-moving device 1 and the carrying device 2 during dynamic mutual combination, the first positioning mechanism 13 further includes a positioning guide column 13-2, and the positioning guide column 13-2 is disposed on the upper portion of the lifting platform 12-3, and may be specifically disposed at the center of the lifting platform 12-3. The positioning guide column 13-2 can be matched with a positioning guide groove 21-1-2 arranged on the bearing device 2, and when the mobile device 1 moves towards the bearing device 2, the positioning guide column 13-2 can slide into the positioning guide groove 21-1-2 to limit the direction in which the mobile device 1 and the bearing device 2 can be butted and guide the mobile device 1 to the lower part of a bearing body 20 of the bearing device 2.

When the lifting rod 12-1 pushes the lifting platform 12-3 to move upwards to be butted with the bearing device 2, in order to drive the moving guide mechanism 25 arranged on the bearing device 2 to move, a top block 12-4 is further arranged on the lifting platform 12-3, the top block 12-4 is arranged at the upper part of the lifting platform 12-3, and when the lifting platform 12-3 is lifted, the top block 12-4 is abutted with the moving guide mechanism 25 arranged on the bearing device 2 and can drive the moving guide mechanism 25 to lift.

In the first embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, the combining mechanism 11 further includes a locking mechanism 14 symmetrically disposed with respect to the center of the self-moving body 10 as a symmetric point for clamping the carrying device 2 when the lifting platform 12-3 is lifted to the proper position. Specifically, the locking mechanism 14 includes a sliding locking portion 14-1 and a swinging stretching portion 14-2, wherein the sliding locking portion 14-1 is disposed on the lower end surface of the lifting table 12-3, and includes a locking member 14-1-1 disposed in a horizontally slidable manner; the swing stretching part 14-2 includes a fixed end 14-2-2 and a swing end 14-2-3, the fixed end 14-2-2 is pivoted on the base plate 10-1 (the self-moving body 10), and the fixed end 14-2-2 is pivoted on a side close to the center of the self-moving body 10; the swing end 14-2-3 is pivotally connected to the slidable portion of the sliding lock 14-1, and the swing end 14-2-3 is away from the center of the self-moving body 10. When the lifting platform 12-3 ascends, the fixed end 14-2-2 of the swinging stretching part 14-2 is pivoted with the base plate 10-1, the swinging stretching part 14-2 swings inwards along with the lifting platform 12-3, and provides a driving force for sliding in the clamping direction for the locking part 14-1-1 of the sliding locking part 14-1, and the driving force is arranged in a manner of sliding in the horizontal direction of the locking part 14-1-1, so that the locking part 14-1-1 is close to the lifting platform 12-3 in the horizontal direction by the driving force, even if the locking part 14-1-1 is close to the center of the self-moving body 10 in the horizontal direction. When the lifting platform 12-3 is lifted to the proper position, the locking piece 14-1-1 is moved to the clamping position and is abutted against the locking groove 21-1-3 arranged on the bearing device 2, so that the bearing device 2 is clamped. On the contrary, when the lifting table 12-3 is lowered, the swinging stretching part 14-2 swings outward along with the lowering of the lifting table 12-3 and provides a driving force to the locking element 14-1-1 of the sliding locking part 14-1 to slide in the releasing direction, so that the locking element 14-1-1 moves in the horizontal direction in a direction away from the center of the moving body 10, i.e., the locking element 14-1-1 moves in the horizontal direction to the initial position, which is the position of the locking element 14-1-1 when the lifting table 12-3 is not raised.

Further, the slide lock 14-1 includes a first guide rail 14-1-2, and a first slider 14-1-3 as a slidable portion; the first guide rail 14-1-2 is arranged at the lower part of the lifting platform 12-3 along the horizontal direction, namely the lower end surface of the lifting platform 12-3; the first sliding block 14-1-3 is arranged on the first guide rail 14-1-2 in a sliding mode, and the locking piece 14-1-1 is connected with the first sliding block 14-1-3 and moves on the first guide rail 14-1-2 through the first sliding block 14-1-3. The main body of the swinging stretching part 14-2 is a pull rod 14-2-1 which is symmetrically arranged, one end of the pull rod 14-2-1 is a fixed end 14-2-2 which is pivoted on the self-moving body 10, and the other end is a swinging end 14-2-3 which is pivoted with the slidable part of the sliding locking part 14-1. It is understood that in order to reduce the volume of the pulling rod 14-2-1 and the stability of the stretching, a supporting frame 14-2-4 is further provided on the base plate 10-1, and the supporting frame 14-2-4 may be provided near the center of the self-moving body 10 in order to match the arrangement of the fixed end 14-2-2 of the swing stretching part 14-2.

A first embodiment of the present application provides a self-moving apparatus 1 for dispensing articles, comprising: a self-moving body 10 and a coupling mechanism 11; the self-moving body 10 can move autonomously; the combining mechanism 11 is arranged on the self-moving body 10, and the self-moving body 10 can be in a combining state or a separating state with the bearing device 2 matched with the self-moving body through the combining mechanism 11; when the mobile device 1 is in a combined state, the mobile device 1 and the bearing device 2 are combined into a whole, and the mobile device 1 can drive the bearing device 2 to move; when in the separated state, the self-moving device 1 can be separated from the carrier device 2, and the carrier device 2 is in a static loading waiting state or a loading waiting state. The first embodiment of the present application realizes uninterrupted delivery operation of the self-moving device by moving the self-moving device 1 to a position where the self-moving device can be abutted to the carrying device 2, and making the self-moving body 10 be in a coupled state or a decoupled state with the carrying device 2 matching with the self-moving device through the coupling mechanism 11, and when in the coupled state, the self-moving device 1 can carry and carry the carrying device 2 to a specified delivery position, the delivery position may be a position for acquiring an article, or a position for delivering the article, and after reaching the delivery position, the self-moving device 1 is decoupled from the carrying device 2, so that the carrying device 2 is in a static waiting carrying state or waiting state for taking the article, and the self-moving device 1 can carry another carrying device 2 at the current position or move to other positions and continue to move to the specified delivery position, thereby realizing uninterrupted delivery of the article, and then the distribution efficiency is improved.

A second embodiment of the present application provides a carrier for dispensing articles, which will be briefly described as a carrier. As shown in fig. 3 to 6, fig. 3 is a front view of a carrying device provided in a second embodiment of the present application, fig. 4 is a side view of the carrying device provided in the second embodiment of the present application, fig. 5 is a bottom view of the carrying device provided in the second embodiment of the present application, and fig. 6 is a perspective view corresponding to a partially enlarged view at a in fig. 3.

As shown in fig. 3 to 6, the carrier 2 includes: a carrier body 20 and a docking mechanism 21; wherein the carrier body 20 is capable of carrying an article; the docking mechanism 21 is disposed on the carrying body 20, and by means of the docking mechanism 21, the carrying body 20 can be in an engaged state or a disengaged state with the self-moving device 1 (shown in fig. 1 and fig. 2 of the first embodiment) matched with the carrying body 20; as shown in fig. 7, when in the coupled state, the carrier 2 is integrated with the self-moving device 1, and the carrier 2 is moved by the self-moving device 1. When in the separated state, the carrier 2 is separated from the self-moving device 1, and the carrier 2 is in a static state waiting for loading or waiting for fetching.

The second embodiment of the present application will describe a specific structure of the carrier 2. Specifically, as shown in fig. 3 and fig. 6, for convenience of explanation, fig. 1 and fig. 2 corresponding to the self-moving apparatus 1 provided in the first embodiment of the present application may be further combined. The bearing body 20 mainly comprises a bearing plate 20-1 and a connecting plate 20-2, the bearing plate 20-1 and the connecting plate 20-2 are connected through a supporting column 20-3, the bearing plate 20-1 is arranged above the connecting plate 20-2 and is arranged in parallel, and the bearing plate 20-1 is used for bearing articles. Of course, in order to protect the items when the carrying floor 20-1 carries the items, a cover (not shown) may be provided on the carrying floor 20-1, one side of which is provided with an open opening through which the items can be placed in the cover. Of course, it is also possible to provide a fixing structure (not shown) of variable size on the carrier plate 20-1, such as a fixing bracket provided with a slip joint sleeve or the like.

The docking mechanism 21 includes a second positioning mechanism 21-1, and the second positioning mechanism 21-1 includes at least one or more second positioning devices 21-1-1. The docking mechanism 21 is disposed on the bearing body 20, that is, specifically, the second positioning device 21-1-1 is disposed at the lower portion of the connecting plate 20-2, and the lower portion of the connecting plate 20-2 is the lower end face of the connecting plate 20-2. The second positioning device 21-1-1 can be matched with the corresponding first positioning device 13-1 arranged on the self-moving device 1, and when the self-moving device 1 is lifted to the right position, the second positioning device 21-1-1 and the first positioning device 13-1 are combined with each other to realize the mutual positioning of the bearing device 2 and the self-moving device 1. The second positioning device 21-1-1 may be a convex positioning slot, and correspondingly, the first positioning device 13-1 is a concave positioning slot. Of course, while the second positioning device 21-1-1 may be a concave positioning groove, the first positioning device 13-1 may be a convex positioning groove for positioning. The number of the second positioning devices 21-1-1 is not limited in particular, and is within the scope of the first embodiment of the present application as long as the self-moving device 1 and the carrying device 2 can be positioned with respect to each other.

It is understood that, in order to realize the fast docking of the carrying device 2 with the self-moving device 1, the second positioning mechanism 21-1 further comprises a positioning guide groove 21-1-2, the positioning guide groove 21-1-2 is arranged at the lower part of the carrying body 20, in particular at the lower end face of the connecting plate 20-2, and is close to the central position of the connecting plate 20-2, and the positioning guide groove 21-1-2 is a guide groove with an extension length arranged at the lower end face of the connecting plate 20-2 in the advancing direction of the carrying device 2. The positioning guide groove 21-1-2 can be matched with the positioning guide column 13-2 installed on the self-moving device 1, so that the positioning guide column 13-2 can slide into the positioning guide groove 21-1-2, thereby defining the direction in which the self-moving device 1 and the carrying device 2 can be butted. In order to be quickly and accurately combined with the positioning guide post 13-2, one end of the positioning guide groove 21-1-1 is provided with an outward horn-shaped opening, so that the positioning guide post 13-2 can enter the positioning guide groove 21-1-2 without very accurate alignment, and after the positioning guide post 13-2 continuously enters the positioning guide groove 21-1-1, the self-moving device 1 and the bearing device 2 can be accurately positioned with each other along with the narrowing of the positioning guide groove 21-1-1.

In the second embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the bearing device 2, and correspond to the locking element 14-1-1 installed on the self-moving device 1 in the first embodiment, the docking mechanism 21 further includes locking grooves 21-1-3 symmetrically disposed with respect to the center of the bearing body 20, the locking grooves 21-1-3 are disposed at the lower portion of the bearing body 20, that is, the locking grooves 21-1-3 are symmetrically disposed at the lower end face of the connecting plate 20-2 with respect to the center of the connecting plate 20-2, the centers of the locking grooves 21-1-3 far from the connecting plate 20-2 are located at the end positions of the connecting plate 20-2, the notches 21-1-4 of the locking grooves 21-1-3 are disposed far from the center of the bearing body 20, so that the locking groove 21-1-3 can be matched with the locking piece 14-1-1 installed on the self-moving device 1, as shown in fig. 7, when the locking piece 14-1-1 is in a butting state with the locking groove 21-1-3, the convex part of the locking piece 14-1-1 butts against the notch 21-1-4 of the locking groove 21-1-3, and the notch of the locking piece 14-1-1 is clamped with the edge of the locking groove 21-1-3, thereby realizing the locking of the locking piece 14-1-1 and the locking groove 21-1-3.

The carrying device 2 of the second embodiment of the present application is used for carrying the articles to be dispensed, and the carrying device 2 is a device which can be independent, so a plurality of supporting legs 20-4 which can support the carrying body 20 are further provided on the carrying device 2, and the supporting legs 20-4 can be specifically provided on the connecting plate 20-2 or the carrying plate 20-1. The supporting leg 20-4 can be a fixed structure for fixing the bearing body 20, that is, the supporting leg 20-4 is not provided with the caster 20-5 at the ground abutting end relative to the ground, so that the supporting leg 20-4 can not move autonomously. Of course, in the preferred embodiment, to meet the requirement of the carriage 2 to dispense articles, the casters 20-5 are provided at the ground-contacting ends 20-4-2 of the legs 20-4 relative to the ground, so that the carriage 2 can be conveniently pushed by the legs 20-4 with the casters 20-5 even when the carriage 2 is independent.

Further, since the carrier 2 is provided with the support legs 20-4 and the carrier 2 can be moved by the self-moving device 1, in order to reduce the inconvenience caused by the movement of the support legs 20-4, the carrier 2 further includes a support leg telescoping mechanism 22 for retracting and expanding the support legs 20-4 of the carrier body 20. Specifically, the support leg telescoping mechanism 22 includes a second guide rail 23 and a second slider 24, the second guide rail 23 is disposed at the lower portion of the bearing plate 20-1 of the bearing body 20 along the horizontal direction, specifically, the second guide rail 23 is disposed at the lower end face of the bearing plate 20-1 along the horizontal direction, and the second slider 24 is slidably disposed on the second guide rail 23. The support legs 20-4 are symmetrically arranged with the center of the bearing body 20 as a symmetrical point, the support legs 20-4 further comprise connecting ends 20-4-1 integrally formed with the grounding end 20-4-2, the connecting ends 20-4-1 are arranged along the horizontal direction, the grounding end 20-4-2 is arranged along the vertical direction, and the connecting ends 20-4-1 are connected with the second sliding block 24 and move along the second guide rail 23 through the second sliding block 24. The supporting leg 20-4 can be close to the center of the bearing body 20 through the second guide rail 23 and the second slider 24; conversely, the support leg 20-4 can be moved away from the center of the support body 20.

The support leg telescoping mechanism 22 provided above enables the retraction and extension of the support legs 20-4, which may be manually accomplished. However, in consideration of the requirement of unmanned operation of the whole device, the automatic extension and contraction of the supporting legs 20-4 can be further realized on the basis of the structure. For this, the support leg stretching mechanism 22 may further include a movement guide mechanism 25 for realizing automatic stretching, by which the support leg 20-4 is contracted when the self-moving apparatus 1 is coupled with the carrier 2 and the support leg 20-4 is extended when the self-moving apparatus 1 is separated from the carrier 2 by the movement guide mechanism 25.

Specifically, the movement guide mechanism 25 includes a movement guide base 25-1 and a slide bearing 25-2. Wherein, the moving guide base 25-1 is arranged between the bearing plate 20-1 and the connecting plate 20-2, the moving guide base 25-1 is symmetrically provided with a sliding groove 25-1-1 or a sliding hole (25-1-1) which inclines inwards and downwards, and the sliding bearing 25-2 is connected with the second sliding block 24 and the sliding groove 25-1-1 or the sliding hole of the moving guide base 25-1. As shown in fig. 3, 4 and 6, the direction of the notch of the sliding groove 25-1-1 of the moving guide base 25-1 or the opening direction of the sliding hole is consistent with the advancing direction of the carrying device 2, and the axial direction of the sliding bearing 25-2 is consistent with the advancing direction of the carrying device 2, so that the connection of the sliding bearing 25-2 with the second slide block 24 and the sliding groove 25-1-1 or the sliding hole of the moving guide base 25-1 is realized. When the self-moving device 1 and the carrying device 2 are combined, the bottom surface of the moving guide base 25-1 is abutted against the top block 12-4 installed on the self-moving device 1 so as to move upwards, the sliding bearing 25-2 slides from the high end position of the sliding groove 25-1-1 or the sliding hole to the bottom end position, and the supporting leg 20-4 is driven to move towards the center of the carrying body 20 through the movement of the second sliding block 24 on the second guide rail 23; on the contrary, when the self-moving device 1 and the carrying device 2 are separated, the moving guide base 25-1 descends, the sliding bearing 25-2 slides from the lower end position of the sliding groove 25-1-1 or the sliding hole to the upper end position, and the supporting leg 20-4 is driven to be away from the center of the carrying body 20 by the movement of the second sliding block 24 on the second guide rail 23. It can be seen that the support leg 20-4 can be lifted up by the second guide rail 23, the second slider 24 and the moving guide mechanism 25, so that the support leg 20-4 is far away from the ground, and the support leg 20-4 can be automatically contracted or expanded, and in the contracted state, the occupied width of the bearing device 2 is only the width of the bearing body 20, thereby facilitating the movement of bearing and loading.

In the second embodiment of the present application, in order to achieve stability of the movement guide base 25-1, a second guide mechanism 26 is further provided, and the second guide mechanism 26 is vertically disposed between the loading plate 20-1 and the movement guide base 25-1. Specifically, the second guide mechanism 26 comprises a second bearing 26-1 and a second guide shaft 26-2, the second bearing 26-1 is disposed on the moving guide base 25-1, the axial direction of the second bearing 26-1 is a vertical direction, one end of the second guide shaft 26-2 is connected to the lower portion of the bearing plate 20-1, that is, connected to the lower end face of the bearing plate 20-1, and the other end of the second guide shaft 26-2 is sleeved in the second bearing 26-1. The movement of the movement guide base 25-1 in the vertical direction can be restricted by the second guide mechanism 26.

In order to prevent the movement guide base 25-1 from being jacked up, a compression spring 27 with a buffering effect is arranged between the movement guide base 25-1 and the bearing plate 20-1, and when the bottom of the movement guide base 25-1 is not jacked up, the elastic force provided by the compression spring 27 can enable the bottom of the movement guide base 25-1 to be far away from the bearing plate 20-1 under the elastic force of the compression spring 27, so that the support leg 20-4 can be effectively stretched; meanwhile, the compression spring 27 can prevent the collision sound caused by the direct contact between the moving guide base 25-1 and the bearing plate 20-1 due to too fast jacking, and indirectly prolong the service life of the bearing device 2.

The second embodiment of the present application provides a carrier 2 for dispensing articles, comprising: a carrier body 20 and a docking mechanism 21; the carrier body 20 is capable of carrying an article; the docking mechanism 21 is arranged on the bearing body 20, and the bearing body 20 can be in a combined state or a separated state with the self-moving device 1 matched with the bearing body by the docking mechanism 21; when in a combined state, the bearing device 2 is combined with the self-moving device 1 into a whole, and the bearing device 2 is driven by the self-moving device 1 to move; when in the separated state, the carrier 2 is separated from the self-moving device 1, and the carrier 2 is in a static state waiting for loading or waiting for fetching. In the second embodiment of the present application, the docking mechanism 21 enables the carrying body 20 to be in an engaged state or a disengaged state with the self-moving device 1, and in the engaged state, the carrying device 2 can be moved to a designated delivery position from the self-moving device 1, the delivery position may be a position for acquiring an article or a position for delivering the article, and after the carrying device 2 reaches the delivery position, the carrying device 2 is disengaged from the self-moving device 1, so that the carrying device 2 is in a stationary state for waiting for carrying articles or a state for waiting for taking articles, and the self-moving device 1 can carry another carrying device 2 at the current position to continue moving to the designated delivery position, thereby realizing uninterrupted delivery of the articles, and improving the delivery efficiency.

A dispenser 3 for dispensing articles is provided in a third embodiment of the present application, which will be briefly described as a dispenser 3, and the dispenser 3 provided in the third embodiment of the present application is configured by a self-moving device 1 of the first embodiment of the present application and a carriage 2 of the second embodiment of the present application, and therefore, the structure of the dispenser 3 provided in the third embodiment of the present application is denoted by the reference numerals corresponding to the above-described structure.

Fig. 7 is a schematic structural view of a dispensing device according to a third embodiment of the present invention, as shown in fig. 7. Moreover, the dispensing device 3 provided according to the third embodiment of the present application adopts the structure corresponding to the self-moving device 1 according to the first embodiment of the present application and the carrying device 2 according to the second embodiment of the present application, and as shown in fig. 1 to 6, the dispensing device 3 includes: the self-moving device 1 and the carrying device 2 can be combined or separated, wherein the self-moving device 1 comprises a self-moving body 10 and a combining mechanism 11, the self-moving body 10 can move autonomously, and the combining mechanism 11 is arranged on the self-moving body 10. The carrying device 2 comprises a carrying body 20 and a docking mechanism 21, wherein the carrying body 20 can carry an article, and the docking mechanism 21 is arranged on the carrying body 20. The self-moving body 10 can be in a combined state or a separated state with the bearing device 2 matched with the self-moving body through the butt joint of the combining mechanism 11 and the butt joint mechanism 21; when the mobile device 1 is in a combined state, the mobile device 1 and the bearing device 2 are combined into a whole, and the mobile device 1 can drive the bearing device 2 to move; when in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static object waiting state or object waiting state.

Specifically, the self-moving body 10 of the self-moving apparatus 1 mainly includes a substrate 10-1, the substrate 10-1 is used for carrying the combining mechanism 11 and the driving mechanism 17, of course, the self-moving body 10 also includes other structures, and the third embodiment of the present application is mainly described in which the self-moving body 10 includes the substrate 10-1. Wherein, the driving mechanism 17 is arranged at the bottom of the base plate 10-1, and the driving mechanism 17 comprises a driving motor (not shown), a driving wheel 17-1 and a universal wheel 17-2. The driving motor and the driving wheel 17-1 are arranged at the side position of the bottom of the substrate 10-1, and the driving motor is connected with the driving wheel 17-1 to realize the self-moving of the self-moving body 10; the universal wheels 17-2 are arranged at the bottom of the base plate 10-1, and the moving stability of the self-moving body 10 is improved. The number of the driving wheels 17-1 and the universal wheels 17-2 is not specifically limited in the embodiment of the present invention, and is the scope to be protected by the third embodiment of the present invention as long as the driving wheels can drive the self-moving body 10 to move and maintain the stability of the movement of the self-moving body 10.

Of course, the self-moving device 1 according to the third embodiment of the present application is self-moving, and in order to make the moving route and the position of the self-moving device 1 accurate, a navigation mechanism 16 is further disposed on the front side of the self-moving body 10, and the navigation mechanism 16 is used for implementing navigation of the self-moving body 10 during moving, wherein the navigation mechanism 16 may be a laser radar, an infrared detector, or the like.

The self-moving device 1 of the third embodiment of the present application is mainly integrated with the self-moving device 1 and the carrying device 2 by the combining mechanism 11, and the specific structure of the combining mechanism 11 will be further described as follows.

In the third embodiment of the present application, the coupling mechanism 11 is provided on the self-moving body 10, and includes: a lifting mechanism 12 and a first positioning mechanism 13. The lifting mechanism 12 is mounted on the self-moving body 10, that is, on the substrate 10-1, the lifting mechanism 12 includes a lifting rod 12-1, a lifting platform 12-3 and a lifting base (not shown), the lifting base is fixedly mounted on the substrate 10-1, the lifting rod 12-1 is mounted in the lifting base, the lifting rod 12-1 can extend and retract in the vertical direction, and the lifting platform 12-3 is mounted at the top position of the lifting rod 12-1, so that the lifting and the lowering of the lifting platform 12-3 are realized through the lifting and the lowering of the lifting rod 12-1. In the third embodiment of the present application, in order to improve the stability of the connection between the lifting rod 12-1 and the lifting platform 12-3, a lifting adapter plate 12-2 is installed at the top end of the lifting rod 12-1, and the lifting adapter plate 12-2 can increase the connection contact area between the lifting rod 12-1 and the lifting platform 12-3, thereby improving the stability of the connection between the lifting rod 12-1 and the lifting platform 12-3. It should be noted that the lifting rod 12-1 of the third embodiment of the present application may be the lifting rod 12-1 pushed by a pneumatic cylinder, or may be the lifting rod 12-1 pushed by a hydraulic cylinder. The lifting rod 12-1 pushed by the pneumatic cylinder or the lifting rod 12-1 pushed by the hydraulic cylinder is a mature product, so the third embodiment of the present application is not specifically described herein.

Of course, the lifting rod 12-1 of the third embodiment of the present application can also be lifted and lowered by a lifting driving mechanism (not shown) driver, wherein the lifting driving mechanism includes a driving motor, a cam and a connecting rod, an output end of the driving motor is a transmission shaft, the cam is connected to the transmission shaft, one end of the connecting rod is pivotally connected to the cam, and the other end is connected to the lifting rod 12-1. When a transmission shaft of the driving motor rotates clockwise for a certain angle, the cam can be driven to rotate, so that the connecting rod is driven to move upwards in the vertical direction, and the lifting rod 12-1 is driven to lift; on the contrary, when the transmission shaft of the driving motor rotates a certain angle counterclockwise, the cam is driven to rotate, so as to drive the connecting rod to move downwards in the vertical direction, and further drive the lifting rod 12-1 to descend, so as to realize the lifting motion of the lifting rod 12-1.

Further, in order to improve the stability of the lifting rod 12-1 for lifting the lifting platform 12-3, a first guiding mechanism 15 is further provided, the first guiding mechanism 15 is disposed between the lifting platform 12-3 and the self-moving body 10, and the first guiding mechanism 15 includes: a first bearing 15-1 and a first guide shaft 15-2, specifically, the first bearing 15-1 is arranged on the base plate 10-1, and the axial direction of the first bearing 15-1 is a vertical direction; one end of the first guide shaft 15-2 is connected to the lifting platform 12-3, and the other end of the first guide shaft 15-2 is sleeved in the first bearing 15-1 to limit the movement of the first guide shaft 15-2 in the vertical direction. Further, in order to reduce the size of the first bearing 15-1 and the first guide shaft 15-2 without affecting the limited distance of the first guide mechanism 15 in the vertical direction, the first guide mechanism 15 further includes a bearing support 15-3, the bearing support 15-3 is disposed on the base plate 10-1, and the first bearing 15-1 is disposed on the bearing support 15-3. It can be seen that the bearing support 15-3 indirectly increases the supporting height of the base plate 10-1, so that the volumes of the first bearing 15-1 and the first guide shaft 15-2 can be respectively reduced without affecting the limited distance of the first guide mechanism 15 in the vertical direction, and the connection stability of the first bearing 15-1 and the first guide shaft 15-2 is also improved.

In the third embodiment of the present application, the elevating table 12-3 is provided in a plate shape, which is disposed in parallel with the base plate 10-1. The first positioning mechanism 13 is installed on the upper portion of the elevating platform 12-3, i.e., on the upper end surface of the elevating platform 12-3. The first positioning mechanism 13 comprises at least one or more first positioning devices 13-1; the first positioning device 13-1 can be matched with the second positioning device 21-1-1 installed on the bearing device 2, and when the lifting platform 12-3 is lifted to the right position, the first positioning device 13-1 and the second positioning device 21-1-1 are combined with each other to realize the mutual positioning of the self-moving device 1 and the bearing device 2. The first positioning device 13-1 may be a concave positioning slot and correspondingly the second positioning device 21-1-1 may be a convex positioning slot. Of course, while the first positioning device 13-1 may be a convex positioning slot, the second positioning device 21-1-1 may be a concave positioning slot for positioning. The number of the concave positioning slots is not limited specifically, and it is within the scope of the third embodiment of the present invention that the self-moving device 1 and the carrying device 2 can be positioned with each other.

In the third embodiment of the present application, in order to achieve accurate and fast docking between the self-moving device 1 and the carrying device 2 during the dynamic mutual combination process, the first positioning mechanism 13 further includes a positioning guide column 13-2, and the positioning guide column 13-2 is disposed on the upper portion of the lifting platform 12-3, and may be specifically disposed at the center of the lifting platform 12-3. The positioning guide column 13-2 can be matched with a positioning guide groove 21-1-2 arranged on the bearing device 2, and when the mobile device 1 moves towards the bearing device 2, the positioning guide column 13-2 can slide into the positioning guide groove 21-1-2 to limit the direction in which the mobile device 1 and the bearing device 2 can be butted and guide the mobile device 1 to the lower part of a bearing body 20 of the bearing device 2.

In the third embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, the combining mechanism 11 further includes a locking mechanism 14 symmetrically disposed with respect to the center of the self-moving body 10 as a symmetric point for clamping the carrying device 2 when the lifting platform 12-3 is lifted to the proper position. Specifically, the locking mechanism 14 includes a sliding locking portion 14-1 and a swinging stretching portion 14-2, wherein the sliding locking portion 14-1 is disposed on the lower end surface of the lifting table 12-3, and includes a locking member 14-1-1 disposed in a horizontally slidable manner; the swing stretching part 14-2 includes a fixed end 14-2-2 and a swing end 14-2-3, the fixed end 14-2-2 is pivoted on the base plate 10-1 (the self-moving body 10), and the fixed end 14-2-2 is pivoted on a side close to the center of the self-moving body 10; the swing end 14-2-3 is pivotally connected to the slidable portion of the sliding lock 14-1, and the swing end 14-2-3 is away from the center of the self-moving body 10. When the lifting platform 12-3 ascends, the fixed end 14-2-2 of the swinging stretching part 14-2 is pivoted with the base plate 10-1, the swinging stretching part 14-2 swings inwards along with the lifting platform 12-3, and provides a driving force for sliding in the clamping direction for the locking part 14-1-1 of the sliding locking part 14-1, and the driving force is arranged in a manner of sliding in the horizontal direction of the locking part 14-1-1, so that the locking part 14-1-1 is close to the lifting platform 12-3 in the horizontal direction by the driving force, even if the locking part 14-1-1 is close to the center of the self-moving body 10 in the horizontal direction. When the lifting platform 12-3 is lifted to the proper position, the locking piece 14-1-1 is moved to the clamping position and is abutted against the locking groove 21-1-3 arranged on the bearing device 2, so that the bearing device 2 is clamped. On the contrary, when the lifting table 12-3 is lowered, the swinging stretching part 14-2 swings outward along with the lowering of the lifting table 12-3 and provides a driving force to the locking element 14-1-1 of the sliding locking part 14-1 to slide in the releasing direction, so that the locking element 14-1-1 moves in the horizontal direction in a direction away from the center of the moving body 10, i.e., the locking element 14-1-1 moves in the horizontal direction to the initial position, which is the position of the locking element 14-1-1 when the lifting table 12-3 is not raised.

Further, the bearing body 20 of the bearing device 2 mainly comprises a bearing plate 20-1 and a connecting plate 20-2, the bearing plate 20-1 and the connecting plate 20-2 are connected through a supporting column 20-3, the bearing plate 20-1 is arranged above the connecting plate 20-2 and is arranged in parallel, and the bearing plate 20-1 is used for bearing articles. Of course, in order to protect the items when the carrying floor 20-1 carries the items, a cover (not shown) may be provided on the carrying floor 20-1, one side of which is provided with an open opening through which the items can be placed in the cover. Of course, it is also possible to provide a fixing structure (not shown) of variable size on the carrier plate 20-1, such as a fixing bracket provided with a slip joint sleeve or the like.

The docking mechanism 21 includes a second positioning mechanism 21-1, and the second positioning mechanism 21-1 includes at least one or more second positioning devices 21-1-1. The docking mechanism 21 is disposed on the bearing body 20, that is, the second positioning device 21-1-1 is disposed at the lower portion of the connecting plate 20-2, and the lower portion of the connecting plate 20-2 is the lower end face of the connecting plate 20-2. The second positioning device 21-1-1 can be matched with the corresponding first positioning device 13-1 arranged on the self-moving device 1, and when the self-moving device 1 is lifted to the right position, the second positioning device 21-1-1 and the first positioning device 13-1 are combined with each other to realize the mutual positioning of the bearing device 2 and the self-moving device 1. The second positioning device 21-1-1 may be a convex positioning slot, and correspondingly, the first positioning device 13-1 is a concave positioning slot. Of course, while the second positioning device 21-1-1 may be a concave positioning groove, the first positioning device 13-1 may be a convex positioning groove for positioning. The number of the concave positioning slots is not limited specifically, and is within the scope of the first embodiment of the present application as long as the self-moving device 1 and the carrying device 2 can be positioned with each other.

In the third embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the bearing device 2, and correspond to the locking element 14-1-1 installed on the self-moving device 1 in the first embodiment, the docking mechanism 21 further includes locking grooves 21-1-3 symmetrically disposed with respect to the center of the bearing body 20, the locking grooves 21-1-3 are disposed at the lower portion of the bearing body 20, that is, the locking grooves 21-1-3 are symmetrically disposed at the lower end face of the connecting plate 20-2 with respect to the center of the connecting plate 20-2, the centers of the locking grooves 21-1-3 far from the connecting plate 20-2 are located at the end positions of the connecting plate 20-2, the notches 21-1-4 of the locking grooves 21-1-3 are disposed far from the center of the bearing body 20, so that the locking groove 21-1-3 can be matched with the locking piece 14-1-1 installed on the self-moving device 1, as shown in fig. 7, when the locking piece 14-1-1 is in a butting state with the locking groove 21-1-3, the convex part of the locking piece 14-1-1 butts against the notch 21-1-4 of the locking groove 21-1-3, and the notch of the locking piece 14-1-1 is clamped with the edge of the locking groove 21-1-3, thereby realizing the locking of the locking piece 14-1-1 and the locking groove 21-1-3.

It can be understood that the carrier 2 of the third embodiment of the present application is used for carrying the articles to be dispensed, and the carrier 2 is a stand-alone device, so that a plurality of support legs 20-4 capable of supporting the carrier body 20 are further provided on the carrier 2, and the support legs 20-4 can be specifically provided on the connecting plate 20-2 or the carrier plate 20-1. Wherein, the supporting leg 20-4 can be provided as a fixed structure for fixing the bearing body 20, i.e. the supporting leg 20-4 is not provided with the caster 20-5 relative to the ground end 20-4-2 of the ground, thus the supporting leg 20-4 can not move autonomously. Of course, in the preferred embodiment, to meet the requirement of the carriage 2 to dispense articles, the casters 20-5 are provided at the ground-contacting ends 20-4-2 of the legs 20-4 relative to the ground, so that the carriage 2 can be conveniently pushed by the legs 20-4 with the casters 20-5 even when the carriage 2 is independent.

Further, since the carrier 2 is provided with the support legs 20-4 and the carrier 2 can be moved by the self-moving device 1, in order to reduce the inconvenience caused by the movement of the support legs 20-4, the carrier 2 further includes a support leg telescoping mechanism 22 for retracting and expanding the support legs 20-4 of the carrier body 20. Specifically, the supporting leg telescoping mechanism 22 includes a second guide rail 23, a second slider 24 and the supporting leg 20-4, the second guide rail 23 is disposed at the lower portion of the bearing plate 20-1 of the bearing body 20 along the horizontal direction, specifically, the second guide rail 23 is disposed at the lower end face of the bearing plate 20-1 along the horizontal direction, and the second slider 24 is slidably disposed on the second guide rail 23. The support legs 20-4 are symmetrically arranged with the center of the bearing body 20 as a symmetrical point, the support legs 20-4 further comprise connecting ends 20-4-1 integrally formed with the grounding end 20-4-2, the connecting ends 20-4-1 are arranged along the horizontal direction, the grounding end 20-4-2 is arranged along the vertical direction, and the connecting ends 20-4-1 are connected with the second sliding block 24 and move along the second guide rail 23 through the second sliding block 24. The supporting leg 20-4 can be close to the center of the bearing body 20 through the second guide rail 23 and the second slider 24; conversely, the support leg 20-4 can be moved away from the center of the support body 20.

Still further, the above-mentioned support leg telescoping mechanism 22 is provided to enable the support leg 20-4 to be retracted and extended, which may be manually accomplished. However, in consideration of the requirement of unmanned operation of the whole device, the automatic extension and contraction of the supporting legs 20-4 can be further realized on the basis of the structure. For this, the support leg stretching mechanism 22 may further include a movement guide mechanism 25 for realizing automatic stretching, by which the support leg 20-4 is contracted when the self-moving apparatus 1 is coupled with the carrier 2 and the support leg 20-4 is extended when the self-moving apparatus 1 is separated from the carrier 2 by the movement guide mechanism 25.

Specifically, the movement guide mechanism 25 comprises a movement guide base 25-1 and a sliding bearing 25-2, wherein the movement guide base 25-1 is arranged between the bearing plate 20-1 and the connecting plate 20-2, the movement guide base 25-1 is symmetrically provided with a sliding groove 25-1-1 or a sliding hole which is inclined inwards and downwards, and the sliding bearing 25-2 is connected with the second sliding block 24 and the sliding groove 25-1-1 or the sliding hole of the movement guide base 25-1. As shown in fig. 3, 4 and 6, the direction of the notch of the sliding groove 25-1-1 of the moving guide base 25-1 or the opening direction of the sliding hole is consistent with the advancing direction of the carrying device 2, and the axial direction of the sliding bearing 25-2 is consistent with the advancing direction of the carrying device 2, so that the connection of the sliding bearing 25-2 with the second slide block 24 and the sliding groove 25-1-1 or the sliding hole of the moving guide base 25-1 is realized. When the self-moving device 1 and the carrying device 2 are combined, the bottom surface of the moving guide base 25-1 is abutted against the top block 12-4 installed on the self-moving device 1 so as to move upwards, the sliding bearing 25-2 slides from the high end position of the sliding groove 25-1-1 or the sliding hole to the bottom end position, and the supporting leg 20-4 is driven to move towards the center of the carrying body 20 through the movement of the second sliding block 24 on the second guide rail 23; on the contrary, when the self-moving device 1 and the carrying device 2 are separated, the moving guide base 25-1 descends, the sliding bearing 25-2 slides from the lower end position of the sliding groove 25-1-1 or the sliding hole to the upper end position, and the supporting leg 20-4 is driven to be away from the center of the carrying body 20 by the movement of the second sliding block 24 on the second guide rail 23. It can be seen that the support leg 20-4 can be lifted up by the second guide rail 23, the second slider 24 and the moving guide mechanism 25, so that the support leg 20-4 is far away from the ground, and the support leg 20-4 can be automatically contracted or expanded, and in the contracted state, the occupied width of the bearing device 2 is only the width of the bearing body 20, thereby facilitating the movement of bearing and loading.

It is understood that, in the third embodiment of the present application, in order to achieve stability of the movement guide base 25-1, a second guide mechanism 26 is further provided, and the second guide mechanism 26 is vertically disposed between the loading plate 20-1 and the movement guide base 25-1. Specifically, the second guide mechanism 26 comprises a second bearing 26-1 and a second guide shaft 26-2, the second bearing 26-1 is disposed on the moving guide base 25-1, the axial direction of the second bearing 26-1 is a vertical direction, one end of the second guide shaft 26-2 is connected to the lower portion of the bearing plate 20-1, that is, connected to the lower end face of the bearing plate 20-1, and the other end of the second guide shaft 26-2 is sleeved in the second bearing 26-1. The movement of the movement guide base 25-1 in the vertical direction can be restricted by the second guide mechanism 26. It can be further understood that, in order to prevent the movement guide base 25-1 from being lifted up, a compression spring 27 with a buffering function is further arranged between the movement guide base 25-1 and the bearing plate 20-1, and the elastic force provided by the compression spring 27 enables the bottom of the movement guide base 25-1 to be far away from the bearing plate 20-1 under the elastic force of the compression spring 27 when the bottom is not lifted up, thereby effectively realizing the extension of the support leg 20-4; meanwhile, the compression spring 27 can prevent the collision sound caused by the direct contact between the moving guide base 25-1 and the bearing plate 20-1 due to too fast jacking, and indirectly prolong the service life of the bearing device 2.

A third embodiment of the present application provides a dispensing device 3 for dispensing articles, including: a self-moving device 1 and a carrying device 2 which can be combined or separated, wherein, the self-moving device 1 comprises: the self-moving body 10 and the combining mechanism 11, the self-moving body 10 can move autonomously, and the combining mechanism 11 is arranged on the self-moving body 10; the carrier device 2 comprises: the article carrying device comprises a carrying body 20 and a docking mechanism 21, wherein the carrying body 20 can carry articles, and the docking mechanism 21 is arranged on the carrying body 20; the self-moving body 10 can be in a combined state or a separated state with the bearing device 2 matched with the self-moving body through the butt joint of the combining mechanism 11 and the butt joint mechanism 21; when the mobile device 1 is in a combined state, the mobile device 1 and the bearing device 2 are combined into a whole, and the mobile device 1 can drive the bearing device 2 to move; when in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static object waiting state or object waiting state. In the third embodiment of the present application, the self-moving device 1 moves to a position where it can be abutted against the carrying device 2, and the coupling mechanism 11 enables the self-moving body 10 to be in a coupled state or a decoupled state with the carrying device 2 matching therewith, and in the coupled state, the self-moving device 1 can carry and carry the carrying device 2 to a specified delivery position, where the delivery position may be a position where an article is obtained or a position where the article is delivered, and after the delivery position is reached, the self-moving device 1 is decoupled from the carrying device 2, so that the carrying device 2 is in a static state waiting for carrying or a state waiting for taking the article, and the self-moving device 1 can carry another carrying device 2 at the current position to continue to move to the specified delivery position, thereby realizing uninterrupted delivery of the article, and improving delivery efficiency.

A dispenser 3 for dispensing articles according to a third embodiment of the present application will be explained below according to a specific application scenario.

Application scenario 1

The delivery devices 3 are used for delivering takeaway, and include a takeaway placement point of a takeaway delivery person and a user pickup point in this scene, and the delivery devices 3 can move between the takeaway placement point and the user pickup point in accordance with a set route pattern. Specifically, in this scenario, the self-moving device 1 and the carrying device 2 based on the dispensing device 3 may be combined or separated, and then a plurality of carrying devices 2 and one self-moving device 1 may be provided at a takeaway placement point, for example, when a first takeaway dispenser arrives at the takeaway placement point, an article on hand may be placed on the carrying device 2, and then the dispensing device 3 senses that the article is loaded through (a sensor of) the carrying device 2, and acquires corresponding article information, where the article information mainly includes position information of a dispensing target. Meanwhile, based on the article information, the self-moving device 1 of the dispensing device 3 obtains a docking instruction with the carrying device 2, and according to the instruction, the self-moving device 1 moves towards the carrying device 2 carrying the article through the navigation mechanism 16, and the self-moving device 1 drives into the bottom of the carrying body 20 through the positioning guide column 13-2 matching with the positioning guide groove 21-1-2, and further moves to a docking position, namely, right below the carrying body 20. At the moment, the lifting rod 12-1 lifts the lifting platform 12-3 to move upwards, the pull rod 14-2-1 on the self-moving body 10 simultaneously pulls the locking piece 14-1-1 to move towards the center of the self-moving body 10, and in the lifting process of the lifting platform 12-3, the top block 12-4 is firstly abutted against the moving guide base 25-1, so that the moving guide base 25-1 moves upwards, the supporting legs 20-4 are driven to contract towards the center of the distribution device 3, and the whole width of the bearing device 2 is reduced. The lifting platform 12-3 continues to rise, and the concave positioning groove arranged on the upper end face of the lifting platform 12-3 is in butt joint with the convex positioning groove arranged on the lower end face of the connecting plate 20-2, so that the initial butt joint of the self-moving device 1 and the bearing device 2 is realized; then, when the lower end face of the locking groove 21-1-3 is contacted with the upper end face of the lifting platform 12-3, the self-moving body 10 and the bearing body 20 are accurately butted, and meanwhile, the supporting leg 20-4 is recovered in place. The lifting rod 12-1 continues to rise, the lifting platform 12-3 and the bearing body 20 rise together, the supporting leg 20-4 leaves the ground, and when the lifting rod 12-1 rises to the highest position, the locking piece 14-1-1 is abutted to the locking groove 21-1-3, so that the self-moving device 1 and the bearing device 2 are locked, namely the self-moving device 1 and the bearing device 2 are abutted. Finally, the carrying device 2 is driven by the moving device 1 to move to the user's object-picking point, when the user's object-picking point is reached, the lifting rod 12-1 of the moving device 1 starts to descend, the corresponding structure movement of the whole distribution device 3 is opposite to the ascending process based on the descending process, and the descending process can be derived through the ascending process, so that the scene will not be described in detail. After the lifting rod 12-1 is completely lowered, the self-moving device 1 is separated from the carrying device 2, and the carrying device 2 waits for the user to take the article at the user taking point. At the same time, the takeaway placement point is returned from the mobile device 1. It will be appreciated that another takeaway delivery person may arrive at the takeaway placement point when the delivery devices 3 deliver the articles, and at this time, the takeaway delivery person may directly place the articles on another carrier 2 to leave, so that the takeaway delivery person may dock, transport, etc. the carrier 2 carrying the articles according to the above steps as long as the carrier is returned from the mobile device 1 to the takeaway placement point without waiting for the carrier 2 to be carried by the mobile device 1. It can be seen that the delivery device 3 in this scenario can not only shorten the time for waiting for takeout delivery personnel to take meals, but also realize the rapid delivery of articles, thereby improving the delivery efficiency of the delivery device 3.

Application scenario 2

Distribution device 3 is used for the delivery express delivery, contains express delivery person's express delivery in this scene and places the point and the user gets the thing point, and distribution device 3 can place the point and the user gets according to the route mode removal that sets up between the thing point at the express delivery. Specifically, in this scenario, the self-moving device 1 and the carrying device 2 based on the delivery device 3 may be combined or separated, and then, for example, a plurality of carrying devices 2 and one self-moving device 1 may be provided at an express delivery placing point, when a first express delivery deliverer arrives at the express delivery placing point, an article on his hand may be placed on the carrying device 2, and then the delivery device 3 senses that the article is loaded through (a sensor of) the carrying device 2, and obtains corresponding article information, where the article information mainly includes position information of a delivery target; meanwhile, based on the article information, the self-moving device 1 of the dispensing device 3 obtains a docking instruction with the carrying device 2, and according to the instruction, the self-moving device 1 moves towards the carrying device 2 carrying the article through the navigation mechanism 16, and the self-moving device 1 drives into the bottom of the carrying body 20 through the positioning guide column 13-2 matching with the positioning guide groove 21-1-2, and further moves to a docking position, namely, right below the carrying body 20. At the moment, the lifting rod 12-1 lifts the lifting platform 12-3 to move upwards, the pull rod 14-2-1 on the self-moving body 10 simultaneously pulls the locking piece 14-1-1 to move towards the center of the self-moving body 10, and in the lifting process of the lifting platform 12-3, the top block 12-4 is firstly abutted against the moving guide base 25-1, so that the moving guide base 25-1 moves upwards, the supporting legs 20-4 are driven to contract towards the center of the distribution device 3, and the width of the bearing device 2 is reduced. The lifting platform 12-3 continues to rise, and the concave positioning groove arranged on the upper end face of the lifting platform 12-3 is in butt joint with the convex positioning groove arranged on the lower end face of the connecting plate 20-2, so that the initial butt joint of the self-moving device 1 and the bearing device 2 is realized; then, when the lower end face of the locking groove 21-1-3 is contacted with the upper end face of the lifting platform 12-3, the self-moving body 10 and the bearing body 20 are accurately butted, and meanwhile, the supporting leg 20-4 is recovered in place. The lifting rod 12-1 continues to rise, the lifting platform 12-3 and the bearing body 20 rise together, the supporting leg 20-4 leaves the ground, and when the lifting rod 12-1 rises to the highest position, the locking piece 14-1-1 is abutted to the locking groove 21-1-3, so that the self-moving device 1 and the bearing device 2 are locked, namely the self-moving device 1 and the bearing device 2 are abutted. Finally, the carrying device 2 is driven by the moving device 1 to move to the user's object-picking point, when the user's object-picking point is reached, the lifting rod 12-1 of the moving device 1 starts to descend, the corresponding structure movement of the whole distribution device 3 is opposite to the ascending process based on the descending process, and the descending process can be derived through the ascending process, so that the scene will not be described in detail. After the lifting rod 12-1 is completely lowered, the self-moving device 1 is separated from the carrying device 2, and the carrying device 2 waits for the user to take the article at the user taking point. At the same time, the express delivery placing point is returned from the mobile device 1. It is understood that when the distribution device 3 distributes the article, another courier may arrive at the courier placing point, and at this time, the courier may directly place the article on another carrier 2 to leave, so that the courier may not wait for the carrier 2 to be carried by the mobile device 1, and may dock, transport, etc. the carrier 2 carrying the article according to the above steps as long as the mobile device 1 returns to the courier placing point. It can be seen that the distribution device 3 in the scene not only can shorten the waiting time for the express distributor to fetch food, but also can realize the rapid distribution of articles, thereby improving the distribution efficiency of the distribution device 3.

It is understood that the dispensing device 3 of the third embodiment of the present application may also dispense other articles, and the embodiment presented in the present scenario is only for facilitating understanding of the dispensing device 3 provided in the third embodiment of the present application, and does not limit the protection scope of the dispensing device 3 of the third embodiment of the present application.

Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.

Claims

1. A self-moving apparatus for dispensing articles, comprising: a self-moving body and a coupling mechanism;

2. The self-propelled device for dispensing items of claim 1 wherein the engagement mechanism comprises a lifting mechanism and a first positioning mechanism; the lifting mechanism is arranged on the self-moving body and comprises a lifting rod capable of stretching in the vertical direction, and a lifting platform is arranged at the top of the lifting rod; the first positioning mechanism is arranged at the upper part of the lifting platform and comprises at least one or more first positioning devices; the first positioning device can be matched with a second positioning device installed on the bearing device, and when the lifting platform is lifted in place, the first positioning device and the second positioning device are combined with each other to realize the mutual positioning of the self-moving device and the bearing device.

3. The self-moving device for dispensing articles of claim 2 wherein said first positioning means comprises a concave positioning slot.

4. A carrier for dispensing articles, comprising: the bearing body and the butt joint mechanism;

5. The carrier for dispensing articles of claim 4, wherein the docking mechanism comprises a second positioning mechanism comprising at least one or more second positioning devices; the second positioning device can be matched with the corresponding first positioning device arranged on the self-moving device, and when the self-moving device is lifted to the right position, the second positioning device is combined with the first positioning device, so that the bearing device and the self-moving device are positioned mutually.

6. The article carrier as recited in claim 5, wherein the second positioning means comprises a raised positioning slot.

7. A dispensing device for dispensing an article, comprising: a self-moving device and a carrier device, which may be combined or separate, wherein,

8. The dispensing device for dispensing items of claim 7 wherein the engagement mechanism comprises a lifting mechanism and a first positioning mechanism; the lifting mechanism is arranged on the self-moving body and comprises a lifting rod capable of stretching in the vertical direction, and a lifting platform is arranged at the top of the lifting rod; the first positioning mechanism is arranged on the upper part of the lifting platform and comprises at least one or a plurality of first positioning devices.

9. The dispenser of claim 7, wherein the engagement mechanism further comprises a locking mechanism for gripping the carrier when the lift platform is raised into position.

10. The dispensing device for dispensing items of claim 9 wherein the closure mechanism includes a sliding closure including a horizontally slidably disposed closure and a swinging stretch including a fixed end pivotally connected to the self-moving body and a swinging end pivotally connected to a slidable portion of the sliding closure; the swinging stretching part swings inwards along with the ascending of the lifting platform, and provides a driving force sliding towards the clamping direction for the locking piece of the sliding locking part, so that the locking piece of the sliding locking part is closed on the lifting platform along the horizontal direction; the swinging stretching part swings outwards along with the descending of the lifting platform, and provides a driving force sliding towards a loosening direction for the locking piece of the sliding locking part, so that the locking piece of the sliding locking part moves to an initial position along the horizontal direction; when the lifting platform rises to the right position, the locking piece is abutted against a locking groove arranged on the bearing device to clamp the bearing device.