CN215206705U - Butt joint system of unmanned vehicle and unmanned storehouse - Google Patents

Abstract

The present disclosure relates to a docking system of unmanned vehicle and unmanned storehouse, including: the goods docking equipment comprises a goods delivery device and a track mechanism, wherein a first track extending along a first direction and a second track extending along a second direction are arranged on the track mechanism, the goods delivery device comprises a goods releasing device and a goods delivery track extending along a third direction, the second track is movably arranged on the first track, the goods delivery track is movably arranged on the second track, the goods releasing device is movably arranged on the goods delivery track to transfer goods with the unmanned vehicle, the first direction and the second direction are intersected, and the third direction is intersected with a plane where the first direction and the second direction are located; and a distribution device for transferring goods between the unmanned bin and the delivery device; through the technical scheme, the unmanned vehicle and unmanned storehouse docking system completely replaces the last manual link in the whole distribution process, and achieves the purpose of 24-hour full-process unmanned operation.

Description

Butt joint system of unmanned vehicle and unmanned storehouse

Technical Field

The disclosure relates to the technical field of unmanned distribution, in particular to a docking system of an unmanned vehicle and an unmanned cabin.

Background

In recent years, with the rapid development of new retail, express delivery and takeout industries, the timeliness requirement of a user on delivery is higher and higher, the manual delivery cost is higher and higher, and in this case, unmanned delivery occurs at the same time.

In general, after a customer places an order, the intelligent goods shelf receives the order demand and transmits the order demand to the unmanned warehouse system, the transportation robot starts to collect order goods among different goods shelves, and the order goods are packed and delivered to the unmanned vehicle to complete final distribution and fulfillment.

However, the part of the operations from the commodity collection to the packaging and loading by the transportation robot is still manually responsible at present, so that the value and the characteristics of an unmanned store cannot be completely reflected, and the aim of full-automatic operation in 24 hours cannot be achieved.

SUMMERY OF THE UTILITY MODEL

An object of the present disclosure is to provide a docking system of an unmanned vehicle and an unmanned storehouse to partially solve the above-mentioned problems occurring in the related art.

In order to achieve the above object, the present disclosure provides a docking system of an unmanned vehicle and an unmanned storehouse, the docking system comprising: the cargo docking equipment comprises a cargo feeder and a track mechanism, wherein a first track extending along a first direction and a second track extending along a second direction are arranged on the track mechanism, the cargo feeder comprises a cargo throwing device and a cargo delivery track extending along a third direction, the second track is movably arranged on the first track, the cargo delivery track is movably arranged on the second track, the cargo throwing device is movably arranged on the cargo delivery track to convey cargos between unmanned vehicles, the first direction and the second direction are intersected, and the third direction is intersected with a plane where the first direction and the second direction are located; and a cargo allocation apparatus for transferring cargo between the unmanned bin and the cargo feeder.

Optionally, the first direction is a transverse direction along a horizontal direction, the second direction is a longitudinal direction along a vertical direction, and the third direction is a lateral direction perpendicular to the transverse direction along the horizontal direction.

Optionally, the track mechanism includes two first frames provided with the first tracks, the two first frames are parallel to each other, two ends of the second track are respectively in sliding fit with the first tracks on the two first frames, and ends on the same side of the two first frames are respectively connected through the second frame to enclose a closed space for accommodating the second track and the cargo feeder.

Optionally, a first driving motor and a first transmission mechanism are arranged on the first frame, the second rail moves in the first direction through the first transmission mechanism, the first transmission mechanism includes a first belt wheel and a first synchronous belt, the two first belt wheels are respectively rotatably mounted at two ends of the first rail, the first synchronous belt is wound around the two first belt wheels and can transmit along with the rotation of the first belt wheels, the two first belt wheels opposite to the same end of the two first rails are connected through a connecting shaft to rotate synchronously, an output end of the first driving motor is in driving connection with any one of the first belt wheels, and the second rail is fixedly connected to the first synchronous belt.

Optionally, the second track is provided with a second driving motor and a second transmission mechanism along the second direction, the delivery track is connected to the second transmission mechanism so as to move along the second direction, the second transmission mechanism includes a second pulley and a second synchronous belt, the number of the second pulleys is two, and the second pulleys are respectively rotatably installed at two ends of the second track, the second synchronous belt is wound on the two second pulleys and can be driven along with the rotation of the second pulleys, an output end of the second driving motor is in driving connection with any one of the second pulleys, wherein the delivery track is fixedly connected to the second synchronous belt.

Optionally, the goods delivery track is provided with third driving motor and third drive mechanism along the third direction, the goods is puted in the device connect in third drive mechanism is in order to follow the third direction removes, third drive mechanism includes cylinder and conveyer belt, the quantity of cylinder be two and rotationally install respectively in the orbital both ends of delivery, the conveyer belt is around two on the cylinder to can be along with the rotation of cylinder and transmission, third driving motor's output and arbitrary one the cylinder drive is connected, wherein, the goods is puted in the device fixed connection in the conveyer belt.

Optionally, the cargo delivery device includes: a receiving bin having a cargo inlet opening towards the distribution facility and a cargo outlet opening towards the unmanned vehicle parking area; the goods pushing piece is movably arranged in the accommodating bin along a third direction; and the driving mechanism is in transmission connection with the goods pushing piece and is used for pushing the goods entering the accommodating bin from the goods inlet to the goods outlet.

Optionally, the driving mechanism includes a fourth driving motor and a first synchronous belt transmission mechanism, the first synchronous belt transmission mechanism includes a third synchronous belt fixedly connected to the goods pushing member and a driving shaft drivingly connected to an output end of the fourth driving motor, the driving shaft is rotatably disposed on two side walls of the accommodating bin along a self axis, and both ends of the driving shaft are connected to first driving pulleys, the side walls are provided with first driven pulleys disposed at intervals in the third direction with the first driving pulleys, and the third synchronous belt is wound around the first driving pulleys and the first driven pulleys and can transmit along with rotation of the first driving pulleys and the first driven pulleys.

Optionally, the accommodating bin comprises a fixed bottom plate and side plates arranged around the edge of the fixed bottom plate, the side plates are provided with notches forming the cargo outlet, the top of each side plate is surrounded to form the cargo inlet, the fixed bottom plate is square, the number of the side plates is three, and the side plates are sequentially arranged around three edges of the fixed bottom plate.

Optionally, a movable bottom plate is arranged above the bottom wall of the accommodating bin, one end, far away from one side of the cargo outlet, of the movable bottom plate is hinged to the accommodating bin, the other end of the movable bottom plate is freely arranged, and an angle adjusting mechanism is arranged between the movable bottom plate and the fixed bottom plate.

Optionally, the angle adjusting mechanism includes a screw rod, a threaded hole in threaded connection with the screw rod is formed in the bottom wall of the accommodating bin, and one end of the screw rod, which penetrates through the threaded hole, abuts against the bottom end face of the movable bottom plate.

Optionally, push away the goods piece and include push up pedal and lower push pedal, the push up pedal with the actuating mechanism transmission is connected, the push up pedal with be provided with elastic telescoping mechanism between the lower push pedal, in order to incite somebody to action the lower push pedal elasticity supports to press on the movable bottom plate, elastic telescoping mechanism is the spring telescopic link, the both ends of this spring telescopic link firmly respectively in the push up pedal with the lower push pedal.

Optionally, the cargo delivery device further includes a measurement grating, and the measurement grating is at least disposed on the side wall of the accommodating chamber.

Optionally, the cargo handling apparatus comprises an AGV trolley moving between the unmanned bin and the cargo docking apparatus and a belt conveyor having opposite first and second ends in the third direction; wherein at the first end the belt conveyor receives the load from the AGV car and at the second end the belt conveyor delivers the load into the cargo conveyor.

Optionally, the docking system further includes a general control system cabinet, the general control system cabinet is disposed on one side of the cargo docking device facing the unmanned vehicle parking area and forms an L-shaped structural arrangement with the cargo docking device, so as to define the unmanned vehicle parking area on one side of the cargo feeder in the third direction, wherein the general control system cabinet is in signal connection with the cargo feeder and the track mechanism.

Through above-mentioned technical scheme, promptly, this disclosure provides a butt joint system in unmanned car and unmanned storehouse, cargo handling equipment conveys the goods in unmanned storehouse to the cargo delivery ware, and the cargo delivery ware conveys the goods to unmanned car through its goods delivery device, and wherein, the goods delivery device passes through rail mechanism and can realize the removal in first direction, second direction and third direction to be suitable for the loading mouth of butt joint unmanned car different positions. Therefore, the unmanned vehicle and unmanned storehouse docking system provided by the disclosure completely replaces the last manual link in the whole distribution process, and achieves the purpose of 24-hour full-process unmanned operation.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic block diagram of the structure of an unmanned vehicle and unmanned cabin docking system as set forth in an exemplary embodiment of the present disclosure;

fig. 2 is a perspective view of a cargo docking device as set forth in an exemplary embodiment of the present disclosure;

fig. 3 is a front view of the cargo docking device set forth in an exemplary embodiment of the present disclosure;

fig. 4 is a perspective view of a portion of a track mechanism of the cargo docking device set forth in an exemplary embodiment of the present disclosure;

fig. 5 is a perspective view of a cargo feeder of the cargo docking device set forth in an exemplary embodiment of the present disclosure;

FIG. 6 is an enlarged partial schematic view of the location A in FIG. 2;

fig. 7 is a perspective view of a cargo delivery apparatus according to an exemplary embodiment of the present disclosure;

fig. 8 is a plan view of the cargo-throwing device according to the exemplary embodiment of the present disclosure;

FIG. 9 is a cross-sectional view taken at location B-B of FIG. 8;

fig. 10 is a cross-sectional view taken at the position C-C in fig. 8.

Description of the reference numerals

100-a delivery device; 110-a cargo delivery device; 111-a holding bin; 1111-fixed bottom plate; 1112-side plates; 1113-movable bottom plate; 1114-screw rod; 112-pushing the goods; 1121-push plate; 1122-lower push plate; 1123-elastic telescoping mechanism; 113-a fourth drive motor; 114-a first synchronous belt drive; 1141-a third synchronous belt; 1142-a drive shaft; 1143-a first driving pulley; 1144-a first driven pulley; 115-a second synchronous belt drive mechanism; 1151-a second drive pulley; 1152-a second driven pulley; 1153-a fourth synchronous belt; 116-a third slide rail; 117-third slider; 120-delivery track; 121-a roller; 122-a conveyor belt; 123-a second slider; 130-measurement grating; 200-a track mechanism; 210-a first track; 211-a first sliding track; 220-a second track; 221-a second drive motor; 222-a second pulley; 223-a second synchronous belt; 224-a first slider; 230-a first frame; 231-a first drive motor; 232-a first pulley; 233-a first synchronization belt; 234-a connecting shaft; 240-a second frame; 300-a distribution facility; 310-an AGV cart; 320-a belt conveyor; 400-a master control system cabinet; 500-unmanned vehicle.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, for convenience of description, a three-coordinate, i.e., XYZ coordinate system is defined for the cargo docking device, where a Z direction is a longitudinal direction, corresponding to a vertical direction of a space where the cargo docking device is located in a use state; the X direction is transverse, the Y direction is lateral and corresponds to the horizontal direction of the space where the cargo docking equipment is located in the use state, and the X direction and the Y direction respectively correspond to the width direction and the thickness direction of the cargo docking equipment. Where nothing else is stated to the contrary, use of the terms of orientation such as "inner and outer" refers to the inner and outer of the profile of the associated component. "first, second, etc. means that there is no ordering or importance in order to distinguish one element from another.

The present disclosure will be further described with reference to the accompanying drawings and detailed description.

According to a first aspect of the present disclosure, there is provided a docking system for an unmanned vehicle and an unmanned aerial vehicle, as shown with reference to fig. 1 to 10, the docking system comprising: the cargo docking device comprises a cargo conveyor 100 and a rail mechanism 200, wherein a first rail 210 extending along a first direction and a second rail 220 extending along a second direction are arranged on the rail mechanism 200, the cargo conveyor 100 comprises a cargo throwing device 110 and a cargo conveying rail 120 extending along a third direction, the second rail 220 is movably arranged on the first rail 210, the cargo conveying rail 120 is movably arranged on the second rail 220, the cargo throwing device 110 is movably arranged on the cargo conveying rail 120 so as to convey cargos between the unmanned vehicle 500, the first direction and the second direction are intersected, and the third direction is intersected with a plane where the first direction and the second direction are located; a cargo allocation apparatus 300 for transferring cargo between the unmanned bin and the cargo feeder 100.

Through the above technical solution, that is, the docking system of the unmanned vehicle and the unmanned storehouse provided by the present disclosure, the cargo allocation device 300 transfers cargos in the unmanned storehouse to the cargo delivery device 100, and the cargo delivery device 100 transfers cargos to the unmanned vehicle 500 via the cargo delivery device 110 thereof, wherein the cargo delivery device 110 can realize movement in the first direction, the second direction and the third direction through the rail mechanism 200, so as to be suitable for docking loading ports at different positions of the unmanned vehicle 500. Therefore, the unmanned vehicle and unmanned storehouse docking system provided by the disclosure completely replaces the last manual link in the whole distribution process, and achieves the purpose of 24-hour full-process unmanned operation.

The first direction, the second direction and the third direction may be set at any suitable angle according to an application environment. For example, in some embodiments, to facilitate controlling the movement of the cargo delivery device 110 to better interface with the loading ports at different positions of the unmanned vehicle 500, as shown with reference to fig. 2, the first direction may be a transverse direction in a horizontal direction, the second direction may be a longitudinal direction in a vertical direction, and the third direction may be a lateral direction perpendicular to the transverse direction in the horizontal direction. The vertical direction of the space where the goods docking equipment is located in the use state corresponds to the vertical direction, and the transverse direction and the lateral direction correspond to the width direction and the thickness direction of the goods docking equipment respectively.

In the docking system of the unmanned vehicle and the unmanned aerial vehicle cabin provided in the first aspect of the present disclosure, the cargo docking device may be configured in any suitable manner, for example, a cargo docking device provided in accordance with the second aspect of the present disclosure may be employed, which will be described in detail below.

In a specific embodiment provided in a second aspect of the present disclosure, with reference to fig. 1 to 6, there is provided a cargo docking device including: the track mechanism 200 comprises two first frames 230 which are parallel to each other, wherein the same side ends of the two first frames 230 are connected through second frames 240 respectively to form a closed space, a first track 210 extending along a first direction and a second track 220 extending along a second direction are arranged in the closed space, the first track 210 is arranged on the first frames 230, and the second track 220 is movably arranged on the first track 210; and a cargo delivery device 100, the cargo delivery device 100 comprising a cargo delivery device 110 and a delivery track 120 extending in a third direction, the delivery track 120 being movably disposed on the second track 220, the cargo delivery device 110 being movably disposed on the delivery track 120; the first direction is intersected with the second direction, and the third direction is intersected with a plane where the first direction and the second direction are located.

Through the above technical solution, that is, the cargo docking device provided in the second aspect of the present disclosure, after receiving the cargo, the cargo depositing device 110 can move in the first direction, the second direction, and the third direction through the rail mechanism 200, so as to be suitable for depositing the cargo onto the docking container having the cargo loading ports at different positions, and meanwhile, the first frame 230 and the second frame 240 form the door frame type rail mechanism 200, which has the advantages of stable structure and small floor area. Therefore, the goods docking equipment provided by the disclosure solves the problems that equipment on two sides of the docking is fixed in position, cannot move and occupies a large area, and goods can be automatically docked in the multiple hand-over containers in different positions.

The closed space is a door frame type structure formed by sequentially connecting two first frames 230 and two second frames 240 end to end, and as shown in fig. 1, two sides of the door frame type structure are open, and when the cargo docking device in the second aspect of the present disclosure is used in the docking system of the unmanned vehicle and the unmanned cabin in the first aspect of the present disclosure, two sides of the door frame type structure respectively correspond to an unmanned vehicle parking area and a distribution device area, so that the occupied space is reduced, and the turnover of the cargo is facilitated.

In the embodiments provided in the second aspect of the present disclosure, the first direction, the second direction, and the third direction may be set at any suitable angle according to an application environment. For example, in some embodiments, in order to facilitate controlling the movement of the cargo-putting device 110 to better dock the docked containers in different positions, referring to fig. 2, the first direction may be a transverse direction in a horizontal direction, the second direction may be a longitudinal direction in a vertical direction, and the third direction may be a lateral direction perpendicular to the transverse direction in the horizontal direction. The vertical direction of the space where the goods docking equipment is located in the use state corresponds to the vertical direction, and the transverse direction and the lateral direction correspond to the width direction and the thickness direction of the goods docking equipment respectively.

In order to further reduce the floor space of the cargo docking device and effectively utilize space resources, in some embodiments, as shown in fig. 2 and 3, the first frame 230 and the second frame 240 may each adopt a plate-type frame structure, so that the overall cargo docking device has a flat box-type structure.

In some embodiments of the second aspect of the present disclosure, referring to fig. 2 and 4, the first frame 230 is provided with a first driving motor 231 and a first transmission mechanism, and the second rail 220 moves along the first direction through the first transmission mechanism to realize the movement of the cargo conveyer 100 along the first direction, so that the cargo conveyer 100 can deliver the cargo to the cargo receiving ports of the unmanned vehicle 500 at different positions in the first direction.

The first transmission mechanism may be configured in any suitable manner with the purpose of enabling movement of the second rail 220 in the first direction. For example, in some embodiments, referring to fig. 4, the first transmission mechanism may include two first pulleys 232 and a first synchronous belt 233, the two first pulleys 232 are respectively rotatably mounted at two ends of the first rail 210, the first synchronous belt 233 surrounds the two first pulleys 232 and can transmit power along with the rotation of the first pulleys 232, the two first pulleys 232 opposite to each other at the same end of the two first rails 210 are connected by a connecting shaft 234 to rotate synchronously, an output end of the first driving motor 231 is in driving connection with any one of the first pulleys 232, and the second rail 220 is fixedly connected to the first synchronous belt 233. In this way, the first driving motor 231 drives the first pulley 232 connected thereto to rotate, so as to drive one of the first synchronous belts 233 to transmit, and at the same time, drives the other first synchronous belt 233 to transmit through the connecting shaft 234, so as to realize the movement of the second rail 220.

In other embodiments, the first transmission mechanism may also include a first motor and a first lead screw connected to the first motor, the first lead screw is rotatably disposed on the first rail 210 about its axis and extends along the length direction of the first rail 210, and one end of the second rail 220 is in threaded engagement with the first lead screw. In this way, the first motor drives the first lead screw to rotate, and the second rail 220 can realize the movement in the first direction under the effect of the lead screw transmission because the second rail 220 is in threaded fit with the first lead screw and the two ends of the second rail 220 are respectively connected to the first lead screws of the two first rails 210.

In still other embodiments, the first transmission mechanism may further include a first rack, a first gear and a second motor, the first rack is disposed on the first rail 210 and extends along a length direction of the first rail 210, the first gear is rotatably disposed at one end of the second rail 220 around its axis and is engaged with the first rack, and an output end of the second motor is drivingly connected with the first gear to drive the first gear to rotate. In this way, the second motor drives the first gear to rotate, so that the second rail 220 can move in the first direction.

In order to enhance the stability of the second track 220 moving along the first direction, in some embodiments, referring to fig. 4 and 6, the track mechanism 200 further includes a first guiding mechanism, the first guiding mechanism includes a first sliding rail 211 and a first sliding block 224, the first sliding rail 211 is disposed on the first track 210 and extends along the first direction, and the first sliding block 224 is disposed on the second track 220. Wherein the first slider 224 may be configured in any suitable manner for the purpose of increasing the stability of the second track 220 when moving in the first direction, and the disclosure is not limited thereto. In some embodiments, the second track 220 may be fixed to the first timing belt 233 by the first slider 224, for example, the first slider 224 may be fixed to the first timing belt 233 by a bolt connection or any other suitable connection, and the disclosure is not limited thereto.

Considering that the cargo feeder 100 needs to be precisely aligned with the cargo receiving opening of the unmanned vehicle 500 when transferring the cargo, the second rail 220 needs to be precisely moved in the first direction. Therefore, in some embodiments, a first displacement sensor may be installed on the first rail 210 and/or the second rail 220 to feed back the displacement distance of the second rail 220 in real time, so that the movement of the second rail 220 in the first direction may be precisely controlled. The installation of the displacement sensor is a mature prior art, and is not described herein again.

In some embodiments of the second aspect of the present disclosure, referring to fig. 3, the second track 220 is provided with a second driving motor 221 and a second transmission mechanism along the second direction, and the delivery track 120 is connected to the second transmission mechanism to move along the second direction, so as to realize the movement of the delivery device 100 along the second direction, and further realize that the delivery device 100 can deliver goods to the receiving ports of the unmanned vehicle 500 at different positions in the second direction.

The second transmission mechanism may be configured in any suitable manner with the purpose of effecting movement of the delivery track 120 in the second direction. For example, in some embodiments, referring to fig. 3, the second transmission mechanism may include two second pulleys 222 and a second timing belt 223, the two second pulleys 222 are respectively rotatably mounted at two ends of the second rail 220, the second timing belt 223 is wound around the two second pulleys 222 and can transmit power with the rotation of the second pulleys 222, and an output end of the second driving motor 221 is in driving connection with any one of the second pulleys 222, wherein the delivery rail 120 is fixedly connected to the second timing belt 223. In this way, the second driving motor 221 drives the second pulley 222 connected thereto to rotate, and then drives the second synchronous belt 223 to transmit, so as to realize the movement of the delivery track 120 in the second direction, and thus realize the movement of the cargo releasing device 110 in the second direction.

In other embodiments, the second transmission mechanism may also include a third motor and a second lead screw connected to the third motor, the second lead screw is rotatably disposed on the second track 220 about its axis and extends along the length direction of the second track 220, the delivery track 120 is in threaded engagement with the second lead screw, wherein the delivery track 120 abuts against the second track 220 to limit the rotation of the delivery track 120 following the second lead screw. In this way, the third motor drives the second lead screw to rotate, which enables the delivery track 120 to move in the second direction.

In still other embodiments, the second transmission mechanism may further include a second rack, a second gear and a fourth motor, the second rack is disposed on the second track 220 and extends along the length direction of the second track 220, the second gear is rotatably disposed at one end of the delivery track 120 around its axis and is engaged with the second rack, and an output end of the fourth motor is in driving connection with the second gear to drive the second gear to rotate. In this way, the fourth motor drives the second gear to rotate, so that the delivery track 120 can move in the second direction.

To enhance the stability of the delivery track 120 moving in the second direction, in some embodiments, referring to fig. 3, the track mechanism 200 further comprises a second guiding mechanism, the second guiding mechanism comprises a second sliding rail and a second sliding block 123, the second sliding rail and the second sliding block are mutually matched, the second sliding rail is arranged on the second track 220 and extends along the second direction, and the second sliding block 123 is arranged on the delivery track 120. Wherein the second slider 123 may be configured in any suitable manner for the purpose of increasing the stability of the delivery track 120 when moving in the second direction, and the disclosure is not limited thereto. In some specific embodiments, the delivery track 120 may be fixedly connected to the second timing belt 223 through the second sliding block 123, for example, the second sliding block 123 may be fixedly connected to the second timing belt 223 through a bolt connection or any other suitable connection, which is not limited in this disclosure.

Considering that the cargo-throwing device 110 needs to be precisely aligned with the cargo-receiving opening of the unmanned vehicle 500 when throwing the cargo, the delivery rail 120 needs to be precisely moved in the second direction. Accordingly, in some embodiments, a second displacement sensor may be installed on the second track 220 and/or the delivery track 120 to feed back the displacement distance of the delivery track 120 in real time, so that the movement of the delivery track 120 in the second direction may be precisely controlled. The installation of the displacement sensor is a mature prior art, and is not described herein again.

In some embodiments of the second aspect of the present disclosure, the delivery track 120 is provided with a third driving motor and a third transmission mechanism along the third direction, and the cargo throwing device 110 is connected to the third transmission mechanism to move along the third direction, so that the distance between the cargo throwing device 110 and the unmanned vehicle 500 when throwing the cargo can be reduced, and the cargo is prevented from falling into the gap between the cargo throwing device 110 and the unmanned vehicle 500 when throwing the cargo.

The third transmission mechanism may be configured in any suitable manner with the purpose of achieving a movement of the goods placement device 110 in the third direction. For example, in some embodiments, referring to fig. 3 and 5, the third transmission mechanism may include two rollers 121 and a conveyor belt 122, the two rollers 121 are respectively rotatably mounted at two ends of the delivery track 120, the conveyor belt 122 surrounds the two rollers 121 and can be driven along with the rotation of the rollers 121, an output end of a third driving motor (not shown) is in driving connection with any one of the rollers 121, wherein the cargo throwing device 110 is fixedly connected to the conveyor belt 122. In this way, the third driving motor drives the drum 121 to rotate, so as to drive the cargo throwing device 110 to move along the third direction.

Further, it is considered that when the movement distance of the cargo-delivery device 110 on the delivery rail 120 in the third direction is too large, the cargo-delivery device 110 may be turned over, and the structure may be unstable. Therefore, in order to avoid the excessive moving distance of the cargo throwing device 110, in some specific embodiments, a stop block (not shown) is disposed on the delivery rail 120 to limit the moving distance of the cargo throwing device 110.

In other embodiments, the third transmission mechanism may also include a fifth motor and a third lead screw connected to the fifth motor, the third lead screw is rotatably disposed on the delivery track 120 around its axis and extends along the third direction, the cargo throwing device 110 is in threaded engagement with the third lead screw, wherein the cargo throwing device 110 abuts against the delivery track 120 to limit the cargo throwing device 110 from rotating along with the third lead screw. In this way, the fifth motor drives the third lead screw to rotate, so that the cargo throwing device 110 can move in the third direction.

In still other embodiments, the third transmission mechanism may further include a third rack disposed on the delivery track 120 and extending along the third direction, a third gear rotatably disposed on the cargo-throwing device 110 around its axis and engaged with the third rack, and a sixth motor having an output end drivingly connected with the third gear to drive the third gear to rotate. In this way, the sixth motor drives the third gear to rotate, so that the movement of the cargo throwing device 110 in the third direction can be realized.

Furthermore, in the docking system of unmanned vehicle and unmanned aerial vehicle provided in the first aspect of the present disclosure, the cargo throwing device 110 may be configured in any suitable manner, for example, a cargo throwing device provided in accordance with the third aspect of the present disclosure, which will be described in detail below.

In a specific embodiment provided by the third aspect of the present disclosure, referring to fig. 7 to 10, the cargo throwing device 110 includes: a receiving bin 111, the receiving bin 111 having a cargo inlet and a cargo outlet; a pushing member 112, the pushing member 112 being movably disposed in the accommodating compartment 111 along a third direction; and a driving mechanism, which is in transmission connection with the goods pushing member 112 and is used for pushing the goods entering the accommodating bin 111 from the goods inlet to the goods outlet.

With the above technical solution, that is, the cargo delivering device 110 provided in the third aspect of the present disclosure, the driving mechanism pushes the cargo pushing member 112 to move along the third direction, so as to push the cargo entering the accommodating chamber 111 from the cargo entrance to the cargo exit, which is not only suitable for receiving the cargo with the docking container located below the cargo delivering device 110, but also suitable for delivering the cargo with the docking container in a straight alignment. Therefore, the cargo-throwing device 110 provided in the third aspect of the present disclosure solves the problem of the prior art that the docking container needs to be docked below the cargo-throwing device, and can meet the cargo-handing requirement when the docking container (such as an unmanned vehicle) is aligned with the cargo-throwing device in a straight line.

Wherein, when the cargo depositing apparatus provided in the third aspect of the present disclosure is applied to the docking system of the unmanned vehicle and the unmanned bin provided in the first aspect of the present disclosure, the accommodating bin 111 has a cargo entrance opened toward the cargo distribution facility 300 and a cargo exit opened toward an unmanned vehicle parking area for parking the unmanned vehicle 500.

The drive mechanism may be configured in any suitable manner, the purpose of which is to drive the pushing member 112 in a third direction to push the goods out of the goods outlet. For example, in some embodiments, the driving mechanism includes a seventh motor and a fourth lead screw connected to the seventh motor, the fourth lead screw is rotatably disposed on the accommodating bin 111 around its axis and extends along a third direction, and the cargo pushing member 112 is in threaded engagement with the fourth lead screw, wherein the cargo pushing member 112 abuts against the accommodating bin 111 to limit the cargo pushing member 112 from rotating along with the fourth lead screw. In this way, the seventh motor drives the fourth lead screw to rotate, so that the cargo pushing part 112 can move in the third direction, and the cargo pushing part 112 can push the cargo out of the cargo outlet.

In other embodiments, referring to fig. 7 and 9, the driving mechanism includes a fourth driving motor 113 and a first synchronous belt transmission mechanism 114, the first synchronous belt transmission mechanism 114 includes a third synchronous belt 1141 fixedly connected to the goods pushing member 112 and a driving shaft 1142 drivingly connected to an output end of the fourth driving motor 113, the driving shaft 1142 is rotatably disposed on two opposite side walls of the accommodating compartment 111 around its axis, and a first driving pulley 1143 is connected to each of two ends of the driving shaft 1142, a first driven pulley 1144 spaced from the first driving pulley 1143 in a third direction is disposed on the side wall, and the third synchronous belt 1141 is looped around the first driving pulley 1143 and the first driven pulley 1144 and can transmit power with the rotation of the first driving pulley 1143 and the first driven pulley 1144. Like this through the mode of synchronous belt drive ground can make the removal of pushing away cargo part 112 realization in the third direction, simultaneously, through the third hold-in range 1141 synchronous drive of its both ends of drive shaft 1142 synchronous drive, can make the removal of pushing away cargo part 112 more stable.

The transmission structure of the fourth driving motor 113 and the driving shaft 1142 may be configured in any suitable manner, for example, a gear transmission manner or a synchronous belt transmission manner may be adopted. In some embodiments, referring to fig. 9 and 10, the cargo throwing device 110 further includes a second synchronous belt transmission mechanism 115, wherein the second synchronous belt transmission mechanism 115 includes a second driving pulley 1151, a second driven pulley 1152 and a fourth synchronous belt 1153, the second driving pulley 1151 is coaxially sleeved on the output shaft of the fourth driving motor 113 and rotates along with the rotation of the output shaft, the second driven pulley 1152 is coaxially sleeved on the driving shaft 1142 and rotates along with the driving shaft 1142, and the fourth synchronous belt 1153 is wound on the second driving pulley 1151 and the second driven pulley 1152 and can be driven along with the rotation of the second driving pulley 1151 and the second driven pulley 1152.

In order to further enhance the stability of the pushing member 112 moving along the third direction, in some embodiments, referring to fig. 7, the cargo-delivering device 110 further includes a third guiding mechanism, the third guiding mechanism includes a third sliding rail 116 and a third sliding block 117, the third sliding rail 116 is disposed on the accommodating chamber 111 and extends along the third direction, and the third sliding block 117 is disposed on the pushing member 112. In some specific embodiments, the number of the third sliding rails 116 is two and the third sliding rails 116 are respectively disposed on two opposite sidewalls of the accommodating chamber 111, and the third sliding block 117 may be configured in any suitable structure to cooperate with the third sliding rails 116, and the disclosure is not limited in this respect.

In order to prevent the goods from falling down during the transfer, in some embodiments, referring to fig. 7, the receiving bin 111 includes a fixed bottom plate 1111 and side plates 1112 disposed around edges of the fixed bottom plate 1111, the side plates 1112 have a notch forming the goods outlet, and tops of the side plates 1112 surround the goods inlet, the fixed bottom plate 1111 has a square shape, the number of the side plates 1112 is three, and the side plates 1112 are sequentially disposed around three sides of the fixed bottom plate 1111. In this way, the three side plates 1112 form a three-side protection structure, so that the goods can be prevented from falling off in the transferring process, the transferring amount of the goods can be increased, and the loading efficiency can be improved.

In some embodiments, a plurality of weight-reducing holes may be formed in the side panels 1112 and/or the fixed bottom panel 1111 to reduce the weight of the cargo delivery device 110.

Considering that the goods are dropped from the goods outlet after being placed in the receiving bin 111. Therefore, in some embodiments, as shown in fig. 7 and 10, a movable bottom plate 1113 is disposed above the bottom wall of the accommodating chamber 111, one end of the movable bottom plate 1113 away from the cargo outlet side is hinged to the accommodating chamber 111, the other end is freely disposed, and an angle adjusting mechanism is disposed between the movable bottom plate 1113 and the fixed bottom plate 1111. Therefore, through the angle adjusting mechanism, the included angle between the movable bottom plate 1113 and the fixed bottom plate 1111 can be adjusted, so that the free end of the movable bottom plate 1113 is inclined upwards, and the situation that goods slide down from a goods outlet in the moving process of the goods throwing device 110 can be avoided.

The angle adjustment mechanism may be configured in any suitable manner for the purpose of adjusting the angle between the movable bottom plate 1113 and the fixed bottom plate 1111 such that the free end of the movable bottom plate 1113 is inclined upwardly. For example, in some embodiments, referring to fig. 10, the angle adjustment mechanism includes a screw 1114, a threaded hole is formed in the bottom wall of the accommodating chamber 111, the threaded hole is in threaded connection with the screw 1114, and one end of the screw 1114, which passes through the threaded hole, abuts against the bottom end surface of the movable bottom plate 1113. Like this, just can adjust the contained angle between activity bottom plate 1113 and the fixed baseplate 1111 through rotating screw 1114, as shown in fig. 10, height H is the perpendicular line distance of the free end distance of activity bottom plate 1113 from the fixed baseplate 1111, can adjust this height H through rotating screw 1114, can effectively prevent goods from the landing of goods exit.

Considering that the movable bottom plate 1113 is inclined, the pushing member 112 may be jammed or unable to push out all the goods when pushing out the goods. Therefore, in some embodiments, referring to fig. 9 and 10, the cargo pushing member 112 includes an upper pushing plate 1121 and a lower pushing plate 1122, the upper pushing plate 1121 is in transmission connection with the driving mechanism, and an elastic telescopic mechanism 1123 is disposed between the upper pushing plate 1121 and the lower pushing plate 1122 to elastically press the lower pushing plate 1122 against the movable bottom plate 1113. Thus, by providing the elastic expansion mechanism 1123, the requirement for pushing out all the goods can be met, and the goods pushing piece 112 can move more smoothly.

The resilient telescoping mechanism 1123 may be constructed in any suitable manner for the purpose of resiliently urging the lower push plate 1122 against the movable floor 1113. For example, in some embodiments, the elastic expansion mechanism 1123 may be a telescopic spring rod, and both ends of the telescopic spring rod are respectively connected to the upper push plate 1121 and the lower push plate 1122. Wherein, the spring telescopic link is more mature prior art, and the description is omitted here.

It is considered that the cargo-throwing device 110 needs to trigger the driving mechanism after receiving the cargo, to actuate the cargo-pushing member 112 to push out the cargo, and to reset the cargo-pushing member 112 in time after the cargo is pushed out. Therefore, in some embodiments, referring to fig. 7, the cargo-throwing device 110 further includes a measurement grating 130, and the measurement grating 130 is disposed at least on the side wall of the accommodating chamber 111. The measurement grating 130 is a photoelectric sensor including an emitter and a light receiver which are separated from each other and are disposed opposite to each other. In some specific embodiments, a through hole is formed in a side wall of the accommodating chamber 111 for passing through a detection optical fiber emitted by the emitter. After the goods are loaded in the accommodating chamber 111, the goods will block the detection optical fiber, and at this time, the measurement grating 130 feeds back a signal to the controller, and the controller controls the driving mechanism to operate, so that the goods are pushed out by the goods pushing member 112. Similarly, when the goods are pushed out from the goods outlet, the measurement grating 130 feeds back a signal to the controller, and the controller controls the driving mechanism to act, so as to reset the goods pushing member 112.

The docking system for unmanned vehicles and unmanned silos provided by the first aspect of the present disclosure will now be described with continued reference to the first aspect of the present disclosure. The distribution facility 300 may be configured in any suitable manner, for example, in some embodiments, as shown with reference to fig. 1, the distribution facility 300 includes an AGV cart 310 that moves 310 between the unmanned bin and the cargo docking facility to deliver the cargo from the unmanned bin to the cargo delivery devices 110 of the cargo docking facility.

In some embodiments, the distribution apparatus 300 may further include a belt conveyor 320, the belt conveyor 320 having first and second opposing ends along the third direction; wherein at the first end the belt conveyor 320 receives the load being transported from the AGV cart 310 and at the second end the belt conveyor 320 delivers the load into the conveyor 100. The efficiency of goods conveying can be increased by additionally arranging the belt conveyor 320, for example, one belt conveyor 320 can be matched with a plurality of AGV trolleys 310, and after the AGV trolleys 310 deliver goods to the belt conveyor 320, the goods are conveyed to the unmanned vehicle 500 by the goods docking equipment through the belt conveyor 320.

In some embodiments provided by the first aspect of the present disclosure, the docking system further includes a general control system cabinet 400, the general control system cabinet 400 is disposed on a side of the cargo docking device facing the unmanned vehicle parking area and is arranged to form an L-shaped structure with the cargo docking device to define the unmanned vehicle parking area on a side of the cargo conveyor 100 in the third direction, wherein the general control system cabinet 400 is in signal connection with the cargo conveyor 100 and the rail mechanism 200. Therefore, the parking area of the unmanned vehicle 500 can be limited by the total control system cabinet 400, the space can be reasonably utilized, and the occupied area is reduced.

In some specific embodiments, a controller, a power module and a communication module are disposed in the general control system cabinet 400, and the controller is in communication connection with the power module, the communication module, the first displacement sensor, the second displacement sensor, the cargo feeder 100, the track mechanism 200 and the measurement grating 130, respectively, so as to control the normal operation of the docking system of the unmanned vehicle and the unmanned cabin provided in the first aspect of the present disclosure. The power supply module can be connected with commercial power to supply power to all electric equipment in the butt joint system; the communication module may adopt one or more of an RS485 bus, an RS232 bus, a WIFI module, a 4G/5G module, a bluetooth module, and a ZigBee module to be in communication connection with the outside, such as a cloud platform or a control and monitoring center outside the docking system, to receive and transmit various information, which is not specifically limited in this disclosure.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (15)

1. A docking system for an unmanned vehicle and an unmanned aerial vehicle, the docking system comprising:

the cargo docking device comprises a cargo conveyor (100) and a track mechanism (200), wherein a first track (210) extending along a first direction and a second track (220) extending along a second direction are arranged on the track mechanism (200), the cargo conveyor (100) comprises a cargo throwing device (110) and a cargo conveying track (120) extending along a third direction, the second track (220) is movably arranged on the first track (210), the cargo conveying track (120) is movably arranged on the second track (220), the cargo throwing device (110) is movably arranged on the cargo conveying track (120) to convey cargos between unmanned vehicles (500), the first direction and the second direction are intersected, and the third direction is intersected with a plane where the first direction and the second direction are located; and

a cargo allocation apparatus (300) for transferring cargo between the unmanned bin and the cargo feeder (100).

2. The unmanned vehicle and unmanned aerial vehicle bin docking system of claim 1, wherein the first direction is a transverse direction along a horizontal direction, the second direction is a longitudinal direction along a vertical direction, and the third direction is a lateral direction along a horizontal direction perpendicular to the transverse direction.

3. The docking system for unmanned vehicles and unmanned aerial vehicles according to claim 1 or 2, wherein the rail mechanism (200) comprises a first frame (230) provided with the first rail (210), the first frame (230) is two parallel to each other, two ends of the second rail (220) are respectively in sliding fit with the first rails (210) on the two first frames (230), and the same side end parts of the two first frames (230) are respectively connected through a second frame (240) to enclose a closed space for accommodating the second rail (220) and the cargo feeder (100).

4. The docking system for the unmanned vehicle and the unmanned aerial vehicle according to claim 3, wherein the first frame (230) is provided with a first driving motor (231) and a first transmission mechanism, the second rail (220) moves in the first direction through the first transmission mechanism, the first transmission mechanism comprises two first pulleys (232) and a first synchronous belt (233), the first pulleys (232) are rotatably mounted at two ends of the first rail (210), the first synchronous belt (233) surrounds the two first pulleys (232) and can be driven along with the rotation of the first pulleys (232), the two first pulleys (232) opposite to the same end of the two first rails (210) are connected through a connecting shaft (234) to rotate synchronously, the output end of the first driving motor (231) is in driving connection with any one of the first pulleys (232), wherein the second track (220) is fixedly connected to the first timing belt (233).

5. The unmanned vehicle and unmanned aerial vehicle bin docking system of claim 1 or 2, the second track (220) is provided with a second driving motor (221) and a second transmission mechanism along the second direction, the delivery track (120) is connected to the second transmission mechanism to move in the second direction, the second transmission mechanism comprises a second belt wheel (222) and a second synchronous belt (223), the number of the second belt wheels (222) is two, and the second belt wheels are respectively and rotatably arranged at two ends of the second track (220), the second synchronous belt (223) is wound around the two second pulleys (222), and can be transmitted along with the rotation of the second belt wheel (222), the output end of the second driving motor (221) is connected with any one second belt wheel (222) in a driving way, wherein the delivery track (120) is fixedly connected to the second timing belt (223).

6. The unmanned vehicle and unmanned aerial vehicle bin docking system of claim 1 or 2, the delivery track (120) is provided with a third driving motor and a third transmission mechanism along the third direction, the goods delivery device (110) is connected to the third transmission mechanism to move along the third direction, the third transmission mechanism comprises two rollers (121) and two conveyor belts (122), the rollers (121) are respectively and rotatably arranged at two ends of the delivery track (120), the conveyor belts (122) are wound on the two rollers (121), and can be driven along with the rotation of the roller (121), the output end of the third driving motor is connected with any one roller (121) in a driving way, wherein the cargo delivery device (110) is fixedly connected to the conveyor belt (122).

7. The unmanned vehicle and unmanned aerial vehicle bin docking system of claim 1, wherein the cargo delivery device (110) comprises:

a receiving bin (111), the receiving bin (111) having a cargo entrance opening towards the distribution facility (300) and a cargo exit opening towards an unmanned vehicle parking area;

a pushing member (112), the pushing member (112) being movably disposed in the accommodating compartment (111) along a third direction; and

a driving mechanism which is in transmission connection with the goods pushing piece (112) and is used for pushing the goods entering the containing bin (111) from the goods inlet to the goods outlet.

8. The docking system for unmanned vehicle and unmanned storehouse according to claim 7, wherein the driving mechanism comprises a fourth driving motor (113) and a first synchronous belt transmission mechanism (114), the first synchronous belt transmission mechanism (114) comprises a third synchronous belt (1141) fixedly connected with the cargo pushing member (112) and a driving shaft (1142) drivingly connected with the output end of the fourth driving motor (113), the driving shaft (1142) is rotatably disposed on two opposite side walls of the accommodating storehouse (111) along its own axis, and both ends of the driving shaft (1142) are connected with a first driving pulley (1143), the side walls are disposed with a first driven pulley (1144) spaced from the first driving pulley (1143) along the third direction, the third synchronous belt (1141) is wound around the first driving pulley (1143) and the first driven pulley (1144), and is capable of transmitting power with rotation of the first driving pulley (1143) and the first driven pulley (1144).

9. The unmanned vehicle and unmanned aerial vehicle bin docking system of claim 7, wherein the holding bin (111) comprises a fixed bottom plate (1111) and a side plate (1112) disposed around an edge of the fixed bottom plate (1111), the side plate (1112) having a notch forming the cargo outlet, and a top of the side plate (1112) enclosing the cargo inlet, the fixed bottom plate (1111) being square, the side plate (1112) being three in number and sequentially surrounding three edges of the fixed bottom plate (1111).

10. The docking system for unmanned vehicle and unmanned aerial vehicle according to claim 9, wherein a movable bottom plate (1113) is disposed above the bottom wall of the accommodating chamber (111), one end of the movable bottom plate (1113) far away from the cargo outlet side is hinged to the accommodating chamber (111), the other end is freely disposed, and an angle adjusting mechanism is disposed between the movable bottom plate (1113) and the fixed bottom plate (1111).

11. The docking system for the unmanned vehicle and the unmanned aerial vehicle as claimed in claim 10, wherein the angle adjusting mechanism comprises a threaded rod (1114), a threaded hole in threaded connection with the threaded rod (1114) is formed in the bottom wall of the accommodating chamber (111), and one end of the threaded rod (1114) penetrating through the threaded hole abuts against the bottom end face of the movable bottom plate (1113).

12. The docking system for the unmanned vehicle and the unmanned storehouse according to claim 10, wherein the cargo pushing member (112) comprises an upper pushing plate (1121) and a lower pushing plate (1122), the upper pushing plate (1121) is in transmission connection with the driving mechanism, an elastic telescoping mechanism (1123) is arranged between the upper pushing plate (1121) and the lower pushing plate (1122) to elastically press the lower pushing plate (1122) against the movable bottom plate (1113), the elastic telescoping mechanism (1123) is a telescopic spring rod, and two ends of the telescopic spring rod are respectively fixedly connected to the upper pushing plate (1121) and the lower pushing plate (1122).

13. Docking system according to any of claims 7-12, characterized in that said cargo delivery device (110) further comprises a measurement grating (130), said measurement grating (130) being arranged at least on a side wall of said receiving compartment (111).

14. The unmanned vehicle and unmanned storehouse docking system of claim 1, wherein the cargo allocation device (300) comprises an AGV cart (310) and a belt conveyor (320), the AGV cart (310) moving between the unmanned storehouse and the cargo docking device, the belt conveyor (320) having opposite first and second ends in the third direction; wherein at the first end the belt conveyor (320) receives the load from the AGV carts (310) and at the second end the belt conveyor (320) delivers the load into the conveyor (100).

15. The unmanned vehicle and unmanned aerial vehicle bin docking system according to claim 1, further comprising a general control system cabinet (400), wherein the general control system cabinet (400) is disposed at a side of the cargo docking device facing an unmanned vehicle parking area and forms an L-shaped structural arrangement with the cargo docking device to define the unmanned vehicle parking area at a side of the cargo conveyor (100) in the third direction, and wherein the general control system cabinet (400) is in signal connection with the cargo conveyor (100) and the rail mechanism (200).

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