CN114161103A

CN114161103A - Automatic device for installing goods access terminal

Info

Publication number: CN114161103A
Application number: CN202010970119.7A
Authority: CN
Inventors: 周鹏跃
Original assignee: Shenzhen Zhuopai Automation Technology Co ltd
Current assignee: Shenzhen Zhuopai Automation Technology Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2022-03-11

Abstract

The application provides an automatic device for installing goods access terminal, including automatic guide car, fixed subassembly, elevating system and robotic arm subassembly. The goods access terminal comprises at least one first carrying module which is used for carrying goods and can be deployed on the indoor ceiling; the fixing assembly is at least partially positioned right above the automatic guide vehicle and used for fixing a first carrying module to be installed; the lifting mechanism is connected with the automatic guide vehicle and the fixing component and is used for driving the fixing component to lift relative to the automatic guide vehicle; the mechanical arm assembly is arranged on the fixed assembly or the lifting mechanism, and after the automatic device transfers the first carrying module fixed by the fixed assembly to the arrangement position on the ceiling through the automatic guide vehicle and the lifting mechanism, the mechanical arm assembly is used for realizing the fastening connection of the carrying module and the ceiling. The automatic device can automatically install the first carrying module on the ceiling, and at least partial manual installation operation is replaced, so that the period and the cost for installing the goods access terminal are reduced.

Description

Automatic device for installing goods access terminal

Technical Field

The invention belongs to the technical field of intelligent logistics, and particularly relates to an automatic device for installing a goods access terminal.

Background

With the rapid development of the technology, unmanned aerial vehicles have been applied to the delivery industry for delivering goods, and the goods access terminal is an automatic device matched with the unmanned aerial vehicle for delivering and taking goods in the last kilometer, goods are transferred between a user for receiving and sending goods and the unmanned aerial vehicle for transporting goods through the goods access terminal, the goods access terminal is composed of a plurality of modules, including a carrying module for transporting goods, wherein a part of the carrying modules can be arranged on the indoor ceiling of one floor of a high-rise building and close to the through hole of the wall body of the building, the outer side of the wall body of the building is provided with a platform module of a goods access terminal, the platform module is positioned on the same floor and is arranged close to the through hole, after the unmanned aerial vehicle unloads the goods on the platform module, the transport module can transport the goods from the platform module to indoor appointed region for the user to collect the goods indoor.

However, the cargo access terminal is completely installed by manpower, especially, the carrying module is installed on the indoor ceiling by manpower, and the installation work is implemented in a region higher than the indoor floor by personnel, so that the operation difficulty is higher, the installation period is longer, the installation cost is higher, and the large-scale deployment of the cargo access terminal is seriously hindered.

Disclosure of Invention

The invention aims to provide an automatic device for installing a goods access terminal, which comprises but is not limited to solve the technical problem that the operation difficulty of completely manually installing the goods access terminal is high.

In order to achieve the above object, the present invention provides an automatic device for installing a cargo access terminal including at least one first transporting module for transporting cargo and capable of being deployed on an indoor ceiling, the automatic device comprising:

an automatic guided vehicle;

the fixing assembly is at least partially positioned right above the automatic guided vehicle and used for fixing the first carrying module to be installed;

the lifting mechanism is connected with the automatic guide vehicle and the fixing component and used for driving the fixing component to be lifted and lowered to a height relative to the automatic guide vehicle so as to respectively lift the first carrying module fixed by the fixing component to be close to or close to the ceiling and lower the fixing component to be close to the automatic guide vehicle; and

and the mechanical arm assembly is arranged on the fixed assembly or the lifting mechanism, and after the automatic device passes through the automatic guide vehicle and the lifting mechanism to transfer the first carrying module fixed by the fixed assembly to the arrangement position on the ceiling, the mechanical arm assembly is used for realizing the fastening connection of the first carrying module and the ceiling.

In one embodiment, the number of the first carrying modules in the cargo access terminal is more than one, and the automatic device can splice and install a plurality of the first carrying modules on the ceiling along a first direction; and the number of the first and second groups,

the mechanical arm assembly is used for realizing the fastening connection between two adjacent first carrying modules after the fastening connection between the first carrying modules and the ceiling is realized, or the mechanical arm assembly is used for realizing the fastening connection between the first carrying module fixed by the fixing assembly and the ceiling before the fastening connection between the first carrying module fixed by the fixing assembly and the ceiling.

In one embodiment, the fixing assembly comprises a lifting table connected with the lifting mechanism and a fixing piece used for fixing the first carrying module to be installed; the fixing assembly further comprises a driving mechanism, and the driving mechanism is connected with the lifting table and the fixing piece and is used for driving the fixing piece to rotate around a first rotating shaft relative to the lifting table; the first rotating shaft is arranged along the transverse direction of the automatic guided vehicle; the fixing piece can be partially or completely positioned above the automatic guided vehicle or on one side of the automatic guided vehicle after rotating.

In one embodiment, when the fixing component approaches the automated guided vehicle, the driving mechanism is configured to drive the fixing component to rotate relative to the lifting platform so as to directly fix the first carrying module placed on an indoor floor in a standing position, and after the fixing component fixes the first carrying module, the driving mechanism is further configured to drive the fixing component to rotate in a reverse direction relative to the lifting platform so as to change the first carrying module fixed by the fixing component from a standing position to a lying position.

In one embodiment, the cargo access terminal further comprises a plurality of second carrying modules which are used for transporting cargo and can be spliced and installed along a second direction, and the fixing piece is further used for fixing the second carrying modules to be installed; when the fixing component approaches to the automatic guide vehicle, the driving mechanism is used for driving the fixing piece to rotate relative to the lifting platform so that the fixing piece can be directly and fixedly placed on the second carrying module on the indoor floor.

In one embodiment, after the robot transfers the second carrying module with the fixed fixture to the position right above or right below the installed second carrying module through the automatic guided vehicle and the lifting mechanism, the robot arm assembly is further used for realizing that the second carrying module with the fixed fixture is tightly connected with the second carrying module adjacent to the position right above or right below the second carrying module.

In one embodiment, the automatic device further comprises a rotating mechanism which is respectively connected with the lifting mechanism and the automatic guide vehicle and is used for driving the lifting mechanism to rotate around a second rotating shaft relative to the automatic guide vehicle; the second rotating shaft is arranged along the longitudinal direction of the automatic guiding vehicle.

In one embodiment, the first handling module is provided with a readable label, the robot further comprises reading means for reading information of the readable label, and the information read by the reading means is used to identify identity information of the first handling module.

In one embodiment, the robot is capable of executing an installation procedure matched with the first handling module according to the identity information.

In one embodiment, the robot assembly comprises a robot arm and at least one work cell for performing at least one of bolting, gluing and drilling; the robot arm is used for moving at least one of the working units.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of an automatic apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic perspective view illustrating that the automatic device provided in the embodiment of the present application realizes fastening connection of the first carrying module to the ceiling and fastening connection of two adjacent first carrying modules;

fig. 3 is a schematic perspective view illustrating that the robot according to the embodiment of the present disclosure fastens two adjacent second carrying modules;

fig. 4 is a schematic perspective view illustrating that the robot according to the embodiment of the present disclosure fastens the first carrying module and the second carrying module;

fig. 5 is an enlarged schematic view of a portion a of fig. 4.

The figures are numbered:

1-an automatic device, 11-an automatic guide vehicle, 12-a fixed assembly, 120-a lifting table, 121-a fixed part, 122-a driving mechanism, 13-a lifting mechanism, 14-a mechanical arm assembly, 141-a working unit, 142-a mechanical arm, 15-a rotating mechanism, 150-a second rotating shaft and 151-a flat plate;

2-a goods access terminal, 21-a first carrying module, 22-a second carrying module;

3-ceiling.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly connected to the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element. When a component is referred to as being "electrically connected" to another component, it can be electrically connected by conductors, or can be electrically connected by radios, or can be connected by various other means capable of carrying electrical signals. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience of description only and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore are not to be construed as limiting the patent, the particular meaning of which terms will be understood by those skilled in the art as appropriate. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 and 2, the present embodiment provides an automatic device 1 for installing a cargo access terminal 2 in intelligent logistics, including an automatic guided vehicle 11, a fixing assembly 12, a lifting mechanism 13 and a robot assembly 14; the cargo access terminal 2 comprises at least one first carrying module 21 for carrying cargo and capable of being disposed on the indoor ceiling 3, in the illustrated embodiment, the first carrying module 21 is a bar-shaped cabinet structure, and after the first carrying module 21 is disposed on the ceiling, the length direction of the first carrying module 21 is substantially parallel to the horizontal direction, i.e. the first carrying module 21 is in a lying position. Wherein, the fixing component 12 is at least partially positioned right above the automatic guided vehicle 11 and is used for fixing the first carrying module 21 to be installed; the lifting mechanism 13 is connected with the automatic guiding vehicle 11 and the fixing assembly 12 and used for driving the fixing assembly 12 to be lifted and lowered relative to the automatic guiding vehicle 11 so as to respectively lift the first carrying module 21 fixed by the fixing assembly 12 to be close to or close to the ceiling 3 and lower the fixing assembly 12 to be close to the automatic guiding vehicle 11; the mechanical arm assembly 14 is arranged on the fixing assembly 12, and after the automatic device 1 transfers the first carrying module 21 fixed by the fixing assembly 12 to the arrangement position on the ceiling 3 through the automatic guide vehicle 11 and the lifting mechanism 13, the mechanical arm assembly 14 is used for realizing the fastening connection of the first carrying module 21 and the ceiling 3.

Specifically, the automated guided vehicle 11 is a cart with autonomous movement capabilities and includes sensors, such as cameras, to assist the automated guided vehicle 11 in navigating to a designated area; alternatively, the automated guided vehicle 11 may be remotely controlled by a worker in terms of the direction and speed of movement. The automatic guided vehicle 11 also includes a battery or a cable for connecting an indoor power source to enable power supply to the robot 1. And the head or the tail of the automatic guided vehicle 11 is further provided with a counter weight to improve the stability of the vehicle body in the process of transferring the first carrying module 21 by the robot 1. In the illustrated embodiment, the automatic guided vehicle 11 has a longitudinal dimension that is greater than a lateral dimension. The fixing assembly 12 is provided with a fixing component, such as an electromagnet, for fixing the first carrying module 21 relative to the fixing assembly 12, and correspondingly, the housing of the first carrying module 21 is made of a metal material capable of being attracted by the electromagnet, or the fixing assembly 12 may also be provided with other fixing components for fixing the first carrying module 21, such as a vacuum chuck capable of attracting the first carrying module 21. Alternatively, when the fixing member 12 fixes the first carrying module 21 to be installed, the first carrying module 21 can be located at the top end of the fixing member 12. The lifting mechanism 13 can automatically extend and retract to adjust the height of the fixing component 12 relative to the automatic guided vehicle 11, and optionally, the lifting mechanism 13 includes a scissor type lifting mechanism and a driver for driving the mechanism to extend and retract, the fixing component 12 is disposed at the top end of the scissor type lifting mechanism, the sliding direction of the slide rail of the scissor type lifting mechanism 13 is consistent with the longitudinal direction of the automatic guided vehicle 11, or the lifting mechanism 13 may be in other structural forms, which is not limited herein. The robot arm assembly 14 comprises at least one working unit 141 and a robot arm 142 moving the at least one working unit 141, the working unit 141 enabling a fastening connection of the first handling module 21 and the ceiling 3, for example in an arrangement where a fastening connection of the first handling module 21 to the ceiling 3 is achieved using expansion bolts, and correspondingly the robot arm assembly 14 comprises a working unit 141 for drilling a hole in the ceiling 3 and a working unit 141 for loading expansion bolts into the hole. Wherein the first carrying module 21 comprises a ceiling mounting member, optionally, the ceiling mounting member is a hanger pre-mounted on the main structure of the first carrying module 21, the boom assembly 14 can fasten the hanger to the ceiling 3, or the first carrying module 21 does not comprise a hanger, the hanger can be pre-mounted on the ceiling 3, and the boom assembly 14 can fasten the first carrying module 21 to the hanger. Alternatively, the robot arm 142 may be separable from the working unit 141, and the working unit 141 may have a plurality of types of work such as fitting a drill hole, mounting a screw, or the like, and different types of working units 141 may be selectively provided on the robot arm 142 according to the task of the work, or the robot arm 142 may be automatically combined with a plurality of different types of working units 141, so that the working arm assembly 14 can perform a plurality of types of work. The robot arm 142 can also move the working unit 141 in a wide space range, and it is easily understood that the robot arm 142 can expand the movement range of the working unit 141 by increasing the number of joints or the length of the joints thereof, thereby enabling the working unit 141 to work in an area distant from the fixing assembly 12. Additionally, the end of the robotic arm 142 may be provided with a sensor, such as a camera, to assist in the operation of the robotic arm assembly 14. In the illustrated embodiment, the number of the robot arms 142 is one and the robot arms 142 are connected to the bottom end of the fixed assembly 12, but it is also possible to provide one robot arm 142 on each of two opposite sides of the fixed assembly 12 and two robot arms 142 to enable two working units 141 to move simultaneously in different spatial ranges, so as to improve the working efficiency of the robot arm assembly 14 and also to help reduce the number of joints or the length of the joints of the robot arms 142. In another embodiment, the robot assembly 14 and the fixing assembly 12 can be disposed on the top end of the lifting mechanism 13 and maintain the synchronous lifting of the two, i.e. the robot assembly 14 can also be disposed on the lifting mechanism 13.

It should be noted that, in the embodiment provided in the present invention, "longitudinal direction" and "lateral direction" refer to the longitudinal direction and the width direction of the automatic guided vehicle 11, respectively.

In one embodiment of the present invention, before the robot 1 mounts the first transporting module 21, a first transporting module 21 to be mounted is loaded onto the fixing assembly 12 and fixed by the fixing assembly 12 manually or by other automated equipment, then the automatic guided vehicle 11 autonomously moves to a position right below the first transporting module 21 corresponding to the disposition position on the ceiling 3, and then the lifting mechanism 13 drives the fixing assembly 12 to be lifted up with respect to the automatic guided vehicle 11 until the first transporting module 21 fixed by the fixing assembly 12 abuts against or approaches the ceiling 3. After the robot arm assembly 14 fastens the first transport module 21 fixed to the robot 1 to the ceiling 3, the fixing assembly 12 releases the fixing of the first transport module 21 and lowers the first transport module to a height close to the automatic guided vehicle 11 by the driving of the elevating mechanism 13 to receive the next first transport module 21 to be mounted. Through the above process, the robot 1 can automatically install the first carrying module 21 on the ceiling 3 instead of at least a part of manual installation work, thereby reducing the installation period and installation cost of the cargo access terminal 2 and contributing to the large-scale deployment of the cargo access terminal 2.

In another embodiment, the robot 1 transfers the first carrying module 21 fixed by the fixing assembly 12 to the deployment position on the ceiling 3 by the automatic guide cart 11 and the lifting mechanism 13 and allows the first carrying module 21 to be securely connected to the ceiling 3, while the robot assembly 14 may not be used to achieve the secure connection of the first carrying module 21 to the ceiling 3 or the robot 1 may not include the robot assembly 14. For example, the first carrying module 21 and the ceiling mount can be fastened by the cooperation of the snap and the slot, the ceiling mount is previously installed on the ceiling 3, the robot 1 transfers the first carrying module 21 fixed by the fixing component 12 to the deployment position on the ceiling 3 by the automatic guiding vehicle 11 and the lifting mechanism 13, and simultaneously, the snap of one of the first carrying module 21 and the corresponding ceiling mount is snapped into the slot of the other to realize the fastening connection, but the design and manufacturing cost of the first carrying module 21 and the ceiling mount can be higher than other fastening connection methods such as bolting.

Optionally, referring to fig. 2, in the embodiment, the number of the first carrying modules 21 included in the cargo access terminal 2 is greater than one, and the robot 1 can splice and mount a plurality of the first carrying modules 21 on the ceiling 3 along the first direction to increase the distance that the first carrying modules 21 carry the cargo along the first direction, optionally, the first direction is a horizontal direction. The robot assembly 14 is also used for realizing the fastening connection of two adjacent first carrying modules 21 after realizing the fastening connection of the plurality of first carrying modules 21 and the ceiling 3. Under the arrangement that two adjacent first carrying modules 21 are fastened and connected through bolts, the operation unit 141 corresponding to the mechanical arm assembly 14 is an electric screwdriver bit for screwing the bolts; or under the arrangement of glue-bonding and fastening between two adjacent carrying modules, the operation unit 141 is a glue gun for spraying glue. It should be noted that the robot assembly 14 may also be configured to fasten the first carrying module 21 to another first carrying module 21 already mounted on the ceiling 3 before the fastening of the first carrying module 21 fixed to the fixing assembly 12 to the ceiling 3 is achieved, and the fixing assembly 12 keeps fixing the first carrying module 21 until the robot assembly 14 completes the fastening of the first carrying module 21 to the ceiling 3.

Optionally, the automatic guided vehicle 11 is provided with an omnidirectional wheel set, so that the automatic guided vehicle 11 can more flexibly adjust the position and horizontal orientation of the first carrying module 21 fixed by the fixing assembly 12 on the floor of the room, so that the robot 1 can more accurately transfer the first carrying module 21 to the designated deployment position on the ceiling 3 indoors with the cooperation of the lifting mechanism 13.

Further, referring to fig. 3, the fixing assembly 12 includes a lifting platform 120 connected to the lifting mechanism 13 and a fixing member 121 for fixing the first carrying module 21 to be mounted, wherein the fixing member 121 is provided with the fixing component for fixing the first carrying module 21 relative to the fixing assembly 12, and the robot assembly 14 is connected to the lifting platform 120 or the fixing member 121. In addition, the fixing assembly 12 further includes a driving mechanism 122, the driving mechanism 122 connects the lifting platform 120 and the fixing member 121, and is configured to drive the fixing member 121 to rotate around the first rotation axis relative to the lifting platform 120. Optionally, the driving mechanism 122 comprises a telescopic rod, and the lifting platform 120 is hinged to the fixing member 121. In the illustrated embodiment, the first rotating shaft is disposed in the lateral direction of the automatic guided vehicle 11, i.e., the axial direction of the first rotating shaft is substantially parallel to the lateral direction of the automatic guided vehicle 11. Wherein the telescopic link can be electronic vaulting pole or hydraulic stem to the both ends of telescopic link are articulated with elevating platform 120 and mounting 121 respectively, thereby extend through the telescopic link, and mounting 121 can rotate around first pivot relatively elevating platform 120. The fixing member 121 can be partially or entirely located diagonally above the automatic guided vehicle 11 or on one side thereof after being rotated. In another embodiment, the fixing member 121 includes a pair of fixing members for fixing the first carrying module 21 together, and two fixing parts of the fixture 121 are respectively located at two opposite sides in the width direction of the first carrying module 21 to clamp the first carrying module 21 when fixing the first carrying module 21, two robot arms 142 are connected with the fixture 121 and respectively located at two opposite sides of the fixture 121, the fixture 121 further includes a moving mechanism (not shown), the moving mechanism can synchronously adjust the pitch of the fixed part and the pitch of the two robot arms 142, so that the fixing member 121 can fix the first carrying module 21 with different widths and the robot arm 142 can approach to two opposite side regions in the width direction of the first carrying module 21 fixed by the fixing member 121, respectively, to facilitate the operation unit 141 to perform operations on multiple sides of the first carrying module 21; alternatively, the moving mechanism is disposed on the lifting platform 120, the driving mechanism 122 connects the lifting platform 120 and the moving mechanism and can drive the moving mechanism to rotate around the first rotation axis relative to the lifting platform 120, the moving mechanism further includes a pair of moving portions capable of moving away from and close to each other, and each moving portion is provided with a fixed component and a mechanical arm 142.

Further, when the fixing component 12 approaches the automatic guided vehicle 11, the driving mechanism 122 is configured to drive the fixing member 121 to rotate relative to the lifting platform 120 so that the fixing member 121 can directly fix the first carrying module 21 placed on the indoor floor in a standing position, and after the fixing member 121 fixes the first carrying module 21, the driving mechanism 122 is further configured to drive the fixing member 121 to rotate in a reverse direction relative to the lifting platform 120 so as to change the first carrying module 21 fixed by the fixing member 121 from the standing position to a lying position, so that the first carrying module 21 can be mounted on the ceiling 3 in the lying position (as shown in fig. 2). Specifically, when the first carrying module 21 to be installed is placed on the indoor floor in a standing position, the automatic guided vehicle 11 can move autonomously to be close to the first carrying module 21, and since the fixing member 121 can be partially or completely located obliquely above the automatic guided vehicle 11 or on one side of the automatic guided vehicle after being rotated, the fixing member 121 can contact and directly fix the first carrying module 21 after being rotated, without loading the first carrying module 21 onto the fixing assembly 12 manually or by other automated equipment.

Further, referring to fig. 3 again, the cargo access terminal 2 further includes a plurality of second transporting modules 22 for transporting cargo and capable of being assembled and installed along a second direction. Alternatively, the second direction is a vertical direction or the second direction is orthogonal to the first direction, and a plurality of second carrying modules 22 can be installed from the indoor floor in a splicing manner from bottom to top to transfer and transport goods between an area close to the indoor ceiling 3 and an area close to the indoor floor. In the illustrated embodiment, the second carrying module 22 is a bar-shaped cabinet structure, and after the second carrying module 22 is deployed, the length direction of the second carrying module 22 is substantially parallel to the vertical direction, i.e. the second carrying module 22 is in a standing position.

Further, the fixing member 121 of the robot 1 is also used for fixing the second carrying module 22 to be mounted. When the fixing assembly 12 approaches the automatic guided vehicle 11, the driving mechanism 122 is configured to drive the fixing member 121 to rotate relative to the lifting platform 120 so that the fixing member 121 can contact and directly fix the second transporting module 22 placed on the indoor floor in a standing position. After the robot 1 transfers the second carrying module 22 fixed by the fixing member 121 to the position right above the installed second carrying module 22 through the automatic guiding cart 11 and the lifting mechanism 13 and splices the two second carrying modules 22, the robot assembly 14 is used to fasten the second carrying module 22 fixed by the fixing member 121 and the second carrying module 22 adjacent to the position right below the second carrying module 22, as shown in fig. 3. It should be noted that the second handling module 22 located at the lowest position may be first transferred to the deployment position on the indoor floor by the robot 1 or manually.

Further, referring to fig. 4, the first carrying module 21 and the second carrying module 22 can also be spliced to transfer goods to each other, in the illustrated embodiment, the second carrying module 22 is disposed right below the first carrying module 21, the second carrying module 22 at the highest position is spliced to the first carrying module 21 above the second carrying module, and the arm assembly 14 is further configured to realize a tight connection between the first carrying module 21 and the second carrying module 22. In another embodiment of this embodiment, a plurality of second carrying modules 22 can also be assembled from top to bottom, that is, the second carrying module 22 located at the highest position can be transferred from the robot 1 to the deployed position and the robot assembly 14 can realize the fastening connection of the second carrying module 22 with the first carrying module 21 installed on the ceiling 3, then the robot 1 can fix another second carrying module 22 to be installed and transfer the fixed second carrying module 22 to the position right below the installed second carrying module 22 and make the two second carrying modules 22 be assembled, and then the robot assembly 14 can realize the fastening connection of the two second carrying modules 22.

Further, referring to fig. 5, the automatic device 1 further includes a rotating mechanism 15, and the rotating mechanism 15 is respectively connected to the lifting mechanism 13 and the automatic guided vehicle 11, and is configured to drive the lifting mechanism 13 to rotate around a second rotating shaft 150 relative to the automatic guided vehicle 11. In the illustrated embodiment, the rotating mechanism 15 includes a flat plate 151, the lifting mechanism 13 is mounted on the upper surface of the flat plate 151, and the lower surface of the flat plate 151 is provided with a second rotating shaft connected to the body of the automatic guided vehicle 11; the second rotating shaft is arranged along the longitudinal direction of the automatic guided vehicle 11, namely the axial direction of the second rotating shaft is approximately parallel to the longitudinal direction of the automatic guided vehicle 11, and the second rotating shaft is arranged at the transverse central position of the automatic guided vehicle 11; the top surface of the body of the automatic guided vehicle 11, which is opposite to the flat plate 151, gradually decreases in height from the laterally centered position to both sides and forms an inclined surface, as shown in fig. 5, so that the flat plate 151 can rotate around the second rotation axis to both sides of the automatic guided vehicle 11 by a certain angle, respectively; additionally, the rotating mechanism 15 further includes a driving member (not shown) in transmission connection with the plate 151 to drive the plate 151 to rotate around the second rotating shaft. It should be noted that, because the transverse dimension of the automatic guided vehicle 11 is smaller than the longitudinal dimension, and the head or the tail of the automatic guided vehicle 11 can be provided with a counterweight, the transverse anti-tipping stability of the automatic device 1 is poorer than the longitudinal anti-tipping stability, and if the indoor floor surface where the automatic guided vehicle 11 is located is uneven or not horizontal, after the lifting mechanism 13 extends, the lifting mechanism 13 tilts to cause the fixed component 12 on the lifting mechanism 13 and the integral mass center of the first carrying module 21 or the second carrying module 22 fixed by the fixed component 12 to shift in the horizontal direction relative to the automatic guided vehicle 11, which easily causes the automatic device 1 to tip sideways; the lifting mechanism 13 is driven to rotate around the second rotating shaft relative to the automatic guide vehicle 11 through the rotating mechanism 15, the transverse inclination of the lifting mechanism 13 can be reduced or even eliminated, and the automatic device 1 is prevented from laterally toppling over, so that the automatic device 1 does not need to be provided with supporting legs for improving stability, the step of folding and unfolding the supporting legs is omitted, and the automatic device 1 is facilitated to obviously improve the installation efficiency in the process of continuously installing a plurality of first carrying modules 21 or second carrying modules 22. In addition, the range of the angle in which the driving mechanism 122 drives the fixing member 121 to rotate around the first rotating shaft relative to the lifting table 120 is not limited to only enabling the first carrying module 21 fixing the fixing member 121 to be switched between the standing position and the lying position, and the robot 1 can also maintain the first carrying module 21 or the second carrying module 22 fixing the fixing member 121 in a correct installation posture under the condition that the floor surface of the indoor space is uneven or not horizontal through the cooperation of the driving mechanism 122 and the rotating mechanism 15. Optionally, an attitude sensor is further disposed on the fixing member 121, and the robot 1 further includes an attitude controller, where the attitude sensor forms a closed-loop control loop with the driving mechanism 122, the rotating mechanism 15, and the attitude controller of the robot 1, so that the robot 1 automatically and actively adjusts the attitude of the first carrying module 21 or the second carrying module 22 fixed to the fixing member 121 according to a desired installation attitude.

Further, at least some of the modules of the goods access terminal 2, such as the first transporting module 21, are provided with readable tags (not shown), and correspondingly, the robot 1 comprises reading means (not shown) capable of reading information of the readable tags of the modules, and the information read by the reading means can be used for identifying the identity information of the modules. In one embodiment of this embodiment, each module to be installed of the goods access terminal 2 has a preset installation order, and the automation device 1 is required to install each module according to the preset installation order, and in case that the module is not loaded to the automation device 1 by a manual or other automation equipment according to the preset installation order, it is possible to prevent the automation device 1 from fixing and installing the module by recognizing the identity information of the module. It should be noted that two modules of the same type, for example, the two first carrying modules 21 of one cargo access terminal 2 may have a difference in part structure according to installation requirements, and thus the installation order of the two modules of the same type cannot be changed arbitrarily. In particular, after the automatic device 1 reads the information of the readable label of the module, this read information is sent to other apparatuses networked with the automatic device 1 or is locally resolved by the automatic device 1, thereby obtaining the identity information of the module, and then the networked device or automatic apparatus 1 verifies whether the module is the preset next module to be installed according to the obtained identity information, if the module is not the next module to be installed as preset as a result of the verification, the robot 1 stops fixing and stops installing the module, and the networked device or automation 1 gives an error prompt to the worker responsible for loading the module, for example, sending a prompt message to the terminal display device of the worker or blinking an indicator lamp additionally arranged on the automatic device 1 to prompt the worker, thereby ensuring that the respective modules of the goods access terminal 2 can be loaded onto the robot 1 in the correct order of installation. Or, before the automatic device 1 automatically loads the first carrying module 21 or the second carrying module 22 placed on the ground, the readable tag of the module is read to verify whether the module is the preset next module to be installed, and the verification result that the module is the preset next module to be installed is used as the triggering condition for the automatic device 1 to automatically load the module. Additionally, the robot 1 can also execute an installation procedure matched with the module according to the identity information of the module, specifically, the robot 1 presets different installation procedures according to different structures of the module, for example, for the first carrying module 21, the corresponding installation procedures can realize the fastening connection of the first carrying module 21 and the ceiling 3, and for example, for two structurally different first carrying modules 21, the number and relative positions of the fastening points selected by the robot 1 on the ceiling 3 in the corresponding installation procedures may be different. After obtaining the identity information of the loaded module, the networked device or automation apparatus 1 matches the installation program corresponding to the module according to the obtained identity information, and the automation apparatus 1 executes the installation program matching with the module. Optionally, the reading means are provided on the fixed assembly 12 of the automatic device 1; the module of the goods access terminal 2 is provided with a readable label which is an RFID label or a label printed with a two-dimensional code, and correspondingly, the reading part is an RFID label reader or a photoelectric converter; the identity information of the module includes an ID number for uniquely identifying the identity of the module.

Further, in another embodiment, the partial modules of the installed cargo access terminal 2 can be released from the fastening connection by the working unit 141, and the robot 1 can also automatically remove the modules from the installed cargo access terminal 2, optionally, the robot assembly 14 includes a working unit 141 that can unscrew bolts. Additionally, the working unit 141 of the robot 1 is also of a type for performing at least one of cleaning, inspection, and maintenance, so that the robot 1 can perform maintenance work on the mounted cargo access terminal 2.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic device for installing a cargo access terminal, the cargo access terminal including at least one first handling module for transporting cargo and deployable in an indoor ceiling, the automatic device comprising:

an automatic guided vehicle;

2. The automated apparatus of claim 1, wherein the number of the first transfer modules in the cargo access terminal is greater than one, and the automated apparatus is capable of mounting a plurality of the first transfer modules to the ceiling in a first orientation; and the number of the first and second groups,

3. The automatic device of claim 1, wherein the fixing assembly comprises a lifting table connected with the lifting mechanism and a fixing member for fixing the first carrying module to be mounted; the fixing assembly further comprises a driving mechanism, and the driving mechanism is connected with the lifting table and the fixing piece and is used for driving the fixing piece to rotate around a first rotating shaft relative to the lifting table; the first rotating shaft is arranged along the transverse direction of the automatic guided vehicle; the fixing piece can be partially or completely positioned above the automatic guided vehicle or on one side of the automatic guided vehicle after rotating.

4. The automatic device according to claim 3, wherein when the fixing member approaches the automatic guided vehicle, the driving mechanism is configured to drive the fixing member to rotate relative to the lifting platform so that the fixing member can be directly fixed to the first transporting module placed on the indoor floor in a standing position, and after the fixing member fixes the first transporting module, the driving mechanism is further configured to drive the fixing member to rotate in a reverse direction relative to the lifting platform so as to change the first transporting module fixed by the fixing member from a standing position to a lying position.

5. The automated apparatus according to claim 3, wherein the cargo access terminal further comprises a plurality of second handling modules for transporting cargo and capable of being mounted in a second orientation, and the fixing member is further configured to fix the second handling modules to be mounted; when the fixing component approaches to the automatic guide vehicle, the driving mechanism is used for driving the fixing piece to rotate relative to the lifting platform so that the fixing piece can be directly and fixedly placed on the second carrying module on the indoor floor.

6. The robot of claim 5, wherein the robot arm assembly is further configured to securely connect the second handling module with the fixture after the robot transfers the second handling module with the fixture fixed thereto to a position directly above or directly below the second handling module mounted thereon via the robot guided vehicle and the lifting mechanism.

7. The automatic device according to claim 3, further comprising a rotation mechanism connected to the lifting mechanism and the automatic guided vehicle, respectively, for driving the lifting mechanism to rotate around a second rotation axis relative to the automatic guided vehicle; the second rotating shaft is arranged along the longitudinal direction of the automatic guiding vehicle.

8. An automated arrangement according to claim 1, wherein the first handling modules are provided with readable labels, the automated arrangement further comprising reading means for reading information of the readable labels, and the information read by the reading means is used for identifying identity information of the first handling modules.

9. The automated apparatus of claim 8, wherein the automated apparatus is capable of performing an installation procedure that matches the first handling module based on the identity information.

10. The robot of any of claims 1 to 9, wherein the robot arm assembly comprises a robot arm and at least one work cell for performing at least one of a jack bolt, glue application and drilling; the robot arm is used for moving at least one of the working units.