CN207345649U - A kind of fast delivery device of intelligence - Google Patents
A kind of fast delivery device of intelligence Download PDFInfo
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- CN207345649U CN207345649U CN201721289808.1U CN201721289808U CN207345649U CN 207345649 U CN207345649 U CN 207345649U CN 201721289808 U CN201721289808 U CN 201721289808U CN 207345649 U CN207345649 U CN 207345649U
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Abstract
A kind of fast delivery device of intelligence is the utility model is related to, belongs to logistics transporting device technical field, solves the express delivery technical problem low with pickup efficiency in the prior art.Solution is：Storing part is arranged at the front portion in compartment, and storing part expanding unit is arranged at the top in compartment, and car body top is additionally provided with automatic hatch door；The pick-off unit is installed on the middle part of compartment bottom surface, and the rear portion in the compartment is provided with two layers up and down, and to post pickup platform, the upper strata in compartment send part device for unmanned plane, hydraulic pressure lifting device is provided between car bottom and carrier loader for wherein lower floor.Automatic stereo storage technological improvement is applied to express delivery car by the utility model, realize the intensive of height, the limitation that the time takes express delivery to posting is broken away from, realize and post the intelligent, unmanned of pickup process, human resources are saved, solve the problems, such as express mail " last one kilometer " from the degree of bigger, meet the development trend of " internet+express delivery ", there is extensive application value.
Description
Technical field
The utility model belongs to logistics transporting device technical field, more particularly to a kind of fast delivery device of intelligence.
Background technology
With the rise of electric business industry, hot net purchase has expedited the emergence of the prosperity of delivery industry so that the development of macroscopical logistics
It is very rapid.But the development of microcosmic logistics then relatively lags behind, " last one kilometer " from Distribution Center to user, which is sent with charge free, to be become
The bottleneck of the industry of logistics express delivery now development.
The work of express delivery industry " last one kilometer " heavy dependence courier at present, courier reach specify send region with charge free after,
Notify client, and wait addressee to come picking.The uncertainty of picking time causes consumption and the waste of time of manpower.
Express delivery cabinet alleviates this problem to a certain extent, but still has following shortcoming：
1st, need manually to fill and take express mail and notify client, it is cumbersome, do not save human cost；
2nd, the babinet of express delivery cabinet is limited, and does not consider the storage method of different shape express mails, and efficiency of storage declines, its stock
Quantity is difficult to ensure that；
3rd, in order to which extension storage space, express delivery cabinet terminal can only extend lateral dimension, " fruit plucked for nowadays generally taking
The delivery of cargo mode of formula ", the height for picking up by oneself cabinet are difficult to expand, and solid space utilization rate is not high, lacks flexibility；
4th, express delivery cabinet is the third-party product between express company and client, increases the industrial chain that express delivery is sent with charge free,
Functional integration is relatively low, adds the distribution cost of express mail.
Utility model content
The purpose of the utility model is to overcome the defects of the prior art, solve express delivery in the prior art to imitate with pickup
A kind of technical problem that rate is low, cost of labor is big, there is provided fast delivery device of intelligence.
The utility model is achieved by the following technical programs.
A kind of fast delivery device of intelligence, it includes carrier loader and compartment, and compartment is removably installed on carrier loader, wherein：
The compartment include storing part, storing part expanding unit, pick-off unit, post pickup platform, unmanned plane send part device and hydraulic pressure lift
Device is risen, the pickup platform of posting includes posting part platform and pickup platform, and the pickup platform includes pickup platform A areas and pickup
Platform B areas；
The storing part is arranged at the front portion in compartment, and storing part includes fixed storing part, movable storing area A and movable storing
Area B, fixed storing part are fixedly installed on compartment front portion, and movable storing area A and movable storing area B is symmetrically disposed on fixed storing part
On the front and rear sides face of right；
The storing part expanding unit is arranged at the top in compartment, and storing part expanding unit includes movement cantilever, activity storage
Thing area A and movable storing area B is installed on the movement cantilever；The car body top is additionally provided with automatic hatch door；
The pick-off unit is installed on the middle part of compartment bottom surface, and pick-off unit is provided with the five degree of freedom of clamper for end
Right angle coordinate manipulator；
The rear portion in the compartment is provided with two layers up and down, and wherein lower floor is defeated by indexable formula chain type to post pickup platform
Send device that express mail is branched to the pickup platform A areas or pickup platform B areas by the workspace of pick-off unit, on the contrary by express mail from
Post the workspace that pick-off unit is removed and be delivered on part platform；Part device is sent in the upper strata in compartment for unmanned plane, and unmanned plane send part
Unmanned plane is provided with device, send part device that unmanned plane is promoted to predetermined altitude by driving stepper motor unmanned plane, it is described from
Dynamic hatch door automatically opens up, and completes unmanned plane and takes off or recycle；
The rear portion in the compartment is provided with two layers up and down, and wherein lower floor is defeated by indexable formula chain type to post pickup platform
Send device that express mail is branched to the pickup platform A areas or pickup platform B areas by the workspace of pick-off unit, on the contrary by express mail from
Post the workspace that pick-off unit is removed and be delivered on part platform；Part device is sent in the upper strata in compartment for unmanned plane, and unmanned plane send part
Device includes shutting down platform and shuts down platform lifting mechanism, shuts down and is provided with unmanned plane on platform, is shut down by driving stepper motor
Unmanned plane is promoted to predetermined altitude by platform lifting mechanism, and the automatic hatch door is opened, completes unmanned plane and take off or recycle；
Hydraulic pressure lifting device is installed between car bottom and carrier loader, for compartment be installed on truck on or compartment
Disassembled from carrier loader.
Further, the carrier loader is light flat plate transport vehicle；Compartment upper surface is provided with solar energy photovoltaic panel, will too
Sun can be converted to electric energy and provide electric energy for the electrical equipment in the present apparatus.
Further, the storing part includes some matter storage lattices for being used to store express mail, and matter storage lattice is intensive narrow physique frame,
Hollow out in the middle part of the supporting plate of each matter storage lattice bottom surface, each matter storage lattice have unique numbering respectively.
Further, the size of matter storage lattice sets plurality of specifications according to express mail size in the storing part.
Further, the storing part expanding unit includes line slideway 15,16, and transmission nut, be fixed on by bearing
The turn-screw of car body top and two driving motors 11,12, two driving motors 11,12 are respectively arranged at the movable storing
The top of area A and movable storing area B, correspondence is installed on the upper of movable storing area A and movable storing area B to two transmission nuts respectively
On surface, with movable storing area B carries on line slideway 15,16, transmission nut corresponds to and is installed on driving wire movable storing area A
On thick stick, controller is simultaneously emitted by motor message to two driving motors 11,12, and driving motor 11,12 passes through rough lock driver
Structure 13,14 drives turn-screw to rotate, and turn-screw converts rotational motion into linear motion by leadscrew-nut mechanism, activity
Storing part A and movable storing area B are moved toward one another or moved opposite to each other along line slideway 15,16 is synchronous, both sides movable storing area A with
Movable storing area B synchronous expansions or closing, motion criteria stroke be storing part width, when block touch limit switch 17,18,
Movable storing area A and movable storing area B movements stop.
Further, the unmanned plane send part device to include express mail loader mechanism, shut down platform lifting mechanism and automatic cabin
Door mechanism, manipulator unclamp after sending express mail feeding unmanned plane to the entrance of part device, and express mail is under the effect of gravity by inclined roller
Cylinder conveyer, which slips into, is arranged at Conveyor end and in the loading cabin shut down below platform lifting mechanism, shuts down platform
Elevating mechanism drive unmanned plane drops to the top in loading cabin, and loading cabin is clamped and is loaded into its abdomen by unmanned plane clamping device
Portion, completes to load work；
Unmanned plane loads the end that loading cabin is placed in Conveyor, shuts down platform both sides and is installed on by bilateral bent plate cuff link
On the elevating chain of both sides, the unmanned plane loading motor driving unmanned plane loading reduction box for being fixed on compartment rear portion upper strata bottom plate will
Power passes to the drive bevel gear being arranged inside transfer case, will be transported with the opposed transfer bevel gear that drive bevel gear is meshed
Dynamic to resolve into two reverse rotary motions, the other end and the transfer worm screw of transfer bevel gear shaft are rigidly connected, with transfer worm screw
The transfer worm gear being meshed is installed on the sprocket shaft of elevating chain lower part, is rotated using turbine and worm decelerator band movable sprocket
Realize the elevating movement for shutting down platform；Limit switches, which are all provided with, in lifting platform pole position limits stroke；
The automatic hatch door mechanism is arranged at the surface for shutting down platform, and the hatch door direct current generator being fixed on top plate passes through
Hatch door gear reduction box transmits motion to gear a, and gear b is arranged at the top of gear a and is meshed with gear a, is fixed on
The gear c of the gear b central shaft other ends is engaged with hatch door shaft gear d, and door-hinge rotary motion is driven by direct current generator；Gear b
Motor power is reached by gear e by third wheel one and third wheel two, gear b steerings identical with gear e rotating speeds are on the contrary, pass through gear e
Power is reached hatch door shaft gear drives another door-hinge to rotate, by controlling the number of turns that hatch door direct current generator rotates and the side rotated
To the unlatching or closure for controlling automatic hatch door.
Further, the pick-off unit is a stylobate in the Five-degree-of-freedmanipulator manipulator in rectangular co-ordinate joint, including realization
X, the rectangular co-ordinate joint of tri- direction one-movement-freedom-degrees of Y, Z and arm end clamper can be realized around X-axis and column about the z axis
Rotary freedom rotary joint, the rotary joint includes X-axis rotary motion module and Z axis rotary motion module；It is described
Rectangular co-ordinate joint includes X-axis translational motion module, Y-axis translational motion module, Z axis translational motion module；Y-axis translational motion mould
Group is arranged on link, and X-axis translational motion module is drivingly connected frame and moves in X direction；
The X-axis translational motion module includes DC high-power motor x, X-axis line slideway 21,22, wheel, leading screw x, spiral shell
Female x, DC high-power motor x are fixed on the bottom plate of compartment main body, are arranged at the lower section of fixed storing part, two X-axis straight lines
Guide rail 21,22 is fixed on the bottom plate of compartment main body and is respectively arranged at the lower section of movable storing area A and movable storing area B, X-axis
Line slideway 21,22 bears manipulator load and guides link to do reciprocating linear motion in X-direction；The both sides of the link
Respectively there is pair of wheels in lower section, and both sides wheel is respectively along the X-axis line slideway 21,22 reciprocating slips；DC high-power motor x
Output shaft is connected with the axle center of leading screw x by positive coupling, and the leadscrew-nut mechanism by being connected in below link will
The convert rotational motion of DC high-power motor x is the translational motion of link in X direction；
The Y-axis translational motion module includes feeder motor y, Y-axis line slideway, rotating basis, reduction box y, rack, institute
State the top that rotating basis is arranged at link, the boss below rotating basis is engaged with link, and rotating basis can be along even
Connect the translational motion that frame does Y-direction；Y-axis line slideway and rack are arranged at the inside of link in parallel to each other；Reduction box y consolidates
Due to the lower section of rotating basis, the rotor of feeder motor y provides power resources for reduction box y, passes through rack and pinion mechanism
Rotating basis is driven to realize translational motion of the manipulator along Y-direction；
The Z axis translational motion module includes feeder motor z, column, rotating base, Z axis line slideway, steering engine z, deceleration
Case z, leading screw z, nut z, rotating base are arranged at the inside of rotating basis and form revolute pair with rotating basis, it is possible to achieve rotation
Turn the relative rotation of base and rotating basis；Column is connected in the top of rotating base, and Z axis line slideway is arranged at the two of column
Side, feeder motor z are arranged at the top of column, the input shaft of the output shaft of feeder motor z as reduction box z；Leading screw z is fixed and set
It is placed in the top of rotating base and is parallel to each other with Z axis line slideway, output shafts of the leading screw z as reduction box z；The bottom of steering engine z
Seat is connected with nut z, by the convert rotational motion of feeder motor z is liftings of the steering engine z along Z-direction by leadscrew-nut mechanism
Movement；
The X-axis rotary motion module includes arm end clamper, the output shaft and arm end of the steering engine z
The bottom plate of clamper is connected, and rotary motion of the arm end clamper around X-axis is realized by the operating of steering engine z；The Z axis rotation
Transporting dynamic model group includes coding motor, rotating basis, rotating base and planetary gear, and coding motor is connected in the upper of rotating base
Side's driving planetary gear simultaneously plays planet carrier, and the edge of rotating basis is provided with the gear ring being meshed with planetary gear, rotation
Turn pedestal, rotating base and planetary gear and realize rotation of the rotating base relative to rotating basis direction about the z axis jointly.
Further, the arm end clamper includes steering engine a, steering engine b, connecting rod a, connecting rod b, connecting rod c, grip block
And non-slip mat, covered with non-slip mat, connecting rod a, connecting rod b, the rack of connecting rod c and steering engine a form turn successively for the inner surface of grip block
Dynamic pair, forms the planar linkage mechanism of a parallelogram, and output shaft and the connecting rod a of steering engine a are connected, grip block and connecting rod
B is connected, and the rotary motion driving grip block of steering engine a makees translational motion；Clamper is by the flat of two symmetrical parallelograms
Face linkage is formed, and the symmetrically arranged planar linkage mechanism in both sides is controlled by controlling the rotation angle of steering engine a and steering engine b
The closure of two grip blocks and expansion, the holding action and release for realizing clamper act.
Further, it is described to post pickup platform by indexable formula chain conveyor, pickup platform and post part platform and form：
The indexable formula chain conveyor is arranged at the lower floor at compartment rear portion, and the bottom of conveying device is provided with snail
Wheel, the bottom of conveying device are provided with worm screw with worm wheel, the direct current generator a driving worm gears being fixed on platform floor
Worm mechanism realizes the rotary motion of conveying device；Conveying device face is set to post the corresponding positions of part mouth and pickup mouth on platform floor
Put and be respectively equipped with limit switch, conveying device is rotated at the entry position for posting part platform or pickup platform and stopped operating；
Conveying device top is provided with chain type conveyor belt, and the front end of chain type conveyor belt is arranged in the working space of manipulator, and chain type is defeated
The both sides of band are sent to be provided with photoelectric proximity switch, direct current generator drives chain type conveyor belt to move by sprocket wheel；
The rear posted part platform and be arranged at chain conveyor, direct current generator b are driven by Worm and worm-wheel gearing
Dynamic parallelogram mechanism realizes the lifting campaign for posting part platform, and the width for posting part platform is not less than the width of conveyer belt, posts part
Platform surface triggers limit switch when moving to the position to fit with conveyer belt surface, movement stops；Post part platform surface
Be provided with the upper baffle of distal limit position for by express mail from the scraping plate mechanism for posting part platform and being pushed to conveyer belt, it is described
Scraping plate mechanism posts the chain wheel drive of part platform parallel quadrangular mechanism opposite side by being fixed on, and is transferred the motion to by chain drive
The minor sprocket that is fixed on partition plate simultaneously drives cam rotation, by convert rotational motion is the flat of cam follower using cam mechanism
Move, then the rotation of 0 ° ~ 95 ° of scraper plate is realized by slider-crank mechanism；
The pickup platform is arranged at the right side of chain conveyor, and pickup platform is 30 ° of smooth bevels, and express mail is from chain type
Slide to pickup platform on the conveyer belt of conveying device, distributed express mail to pickup mouth A or pickup mouth B by baffle；Baffle by
Micromachine driving below pickup platform, baffle shaft are connected with motor output shaft by everything shaft coupling, two of baffle
Movement pole position is all provided with limit switches 62,63；The top of pickup platform outlet is provided with the LCD display of human-computer interaction.
Further, the hydraulic pressure lifting device includes hydraulic cylinder and load bearing beam, and two load bearing beam difference genesis analysis exist
Car bottom, is connected on a load bearing beam before and after the cylinder body of two hydraulic cylinders, two other hydraulic cylinder is symmetrically connected in separately
On one load bearing beam, the piston rod of four hydraulic cylinders, which is synchronized with the movement, drives the lifting and decline in compartment.
The utility model has the advantages that compared with prior art.
1st, the website formula intelligence express delivery car of express system is taken using self-service post, breaks away from the time restriction that express delivery is taken to posting, make
User, which posts, takes the process of express delivery to become more convenient；Using pickup booking-mechanism, lifting means utilization rate；
2nd, intelligent express delivery car cabin design combines the concept of intensive storage, designs the frame lattice of plurality of specifications, and use can open up
Shelf design is opened, improves flexibility ratio, coordinates five degree of freedom picking manipulator, solid space utilization rate is higher, realizes efficiently fast
Distribute express mail promptly；It is its inverse process to post part, and with reference to part path planning is posted, express mail is put into sky frame lattice；
3rd, using external auxiliary piece installing manipulator, can be directly loaded into automatically using piece installing manipulator after express mail is sorted
Lattice；The design in " the more railway carriage or compartments of a car ", improves the flexibility ratio that dispatching website is set, easy to integrate piece installing, pickup, post part；
4th, set in compartment and send part unmanned plane, coordinate the elevating mechanism that platform is shut down in compartment and oneself positioned at car body top
Dynamic hatch door, makes unmanned plane combine together with express delivery compartment, is conducive to expand the dispatching outer of express delivery car；
5th, using the advantage of technology of Internet of things, with reference to intelligence control system, realize post pickup process it is intelligent, nobody
Change operation；Supporting integration of information system express mail pickup preengages, postpones, posting part, return service.
Self-carry service point has had reached certain scale due to its number of services, then its function also corresponds to one small
The logistics center of type.The design is applied to express delivery car with regard to the extensive automatic stereo storage technological improvement of current application, realizes height
Degree it is intensive, broken away from the limitation that the time takes express delivery to posting, realized and post the intelligent, unmanned of pickup process, saved
Human resources, solve the problems, such as express mail " last one kilometer " from the degree of bigger, and the development for meeting " internet+express delivery " becomes
Gesture, has good application value.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is storing part entirety perspective view.
Fig. 3 is main structure diagram in Fig. 2.
Fig. 4 is overlooking the structure diagram in Fig. 2.
Fig. 5 is left view structural representation in Fig. 2.
Fig. 6 is pick-off unit overlooking the structure diagram.
Fig. 7 is pick-off unit left view structural representation.
Fig. 8 is clamper dimensional structure diagram.
Fig. 9 is to post pickup platform entirety perspective view.
Figure 10 is to post pickup platform main structure diagram in Fig. 9.
Figure 11 is to post pickup platform left view structural representation in Fig. 9.
Figure 12 send part device side structure schematic view for unmanned plane.
Figure 13 is that platform lifting mechanism entirety perspective view is shut down in Figure 12.
Figure 14 is that platform lifting mechanism main structure diagram is shut down in Figure 13.
Figure 15 is that platform lifting mechanism overlooking the structure diagram is shut down in Figure 13.
Figure 16 is that platform lifting mechanism side structure schematic view is shut down in Figure 13.
Figure 17 is automatic hatch door mechanism entirety perspective view.
Figure 18 is automatic hatch door mechanism main structure diagram in Figure 17.
Figure 19 is automatic hatch door mechanism overlooking the structure diagram in Figure 17.
Figure 20 is automatic hatch door mechanism side structure schematic view in Figure 17.
Figure 21 is automatic hatch door mechanism present invention looks up structural representation in Figure 17.
Figure 22 is external auxiliary piece installing device entirety perspective view.
Figure 23 is external auxiliary piece installing device main structure diagram in Figure 22.
Figure 24 is external auxiliary piece installing device overlooking the structure diagram in Figure 22.
Figure 25 is external auxiliary piece installing device left view structural representation in Figure 22.
Figure 26 is external auxiliary piece installing device right side structural representation in Figure 22.
Figure 27 picks up by oneself mode FB(flow block) for user.
Figure 28 is to post part model process block diagram.
Embodiment
Elaborate with reference to embodiment to the utility model：The present embodiment be using technical solutions of the utility model as
Premise is implemented, and gives detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited
In the following examples.
As shown in Figure 1, the fast delivery device of a kind of intelligence in the present embodiment, it includes carrier loader 1 and compartment, and compartment is detachable
Ground is installed on carrier loader 1, wherein：The compartment includes storing part 2, storing part expanding unit 3, pick-off unit 4, posts pickup and put down
Platform 5, unmanned plane send part device 6 and hydraulic pressure lifting device 7, and the pickup platform 5 of posting includes posting part platform and pickup platform, described
Pickup platform includes pickup platform A areas and pickup platform B areas；
The storing part 2 is arranged at the front portion in compartment, and storing part 2 includes fixed storing part 8, movable storing area A9 and activity
Storing part B10, fixed storing part 8 are fixedly installed on compartment front portion, and movable storing area A9 is symmetrically disposed on movable storing area B10
On the front and rear sides face of fixed 8 right of storing part；
The storing part expanding unit 3 is arranged at the top in compartment, and storing part expanding unit 3 includes movement cantilever, activity
Storing part A9 and movable storing area B10 is installed on the movement cantilever；The car body top is additionally provided with automatic hatch door；
The pick-off unit 4 is installed on the middle part of compartment bottom surface, pick-off unit 4 for end be provided with the five of clamper 19 from
By degree right angle coordinate manipulator；
The rear portion in the compartment is provided with two layers up and down, and wherein lower floor is defeated by indexable formula chain type to post pickup platform 5
Send device that express mail is branched to the pickup platform A areas or pickup platform B areas by the workspace of pick-off unit 4, it is on the contrary by express mail
From posting the workspace being removed on part platform and be delivered to pick-off unit 4；Part device 6, unmanned plane are sent for unmanned plane in the upper strata in compartment
Send and be provided with unmanned plane on part device 6, send part device 6 that unmanned plane is promoted to predetermined altitude by driving stepper motor unmanned plane,
The automatic hatch door automatically opens up, and completes unmanned plane and takes off or recycle；
Hydraulic pressure lifting device 7 is installed between car bottom and carrier loader 1, for compartment be installed on truck on or car
Railway carriage or compartment is disassembled from carrier loader.
Further, the carrier loader 1 is light flat plate transport vehicle, and the truck is mainly by power section, turning part
Divide, frame section, the part composition of suspension part four, whole device uses Electric Traction mode, it is characterised in that：With a pair simultaneously
Heavy-duty motor of the row in the middle part of vehicle frame is driving, coordinates large speed ratio reduction gear box, and power utilization Hooks coupling universal coupling is defeated
Enter to rear axle；Electronic speed regulation is carried out by control panel, output there are 8 speed class model values；Knuckle section is electric powered steering system, position
Driving motor driven gear reduction box in device front end moves, and gear reduction box slides on rack stationary rack, utilizes tooth
Take turns translational motion of the rackwork by conversion of motion for steering sliding block；Turn to slide block mechanism and drive four-bar mechanism and preposition trapezoidal machine
Structure moves, and drives the wheel in two trapezoidal sides around steering spindle synchronous hunting；Frame section is configuration structure, based on cantilevered corner beam
Construction unit is wanted, power section, knuckle section, suspension segment set is integral；Front-wheel uses independent suspension, and trailing wheel is using non-only
Vertical board-like spring suspension, in the middle part of leaf spring and both ends set hinge joint, be connecteds with vehicle frame, transmit various power and torque, both ends and
Double rear-axle hingings.
Further, compartment upper surface is provided with solar energy photovoltaic panel, converts the solar into electric energy as in the present apparatus
Electrical equipment provides electric energy.
Further, the hydraulic pressure lifting device includes hydraulic cylinder 86 and load bearing beam 87, and two load bearing beams 87 are longitudinal respectively
Car bottom is distributed in, is connected in before and after the cylinder body of two hydraulic cylinders 86 on a load bearing beam 87, two other hydraulic cylinder 86 is right
It is connected on another load bearing beam with claiming, the piston rod of four hydraulic cylinders 86, which is synchronized with the movement, drives the lifting and decline in compartment.
As shown in Figures 2 to 5, the storing part 2 includes some matter storage lattices for being used to store express mail, and matter storage lattice is intensive narrow
Physique frame, the supporting plate middle part hollow out of each matter storage lattice bottom surface, each matter storage lattice have unique numbering respectively.
Further, the size of matter storage lattice sets plurality of specifications according to express mail size in the storing part 2.
Further, the storing part expanding unit 3 includes line slideway 15,16, and transmission nut, be fixed on by bearing
The turn-screw of car body top and two driving motors 11,12, two driving motors 11,12 are respectively arranged at the movable storing
The top of area A9 and movable storing area B10, correspondence is installed on movable storing area A9 and movable storing area to two transmission nuts respectively
On the upper surface of B10, for movable storing area A9 with movable storing area B10 carries on line slideway 15,16, transmission nut corresponds to peace
Loaded on turn-screw, controller is simultaneously emitted by motor message to two driving motors 11,12, and driving motor 11,12 is by subtracting
Fast chain-drive mechanism 13,14 drives turn-screw to rotate, and turn-screw is converted rotational motion into directly by leadscrew-nut mechanism
Line moves, and movable storing area A9 and movable storing area B10 are moved toward one another or moved opposite to each other, two along line slideway 15,16 is synchronous
Side movable storing area A9 and movable storing area B10 synchronous expansions or closing, motion criteria stroke are the width of storing part, work as block
Limit switch 17,18 is touched, movable storing area A9 and movable storing area B10 movements stop.
As shown in Figure 6 to 8, the pick-off unit 4 is a stylobate in the Five-degree-of-freedmanipulator manipulator in rectangular co-ordinate joint, bag
Include the rectangular co-ordinate joint for realizing tri- direction one-movement-freedom-degrees of X, Y, Z and can realize arm end clamper 19 around X-axis and
The rotary joint of the rotary freedom of column 31 about the z axis, the rotary joint include X-axis rotary motion module and Z axis rotation fortune
Dynamic model group；The rectangular co-ordinate joint includes X-axis translational motion module, Y-axis translational motion module, Z axis translational motion module；Y
Axis translational motion module is arranged on link 23, and X-axis translational motion module is drivingly connected frame 23 and moves in X direction；
The X-axis translational motion module includes DC high-power motor x20, X-axis line slideway 21,22, wheel 38, leading screw
X24, nut x, DC high-power motor x20 are fixed on the bottom plate of compartment main body, are arranged at the lower section of fixed storing part 8, and two
A X-axis line slideway 21,22 is fixed on the bottom plate of compartment main body and is respectively arranged at movable storing area A9 and movable storing area
The lower section of B10, X-axis line slideway 21,22 bear manipulator load and guide link 23 to do reciprocating linear motion in X-direction；
The down either side of the link 23 respectively has pair of wheels 38, and both sides wheel 38 is reciprocal along the X-axis line slideway 21,22 respectively
Formula is slided；DC high-power motor x20 output shafts are connected with the axle center of leading screw x24 by positive coupling, and by being connected in
The leadscrew-nut mechanism of the lower section of link 23 by the convert rotational motion of DC high-power motor x20 for link 23 in X direction
Translational motion；
The Y-axis translational motion module includes feeder motor y, Y-axis line slideway 25, rotating basis 26, reduction box y, tooth
Bar 27, the rotating basis 26 are arranged at the top of link 23, and the boss of the lower section of rotating basis 26 is engaged with link 23,
Rotating basis can 26 translational motions for doing Y-direction along link 23；Y-axis line slideway 25 and rack 27 are arranged in parallel to each other
The inside of link 23；Reduction box y is fixed on the lower section of rotating basis 26, and the rotor of feeder motor y provides for reduction box y
Power resources, drive rotating basis 26 to realize translational motion of the manipulator along Y-direction by rack and pinion mechanism；
The Z axis translational motion module includes feeder motor z, column 31, rotating base 28, Z axis line slideway 32, steering engine
Z29, reduction box z33, leading screw z34, nut z35, rotating base 28 be arranged at the inside of rotating basis 26 and with rotating basis 26
Form revolute pair, it is possible to achieve the relative rotation of rotating base 28 and rotating basis 26；Column 31 is connected in rotating base 28
Top, Z axis line slideway 32 are arranged at the both sides of column 31, and feeder motor z is arranged at the top of column 31, feeder motor z's
Input shaft of the output shaft as reduction box z33；Leading screw z34 be fixedly installed on the top of rotating base 28 and with Z axis line slideway
32 are parallel to each other, output shafts of the leading screw z34 as reduction box z33；The base of steering engine z29 is connected with nut z35, passes through leading screw
The convert rotational motion of feeder motor z is elevating movements of the steering engine z29 along Z-direction by nut body；
The X-axis rotary motion module includes arm end clamper 19, the output shaft and manipulator of the steering engine z29
The bottom plate 39 of end gripper 19 is connected, and realizes that arm end clamper 19 is transported around the rotation of X-axis by the operating of steering engine z29
It is dynamic；The Z axis rotary motion module includes coding motor 36, rotating basis 26, rotating base 28 and planetary gear 37, coding electricity
Machine 36 is connected in the top driving planetary gear 37 of rotating base 28 and plays planet carrier, and the edge of rotating basis 26 is set
There is the gear ring being meshed with planetary gear 37, rotating basis 26, rotating base 28 and planetary gear 37 realize rotating base jointly
28 relative to the direction about the z axis of rotating basis 26 rotation.
Further, the arm end clamper 19 includes steering engine a40, steering engine b41, connecting rod a42, connecting rod b43, company
Bar c44, grip block 45 and non-slip mat 46, the inner surface of grip block 45 is covered with non-slip mat 46, connecting rod a42, connecting rod b43, connecting rod
The rack of c44 and steering engine a40 form revolute pair successively, form the planar linkage mechanism of a parallelogram, steering engine a40's
Output shaft is connected with connecting rod a42, and grip block 45 is connected with connecting rod b43, and the rotary motion driving grip block 45 of steering engine a40 translates
Movement；Clamper is made of the planar linkage mechanism of two symmetrical parallelograms, the symmetrically arranged planar linkage in both sides
Mechanism controls the closure of two grip blocks 45 and expansion by controlling the rotation angle of steering engine a40 and steering engine b41, realizes clamping
The holding action of device is acted with release.
As shown in Figures 9 to 11, it is described to post pickup platform by indexable formula chain conveyor, pickup platform and post part and put down
Platform forms：
The indexable formula chain conveyor is arranged at the lower floor at compartment rear portion, and the bottom of conveying device is provided with worm gear
47, bottom and the worm gear 47 of conveying device are cooperatively provided with worm screw 49, and the direct current generator a48 being fixed on platform floor drives
Dynamic worm gear mechanism realizes the rotary motion of conveying device；Conveying device face is set to post part mouth and pickup mouth on platform floor
Relevant position is respectively equipped with limit switch, and conveying device, which is rotated at the entry position for posting part platform or pickup platform, to be stopped
Rotate；Conveying device top is provided with chain type conveyor belt 50, and the front end of chain type conveyor belt 50 is arranged at the working space of manipulator
Interior, the both sides of chain type conveyor belt 50 are provided with photoelectric proximity switch 51, and direct current generator drives chain type conveyor belt 50 to transport by sprocket wheel
Dynamic, the movement driving conveying device of chain type conveyor belt 50 synchronously moves forwards or backwards；
The rear posted part platform and be arranged at chain conveyor, direct current generator b52 pass through Worm and worm-wheel gearing
53 driving parallelogram mechanisms 54 realize the lifting campaign for posting part platform, and the width for posting part platform is not less than the width of conveyer belt
Degree, posts and limit switch is triggered when part platform surface moves to the position to fit with conveyer belt surface, and movement stops；Post part platform
Be provided with the upper baffle of the distal limit position on surface for by express mail from the scrapper conveyor for posting part platform and being pushed to conveyer belt
Structure, the sprocket wheel 55 that the scraping plate mechanism posts part platform parallel quadrangular mechanism opposite side by being fixed on drive, will by chain drive
Movement is transferred to the minor sprocket 56 being fixed on partition plate and is rotated with moving cam 57, is by convert rotational motion using cam mechanism
The translation of cam follower 58, then realize by slider-crank mechanism 59 rotation of 0 ° ~ 95 ° of scraper plate；
The pickup platform is arranged at the right side of chain conveyor, and pickup platform is 30 ° of smooth bevels 60, and express mail is from chain
Slide to pickup platform on the conveyer belt of formula conveying device, distributed express mail to pickup mouth A or pickup mouth B by baffle 61；Gear
Plate is driven by the micromachine below pickup platform, and baffle shaft is connected with motor output shaft by everything shaft coupling, baffle
Two movement pole position is all provided with limit switches 62,63；The LCD that human-computer interaction is provided with the top of pickup platform outlet is shown
Screen.
As shown in Figure 12 to Figure 21, the unmanned plane send part device to include express mail loader mechanism 64, shut down balcony lift
Structure 65 and automatic hatch door mechanism 66, manipulator unclamp after sending express mail feeding unmanned plane to the entrance of part device, and express mail is made in gravity
Slipped under by inclined Conveyor 67 and be arranged at 67 end of Conveyor and under shutdown platform lifting mechanism 65
In the loading cabin 68 of side, the top that platform lifting mechanism 65 drives unmanned plane to drop to loading cabin 68, unmanned plane clamping machine are shut down
Loading cabin 68 is clamped and is loaded into its belly by structure, completes to load work；
Unmanned plane loads the end that loading cabin 68 is placed in Conveyor 67, shuts down platform both sides and is pacified by bilateral bent plate cuff link
On elevating chain 69 loaded on both sides, the unmanned plane loading motor 70 for being fixed on compartment rear portion upper strata bottom plate drives unmanned plane to load
Reduction box 71 imparts power to the drive bevel gear being arranged inside transfer case, the opposed transfer being meshed with drive bevel gear
Bevel gear 72 connects Kinematic Decomposition into two reverse rotary motions, the other end and the rigidity of transfer worm screw 73 of transfer bevel gear shaft
Connect, the transfer worm gear 74 being meshed with transfer worm screw 73 is installed on the sprocket shaft of elevating chain lower part, is subtracted using worm and gear
Fast mechanism is rotated with movable sprocket realizes the elevating movement for shutting down platform；Limit switches, which are all provided with, in lifting platform pole position limits row
Journey；
The automatic hatch door mechanism 66 is arranged at the surface for shutting down platform, the hatch door direct current generator 75 being fixed on top plate
Gear a77 is transmitted motion to by hatch door gear reduction box 76, gear b78 be arranged at the top of gear a77 and with gear a77
It is meshed, the gear c79 for being fixed on the gear b78 central shaft other ends is engaged with hatch door shaft gear d80, is driven by direct current generator
Door-hinge rotary motion；Motor power is reached gear e83, gear b78 and gear by gear b78 by third wheel 1 and third wheel 2 82
Identical turn on the contrary, power is reached hatch door shaft gear 84 by gear e83 of e83 rotating speeds drives another door-hinge to rotate, and passes through control
The number of turns and unlatching or the closure of the direction controlling hatch door 85 rotated that hatch door direct current generator 75 processed rotates.
As shown in Figure 22 to Figure 26, auxiliary piece installing device is additionally provided with the outside of the present apparatus, auxiliary piece installing device is one
Platform can be achieved in X direction, Y-direction make translational motion and the Five-degree-of-freedmanipulator manipulator to rotate around X-axis, Y-axis and Z axis, it is main
Complete exterior loading and unloaded operation of the express mail in express delivery car body.The Five-degree-of-freedmanipulator manipulator movement mainly includes：Base
Seat 88 in X direction translational motion, column 104 around Z-direction rotary motion, large arm 89 along the translational motion of Y-direction, forearm 90 along Z
The rotary motion of the elevating movement in direction and forearm end around Y-direction.Translating joint includes X-axis translational motion module, Y-axis translation
Move module.Rotary joint includes X-axis rotary motion module, Y-axis rotary motion module and Z axis rotary motion module；
In the auxiliary piece installing device：X-axis translational motion module includes direct-drive motor 91, reduction box 92, pedestal
Platform 93, X-axis line slideway 94, chain 95, leading screw 96, nut, limit switch 97, mobile platform 98.Direct-drive motor 1 and
Gear reduction box is located on base platform, and reduction box output gear is as chain drive input gear.Lead screw shaft is placed in pedestal
On platform, and it is connected with chain drive output gear shaft.Line slideway is fixed in base platform parallel to leading screw.Nut is with moving
Moving platform is connected, and direct-drive motor 1 realizes mobile platform and top manipulator along X by chain drive using leadscrew-nut mechanism
The translational motion in direction.Limit switch is positioned in base platform according to matter storage lattice position, for inspecting manipuator position；
In the auxiliary piece installing device：The Z axis rotary motion module includes mobile platform 98, rotating basis 99, rotation
Turn base, worm screw 100, direct current generator 101, reduction box 102, code-disc.Rotating base is fixed on mobile platform, and with rotating base
Seat coordinates.Rotating basis edge sets rack gear, coordinates with the worm screw beside it, forms worm gear mechanism.Direct current arbor
It is connected with reduction box input shaft, and is fixed on mobile platform.Reduction gearbox output shaft is connected with worm shaft, passes through direct current generator
Rotate, realize the rotation in mechanical arm direction about the z axis.The other end installation code-disc of worm shaft, by controlling pulse number control rotation
Gyration；
In the auxiliary piece installing device：The Y-axis translational motion module includes Y-axis line slideway 103, large arm 89, rotation
Turn pedestal, column 104, leading screw, nut, direct current generator 105, retarder 106.Column is located at the top of rotating basis.Two Y-axis
Line slideway is located at leading screw above column and guide rail and leading screw are parallel to each other.Direct current generator is located above column, its output shaft
As reducer input shaft.The output shaft of retarder and one end of leading screw are rigidly connected, and the other end of leading screw installation code-disc, use
In control large arm shift length.Nut matches somebody with somebody to merge with leading screw is fixed on the lower section of large arm 89, and direct current generator rotates, and passes through feed screw nut
Mechanism, realizes stretching motion of the large arm along Y-direction；
In the auxiliary piece installing device：The X-axis rotary motion module includes direct current generator 107, reduction box 108, silk
Thick stick 109, nut slider 110, gear 111, gear 112, gear 113, slider-crank mechanism, parallelogram mechanism.Direct current
Machine, gear 111, gear 112, gear 113, leading screw are fixed on above large arm.Direct current generator driving reduction box outputs power
To gear 111, the gear 112 being meshed therewith drives leading screw to rotate, and motor rotary motion is converted to spiral shell by leadscrew-nut mechanism
Linear motion of female sliding block 110 along Y direction.Connecting rod 114 is connected by hinge with nut slider 110 and crank 115, slide crank
The linear motion of nut slider 110 is converted to the rotary motion of crank around hinge by block mechanism.Crank and parallelogram mechanism
One side be connected, the rotary motion so as to fulfill mechanical hand arm around X-axis, parallel four side ensures that arm end part begins to mechanism
Ground is remained perpendicular to eventually.Gear 113 is meshed with gear 112, the other end installation code-disc of 113 axis of gear, for control machine
Tool hand arm is around X-axis rotation angle.
In the auxiliary piece installing device：The Y-axis rotary motion module includes steering engine 116, arm end clamper
117.The rack of steering engine 116 is fixed on mechanical hand arm end, and 116 output shaft of steering engine is consolidated with arm end clamper bottom plate
Even, by the operating of steering engine 116, it can be achieved that arm end clamper around Y-axis rotary motion.
External auxiliary piece installing device for mechanical arm end gripper structure and foregoing pick-off unit mechanical arm tail end clamper knot
Structure is identical, no longer describes herein.
During use：
1st, external auxiliary piece installing device is operated in home-delivery center, is installed on express mail conveyer belt and compartment piece installing area, dress
Part device end gripper picks up express mail, distributes corresponding frame lattice according to express mail appearance and size, manipulator is adjusted by controller
Pose, express mail is accurately sent in the frame lattice in compartment from outside.More piece installing devices load express mail from three faces in compartment respectively, carry
High piece installing efficiency.
2nd, user picks up by oneself mode：Its FB(flow block) is as shown in figure 27, and compartment is transported to designated position and by car by truck
Railway carriage or compartment is discretely located in the predetermined area, and automatic start storing part expanding unit, and movable storing area is unfolded, and pick-off unit is automatically multiple
Position, compartment enters service state.Interior controller sends pickup message to subscription client, notifies user according to itself need
The pickup time is preengage, according to compartment pickup Functional Design, allows two people to operate at the same time in the same period.User is according to pre-
Make an appointment pickup when, scan the received pickup Quick Response Code of subscription client in barcode scanning window, or input and take on operation panel
Part code, reads into row information and secure match, compartment controller sends movement instruction to pick-off unit, by taking mechanical hand end
Clamper is moved to target location, and express mail is taken out, and pick-off unit continues to move, and complete machine is lowered in the movement instruction of controller
The position of tool hand end gripper, express mail is transported at the front end inlet of indexable formula chain conveyor, and clamper is to Z axis
Negative direction moves a certain distance, and express mail is offloaded on conveyer belt, and pick-off unit completes work and reset to await orders, chain conveying dress
To put and start to work and be indexed at the dock door of section, express mail is slid from the conveyer belt of chain conveyor to pickup platform,
Distributed by baffle to pickup mouth A and pickup mouth B, user and take express mail away from pickup mouth, complete pickup process.
3rd, unmanned plane sends mode with charge free：For user after the pickup time is preengage, optional unmanned plane sends pattern with charge free, is being confirmed
And after other operations, compartment controller receives to send order with charge free, read and after secure match, controller is to pickup into row information
Device sends movement instruction, and taking mechanical hand end gripper is moved to target location, and express mail is taken out, in controller
Movement instruction lowers the position of whole manipulator end gripper, carries it to the Conveyor entrance on compartment rear end upper strata
Place, clamper unclamps express mail at this time, and express mail is slipped into positioned at the loading shut down below platform lifting mechanism by Conveyor
In cabin, pick-off unit completes work and resets to await orders, and shuts down the top that platform lifting mechanism drives unmanned plane to drop to loading cabin,
Loading cabin is clamped and is loaded into its belly by unmanned plane clamping device, completes to load work；Platform lifting mechanism is shut down afterwards to open
Begin to move, send part unmanned plane to be promoted to predetermined altitude by special, meanwhile, the automatic hatch door of car body top is opened, and unmanned plane carries
Express mail, which takes off, goes to target location.Afterwards, automatic hatch door is closed.After user takes out express mail from loading cabin, unmanned plane makes a return voyage, when connecing
During nearly automatic hatch door position, automatic hatch door is opened, and unmanned plane recycling, completes unmanned plane and send task with charge free.
4th, part pattern is posted：Its FB(flow block) is as shown in figure 28, and when posting part, user clicks in operation panel and posts part button,
Confirmed and other operations after, part task is posted in compartment controller generation, posts part mouth opening, express mail is positioned over and posts part by user
On the special E shapes tablet of device upper surface, direct current generator driving parallelogram mechanism movement, completes the lifting and transmission of express mail
Action.When express mail moves to chain type conveyor belt inlet, express mail is pushed to chain by the scraping plate mechanism at upper baffle from part platform is posted
On formula conveyer belt, parallelogram mechanism resets, while pick-off unit moves to the exit of chain type conveyor belt, conveyer belt fortune
It is dynamic, express mail is transported on arm end taking board, controller retrieves vacant frame lattice, path planning is carried out, to pick-off unit
Movement instruction is sent, taking mechanical hand end taking board is moved to target location, and express mail is loaded, pick-off unit resets,
Post part completion.
5th, compartment removing stage makeup and costume on carrier loader：When express delivery car reaches express delivery distribution website, it is necessary to which compartment is from carrier loader
Unload.Make carrier loader be parked in place compartment appropriate location when, start motor, drive oil pump suction pressure oil from fuel tank be sent to
Piston rod is set to do stretching motion in hydraulic cylinder, when reaching greatest limit position, piston rod is lifted compartment by load bearing beam, compartment
Separate with carrier loader, at this time output carrier loader, compartment is just placed on target location；When compartment needs return logistics home-delivery center
When, it is necessary to which compartment is loaded on carrier loader.First, carrier loader is parked in position, rear portion tablet is placed under compartment
Side；Then, motor is started, driving oil pump to suction out pressure oil from hydraulic cylinder and be sent to fuel tank makes piston rod do contractile motion, arrival
During least limit position, carrier loader rear portion tablet props up compartment；Finally, fixed pin is inserted into, carrier loader can be by vehicle delivery
To logistics distribution center.
The above, is only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
It is any to be familiar with those skilled in the art in the technical scope that the utility model discloses in this, the change that can be readily occurred in
Or replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with the power
Subject to the protection domain that profit requires.
Claims (10)
1. a kind of fast delivery device of intelligence, it includes carrier loader（1）With compartment, compartment is removably installed in carrier loader（1）On, its
It is characterized in that：The compartment includes storing part（2）, storing part expanding unit（3）, pick-off unit（4）, post pickup platform（5）, nothing
It is man-machine to send part device（6）And hydraulic pressure lifting device（7）, it is described to post pickup platform（5）It is described including posting part platform and pickup platform
Pickup platform includes pickup platform A areas and pickup platform B areas；
The storing part（2）It is arranged at the front portion in compartment, storing part（2）Including fixed storing part（8）, movable storing area A（9）With
Movable storing area B（10）, fixed storing part（8）It is fixedly installed on compartment front portion, movable storing area A（9）With movable storing area B
（10）It is symmetrically disposed on fixed storing part（8）On the front and rear sides face of right；
The storing part expanding unit（3）It is arranged at the top in compartment, storing part expanding unit（3）Including moving cantilever, activity
Storing part A（9）With movable storing area B（10）It is installed on the movement cantilever；The car body top is additionally provided with automatic hatch door
（85）；
The pick-off unit（4）It is installed on the middle part of compartment bottom surface, pick-off unit（4）Clamper is installed for end（19）Five
Free degree right angle coordinate manipulator；
The rear portion in the compartment is provided with two layers up and down, and wherein lower floor is to post pickup platform（5）, pass through indexable formula chain conveying
Device is by express mail by pick-off unit（4）Workspace branch to the pickup platform A areas or pickup platform B areas, otherwise by express mail
Removed on part platform from posting and be delivered to pick-off unit（4）Workspace；Part device is sent for unmanned plane in the upper strata in compartment（6）, nothing
It is man-machine to send part device（6）On be provided with unmanned plane, send part device by driving stepper motor unmanned plane（6）Unmanned plane is promoted to pre-
Fixed height, the automatic hatch door（85）Automatically open up, complete unmanned plane and take off or recycle；
Car bottom and carrier loader（1）Between hydraulic pressure lifting device is installed（7）, for compartment be installed on truck on or car
Railway carriage or compartment is disassembled from carrier loader.
A kind of 2. fast delivery device of intelligence according to claim 1, it is characterised in that：The carrier loader（1）For light flat plate
Transport vehicle；Compartment upper surface is provided with solar energy photovoltaic panel, converts the solar into electric energy and is carried for the electrical equipment in the present apparatus
For electric energy.
A kind of 3. fast delivery device of intelligence according to claim 1, it is characterised in that：The storing part（2）Including some use
In the matter storage lattice of storage express mail, matter storage lattice be intensive narrow physique frame, the supporting plate middle part hollow out of each matter storage lattice bottom surface, each storing
Lattice have unique numbering respectively.
A kind of 4. fast delivery device of intelligence according to claim 3, it is characterised in that：The storing part（2）Middle matter storage lattice
Size sets plurality of specifications according to express mail size.
A kind of 5. fast delivery device of intelligence according to claim 1, it is characterised in that：The storing part expanding unit（3）Bag
Include line slideway（15、16）, transmission nut, the turn-screw and two driving motors for being fixed on by bearing car body top（11、
12）, two driving motors（11）、（12）It is respectively arranged at the movable storing area A（9）With movable storing area B（10）Top,
Correspondence is installed on movable storing area A to two transmission nuts respectively（9）With movable storing area B（10）Upper surface on, movable storing
Area A（9）With movable storing area B（10）Carry is in line slideway（15、16）On, transmission nut is corresponded to and is installed on turn-screw,
Controller is to two driving motors（11、12）Motor message is simultaneously emitted by, drives motor（11、12）Pass through deceleration chain-drive mechanism
（13、14）Turn-screw is driven to rotate, turn-screw converts rotational motion into linear motion by leadscrew-nut mechanism, activity
Storing part A（9）With movable storing area B（10）Along line slideway（15）、（16）Synchronous to move toward one another or move opposite to each other, both sides are lived
Dynamic storing part A（9）With movable storing area B（10）Synchronous expansion or closing, motion criteria stroke are the width of storing part, work as block
Touch limit switch（17、18）, movable storing area A（9）With movable storing area B（10）Movement stops.
A kind of 6. fast delivery device of intelligence according to claim 1, it is characterised in that：It is fast that the unmanned plane send part device to include
Part loader mechanism（64）, shut down platform lifting mechanism（65）With automatic hatch door mechanism（66）, express mail is sent into unmanned plane by manipulator
Unclamped after sending the entrance of part device, express mail is under the effect of gravity by inclined Conveyor（67）Slip into and be arranged at roller conveying
Machine（67）End is simultaneously located at shutdown platform lifting mechanism（65）The loading cabin of lower section（68）It is interior, shut down platform lifting mechanism（65）Band
Dynamic unmanned plane drops to loading cabin（68）Top, unmanned plane clamping device is by loading cabin（68）Clamp and be loaded into its belly,
Complete to load work；
Unmanned plane loads loading cabin（68）It is placed in Conveyor（67）End, shut down platform both sides by bilateral bent plate cuff link pacify
Elevating chain loaded on both sides（69）On, it is fixed on the unmanned plane loading motor of compartment rear portion upper strata bottom plate（70）Drive unmanned plane
Load reduction box（71）The drive bevel gear being arranged inside transfer case is imparted power to, pair being meshed with drive bevel gear
Put transfer bevel gear（72）By Kinematic Decomposition into two reverse rotary motions, the other end and the transfer worm screw of transfer bevel gear shaft
（73）Rigid connection, with transfer worm screw（73）The transfer worm gear being meshed（74）On the sprocket shaft of elevating chain lower part,
Rotated using turbine and worm decelerator with movable sprocket and realize the elevating movement for shutting down platform；It is all provided with lifting platform pole position limited
Bit switch limits stroke；
The automatic hatch door mechanism（66）It is arranged at the surface for shutting down platform, the hatch door direct current generator being fixed on top plate（75）
Pass through hatch door gear reduction box（76）Transmit motion to gear a（77）, gear b（78）It is arranged at gear a（77）Top simultaneously
With gear a（77）It is meshed, is fixed on gear b（78）The gear c of the central shaft other end（79）With hatch door shaft gear d（80）Nibble
Close, door-hinge rotary motion is driven by direct current generator；Gear b（78）Pass through third wheel one（81）With third wheel two（82）By motor power
Reach gear e（83）, gear b（78）With gear e（83）The identical steering of rotating speed is on the contrary, pass through gear e（83）Power is reached into cabin
Door-hinge gear（84）Another door-hinge is driven to rotate, by controlling hatch door direct current generator（75）The number of turns of rotation and the direction control rotated
Make automatic hatch door（85）Unlatching or closure.
A kind of 7. fast delivery device of intelligence according to claim 1, it is characterised in that：The pick-off unit（4）It is a stylobate
Five-degree-of-freedmanipulator manipulator in rectangular co-ordinate joint, including realize the rectangular co-ordinate joint of tri- direction one-movement-freedom-degrees of X, Y, Z
With can realize arm end clamper（19）Around X-axis and column（31）The rotary joint of rotary freedom about the z axis, the rotation
Turning joint includes X-axis rotary motion module and Z axis rotary motion module；The rectangular co-ordinate joint includes X-axis translational motion mould
Group, Y-axis translational motion module, Z axis translational motion module；Y-axis translational motion module is arranged at link（23）On, X-axis translation
Move module and be drivingly connected frame（23）Move in X direction；
The X-axis translational motion module includes DC high-power motor x（20）, X-axis line slideway（21、22）, wheel（38）, silk
Thick stick x（24）, nut x, DC high-power motor x（20）It is fixed on the bottom plate of compartment main body, is arranged at fixed storing part（8）'s
Lower section, two X-axis line slideways（21、22）It is fixed on the bottom plate of compartment main body and is respectively arranged at movable storing area A（9）With
Movable storing area B（10）Lower section, X-axis line slideway（21、22）Bear manipulator load and guide link（23）In X-direction
Do reciprocating linear motion；The link（23）Down either side respectively have pair of wheels（38）, both sides wheel（38）Respectively along institute
State X-axis line slideway（21、22）Reciprocating slip；DC high-power motor x（20）Output shaft and leading screw x（24）Axle center pass through
Positive coupling connects, and by being connected in link（23）The leadscrew-nut mechanism of lower section is by DC high-power motor x（20）
Convert rotational motion be link（23）Translational motion in X direction；
The Y-axis translational motion module includes feeder motor y, Y-axis line slideway（25）, rotating basis（26）, reduction box y, tooth
Bar（27）, the rotating basis（26）It is arranged at link（23）Top, rotating basis（26）The boss and link of lower section
（23）It is engaged, rotating basis（26）Can be along link（23）Do the translational motion of Y-direction；Y-axis line slideway（25）And rack
（27）Link is arranged in parallel to each other（23）Inside；Reduction box y is fixed on rotating basis（26）Lower section, feeder motor
The rotor of y provides power resources for reduction box y, and rotating basis is driven by rack and pinion mechanism（26）Realize manipulator edge
The translational motion of Y-direction；
The Z axis translational motion module includes feeder motor z, column（31）, rotating base（28）, Z axis line slideway（32）, rudder
Machine z（29）, reduction box z（33）, leading screw z（34）, nut z（35）, rotating base（28）It is arranged at rotating basis（26）Inside
And and rotating basis（26）Form revolute pair, it is possible to achieve rotating base（28）With rotating basis（26）Relative rotation；Column
（31）It is connected in rotating base（28）Top, Z axis line slideway（32）It is arranged at column（31）Both sides, feeder motor z sets
It is placed in column（31）Top, the output shaft of feeder motor z is as reduction box z（33）Input shaft；Leading screw z（34）Fixed setting
In rotating base（28）Top and with Z axis line slideway（32）It is parallel to each other, leading screw z（34）As reduction box z（33）It is defeated
Shaft；Steering engine z（29）Base and nut z（35）It is connected, is turned the rotary motion of feeder motor z by leadscrew-nut mechanism
Turn to steering engine z（29）Along the elevating movement of Z-direction；
The X-axis rotary motion module includes arm end clamper（19）, the steering engine z（29）Output shaft and manipulator
End gripper（19）Bottom plate（39）It is connected, passes through steering engine z（29）Operating realize arm end clamper（19）Around X-axis
Rotary motion；
The Z axis rotary motion module includes coding motor（36）, rotating basis（26）, rotating base（28）And planetary gear
（37）, encode motor（36）It is connected in rotating base（28）Top driving planetary gear（37）And play planet carrier, revolve
Turn pedestal（26）Edge be provided with and planetary gear（37）The gear ring being meshed, rotating basis（26）, rotating base（28）With
Planetary gear（37）Rotating base is realized jointly（28）Relative to rotating basis（26）The rotation in direction about the z axis.
A kind of 8. fast delivery device of intelligence according to claim 7, it is characterised in that：The arm end clamper（19）
Including steering engine a（40）, steering engine b（41）, connecting rod a（42）, connecting rod b（43）, connecting rod c（44）, grip block（45）And non-slip mat（46）,
Grip block（45）Inner surface covered with non-slip mat（46）, connecting rod a（42）, connecting rod b（43）, connecting rod c（44）With steering engine a（40）'s
Rack forms revolute pair successively, forms the planar linkage mechanism of a parallelogram, steering engine a（40）Output shaft and connecting rod
a（42）It is connected, grip block（45）With connecting rod b（43）It is connected, steering engine a（40）Rotary motion driving grip block（45）Make translation fortune
It is dynamic；Clamper is made of the planar linkage mechanism of two symmetrical parallelograms, the symmetrically arranged planar linkage machine in both sides
Structure is by controlling steering engine a（40）With steering engine b（41）Rotation angle control two grip blocks（45）Closure and expansion, realize
The holding action of clamper is acted with release.
A kind of 9. fast delivery device of intelligence according to claim 1, it is characterised in that：The pickup platform of posting is by indexable formula
Chain conveyor, pickup platform and post part platform composition：
The indexable formula chain conveyor is arranged at the lower floor at compartment rear portion, and the bottom of conveying device is provided with worm gear
（47）, the bottom of conveying device and worm gear（47）Cooperatively it is provided with worm screw（49）, the direct current that is fixed on platform floor
Machine a（48）Driving worm gear mechanism realizes the rotary motion of conveying device；Conveying device face is set to post part mouth on platform floor
Limit switch is respectively equipped with the relevant position of pickup mouth, conveying device rotates to the entrance position for posting part platform or pickup platform
The place of putting stops operating；Conveying device top is provided with chain type conveyor belt（50）, chain type conveyor belt（50）Front end be arranged at machine
In the working space of tool hand, chain type conveyor belt（50）Both sides be provided with photoelectric proximity switch（51）, direct current generator passes through sprocket wheel
Drive chain type conveyor belt（50）Movement；
The rear posted part platform and be arranged at chain conveyor, direct current generator b（52）Pass through Worm and worm-wheel gearing
（53）Drive parallelogram mechanism（54）Realize the lifting campaign for posting part platform, post the width of part platform not less than conveyer belt
Width, posts and limit switch is triggered when part platform surface moves to the position to fit with conveyer belt surface, and movement stops；Part is posted to put down
Be provided with the upper baffle of the distal limit position on platform surface for by express mail from the scraper plate for posting part platform and being pushed to conveyer belt
Mechanism, the scraping plate mechanism post the sprocket wheel of part platform parallel quadrangular mechanism opposite side by being fixed on（55）Driving, is passed by chain
It is dynamic to transfer the motion to the minor sprocket being fixed on partition plate（56）And with moving cam（57）Rotate, will be rotated and transported using cam mechanism
Turn turns to cam follower（58）Translation, then pass through slider-crank mechanism（59）Realize the rotation of 0 ° ~ 95 ° of scraper plate；
The pickup platform is arranged at the right side of chain conveyor, and pickup platform is 30 ° of smooth bevels（60）, express mail is from chain type
Slid on the conveyer belt of conveying device to pickup platform, pass through baffle（61）Express mail is distributed to pickup mouth A or pickup mouth B；Gear
Plate is driven by the micromachine below pickup platform, and baffle shaft is connected with motor output shaft by everything shaft coupling, baffle
Two movement pole position is all provided with limit switches（62、63）；The LCD that human-computer interaction is provided with the top of pickup platform outlet is shown
Screen.
A kind of 10. fast delivery device of intelligence according to claim 1, it is characterised in that：The hydraulic pressure lifting device includes liquid
Cylinder pressure（86）And load bearing beam（87）, two load bearing beams（87）Genesis analysis is in car bottom, two hydraulic cylinders respectively（86）Cylinder
A load bearing beam is connected in before and after body（87）On, two other hydraulic cylinder（86）Symmetrically it is connected on another load bearing beam, four
A hydraulic cylinder（86）Piston rod be synchronized with the movement driving compartment lifting and decline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721289808.1U CN207345649U (en) | 2017-10-09 | 2017-10-09 | A kind of fast delivery device of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721289808.1U CN207345649U (en) | 2017-10-09 | 2017-10-09 | A kind of fast delivery device of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345649U true CN207345649U (en) | 2018-05-11 |
Family
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614943A (en) * | 2019-09-26 | 2019-12-27 | 汪杉杉 | Semitrailer carriage for cold-chain logistics transport vehicle |
| CN110668160A (en) * | 2019-09-25 | 2020-01-10 | 武汉滨湖电子有限责任公司 | Container storage device |
| CN110675107A (en) * | 2019-09-16 | 2020-01-10 | 上海电机学院 | Express delivery vehicle and delivery method |
| RU2787095C1 (en) * | 2022-06-15 | 2022-12-28 | Игорь Сергеевич Лернер | Robotic all-terrain complex for products storage and disposal |
| WO2023244139A1 (en) * | 2022-06-15 | 2023-12-21 | Игорь Сергеевич ЛЕРНЕР | Robotic mobile delivery system |
| WO2023244138A1 (en) * | 2022-06-15 | 2023-12-21 | Игорь Сергеевич ЛЕРНЕР | Robotic all-terrain system for storing and distributing goods |
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2017
- 2017-10-09 CN CN201721289808.1U patent/CN207345649U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110675107A (en) * | 2019-09-16 | 2020-01-10 | 上海电机学院 | Express delivery vehicle and delivery method |
| CN110668160A (en) * | 2019-09-25 | 2020-01-10 | 武汉滨湖电子有限责任公司 | Container storage device |
| CN110614943A (en) * | 2019-09-26 | 2019-12-27 | 汪杉杉 | Semitrailer carriage for cold-chain logistics transport vehicle |
| CN110614943B (en) * | 2019-09-26 | 2020-11-13 | 浙江锦宇汽车制造有限公司 | Semitrailer carriage for cold-chain logistics transport vehicle |
| RU2787095C1 (en) * | 2022-06-15 | 2022-12-28 | Игорь Сергеевич Лернер | Robotic all-terrain complex for products storage and disposal |
| RU2787547C1 (en) * | 2022-06-15 | 2023-01-10 | Игорь Сергеевич Лернер | Robotized mobile courier complex |
| WO2023244139A1 (en) * | 2022-06-15 | 2023-12-21 | Игорь Сергеевич ЛЕРНЕР | Robotic mobile delivery system |
| WO2023244138A1 (en) * | 2022-06-15 | 2023-12-21 | Игорь Сергеевич ЛЕРНЕР | Robotic all-terrain system for storing and distributing goods |
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Granted publication date: 20180511 Termination date: 20211009 |