WO2020248593A1 - 货物存取终端及其组装方法 - Google Patents

货物存取终端及其组装方法 Download PDF

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Publication number
WO2020248593A1
WO2020248593A1 PCT/CN2020/000138 CN2020000138W WO2020248593A1 WO 2020248593 A1 WO2020248593 A1 WO 2020248593A1 CN 2020000138 W CN2020000138 W CN 2020000138W WO 2020248593 A1 WO2020248593 A1 WO 2020248593A1
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WO
WIPO (PCT)
Prior art keywords
module
goods
opening
access terminal
cargo
Prior art date
Application number
PCT/CN2020/000138
Other languages
English (en)
French (fr)
Inventor
周鹏跃
Original Assignee
周鹏跃
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 周鹏跃 filed Critical 周鹏跃
Priority to CN202080043696.XA priority Critical patent/CN114466806A/zh
Priority to JP2021574758A priority patent/JP2022536191A/ja
Priority to EP20823337.9A priority patent/EP3984919A4/en
Publication of WO2020248593A1 publication Critical patent/WO2020248593A1/zh
Priority to US17/549,936 priority patent/US20220106058A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/36—Other airport installations
    • B64F1/368—Arrangements or installations for routing, distributing or loading baggage
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval

Definitions

  • the invention relates to a cargo access terminal and an assembly method thereof.
  • the cargo access terminal in the drone express application is an automated equipment that cooperates with the delivery and retrieval of the drone in the last mile.
  • the cargo is transferred between the user who receives and sends the cargo and the drone that transports the cargo through the cargo access terminal.
  • the cargo access terminal is equipped with at least one access port for users to deposit and withdraw cargo, as well as a handling mechanism for transferring cargo inside it and a platform for drones to land.
  • it is optionally equipped with a number of storage To realize the temporary storage of goods.
  • the existing cargo access terminals are all integrated, and can only be applied to a single application scenario and deployment environment.
  • most cargo access terminals can only be deployed in outdoor open spaces and users can only go to outdoor venues to access cargo, but cannot be deployed in buildings so that users can conveniently access cargo indoors.
  • a cargo access terminal including:
  • the first module is used for landing the drone
  • the second module is used for users to deposit and withdraw goods
  • the third module can transport the goods in the first direction, the third module can transfer the goods with the second module, and the third module can also move the goods in the first mode. Transfer the goods between the group and the drone or the first module;
  • the fourth module can carry the goods in a second direction, the second direction intersects the first direction, and the fourth module can communicate with the drone at the first module Or transfer the goods to each other with the first module, and the fourth module and the third module can also transfer the goods to each other;
  • the third module and the fourth module can be separately arranged between the first module and the second module, and the goods can be separately removed from the first module.
  • the second module is transported to the first module and the goods can be transported from the first module to the second module alone;
  • the third module and the fourth module are also It can be arranged together between the first module and the second module, and can jointly transfer the goods from the second module to the first module and can jointly transport the The goods are transferred from the first module to the second module.
  • a method for assembling a cargo access terminal includes the following steps:
  • the fourth module is arranged between the two third modules.
  • Another method for assembling a cargo access terminal includes the following steps:
  • the fourth module is arranged between the third module and the first module.
  • FIG. 1 is a schematic structural diagram of a first module according to an embodiment
  • Fig. 2 is a schematic structural diagram of the first module shown in Fig. 1 without a lifting platform installed;
  • FIG. 3 is a schematic structural diagram of a second module according to an embodiment
  • FIG. 4 is a schematic diagram of the structure of a third module according to an embodiment
  • FIG. 5 is a schematic structural diagram of the first transport mechanism of the third module shown in FIG. 4;
  • FIG. 6 is a schematic structural diagram of another state of the first conveying mechanism shown in FIG. 5;
  • FIG. 7 is a schematic structural diagram of a fourth module according to an embodiment
  • Fig. 8 is a schematic structural diagram of the fourth module shown in Fig. 7 grabbing goods from the eighth opening;
  • FIG. 9 is a schematic diagram of the fourth module shown in FIG. 7 being at least partially located above the third module shown in FIG. 4 and performing cargo transfer with the third module (the second supporting structure of the fourth module is omitted Part of the side wall);
  • FIG. 10 is a schematic diagram of the third module shown in FIG. 4 being at least partially higher than the fourth module shown in FIG. 7 and performing cargo transfer with the fourth module (the first supporting structure of the third module is omitted Part of the side wall);
  • Figure 11 is a schematic structural diagram of a second module in another embodiment
  • FIG. 12 is a schematic structural diagram of a fifth module according to an embodiment
  • FIG. 13 is a schematic diagram of the structure of the cargo access terminal of the first embodiment
  • Fig. 15 is a schematic diagram of the structure of the cargo access terminal of the third embodiment.
  • the cargo access terminal is used for cargo transfer between the drone and the user, where the cargo may be an express package.
  • the cargo access terminal is composed of multiple modules with different functions, which can transfer goods between the modules, and the modules can be flexibly combined, which is suitable for a variety of application scenarios and deployment environments, as shown in Figure 1, Figure 3, and Figure 4. 7 and 12, the goods access terminal includes: a first module 100, a second module 200, a third module 300, a fourth module 400, and a fifth module 500.
  • the first module 100 is used for landing the drone.
  • the first module 100 may be installed on the outside of the building.
  • the first module 100 may be installed on the top of the building (for example, the roof) or the outer wall of the building.
  • the first module 100 includes a support base 110 and a lifting platform 120.
  • the support base 110 can carry the drone and is used for landing the drone, and the drone descends on the support base 110 to load and unload the goods.
  • the support base 110 is provided with a first opening 130 through which supplies can pass.
  • the support base 110 is substantially in a plate-like structure and is arranged horizontally, and the first opening 130 is located in the middle of the support base 110 and communicates with the area directly above and directly below the support base 110.
  • the support base 110 is provided with an icon 140 that assists the drone's visual positioning to guide the drone to accurately fly onto the support base 110.
  • a guiding structure (not shown in the figure) is also provided on the support base 110 to guide the drone to a designated area on the support base 110 after the drone has landed on the support base 110.
  • a fixing mechanism capable of fixing the drone is also provided on the support base 110 to fix the drone relative to the support base 110 after the drone is landed on the support base 110 to prevent strong winds. Cause the drone to move during loading and unloading of goods.
  • a camera component (not shown in the figure) is further provided on the support base 110 to monitor and record the process of loading and unloading goods by the drone.
  • an anemometer (not shown) is also provided on the support base 110 to measure the wind speed at the first module 100. When the measured wind speed is high, the drone will stop flying to the support base 110 .
  • the lifting platform 120 can be installed on the support base 110.
  • the lifting platform 120 can carry goods and can drive the carried goods to rise and fall for the unmanned aerial vehicle to load and unload the goods.
  • the lifting platform 120 is detachably installed in the first opening 130.
  • the lifting platform 120 shields at least part of the first opening 130; or the lifting platform 120 can be movably installed in the On the support base 110, and the lifting platform 120 can move to the first opening 130 to shield at least part of the first opening 130, and the lifting platform 120 can move to leave the first opening 130 so that the first opening 130 is completely exposed, in which
  • the lifting platform 120 is slidably mounted on the support base 110.
  • the second module 200 is used for users to deposit and withdraw goods.
  • the second module 200 can be installed close to the ground, and can be installed in a building.
  • the second module 200 is a cabinet structure.
  • the second module 200 includes at least one second opening 210 for a user to access goods. The user puts goods into the second module 200 or takes out goods from the second module 200 through the second opening 210.
  • a storage board near the second opening 210 is further provided inside the second module 200 for storing goods.
  • the second module further includes a third opening 220 for transferring goods with other modules of the cargo storage terminal. It is understandable that other automated equipment, such as an automatic delivery and retrieval robot, can also put goods into or take out goods from the second module 200 through the second opening 210.
  • the second module 200 is also provided with an interactive component 230 for interacting with the user.
  • the interactive component 230 is at least one of a touch screen and a button, so as to facilitate the user to perform cargo access operations.
  • the second module 200 is also provided with a weighing device (not shown) capable of measuring the weight of the goods to determine whether the weight of the goods exceeds the upper limit of the load of the drone, and the measurement result can also be used as a calculation The basis for freight of the goods.
  • a weighing device (not shown) capable of measuring the weight of the goods to determine whether the weight of the goods exceeds the upper limit of the load of the drone, and the measurement result can also be used as a calculation The basis for freight of the goods.
  • the second module 200 is also provided with a reading device (not shown) capable of reading cargo information to identify the identity of the cargo, so as to prevent unidentified cargo from being loaded onto the drone.
  • the reading device is a two-dimensional code reading device or an RFID radio frequency tag reading device.
  • the third module 300 can transport goods in the first direction to change the height of the goods.
  • the third module 300 can transfer goods to the second module 200, and the third module 300 can also transfer goods to the drone or the first module 100 at the first module 100.
  • the first direction is a vertical direction.
  • the third module 300 is at least partially located below the first module 100 and transfers goods to the drone through the first opening 130.
  • goods may not be directly transferred between the third module 300 and the drone.
  • the third module 300 first transfers the goods to the first module 100, and then the drone transfers the goods from the first module. Loading and unloading cargo on group 100.
  • the fourth module 300 can transport goods in a second direction, which intersects the first direction.
  • the second direction is a horizontal direction
  • the fourth module 400 and the second module 200 can transfer goods to each other.
  • the fourth module 400 can also transmit goods to the drone or the first module 100 at the first module 100
  • the fourth module 400 and the third module 300 can also transmit goods to each other.
  • the fourth module 400 is at least partially located on the side of the first module 100, and can carry goods unloaded by the drone from the lifting platform 120 and can carry the goods to the lifting platform 120. Wait for the drone to load.
  • the third module 300 and the fourth module 400 can be separately arranged between the first module 100 and the second module 200, and can separately carry the goods of the second module 200 to the first module.
  • the module 100 and the goods at the first module 100 can be transported to the second module 200 individually.
  • the third module 300 and the fourth module 400 can also be arranged together between the first module 100 and the second module 200, and can jointly transfer the goods of the second module 200 to the first module 100 It can transfer and transport the goods at the first module 100 to the second module 200 together.
  • the first module 100 can change part of its structure according to different situations.
  • the first module 100 may not retain the lifting platform 120, for example
  • the first module 100 may not reserve the first opening 130, which is suitable for the situations where the drones at the third module 300 and the first module 100 transfer goods to each other, and the fourth module 400 and the first module 100 mutual transfer of goods.
  • the third module 300 includes a first supporting structure 310 and a first conveying mechanism 320.
  • the first supporting structure 310 is substantially a hollow strip structure extending along the first direction and opening at both ends.
  • the first conveying mechanism 320 can slide in the first supporting structure 310 and is After receiving the goods at either end of the structure 310, the goods are transported to the other end of the first support structure 310.
  • the fourth opening 312 and the fifth opening 314 are openings at both ends of the first support structure 310 respectively, and the fourth opening 312 is higher than the fifth opening 314 after the third module 300 is installed.
  • a plurality of first support structures 310 can be spliced end to end, and the fourth opening 312 of one of the two adjacent first support structures 310 can be connected to the fifth opening 314 of the other to form a first conveying channel.
  • the conveying mechanism 320 can move from one end of the first conveying channel to the other end in the first conveying channel to increase the distance for conveying goods in the first direction.
  • the first transport mechanism 320 includes a first moving part 322 and two oppositely arranged clamping arms 324 mounted on the first moving part 322.
  • the first moving part 322 is arranged In the first support structure 310, and can slide within the first support structure 310, at least one of the two clamping arms 324 can be close to or far away from the other, so that the two clamping arms 324 can be clamped and released Goods; the first transport mechanism 320 slides relative to the first support structure 310 through the first moving part 322 to enable the clamping arm 324 to at least partially extend out of the fourth opening 312 to transfer the goods with the drone, specifically, when the first support structure When 310 is located under the first module 100 and the fourth opening 312 is in communication with the first opening 130, the clamping arm 324 can at least partially extend out of the fourth opening 312 and pass through the first opening 130 to transfer goods to the drone .
  • the first conveying mechanism 320 is not limited to the above structure.
  • the first conveying mechanism 320 includes a first moving part 322 and a supporting plate installed on the first moving part 322 and capable of supporting goods.
  • the conveying mechanism 320 does not need to provide a clamping arm 324.
  • the first support structure 310 is not limited to a hollow strip structure.
  • the first support structure 310 can also be a strip-shaped slide rail, and setting the first support structure 310 as a hollow strip structure can facilitate the first transport Agency 320 and cargo are protected.
  • the sides of the two clamping arms 324 close to each other extend horizontally to form a supporting portion 324a, and the supporting portions 324a of the two clamping arms 324 can jointly support goods.
  • the fourth module 400 includes a second supporting structure 410 and a second conveying mechanism 420.
  • the second support structure 410 is substantially a hollow strip structure extending in the second direction and open at both ends.
  • the second conveying mechanism 420 can slide in the second support structure 410 and move in the second After receiving goods at either end of the supporting structure 410, the goods are transported to the other end of the second supporting structure 410.
  • the sixth opening 412 and the seventh opening 414 are openings at two ends of the second support structure 410 respectively.
  • a plurality of second support structures 410 can be spliced end to end, and the seventh opening 414 of one of the two adjacent second support structures 410 can communicate with the sixth opening 412 of the other to form a second conveying channel, a second The conveying mechanism 420 can move from one end of the second conveying channel to the other end in the second conveying channel to increase the distance of conveying goods in the second direction.
  • the second conveying mechanism 420 includes a second moving part 422 and a grabbing part 424 installed on the second moving part 422.
  • the second moving part 422 is arranged in the second supporting structure 410 and can be installed in the second supporting structure. Sliding inside 410, the grabbing component 424 can grab the goods from above the goods.
  • the top of the goods is provided with a grabbing portion, and the grabbing component 424 can be fixed with the grabbing portion of the goods.
  • the second conveying mechanism 420 slides relative to the second support structure 410 through the second moving part 422 to enable the grabbing member 424 to extend from the sixth opening 412 and grab the goods from the lifting platform 120 and release the goods on the lifting platform 120.
  • the grasping member 424 can extend out of the sixth opening 412 and is located at the lift platform 120
  • the upper part is used to grab the goods from the lifting platform 120 and release the goods on the lifting platform 120.
  • the lifting platform 120 can be raised and lowered to match the grasping and releasing of the goods by the grabbing component 424.
  • the side wall of the second support structure 410 is further provided with an eighth opening 416, the eighth opening 416 is close to the seventh opening 414, and the fourth module 400 can transfer goods through the eighth opening 416 and the third module 300.
  • the eighth opening 416 is located in the second conveying mechanism 420.
  • the clamping arm 324 can at least partially extend out of the fourth opening 312 and extend into the second supporting structure 410 to transfer goods with the second conveying mechanism 420.
  • the side wall of the first support structure 310 is further provided with a ninth opening 316, the ninth opening 316 is close to the fifth opening 314, and the third module 300 can also pass through the ninth opening 316 and the fourth opening 316.
  • the module 400 delivers goods. Specifically, as shown in FIG. 10, when the third module 300 is at least partially higher than the fourth module 400, and the ninth opening 316 is in communication with the sixth opening 412, the grasping member 424 can extend out of the sixth opening 412 and It extends into the first supporting structure 310 to transfer the goods with the first conveying mechanism 320, and at this time, the first conveying mechanism 320 is located below the grabbing member 424.
  • the third module 300 can also move the goods in a third direction that intersects the first direction.
  • the third direction is perpendicular to the first direction.
  • the two clamping arms 324 can also extend and retract in the third direction to move the goods in the third direction.
  • the side wall of the first support structure 310 is also provided with a tenth opening 318, and two The two clamping arms 324 extend and partially extend out of the tenth opening 318 to move the goods out of the first support structure 310 or clamp the goods from outside the first support structure 310.
  • the third module 300 can transfer goods to the second module 200 through the tenth opening 318. As shown in FIG.
  • the third opening 220' can be provided On the side of the second module 200', the third module 300 is located on the side of the second module 200' and the tenth opening 318 communicates with the third opening 220', the first conveying mechanism 320 slides to be close to the tenth opening 318 And the two clamping arms 324 extend and retract in the third direction to move the goods into the second module 200' or clamp the goods from the second module 200'.
  • the third module 300 may also transfer goods to the second module 200 through the fifth opening 314. Please refer to FIG. 3 again.
  • the third opening 220 may be provided on the top surface of the second module 200. When 300 is located above the second module 200 and the fifth opening 314 is in communication with the third opening 220, the first transport mechanism 320 slides to the fifth opening 314 and receives goods from the second module 200 or releases the goods to the second module Group 200.
  • the grabbing member 424 can extend and contract, and the expansion and contraction direction of the grabbing member 424 intersects the sliding direction of the second moving member 422.
  • the telescopic direction of the grabbing member 424 is the vertical direction, so that the grabbing member 424 can adjust the position of the grabbing goods in the vertical direction, so that when the goods are transferred to the lifting platform 120
  • the lifting platform 120 does not need to lift height, and the holding arm 324 does not need to extend into the second support structure 410 when transferring goods with the holding arm 324, and the fourth module 400 can also pass through the eighth opening 416 and the second module 200 transfers goods, that is, when the third opening 220 is provided on the top surface of the second module 200, the fourth module 400 is located above the second module 200 and the eighth opening 416 is in communication with the third opening 220, the grasping part
  • the 424 slides to be close to the eighth opening 416 and expands and contracts in the vertical direction to put the goods in the second module 200 or grab the goods
  • the grasping part 424 can slide relative to the second moving part 422, and the sliding direction is parallel to the sliding direction of the second moving part 422 relative to the second supporting structure 410, so that the grasping part 424 is increased relative to the second moving part 422 Sliding stroke.
  • the grasping member 424 can rotate relative to the second moving member 422, and the rotation axis is perpendicular to the sliding direction of the second moving member 422 relative to the second supporting structure 410, so as to adjust the direction in which the grasping member 424 grasps the goods.
  • the rotation axis is parallel to the vertical direction.
  • the fifth module 500 is used to store goods for the drone or user to collect.
  • the fifth module 500 is provided with a plurality of storage locations for accommodating goods and an eleventh opening 510 through which supplies can enter and exit the storage location.
  • a plurality of storage positions in the fifth module 500 can be distributed along the first direction and separated by an object plate.
  • the third module 300 can move the goods into or out of the storage location of the fifth module 500 by moving the goods in the third direction.
  • the clamping arm 324 can move the goods into the storage position or clamp the goods from the storage position. It is easy to understand that the fifth module 500 can be omitted, that is, the cargo storage terminal may not have the function of storing multiple cargoes.
  • a plurality of fifth modules 500 can be located at the side of the third module and stacked in the first direction to increase the storage capacity of the cargo storage terminal.
  • Each clamping arm 324 further includes a positioning piece 324b.
  • the positioning piece 324b is fixed on the side where the extension parts of the two clamping arms 324 are close to each other, and is located in the extension. At the end of the long part, the positioning piece 324b can be driven by the clamping arm 324 to expand and contract in the third direction and push the goods in the fifth module 500 to adjust the position of the goods, so that the clamping arm 324 can grip the first In the case of the goods in the five module 500, the goods are located at a suitable position relative to the clamping arm 324 in the third direction.
  • the loading and unloading terminal further includes a plurality of door panels, some of which can be movably installed on the first module 100 and the second module 200, and are positioned between the first opening 130 and the second opening 210.
  • the first opening 130 and the second opening 210 are automatically closed when in use, and some door panels can be detachably installed on the first support structure 310 and the second support structure 410 for closing the first support structure 310 and the second support structure.
  • the openings on the second supporting structure 410 that are not connected with other modules are used to close the internal space of the cargo access terminal, thereby ensuring the safety of internal cargo.
  • the lifting platform 120 may be installed on the movable door panel of the first opening 130 to realize that the lifting platform 120 can automatically move to the first opening 130 and can automatically leave the first opening 130.
  • the second module 200 is provided with a main controller (not shown), and the third module 300 and the fourth module 400 can be electrically connected to the first module 100 and the second module 200 and transmit power and Data, the third module 300 and the fourth module 400 can also be electrically connected to each other, so that the main controller can control the operation of the first module 100, the third module 300, the fourth module 400 and the second module 200 .
  • the second module 200 can be set close to the ground, it is convenient for the staff to manually operate and maintain the main controller.
  • the cargo access terminal has a variety of assembly forms suitable for different application scenarios and different deployment environments through the configuration of module type, module quantity and combination mode, which expands the application scope of the cargo access terminal and reduces the design And the cost of production.
  • the cargo access terminal can be transported and installed in blocks in units of modules, which is convenient for transport, installation and maintenance.
  • the loading and unloading terminal can be upgraded by adding, reducing or replacing the modules, and by adjusting the position of the module, the function can be upgraded to meet the updated use needs, without the need to replace the installed loading and unloading terminal as a whole .
  • the cargo access terminal of the first embodiment is an assembly form of the above cargo access terminal.
  • the cargo access terminal of this embodiment is deployed in an outdoor open space, and includes: a first module 100, a second module 200, a third module 300, and a fifth module 500.
  • the third module 300 is separately provided in the first module. Between a module 100 and a second module 200.
  • the lifting platform 120 is not installed in the first module 100.
  • the second module 200 is located below the first module 100, and the first module 100 has a large height difference relative to the second module 200, so that the area where the drone 20 loads and unloads the cargo 30 is far away from the user access to the cargo 30 It avoids contact between the drone 20 and the user, and at the same time reduces the impact of downwash airflow and noise on the people below when the drone 20 is flying.
  • the third module 300 is disposed between the first module 100 and the second module 200.
  • the first support structure 310 extends in the vertical direction.
  • the fourth opening 312 of the first support structure 310 communicates with the first opening 130, and the fifth opening 314 communicates with the third opening 220 of the second module 200.
  • Two sets of fifth modules 500 are respectively disposed on both sides of the first supporting structure 310, and the eleventh opening 510 of the fifth module 500 is connected to the tenth opening 318.
  • the cargo 30 handling method of the cargo access terminal of this embodiment is as follows:
  • the cargo 30 transfers from the drone 20 to the second module 200: the drone 20 unloads the cargo 30 on the first transport mechanism 320 at least partially passing through the first opening 130, and the first transport mechanism 320 slides to the fifth opening 314 and release the cargo 30 to the second module 200.
  • the first transport mechanism 320 picks up the cargo 30 from the second module 200 and transports the cargo 30 to the fourth opening 312, and at least partially passes through the first opening 130 , Then the drone 20 loads the cargo 30.
  • the cargo 30 transfer between the fifth module 500 and the drone 20 or the second module 200 is similar to the cargo 30 transfer between the second module 200 and the drone 20, except that the third module
  • the first conveying mechanism 320 of 300 slides to be close to the tenth opening 318, and moves the goods 30 into the storage position or picks up the goods 30 from the storage position.
  • the cargo access terminal of the second embodiment is another assembly form of the above cargo access terminal.
  • the cargo access terminal of this embodiment is deployed outside the building 40, and includes: a first module 100, a second module 200, a third module 300, and a fourth module 400, of which the third module 300 and The fourth module 400 is arranged between the first module 100 and the second module 200 together.
  • the first module 100 is disposed on the top of the building 40 (for example, the roof).
  • the second module 200 is installed on the ground and close to the outer wall of the building 40.
  • the third module 300 is in two groups, one group is located close to the first module 100 and the other group is located close to the second module 200.
  • the two sets of third modules 300 are respectively installed on the two outer walls of the building 40, the two outer walls are parallel and spaced apart, and are connected by a horizontal terrace.
  • the fourth module 400 is arranged between the two sets of third modules 300 and installed on the above-mentioned horizontal terrace. It should be noted that each group of third modules 300 may be composed of a plurality of first supporting structures 310 spliced together.
  • the fourth opening 312 of the third module 300 close to the first module 100 communicates with the first opening 130
  • the ninth opening 316 communicates with the sixth opening 412 of the fourth module 400
  • the eighth opening 416 is in communication with the fourth opening 312 of the third module 300 close to the second module 200
  • the fifth opening 314 of the third module 300 close to the second module 200 is connected to the third opening 314 of the second module 200
  • the opening 220 communicates.
  • the cargo 30 transportation method of the cargo access terminal of this embodiment is as follows:
  • the cargo 30 transfers from the drone 20 to the second module 200: the drone 20 unloads the cargo 30 on the first transport mechanism 320 of the third module 300 close to the first module 100, and then the first transport mechanism 320 slid to be close to the ninth opening 316, the grabbing member 424 of the fourth module 400 extends into the first support structure 310 of the third module 300 and is located above the first conveying mechanism 320, and the grabbing member 424 grabs Take the goods 30 on the first transport mechanism and slide it to above the eighth opening 416.
  • the first transport mechanism 320 of the third module 300 close to the second module 200 at least partially extends into the second support structure 410 and The goods are clamped, and after the grabbing component 424 releases the goods, the first transport mechanism 320 transfers and releases the goods 30 to the second module 200.
  • the first transport mechanism 320 of the third module 300 close to the second module 200 grips the cargo 30 from the second module 200 and transfers the cargo 30 to the In the second support structure 410 of the four modules 400, the goods 30 are then transferred to the first transport mechanism 320 of the third module 300 close to the first module 100 through the grabbing part 424, and then the first transport mechanism 32 Transfer and finally loading by drone 20.
  • the cargo access terminal of this example is fixed on the building 40, so that the installation of the cargo access terminal is more stable, and the flexible combination of the third module 300 and the fourth module 400 can be applied to different wall shapes. Building 40. Moreover, the drone 20 can complete the loading and unloading of the cargo 30 on the top of the building 40 without flying close to the ground, which reduces the difficulty of flying the drone 20 and avoids the need for ground personnel when the drone 20 takes off and landed. influences.
  • the tenth opening 318 of the third module 300 of this example can also be close to the window or balcony of the building 40, and the first transport mechanism 320 slides to be close to the tenth opening 318 and extends the clamping arm 324 to extend the Ten openings 318 also provide users with the convenience of taking and placing goods 30 by the window or on the balcony. It should be noted that, for the goods 30 posted by the user by the window or on the balcony, the goods access terminal can transfer the goods 30 to the second module 200 to perform operations of measuring the weight of the goods 30 and identifying the identity.
  • the cargo access terminal of this example is further provided with a fifth module 500, and the fifth module 500 is arranged on the side of the third module 300 close to the second module 200.
  • the present invention also provides an assembly method of the cargo access terminal, which includes the following steps:
  • a fourth module 400 is provided between the two third modules 300.
  • the cargo access terminal of the third embodiment is another assembly form of the above cargo access terminal.
  • the cargo access terminal of this embodiment is deployed on one of the floors of the high-rise building 50 and includes: a first module 100, a second module 200, a third module 300, and a fourth module 400.
  • the first module 100 is installed on the outer wall of the building 50.
  • the first module 100 is installed with a lifting platform 120.
  • the second module 200 is installed in the building 50 and installed on the floor of a floor close to the first module 100 in height.
  • the third module 300 is installed in the building 50 and close to the second module 200, and the fourth module 400 is installed between the third module 300 and the first module 100 and installed on the floor where the second module 200 is located. On the ceiling.
  • the wall of the building 50 is provided with a through opening 51 connecting the inside and outside of the building 50
  • the first module 100 is arranged close to the through opening 51
  • the fourth module 400 is close to or partially located at the through opening 51, so that the fourth module
  • the group 400 can partially pass through the through opening 51 and can transmit goods with the first module 100.
  • the sixth opening 412 of the fourth module 400 can be connected to the through opening 51, and the grabbing member 424 extends beyond the sixth opening 412.
  • the rear can be located above the lifting platform 120; and the eighth opening 416 of the fourth module 400 communicates with the fourth opening 312 of the third module 300.
  • the cargo 30 transportation method of the cargo access terminal of this embodiment is as follows:
  • the drone 20 unloads the cargo 30 on the lifting platform 120 and then flies away, the grabbing component 424 extends out of the sixth opening 412 and grabs the cargo 30 on the lifting platform 120 The cargo 30 is then transferred and released by the grabbing component 424 to the first transport mechanism 320, and the first transport mechanism 320 transfers and releases the cargo 30 to the second module 200.
  • the first transport mechanism 320 grips the cargo 30 from the second module 200 and transfers the cargo 30 to the grabbing part 424, and then the grabbing part 424 slides and extends
  • the sixth opening 412 is used to release the cargo 30 to the lifting platform 120.
  • the grabbing member 424 retracts into the second support structure 410 to avoid hindering the landing of the drone 20, and finally the drone 20 lands to the first A module 100 is loaded with cargo 30.
  • the cargo access terminal of this example can be deployed on the floor where the user is located, and the drone 20 can load and unload cargo 30 on the same floor to shorten the distance the cargo access terminal carries the cargo 30. At the same time, due to the wall of the building 50, Avoiding contact between the drone 20 and the user can also prevent the flying noise of the drone 20 from being transmitted into the room.
  • the first module 100 of this example can also be rotated relative to the building 50, that is, the first module 100 is rotatably installed on the outer wall of the building 50, so that the first module 100 can be rotated when not in use. It is close to the outer wall of the building 50, thereby reducing the protrusion size of the first module 100 relative to the wall, and also allowing the first module 100 to block the through opening 51.
  • a rotating frame is provided between the first module 100 and the building 50, the fixed part of the rotating frame is installed on the outer wall of the building 50, and the first module 100 is fixed to the rotating part of the rotating frame to achieve The first module 100 can rotate relative to the building 50.
  • the present invention also proposes another method for assembling a cargo access terminal, which includes the following steps:
  • a fourth module 400 is provided between the third module 300 and the first module 100.

Abstract

一种货物存取终端，包括第一模组（100）、第二模组（200）、第三模组（300）及第四模组（400）。第三模组（300）和第四模组（400）能够分别在第一方向上和第二方向上搬运货物，第二方向与第一方向相交；第三模组（300）和第四模组（400）中的至少一个能够单独设置在第一模组（100）和第二模组（200）之间，并且能够单独将货物从第二模组（200）搬运至第一模组（100）处和能够单独将货物从第一模组（100）处搬运至第二模组（200）；第三模组（300）与第四模组（400）还能够一起设置在第一模组（100）和第二模组（200）之间，并且能够共同将货物从第二模组（200）传递搬运至第一模组（100）处和能够共同将货物从第一模组（100）处传递搬运至第二模组（200）。

Description

货物存取终端及其组装方法 技术领域
本发明涉及一种货物存取终端及其组装方法。
背景技术
无人机快递应用中的货物存取终端是一种配合无人机最后一公里送取货的自动化设备，货物通过货物存取终端在收寄货物的用户与运送货物的无人机之间传递，该货物存取终端设有至少一个供用户存入和取出货物的存取口，以及用于其内部转移货物的搬运机构和供无人机降落的平台，另外可选地还设置有若干存储位以实现货物的临时储存。
但是，现有的货物存取终端均为一体结构，并且只能适用于单一的应用场景和部署环境。例如，目前多数货物存取终端只能部署于户外空地并且使得用户只能前往户外场地存取货物，而无法部署于建筑物内以使得用户能够在室内方便地存取货物。
发明内容
基于此，有必要提供一种能够适用于多种应用场景的货物存取终端。
此外，还提供货物存取终端的组装方法。
一种货物存取终端，包括：
第一模组，用于供无人机降落；
第二模组，用于供用户存取货物；
第三模组，能够在第一方向上搬运所述货物，所述第三模组能够与所述第二模组相互传递所述货物，所述第三模组还能够在所述第一模组处与所述无人机或与所述第一模组相互传递所述货物；
第四模组，能够在第二方向上搬运所述货物，所述第二方向与所述第一方向相交，所述第四模组能够在所述第一模组处与所述无人机或与所述第一模组相互传递所述货物，且所述第四模组与所述第三模组还能够相互传递所述货物；
其中，所述第三模组和所述第四模组中的至少一个能够单独设置在所述第一模组和所述第二模组之间，并且能够单独将所述货物从所述第二模组搬运至所述第一模组处和能够单独将所述货物从所述第一模组处搬运至所述第二模组；所述第三模组与所述第四模组还能够一起设置在所述第一模组和所述第二模组之间，并且能够共同将所述货物从所述第二模组传递搬运至所述第一模组处和能够共同将所述货物从所述第一模组处传递搬运至所述第二模组。
一种货物存取终端的组装方法，包括如下步骤：
提供上述的货物存取终端；
将所述第一模组设置在建筑物的顶部；
将所述第二模组设置在地面上，并靠近所述建筑物；
将一所述第三模组靠近所述第一模组设置，以及将另一所述第三模组靠近所述第二模组设置；
在两所述第三模组之间设置所述第四模组。
另一种货物存取终端的组装方法，包括如下步骤：
提供上述的货物存取终端；
将所述第一模组设置在建筑物外侧；
将所述第二模组设置在所述建筑物内；
将所述第三模组设置在所述建筑物内并靠近所述第二模组；
在所述第三模组和所述第一模组之间设置所述第四模组。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为一实施方式的第一模组的结构示意图；
图2为图1所示的第一模组没有安装升降台的结构示意图；
图3为一实施方式的第二模组的结构示意图；
图4为一实施方式的第三模组的结构示意图；
图5为图4所示的第三模组的第一搬运机构的结构示意图；
图6为图5所示的第一搬运机构的另一状态的结构示意图；
图7为一实施方式的第四模组的结构示意图；
图8为图7所示的第四模组从第八开口抓取货物的结构示意图；
图9为图7所示的第四模组至少部分位于图4所示的第三模组的上方，并与该第三模组进行货物传递的示意图(第四模组的第二支撑结构省略了部分侧壁)；
图10为图4所示的第三模组至少部分高于图7所示的第四模组，并与该第四模组进行货物传递的示意图(第三模组的第一支撑结构省略了部分侧壁)；
图11为另一实施方式的第二模组的结构示意图
图12为一实施方式的第五模组的结构示意图；
图13为第一实施例的货物存取终端的结构示意图；
图14为第二实施例的货物存取终端的结构示意图；
图15为第三实施例的货物存取终端的结构示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。
一实施方式的货物存取终端，该货物存取终端用于无人机与用户之间的货物传递，其中货物可以为快递包裹。该货物存取终端由多个不同功能的模组构成，模组之间能够传递货物，且模组能够灵活组合，从而适用于多种应用场景和部署环境，如图1、图3、图4、图7及图12所示，该货物存取终端包括：第一模组100、第二模组200、第三模组300、第四模组400及第五模组500。
第一模组100用于供无人机降落。第一模组100可以安装在建筑物的外部，例如，第一模组100可以安装在建筑物的顶部(例如屋顶)或建筑物的外墙面。
具体地，第一模组100包括支撑座110和升降台120。
请一并参阅图2，支撑座110能够承载无人机并用于供无人机降落，无人机下降至支撑座110上并进行货物的装卸。支撑座110上开设有能够供货物穿过的第一开口130。可选地，支撑座110大致为板状结构且水平设置，第一开口130位于支撑座110的中部并且连通支撑座110的正上方区域和正下方区域。
进一步地，支撑座110上设有辅助无人机视觉定位的图标140，以引导无人机准确地飞抵至支撑座110上。
可选地，支撑座110上还设有导引结构(图未示)，以在无人机着陆于支撑座110上后将无人机导引至支撑座110上的指定区域。
可选地，支撑座110上还设有能够固定无人机的固定机构(图未示)，以在无人机着陆于支撑座110上后将无人机相对支撑座110固定，以防止强风造成无人机在装卸货物过程中移动。
可选地，支撑座110上还设有摄像头部件(图未示)，以对无人机装卸货物的过程进行监控和记录。
可选地，支撑座110上还设有风速计(图未示)，以测量第一模组100处的风速，当测量到的风速较大时无人机将停止飞抵至支撑座110上。
升降台120能够安装在支撑座110上，升降台120能够承载货物并且能够带动承载的货物升降，以供无人机装卸货物。可选地，升降台120可拆卸地安装在第一开口130，当升降台120安装在第一开口130时，升降台120遮蔽至少部分第一开口130；或者，升降台120可活动地安装于支撑座110上，并且升降台120能够活动至第一开口130而遮蔽至少部分第一开口130，以及升降台120能够活动至离开所述第一开口130而使第一开口130 完全露出，在其中的一种实施方式中，升降台120可滑动地安装于支撑座110上。
第二模组200用于供用户存取货物。第二模组200能够靠近地面设置，并且可以设置在建筑物内。在其中的一种实施方式中，第二模组200为柜体结构。具体地，第二模组200包括至少一个供用户存取货物的第二开口210，用户通过第二开口210将货物放入第二模组200内或从第二模组200内取出货物。可选地，第二模组200的内部还设有靠近第二开口210的置物板，以用于置放货物。另外地，第二模组还包括第三开口220以用于与存取货终端的其它模组传递货物。可以理解地，其它自动化设备，例如自动送取货机器人，也可以通过第二开口210将货物放入第二模组200内或从第二模组200内取出货物。
进一步地，第二模组200上还设有用于与用户交互的交互部件230，交互部件230为触摸屏及按键中的至少一种，以便于用户进行货物的存取操作。
进一步地，第二模组200内还设有能够测量货物重量的称重装置(图未示)，以用于判断货物的重量是否超出无人机的载荷上限，并且测量的结果还可以作为计算货物运费的依据。
进一步地，第二模组200内还设有能够读取货物信息的读取装置(图未示)，以识别货物的身份，从而能够避免未能识别身份的货物被装载至无人机。可选地，读取装置为二维码读取装置或RFID无线射频标签读取装置。
第三模组300能够在第一方向上搬运货物以改变货物的高度。第三模组300能够与第二模组200相互传递货物，第三模组300还能够在第一模组100处与无人机或与第一模组100相互传递货物。可选地，第一方向为竖直方向。在图示的实施例中，第三模组300至少部分位于第一模组100的下方并通过第一开口130与无人机相互传递货物。在其它实施例中，第三模组300与无人机之间也可以不直接传递货物，例如第三模组300先将货物传递至第一模组100，再由无人机从第一模组100上装卸货物。
第四模组300能够在第二方向上搬运货物，第二方向与第一方向相交。可选地，第二方向为水平方向，以及第四模组400可以与第二模组200相互传递货物。第四模组400还能够在第一模组100处与无人机或与第一模组100相互传递货物，以及第四模组400与第三模组300还能够相互传递货物。在图示的实施例中，第四模组400至少部分位于第一模组100的侧方，并能够从升降台120上搬运无人机卸载的货物和能够将货物搬运至升降台120上以待无人机装载。
其中，第三模组300和第四模组400中的至少一个能够单独设置在第一模组100和第二模组200之间，并且能够单独将第二模组200的货物搬运至第一模组100处和能够单独将第一模组100处的货物搬运至第二模组200。第三模组300和第四模组400还能够一起设置在第一模组100和第二模组200之间，并且能够共同将第二模组200的货物传递搬运至第一模组100处和能够共同将第一模组100处的货物传递搬运至第二模组200。
需要说明的是，除了保留供无人机降落的支撑座110和图标140以外，第一模组100可以根据不同情况变动其部分结构，例如第一模组100可以不保留升降台120，又例如第 一模组100可以不保留第一开口130，从而分别适用于第三模组300与第一模组100处的无人机相互传递货物的情况、以及第四模组400与第一模组100相互传递货物的情况。
在其中一个实施例中，第三模组300包括第一支撑结构310及第一搬运机构320。
在图示的实施例中，第一支撑结构310大致为沿第一方向延伸且两端开口的中空条状结构，第一搬运机构320能够在第一支撑结构310中滑动，并在第一支撑结构310的任意一端接收货物后再将货物搬运至第一支撑结构310另外的一端。其中，第四开口312和第五开口314分别为第一支撑结构310两端的开口，并且在第三模组300安装后第四开口312高于第五开口314。多个第一支撑结构310可以首尾依次拼接，且相邻两个第一支撑结构310其中一个的第四开口312可以和另一个的第五开口314连通，以形成第一搬运通道，一第一搬运机构320能够在第一搬运通道中从第一搬运通道的一端运动到另外的一端，以增加在第一方向上搬运货物的距离。
请一并参阅图5和图6，具体地，第一搬运机构320包括第一运动部件322及安装于第一运动部件322上的两个相对设置的夹持臂324，第一运动部件322设置在第一支撑结构310中，并且能够在第一支撑结构310内滑动，两个夹持臂324中的至少一个能够相对另一个靠近或远离，而使两个夹持臂324能够夹取和释放货物；第一搬运机构320通过第一运动部件322相对第一支撑结构310滑动能够使夹持臂324至少部分伸出第四开口312以与无人机传递货物，具体地，当第一支撑结构310位于第一模组100的下方，并且第四开口312与第一开口130连通时，夹持臂324能够至少部分伸出第四开口312并穿过第一开口130以与无人机传递货物。
可以理解地，第一搬运机构320也不限于上述结构，例如第一搬运机构320包括第一运动部件322及安装于第一运动部件322上并且能够承托货物的承托板，此时第一搬运机构320无需设置夹持臂324。另外地，第一支撑结构310也不限于中空条状结构，例如第一支撑结构310还可以为条形的滑轨，而将第一支撑结构310设置为中空条状结构是可以对第一搬运机构320和货物进行保护。
可选地，两个夹持臂324相互靠近的一侧水平延伸形成支撑部324a，两个夹持臂324的支撑部324a能够共同承托货物。
请一并参阅图7和图8，具体地，第四模组400包括第二支撑结构410和第二搬运机构420。
具体在图示的实施例中，第二支撑结构410大致为沿第二方向延伸且两端开口的中空条状结构，第二搬运机构420能够在第二支撑结构410中滑动，并在第二支撑结构410的任意一端接收货物后再将货物搬运至第二支撑结构410另外的一端。其中，第六开口412和第七开口414分别为第二支撑结构410两端的开口。多个第二支撑结构410可以首尾依次拼接，且相邻两个第二支撑结构410其中一个的第七开口414可以和另一个的第六开口412连通，以形成第二搬运通道，一第二搬运机构420能够在第二搬运通道中从第二搬运通道的一端运动到另外的一端，以增加在第二方向上搬运货物的距离。
具体地，第二搬运机构420包括第二运动部件422及安装在第二运动部件422上的抓取部件424，第二运动部件422设置在第二支撑结构410中，并且能够在第二支撑结构410内滑动，抓取部件424能够从货物的上方抓取货物，可选地，货物的顶端设有抓取部，抓取部件424能够与货物的抓取部固定。第二搬运机构420通过第二运动部件422相对第二支撑结构410滑动能够使抓取部件424从第六开口412伸出并从升降台120上抓取货物和将货物释放于升降台120上，具体地，当第二支撑结构410位于第一模组100的侧方，第六开口412靠近第一模组100的边缘时，抓取部件424能够伸出第六开口412并位于升降台120的上方以从升降台120上抓取货物和释放货物于升降台120上，升降台120可以升降高度以配合抓取部件424对货物的抓取和释放。
进一步地，第二支撑结构410的侧壁还设有第八开口416，第八开口416靠近第七开口414，第四模组400能够通过第八开口416与第三模组300传递货物。具体地，如图9所示，当第四模组400至少部分位于第三模组300的上方，并且第四开口312与第八开口416连通时，第八开口416位于第二搬运机构420的下方，夹持臂324能够至少部分伸出第四开口312并伸入第二支撑结构410中以与第二搬运机构420传递货物。
进一步地，请再次参阅图4，第一支撑结构310的侧壁还设有第九开口316，第九开口316靠近第五开口314，第三模组300还能够通过第九开口316与第四模组400传递货物。具体地，如图10所示，当第三模组300至少部分高于第四模组400，并且第九开口316与第六开口412连通时，抓取部件424能够伸出第六开口412并伸入第一支撑结构310中以与第一搬运机构320传递货物，此时第一搬运机构320位于抓取部件424的下方。
进一步地，第三模组300还能够在与第一方向相交的第三方向上移动货物，可选地，第三方向与第一方向垂直。具体地，请再次参阅图4和图6，两个夹持臂324还能够在第三方向上伸缩以在第三方向上移动货物，第一支撑结构310的侧壁还设有第十开口318，两个夹持臂324伸长并部分伸出第十开口318以将货物移出第一支撑结构310或从第一支撑结构310外夹取货物。由此，第三模组300可以通过第十开口318与第二模组200传递货物，如图11所示，在第二模组200的另一种实施方式中，第三开口220’可以设于第二模组200’的侧面，第三模组300位于第二模组200’的侧方并且第十开口318与第三开口220’连通，第一搬运机构320滑动至靠近第十开口318并且两个夹持臂324沿第三方向伸缩以将货物移动至第二模组200’中或从第二模组200’中夹取货物。或者，第三模组300也可以通过第五开口314与第二模组200传递货物，请再次参阅图3，第三开口220可以设于第二模组200的顶面，当第三模组300位于第二模组200的上方并且第五开口314与第三开口220连通时，第一搬运机构320滑动至第五开口314并从第二模组200接收货物或将货物释放至第二模组200。
可选地，请再次参阅图8，抓取部件424能够伸缩，且抓取部件424的伸缩方向与第二运动部件422的滑动方向相交。在其中的一种实施方式中，抓取部件424的伸缩方向为竖直方向，以使抓取部件424能够在竖直方向上调整抓取货物的位置，由此在与升降台 120传递货物时升降台120无须升降高度，以及在与夹持臂324传递货物时夹持臂324也无须伸入第二支撑结构410中，并且第四模组400还可以通过第八开口416与第二模组200传递货物，即当第三开口220设于第二模组200的顶面，第四模组400位于第二模组200的上方并且第八开口416与第三开口220连通时，抓取部件424滑动至靠近第八开口416并且在竖直方向上伸缩以将货物放入第二模组200中或从第二模组200中抓取货物。
可选地，抓取部件424能够相对第二运动部件422滑动，且滑动方向与第二运动部件422相对第二支撑结构410的滑动方向平行，以使抓取部件424相对第二运动部件422增加滑动行程。
可选地，抓取部件424能够相对第二运动部件422转动，并且转动轴与第二运动部件422相对第二支撑结构410的滑动方向垂直，以调整抓取部件424抓取货物的方向。在其中的一种实施方式中，转动轴平行于竖直方向。
请再次参阅图12，第五模组500用于存储货物，以待无人机或用户收取。第五模组500内设多个能够容置货物的存储位和供货物进出存储位的第十一开口510。具体地，第五模组500内的多个存储位能够沿第一方向分布并通过置物板分隔。第三模组300能够通过在第三方向上移动货物而将货物移入或移出第五模组500的存储位，在图示的实施例中，当第五模组500位于第三模组300的侧方并且第十一开口510与第三模组300的第十开口318连通时，夹持臂324能够将货物移入存储位或从存储位夹取货物。容易理解地，第五模组500可以省略，即存取货终端可以不具备存储多个货物的功能。
可选地，多个第五模组500能够位于所述第三模组的侧方并且沿第一方向层叠，以增加存取货终端存储货物的容量。
可选地，请再次参阅图5和图6，每个夹持臂324还包括定位片324b，定位片324b固定在两个夹持臂324的伸长部分相互靠近的一侧，且位于该伸长部分的端部，定位片324b能够通过夹持臂324在第三方向上伸缩而被带动并抵推第五模组500中的货物以调整货物的位置，从而实现夹持臂324在夹取第五模组500中的货物时货物在第三方向上相对夹持臂324位于合适位置。
可选地，存取货终端还包括多个门板，其中部分的门板能够可活动地安装于第一模组100上和第二模组200上，并在第一开口130和第二开口210未使用时自动关闭第一开口130和第二开口210，还有部分的门板能够可拆卸地安装在第一支撑结构310上和第二支撑结构410上，用于关闭第一支撑结构310上和第二支撑结构410上不与其它模组连通的开口，以封闭存取货终端的内部空间，从而确保内部的货物安全。另外地，升降台120可以安装于第一开口130的活动门板上以实现升降台120能够自动活动至第一开口130处和能够自动离开第一开口130。
可选地，第二模组200设有主控制器(图未示)，第三模组300和第四模组400能够与第一模组100和第二模组200电连接并且传输电力和数据，第三模组300和第四模组400也能够相互电连接，以使主控制器能够控制第一模组100、第三模组300、第四模组 400和第二模组200工作。另外地，由于第二模组200可以靠近地面设置，能够方便工作人员对主控制器进行手动操作和维护。
上述货物存取终端至少有以下优点：
1.该货物存取终端通过模组类型、模组数量以及组合方式的配置，具有多种适用于不同应用场景和不同部署环境的组装形式，拓展了该货物存取终端的应用范围并且降低设计和生产的成本。
2.该货物存取终端能够以模组为单位进行分块运输和安装，从而便于运输、安装和维护。
3.该存取货终端能够通过增减或更换构成的模组，以及通过调整模组的位置，实现功能的升级以满足更新的使用需求，而无须对已安装的存取货终端进行整体更换。
以下对上述货物存取终端的组装形式进行举例，但不限于以下的实施例。
如图13所示，第一实施例的货物存取终端，为上述货物存取终端的一种组装形式。本实施例的货物存取终端部署在户外空地，并且包括：第一模组100、第二模组200、第三模组300和第五模组500，其中第三模组300单独设置在第一模组100和第二模组200之间。
在本实施例中，第一模组100未安装升降台120。
第二模组200位于第一模组100的下方，且第一模组100相对第二模组200具有较大的高度差，以使无人机20装卸货物30的区域远离用户存取货物30的区域，避免无人机20与用户的接触，同时也降低无人机20飞行时的下洗气流和噪音对下方的人员的影响。
第三模组300设置在第一模组100和第二模组200之间。第一支撑结构310沿竖直方向延伸。第一支撑结构310的第四开口312与第一开口130连通，第五开口314与第二模组200的第三开口220连通。
两组第五模组500分别设置在第一支撑结构310的两侧，并且第五模组500的第十一开口510与第十开口318连通。
本实施例的货物存取终端的货物30搬运方式如下：
无人机20至第二模组200的货物30传递：无人机20将货物30卸载在至少部分穿过第一开口130的第一搬运机构320上，第一搬运机构320滑动至第五开口314并释放货物30至第二模组200。
第二模组200至无人机20的货物30传递：第一搬运机构320从第二模组200夹取货物30并将货物30搬运至第四开口312，且至少部分穿过第一开口130，接着无人机20装载货物30。
第五模组500与无人机20或第二模组200之间的货物30传递，同上述第二模组200与无人机20之间的货物30传递相似，区别在于，第三模组300的第一搬运机构320滑动至靠近第十开口318，并将货物30移入存储位或从存储位夹取货物30。
如图14所示，第二实施例的货物存取终端，为上述货物存取终端的另一种组装形式。 本实施例的货物存取终端部署在建筑物40的外侧，并且包括：第一模组100、第二模组200、第三模组300和第四模组400，其中第三模组300和第四模组400一起设置在第一模组100和第二模组200之间。
第一模组100设置在建筑物40的顶部(例如屋顶)。
第二模组200设置在地面上，并靠近建筑物40的外墙面。
第三模组300为两组，一组靠近第一模组100设置，另一组靠近第二模组200设置。两组第三模组300分别安装于建筑物40的两堵外墙面，两堵外墙面平行且间隔，并以一水平露台连接。第四模组400设置在两组第三模组300之间，并安装于上述水平露台上。需要说明的是，每组第三模组300可以由多个第一支撑结构310拼接组成。
具体地，靠近第一模组100的第三模组300的第四开口312与第一开口130连通，第九开口316与第四模组400的第六开口412连通；第四模组400的第八开口416与靠近第二模组200的第三模组300的第四开口312连通；靠近第二模组200的第三模组300的第五开口314与第二模组200的第三开口220连通。
本实施例的货物存取终端的货物30搬运方式如下：
无人机20至第二模组200的货物30传递：无人机20将货物30卸载在靠近第一模组100的第三模组300的第一搬运机构320上，接着该第一搬运机构320滑动至靠近第九开口316处，第四模组400的抓取部件424伸入该第三模组300的第一支撑结构310中并位于第一搬运机构320的上方，抓取部件424抓取第一搬运机构上的货物30并滑动至第八开口416的上方，此时靠近第二模组200的第三模组300的第一搬运机构320至少部分伸入第二支撑结构410中并夹取货物，待抓取部件424释放货物后该第一搬运机构320将货物30转移并释放至第二模组200。
第二模组200至无人机20的货物30传递：靠近第二模组200的第三模组300的第一搬运机构320从第二模组200夹取货物30并将货物30转移至第四模组400的第二支撑结构410中，接着货物30通过抓取部件424转移至靠近第一模组100的第三模组300的第一搬运机构320上，再由该第一搬运机构32转移并最后由无人机20装载。
本实例的货物存取终端固定于建筑物40上，使得货物存取终端的安装更为稳固，并且通过第三模组300和第四模组400的灵活组合能够适用于具有不同墙体形状的建筑物40。而且无人机20可以在建筑物40的顶部完成货物30的装卸而无须飞抵至靠近地面，降低了无人机20的飞行难度并且在无人机20起降时也避免了对地面人员的影响。
进一步地，本实例的第三模组300的第十开口318还可以靠近建筑物40的窗户或阳台，第一搬运机构320滑动至靠近第十开口318并伸长夹持臂324以伸出第十开口318并为用户提供在窗户旁或在阳台上取放货物30的便利性。需要说明的是，对于用户在窗户旁或在阳台上投寄的货物30，货物存取终端可以将货物30转移至第二模组200中以对货物30进行测量重量和识别身份的操作。
可选地，本实例的货物存取终端还设有第五模组500，第五模组500设置在靠近第二 模组200的第三模组300的侧方。
根据第二实施例的货物存取终端，本发明还提出一种货物存取终端的组装方法，包括如下步骤：
将第一模组100设置在建筑物40的顶部；
将第二模组200设置在地面上，并靠近建筑物40；
将一第三模组300靠近第二模组200设置，以及将另一第三模组300靠近第一模组100设置；
在两第三模组300之间设置第四模组400。
如图15所示，第三实施例的货物存取终端，为上述货物存取终端的又一种组装形式。本实施例的货物存取终端部署在高层建筑物50的其中一楼层，并且包括：第一模组100、第二模组200、第三模组300和第四模组400。
第一模组100设置在建筑物50的外墙面。在本实施例中，第一模组100安装有升降台120。
第二模组200设置在建筑物50内并且安装在与第一模组100高度接近的楼层的地板上。
第三模组300设置在建筑物50内并靠近第二模组200，第四模组400设置在第三模组300和第一模组100之间并且安装于第二模组200所在楼层的天花板上。
具体地，建筑物50的墙体开设有连通建筑物50内外的贯通口51，第一模组100靠近贯通口51设置，第四模组400靠近或部分位于贯通口51，以使第四模组400能够部分穿过贯通口51并能够与第一模组100传递货物，其中第四模组400的第六开口412可以与该贯通口51连通，抓取部件424在伸出第六开口412后能够位于升降台120的上方；而第四模组400的第八开口416与第三模组300的第四开口312连通。
本实施例的货物存取终端的货物30搬运方式如下：
无人机20至第二模组200的货物30传递：无人机20将货物30卸载在升降台120上后飞离，抓取部件424伸出第六开口412并抓取升降台120上的货物30，接着抓取部件424将货物30转移并释放至第一搬运机构320上，第一搬运机构320再将货物30转移并释放至第二模组200。
第二模组200至无人机20的货物30传递：第一搬运机构320从第二模组200夹取货物30并将货物30传递至抓取部件424，接着抓取部件424滑动并伸出第六开口412以将货物30释放至升降台120上，待释放货物30后抓取部件424回退至第二支撑结构410内以避免阻碍无人机20降落，最后无人机20降落至第一模组100上并装载货物30。
本实例的货物存取终端可以部署于用户所在的楼层，并使无人机20在同一楼层上装卸货物30以缩短货物存取终端搬运货物30的距离，同时由于建筑物50的墙体阻隔，避免无人机20与用户的接触，也能够阻挡无人机20飞行的噪音传入室内。
进一步地，本实例的第一模组100还可以相对建筑物50转动，即第一模组100可转 动地安装于建筑物50的外墙面，以实现第一模组100在不使用时转动至贴近建筑物50的外墙面，从而减小第一模组100相对墙体的凸出尺寸，并且还能使第一模组100封堵贯通口51。可选地，在第一模组100与建筑物50之间设置转动架，转动架的固定部分安装于建筑物50的外墙面，第一模组100固定于转动架的转动部分，以实现第一模组100能够相对建筑物50转动。
根据第三实施例的货物存取终端，本发明还提出另一种货物存取终端的组装方法，包括如下步骤：
将第一模组100设置在建筑物50的外侧；
将第二模组200设置在建筑物50内；
将第三模组300设置在建筑物50内并靠近第二模组200；
在第三模组300和第一模组100之间设置第四模组400。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种货物存取终端，其特征在于，包括：
    第一模组，用于供无人机降落；
    第二模组，用于供用户存取货物；
    第三模组，能够在第一方向上搬运所述货物，所述第三模组能够与所述第二模组相互传递所述货物，所述第三模组还能够在所述第一模组处与所述无人机或与所述第一模组相互传递所述货物；
    第四模组，能够在第二方向上搬运所述货物，所述第二方向与所述第一方向相交，所述第四模组能够在所述第一模组处与所述无人机或与所述第一模组相互传递所述货物，且所述第四模组与所述第三模组还能够相互传递所述货物；
    其中，所述第三模组和所述第四模组中的至少一个能够单独设置在所述第一模组和所述第二模组之间，并且能够单独将所述货物从所述第二模组搬运至所述第一模组处和能够单独将所述货物从所述第一模组处搬运至所述第二模组；所述第三模组与所述第四模组还能够一起设置在所述第一模组和所述第二模组之间，并且能够共同将所述货物从所述第二模组传递搬运至所述第一模组处和能够共同将所述货物从所述第一模组处传递搬运至所述第二模组。
  2. 根据权利要求1所述的所述货物存取终端，其特征在于，所述第一模组包括支撑座和升降台，所述支撑座开设有供所述货物穿过的第一开口，所述升降台能够安装在所述支撑座上，所述升降台能够承载所述货物并且能够带动承载的所述货物升降；其中，所述第三模组能够通过所述第一开口与所述无人机相互传递所述货物，所述第四模组能够从所述升降台上搬运所述货物和将所述货物搬运至所述升降台上。
  3. 根据权利要求2所述的所述货物存取终端，其特征在于，
    所述升降台可拆卸地安装在所述第一开口处，当所述升降台安装在所述第一开口处时，所述升降台遮蔽至少部分所述第一开口；或者
    所述升降台活动地安装在所述支撑座上，所述升降台能够活动至所述第一开口而遮蔽至少部分所述第一开口，以及所述升降台还能够活动至使所述第一开口完全露出。
  4. 根据权利要求1所述的所述货物存取终端，其特征在于，所述第三模组包括第一支撑结构及第一搬运机构；
    所述第一支撑结构为两端开口的中空条状结构，所述第一搬运机构能够在所述第一支 撑结构中滑动，并在所述第一支撑结构的任意一端接收所述货物后再将所述货物搬运至所述第一支撑结构另外的一端。其中，第四开口和第五开口分别为所述第一支撑结构两端的所述开口；
    所述第一搬运机构包括第一运动部件及安装于所述第一运动部件上的两个相对设置的夹持臂，所述第一运动部件能够在所述第一支撑结构中滑动，两个所述夹持臂能够夹取所述货物；
    所述第一模组开设有供所述货物穿过的第一开口，当所述第四开口与所述第一开口连通时，所述夹持臂能够至少部分伸出所述第四开口并穿过所述第一开口以与所述无人机传递所述货物。
  5. 根据权利要求4所述的所述货物存取终端，其特征在于，
    多个所述第一支撑结构能够首尾依次拼接以形成第一搬运通道，一所述第一搬运机构能够在所述第一搬运通道中从所述第一搬运通道的一端运动到另外的一端。
  6. 根据权利要求4所述的所述货物存取终端，其特征在于，所述第四模组包括所述第二支撑结构和所述第二搬运机构；
    所述第二支撑结构为两端开口的中空条状结构，所述第二搬运机构能够在所述第二支撑结构中滑动，并在所述第二支撑结构的任意一端接收所述货物后再将所述货物搬运至所述第二支撑结构另外的一端。其中，第六开口和第七开口分别为所述第二支撑结构两端的所述开口；
    所述第二搬运机构包括第二运动部件及安装在所述第二运动部件上的抓取部件，所述第二运动部件能够在所述第二支撑结构内滑动，所述抓取部件能够抓取所述货物；
    所述第一模组还设有升降台，所述升降台能够承载所述货物并且能够带动承载的所述货物升降，当所述第二支撑结构位于所述第一模组的侧方并且所述第六开口靠近所述第一模组的边缘时，所述抓取部件能够从所述第六开口伸出并从所述升降台上抓取所述货物和将所述货物释放于所述升降台上。
  7. 根据权利要求6所述的所述货物存取终端，其特征在于，
    多个所述第二支撑结构能够首尾依次拼接以形成第二搬运通道，一所述第二搬运机构能够在所述第二搬运通道中从所述第二搬运通道的一端运动到另外的一端。
  8. 根据权利要求6所述的所述货物存取终端，其特征在于，
    所述第二支撑结构的侧壁还设有第八开口，所述第八开口靠近所述第七开口，当所述第四模组至少部分位于所述第三模组的上方，并且所述第四开口与所述第八开口连通时， 所述夹持臂能够至少部分伸出所述第四开口并伸入所述第二支撑结构中以与所述第二搬运机构传递所述货物；和/或
    所述第一支撑结构的侧壁还设有第九开口，所述第九开口靠近所述第五开口，当所述第三模组至少部分高于所述第四模组，并且所述第九开口与所述第六开口连通时，所述抓取部件能够伸出所述第六开口并伸入所述第一支撑结构中以与所述第一搬运机构传递所述货物。
  9. 根据权利要求4～8任一项所述的所述货物存取终端，其特征在于，两个所述夹持臂还能够在第三方向上伸缩以在所述第三方向上移动所述货物，所述第三方向与所述第一方向相交；所述第一支撑结构的侧壁还设有第十开口，两个所述夹持臂伸长并部分伸出所述第十开口以将所述货物移出所述第一支撑结构或从所述第一支撑结构外夹取所述货物。
  10. 根据权利要求9所述的所述货物存取终端，其特征在于，所述货物存取终端还包括用于存储所述货物的第五模组，所述第五模组设有存储位和供所述货物进出所述存储位的第十一开口；当所述第五模组位于所述第三模组的侧方并且所述第十开口与所述第十一开口连通时，所述夹持臂能够将所述货物移入所述存储位或从所述存储位夹取所述货物。
  11. 根据权利要求10所述的所述货物存取终端，其特征在于，每个所述夹持臂还包括定位片，所述定位片固定在两个所述夹持臂的伸长部分相互靠近的一侧，且位于该伸长部分的端部，所述定位片能够通过所述夹持臂在所述第三方向上的伸缩而抵推所述第五模组中的所述货物以调整所述货物的位置。
  12. 根据权利要求1所述的所述货物存取终端，其特征在于，所述第三模组还能够在与第三方向上移动所述货物，所述第三方向与所述第一方向相交；所述货物存取终端还包括用于存储所述货物的第五模组，所述第五模组设有存储位，所述第三模组能够将所述货物移入或移出所述存储位。
  13. 根据权利要求12所述的所述货物存取终端，其特征在于，多个所述第五模组能够位于所述第三模组的侧方并且沿所述第一方向层叠。
  14. 根据权利要求1所述的所述货物存取终端，其特征在于，所述第三模组和所述第四模组能够传输电力和数据。
  15. 一种所述货物存取终端的组装方法，包括如下步骤：
    提供权利要求1所述的货物存取终端；
    将所述第一模组设置在建筑物的顶部；
    将所述第二模组设置在地面上，并靠近所述建筑物；
    将一所述第三模组靠近所述第二模组设置，以及将另一所述第三模组靠近所述第一模组设置；
    在两所述第三模组之间设置所述第四模组。
  16. 根据权利要求16所述的所述货物存取终端的组装方法，其特征在于，
    两所述第三模组分别安装于所述建筑物的两堵外墙面，两堵所述外墙面平行且间隔，并以一水平露台连接；
    所述第四模组安装于所述水平露台上。
  17. 根据权利要求16所述的所述货物存取终端的组装方法，其特征在于，所述第三模组设有供所述货物进出的第十开口，所述第十开口靠近所述建筑物的窗户或阳台。
  18. 一种所述货物存取终端的组装方法，包括如下步骤：
    提供权利要求1所述的货物存取终端；
    将所述第一模组设置在建筑物的外侧；
    将所述第二模组设置在所述建筑物内；
    将所述第三模组设置在所述建筑物内并靠近所述第二模组；
    在所述第三模组和所述第一模组之间设置所述第四模组。
  19. 根据权利要求18所述的所述货物存取终端的组装方法，其特征在于，
    所述第一模组靠近所述建筑物的墙体的贯通口；所述第四模组靠近或部分位于所述贯通口，以使所述第四模组能够部分穿过所述贯通口并能够与所述第一模组传递所述货物。
  20. 根据权利要求18所述的所述货物存取终端的组装方法，其特征在于，所述第一模组可转动地安装于所述建筑物的外墙面，以使所述第一模组在不使用时相对所述建筑物转动至贴近所述外墙面。
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