WO2021042651A1 - 运输车辆 - Google Patents

运输车辆 Download PDF

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Publication number
WO2021042651A1
WO2021042651A1 PCT/CN2020/000211 CN2020000211W WO2021042651A1 WO 2021042651 A1 WO2021042651 A1 WO 2021042651A1 CN 2020000211 W CN2020000211 W CN 2020000211W WO 2021042651 A1 WO2021042651 A1 WO 2021042651A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable plate
goods
cargo
pick
transportation vehicle
Prior art date
Application number
PCT/CN2020/000211
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 CN202080062966.1A priority Critical patent/CN114786996A/zh
Priority to JP2022515462A priority patent/JP2022547160A/ja
Publication of WO2021042651A1 publication Critical patent/WO2021042651A1/zh
Priority to US17/687,739 priority patent/US20220204260A1/en

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00—Securing or covering of load on vehicles
    • B60P7/06—Securing of load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00—Securing or covering of load on vehicles
    • B60P7/06—Securing of load
    • B60P7/08—Securing to the vehicle floor or sides
    • B60P7/0892—Securing to the vehicle floor or sides by preventing lateral movement of the load, e.g. using stop blocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00—Securing or covering of load on vehicles
    • B60P7/06—Securing of load
    • B60P7/08—Securing to the vehicle floor or sides
    • B60P7/10—Securing to the vehicle floor or sides the load being plates, cases, or boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
    • B62D33/042—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains divided into compartments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/007—Vehicles adapted to transport, to carry or to comprise special loads or objects for delivery of small articles, e.g. milk, frozen articles
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes

Definitions

  • the invention belongs to the technical field of transportation equipment, and more specifically, relates to a transportation vehicle.
  • the land transportation of express goods usually uses the stacking of all the goods in the carriage of the transport vehicle. If the transport vehicle is required to automatically store the goods in the compartment from different locations, and the transport vehicle needs to transfer the designated goods from different locations. If the vehicle is automatically taken out, the transport vehicle can have an automatic access mechanism similar to that used in the ground automated storage system, that is, a cargo rack with several storage spaces is set in the transport vehicle compartment, and access openings and automatic access mechanisms are opened on the compartment. The goods can be automatically transported between each storage location and the access port, so that the transport vehicle can automatically store the designated goods in the compartment.
  • the transport vehicle is prone to shaking of the goods during the driving process, which may cause damage to the goods; and once the goods move relative to the storage location during the driving process, the automatic storage and retrieval mechanism will also be affected. It is difficult to get the goods accurately.
  • a transport vehicle including a carriage and a cargo rack arranged in the carriage, the cargo rack has a plurality of storage spaces for storing goods, and the transport vehicle further includes:
  • a pick-and-place mechanism arranged in the carriage, for automatically picking and placing the goods in each of the storage positions;
  • the fixing mechanism is arranged in each of the storage positions, and is used to automatically fix the goods relative to the storage position after the goods are put into the corresponding storage position by the pick-and-place mechanism.
  • FIG. 1 is a schematic diagram of a part of the structure of a transportation vehicle provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a part of the structure of a transportation vehicle provided by an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of a cargo rack, a pick-and-place mechanism, and a fixing mechanism provided by an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a pick-and-place mechanism, goods, a fixing mechanism, and a second cabinet provided by an embodiment of the present invention
  • Figure 5 is a schematic structural diagram of a fixing mechanism provided by an embodiment of the present invention.
  • Figure 6 is an exploded schematic diagram of a fixing mechanism provided by an embodiment of the present invention.
  • Figure 7 is a side view of a fixing mechanism provided by an embodiment of the present invention.
  • Figure 8 is a side view of the clamping arm, the fixing mechanism and the cargo connection provided by the embodiment of the present invention.
  • FIG. 9 is an enlarged schematic view of A in FIG. 8 when the clamping arm provided by the embodiment of the present invention has not unlocked the fixing mechanism;
  • FIG. 10 is an enlarged schematic diagram of the position A in FIG. 8 when the clamping arm is provided in an embodiment of the present invention when the fixing mechanism is unlocked;
  • FIG. 10 is an enlarged schematic diagram of the position A in FIG. 8 when the clamping arm is provided in an embodiment of the present invention when the fixing mechanism is unlocked;
  • FIG. 11 is a schematic structural diagram of two fixing mechanisms provided by an embodiment of the present invention when goods are fixed;
  • Figure 12 is a side view of two fixing mechanisms for fixing the same cargo provided by an embodiment of the present invention.
  • Figure 13 is a schematic diagram of the structure of goods provided by an embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of the connection between the clamping arm, the fixing mechanism and the cargo provided by another embodiment of the present invention.
  • Fig. 15 is an enlarged schematic diagram of B in Fig. 14;
  • FIG. 16 is an enlarged schematic view of B in FIG. 14 when the clamping arm provided by another embodiment of the present invention does not unlock the fixing mechanism;
  • FIG. 17 is an enlarged schematic view of B in FIG. 14 when the clamping arm is provided in another embodiment of the present invention when the fixing mechanism is unlocked.
  • the three coordinate axes that are perpendicular to each other in space are defined as X axis, Y axis and Z axis, where X axis and Y axis are two coordinate axes perpendicular to each other on the same horizontal plane, and Z axis is the coordinate in the vertical direction.
  • Axis; X axis, Y axis and Z axis are perpendicular to each other in space.
  • the transportation vehicle includes a carriage 2 and a cargo rack 3 arranged in the carriage 2.
  • the cargo rack 3 has a number of storage places 34 for storing the cargo 1; specifically, the shape of the cargo 1 is a square or at least the bottom of the cargo 1 The shape is tetragonal.
  • the transportation vehicle also includes a fixing mechanism 4 arranged in each storage position 34 and a pick-and-place mechanism 5 arranged in the carriage 2.
  • each storage location 34 includes a storage board 341 for storing the goods 1.
  • the cargo rack 3 may include a first cabinet 31 and a second cabinet 32.
  • the first cabinet 31 and the second cabinet 32 are arranged opposite to each other, and the first cabinet 31 Both the second cabinet 32 and the second cabinet 32 have a number of storage locations 34.
  • Between the first cabinet 31 and the second cabinet 32 is formed a conveying channel 33 for the pick-and-place mechanism 5 to move, and the conveying channel 33 communicates with each storage location 34.
  • the pick-and-place mechanism 5 can store the goods 1 in the storage positions 34 of the first cabinet 31 and the second cabinet 32 respectively, or store the goods 1 in the storage positions 34 of the first cabinet 31 and the second cabinet 32. Cargo 1 is taken away.
  • the number and placement positions of the cabinets can be adjusted according to actual needs, which is not uniquely limited here.
  • the outer side wall of the carriage 2 is provided with an access opening 21 and a shutter 22 for shielding the access opening 21.
  • One of the storage locations 34 of the first cabinet 31 or the second cabinet 32 is in communication with the access port 21.
  • the pick-and-place mechanism 5 can move the cargo 1 to other designated storage locations 34, and wait for the cargo 1
  • the fixing mechanism 4 automatically fixes the cargo 1 relative to the storage location 34, thereby completing the operation of automatically storing the cargo 1 in the designated storage location 34 in the carriage 2 and fixing the cargo 1 relative to the storage location 34 .
  • the fixing mechanism 4 automatically releases the fixation of the cargo 1, and the pick-and-place mechanism 5 moves the cargo 1 from the storage position 34 where it is located to the storage position 34 connected to the access port 21.
  • the operator or external equipment accesses The cargo 1 is taken away at the port 21, thereby completing the operation of automatically taking out the cargo 1 from the designated storage location 34 in the carriage 2.
  • the number, location, size, etc. of the access ports 21 can be adjusted according to actual needs; the carriage 2 can also be provided with a cargo moving mechanism at the access ports 21 to realize the automatic moving in and out of the cargo 1 ⁇ 21, there is no unique limitation here.
  • the transportation vehicle provided by the embodiment of the present invention provides a fixing mechanism 4 in each storage position 34 of the cargo rack 3. After the goods 1 are placed in the designated storage position 34 by the pick-and-place mechanism 5, The fixing mechanism 4 can automatically fix the cargo 1 relative to the storage location 34 to avoid shaking of the cargo 1 relative to the storage location 34 when the transport vehicle is moving, thereby protecting the cargo 1 from collision damage, and keeping the cargo 1 relative to the storage location 34 at the designated location. To ensure that the pick-and-place mechanism 5 can accurately pick up the goods 1.
  • the fixing mechanism 4 can be driven by a controlled electromagnetic component or a pneumatic component to realize the automatic fixing and unfixing of the cargo 1 by the fixing mechanism 4.
  • the fixing mechanism 4 may also be provided with other types of drivers to realize the fixing mechanism 4 to automatically fix and automatically unfix the goods 1, which is not uniquely limited here.
  • the fixing mechanism 4 includes at least one functional component 40 arranged in each storage position 34 And a self-healing member provided on the action assembly 40.
  • the action component 40 is used to be driven by the force of the pick-and-place mechanism 5 to release the fixation of the cargo 1 when the pick-and-place mechanism 5 picks up the cargo 1 from the corresponding storage location 34; the self-recovery component is used when the action component 40 is not received
  • the action force of the pick-and-place mechanism 5 drives the action component 40 to restore the fixation of the cargo 1; understandably, when the action component 40 receives the action force of the pick-and-place mechanism 5 gradually decreases, the self-recovery component can also drive the action component 40 Restore the fixation of cargo 1.
  • the fixing mechanism 4 uses the force of the pick-and-place mechanism 5 and the self-restoring member to realize the automatic release and automatic restoration of the cargo 1 respectively.
  • the fixing mechanism 4 can cooperate with the pick-and-place mechanism 5 to pick and place the goods 1 during the pick-and-place process of the goods 1 to release or restore the fixation of the goods 1 synchronously, so as to avoid affecting the efficiency of the pick-and-place mechanism 5 to pick and place the goods 1.
  • Each storage location 34 is provided with at least two opposite and spaced apart action components 40, and each action component 40 is provided with a self-recovering member, and the goods 1 are stored in Between the above two action components 40, the two action components 40 cooperate to fix the cargo 1 relative to the storage position 34.
  • each storage position 34 is provided with only one functional component 40 opposite to and spaced apart from the inner wall of the carriage 2, and the cargo 1 is stored between the functional component 40 and the inner wall of the carriage 2, and the functional component 40 cooperates with the inner wall of the carriage 2 Fix the cargo 1 relative to the storage position 34.
  • the number of function components 40 of each storage location 34 can be adjusted according to actual needs, and is not uniquely limited here.
  • the action assembly 40 includes a fixing plate 41 and a fixing plate 41 arranged along a first direction.
  • the hinged movable plate 42 and the fixed plate 41 are fixedly installed in the corresponding storage position 34.
  • the fixing plate 41 is fixedly installed on the storage plate 341 of the storage position 34.
  • the movable plate 42 is located on the side of the fixed plate 41 away from the cargo 1 (please refer to Figures 8 and 9 together), and the side of the movable plate 42 facing the cargo 1 is provided with a number of protrusions 43 (please refer to Figures 8 and 12 together) ,
  • Each convex part 43 is used to fix the cargo 1 relative to the storage position 34.
  • the fixed plate 41 is also used to limit the cargo 1 in the second direction.
  • the fixed plate 41 can also be replaced with other structural forms.
  • the fixed plate 41 can be replaced with a fixed strip arranged along the first direction.
  • the manufacturing cost of the active component 40 is relatively low. Since the transportation vehicle needs to be provided with a large number of storage places 34 for the active component 40, it also helps to significantly reduce the cost of production and maintenance of the transportation vehicle.
  • the second direction here refers to the direction parallel to the direction in which the cargo 1 enters and exits the storage position 34 (the Y-axis direction in Figure 4);
  • the third direction refers to the height direction of the cargo 1 ( Figure 4).
  • the Z-axis direction in 4), the first direction (the X-axis direction in FIG. 4) is orthogonal to the second direction and the third direction, respectively.
  • the fixed plate 41 and the movable plate 42 are hinged together by a hinge shaft 48, and the hinge shaft 48 is arranged on the movable plate 42 along the first direction.
  • the self-restoring member is an elastic member 49 (please refer to FIG. 6 together).
  • the elastic member 49 is sleeved on the hinge shaft 48.
  • the elastic member 49 is connected to the fixed plate 41 and the movable plate 42 respectively.
  • the elastic member 49 can be a torsion spring, etc. .
  • the types of the hinge shaft 48 and the elastic member 49 can be adjusted according to actual needs, and are not uniquely limited here.
  • the self-healing member is a magnetic component.
  • the magnetic component includes a pair of magnetically attracted magnetic units 400, which are respectively disposed on opposite sides of the fixed plate 41 and the movable plate 42 and are close to each other. There is a strong magnetic attraction between the hinge shaft 48, the magnetic unit 400 of the movable plate 42 and the magnetic unit 400 corresponding to the fixed plate 41.
  • the acting assembly 40 is not subjected to the force of the pick-and-place mechanism 5
  • the free end 421 of the movable plate 42 opposite to the hinge shaft 48 can be close to the fixed plate 41 under the action of the magnetic assembly, and each convex part 43 will hold the cargo 1 relative to the storage position 34 fixed.
  • the type of the self-healing component can also be adjusted according to actual needs, which is not uniquely limited here.
  • the goods 1 may include a logistics box and items in the logistics box.
  • the side of the logistics box opposite to the fixed plate 41 is provided with openings 11 that cooperate with the protrusions 43.
  • the action assembly 40 is not subjected to the force of the pick-and-place mechanism 5
  • the free end 421 of the movable plate 42 is close to the fixed plate 41 under the action of the self-restoring member, and each convex part 43 can be locked into the corresponding opening 11, thereby connecting
  • the cargo 1 is fixed relative to the storage position 34.
  • the depth of the protrusion 43 into the opening 11 is small.
  • the free end 421 of the movable plate 42 is close to the fixed plate 41 under the action of the self-restoring member, and the convex portions 43 can abut against the cargo 1
  • the side surfaces apply greater pressure to the conflicting side surfaces, so that the cargo 1 is fixed relative to the storage position 34 by the friction between the convex portion 43 and the cargo 1.
  • a non-slip coating is provided on the surface of each convex portion 43 that abuts the cargo 1, which can increase the friction coefficient of the contact surface between the convex portion 43 and the cargo 1.
  • each fixed plate 41 is provided with a through hole 410 through which the convex portion 43 of the corresponding movable plate 42 passes. .
  • each protrusion 43 passes through the corresponding through hole 410 to keep the cargo 1 fixed.
  • the height of the movable plate 42 is higher than the fixed plate 41, and the installation positions of the protrusions 43 on the movable plate 42 are higher than the fixed plate 41, so that the design of the through hole 410 can be eliminated.
  • the number and installation positions of the protrusions 43 can be adjusted according to actual needs, which is not uniquely limited here.
  • the action assembly 40 further includes action blocks 44 arranged at both ends of the movable plate 42, and two identical movable plates 42 The acting blocks 44 at the end are distributed along the first direction.
  • each action block 44 is used to receive the force of the pick-and-place mechanism 5 to drive the movable plate 42 to rotate around the hinge shaft 48 and to keep the free end 421 of the movable plate 42 away from the fixed plate 41, so as to realize the relief of the convex portions 43 from the cargo. 1 fixed.
  • the self-restoring member is used to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate 41 to realize each convex
  • the part 43 restores the fixation of the cargo 1. It is understandable that when the force of the pick-and-place mechanism 5 received by each acting block 44 is gradually reduced, the self-recovery member can also drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate. 41.
  • the acting assembly 40 may not be provided with the acting block 44, and the two ends of the movable plate 42 are used to receive the force of the pick-and-place mechanism 5 to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 away from the fixed plate 41 Or, when the two ends of the movable plate 42 are not subjected to the force of the pick-and-place mechanism 5, the self-restoring member is used to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate 41 .
  • each action block 44 includes a supporting section 45 connected to the movable plate 42 and a supporting section 45 connected to each supporting section 45. ⁇ 46 ⁇ The extension section 46.
  • the top end 450 of each support section 45 is spaced from the hinge shaft 48 in the second direction and is set away from the fixed plate 41, and each support
  • the force of the pick-and-place mechanism 5 received by the top end 450 of the section 45 is the downward force in the third direction, which can generate a moment relative to the hinge shaft 48 to drive the movable plate 42 to rotate.
  • the magnitude of the moment arm is equal to the above-mentioned force to the hinge.
  • the extension section 46 may be omitted, that is, each action block 44 only includes the support section 45.
  • the upper surface 461 of each extension section 46 extends from the top end 450 of the connected supporting section 45 along the second direction.
  • the distance from each point of the upper surface 461 of each extension section 46 to the hinge axis 48 of the movable plate 42 gradually decreases along the extension direction of the upper surface 461.
  • the distance between each point of the upper surface 461 of each extension 46 and the hinge axis 48 of the movable plate 42 gradually decreases in the direction from A1 to A2, and the free end 421 of the movable plate 42 moves away from the fixed plate 41.
  • each action block 44 with the pick-and-place mechanism 5 is gradually away from the top end 450 of the connected support section 45 along the upper surface 461 of each extension section 46, that is, the contact position gradually approaches from the end point A1 to the end point A2.
  • the pick-and-place mechanism 5 presses a smaller distance after contacting the top end of the action block 44 to realize the movable plate 42 to rotate about the hinge shaft 48 by a specified angle.
  • the shape, structure, size specification, etc. of each extension section 46 can be adjusted according to actual needs, which is not uniquely limited here.
  • the cargo 1 When the transport vehicle accelerates, brakes, or goes up and down steep slopes, the cargo 1 has a larger displacement trend relative to the storage position 34 in the speed direction of the transport vehicle (the first direction in this embodiment); or, when the transport vehicle has a small radius When making a sharp turn, the cargo 1 has a relatively large displacement tendency relative to the storage position 34 in the normal acceleration direction of the transport vehicle (the second direction in this embodiment), and the goods 1 pass through the extension 46 and the fixed plate 41 in the first direction and The cargo 1 is restricted in the second direction to further ensure that the cargo 1 can be fixed relative to the storage location 34 under various driving states of the transport vehicle.
  • each support section 45 includes a first section 451 connected to the movable plate 42 and a second section 452 connected to the first section 451.
  • the first section 451 is located on the side of the movable plate 42 away from the fixed plate 41, and the first section 451 is located on the side of the movable plate 42 away from the fixed plate 41.
  • One section 451 is arranged along the second direction, the second section 452 is arranged along the third direction, and the extension section 46 is connected to the second section 452.
  • each support section 45 and the connected extension section 46 enclose a cavity 47, and each cavity 47 is provided with a filling material.
  • the filling material can enhance the structural rigidity of the action block 44.
  • the filling material may be a lightweight foam material.
  • each acting block 44 may also be of other types of structures, such as a solid structure by injection molding, which is not uniquely limited herein.
  • the pick-and-place mechanism 5 includes at least two clamping arms for clamping the goods 1. 53.
  • the clamping arm 53 is also used to press the action assembly 40 to release the fixing of the action assembly 40 to the cargo 1 during the process of picking and placing the cargo 1 in the corresponding storage position 34 by the picking and placing mechanism 5.
  • the holding arm 53 abuts
  • Each action block 44 is pressed to release the fixation of the cargo 1 by each convex portion 43.
  • the bottom surface of the clamping arm 53 may be a flat surface, and the upper surface of the extension section 46 may be an arc surface.
  • each extension 46 that is, the action block 44
  • the upper surface of each extension 46 is also provided with a first lubricating coating
  • the bottom surface of each clamping arm 53 is correspondingly provided with a second lubricating coating, so as to reduce the size of each clamping arm 53 and the corresponding
  • the clamping arm 53 and the acting block 44 are respectively provided with magnetic units capable of generating strong magnetic repulsion between each other, so that the force applied by the acting block 44 to the clamping arm 53 becomes The magnetic repulsion can be generated by the two non-contact, thereby eliminating the friction between the clamping arm 53 and the action block 44.
  • the pick-and-place mechanism 5 includes a sliding frame 52 and two opposite clamping arms 53.
  • the sliding frame 52 is arranged in the supporting structure 51 and can slide in the supporting structure 51.
  • At least one of the two clamping arms 53 can slide relative to the other so that the distance between the two clamping arms 53 can be adjusted, so that the two clamping arms 53 can clamp the goods 1 and release the goods 1.
  • the two clamping arms 53 are provided with support parts on the side close to each other, and the two sides of the cargo 1 are provided with supporting parts higher than the bottom surface of the cargo 1.
  • the support parts of the two clamping arms 53 can be clamped on the clamping arm 53.
  • the supporting department of Cargo 1 is jointly accepted.
  • the two clamping arms 53 can also extend and contract in the second direction, so that the two clamping arms 53 can carry the goods 1 in the second direction.
  • the fixing mechanism 4 is detachably installed in the storage position 34.
  • the fixing plate 41 can be detachably fixed and installed on the storage plate 341 of each storage position 34 by a screw, a buckle, or the like.
  • the goods 1 are provided with different sizes and specifications; optionally, the goods 1 include logistics boxes and items in the logistics boxes, and the logistics boxes are provided with different sizes and specifications; correspondingly, the fixing mechanism 4 is provided with different specifications to be able to fix Goods 1 of different sizes and specifications, for example, in the fixing mechanism 4 of different specifications, the length of the fixing plate 41 in the first direction is different, and the distance between the two action components 40 that cooperate to fix the same goods is different, so as to fix different lengths. Wide size cargo.
  • the storage position 34 can also be equipped with fixing mechanisms 4 of different specifications; optionally, the storage plate 341 of the storage position 34 is provided with mounting holes that match the fixing mechanisms 4 of different specifications.
  • Part or all of the storage places 34 of the transport vehicle can be installed and replaced with different specifications of the fixing mechanism 4 as needed to flexibly configure the storage capacity of the transport vehicle for goods 1 of different sizes and specifications.
  • the same storage place 34 is used for fixing compared to installation After the fixing mechanism 4 for large-sized goods is replaced with a fixing mechanism 4 for fixing small-sized goods 1, a larger number of fixing mechanisms 4 can be installed to store more small-sized goods 1.
  • the fixed plate 41 can also be integrated with the storage plate 341 of the storage position 34.
  • the functional assembly 40 does not include the fixed plate 41, that is, the movable plate 42 can be directly or indirectly installed in the corresponding storage position 34 and relative to the storage position 34.
  • the storage position 34 is rotatable.
  • the movable plate 42 is directly or indirectly mounted on the storage plate 341 of the storage position 34 and is rotatable relative to the storage plate 341, and the rotation axis of the movable plate 42 is arranged along the first direction.
  • the other structure of the action assembly 40 has been described in the above embodiment, that is, the action assembly 40 also includes an action block 44 provided on the movable plate 42.
  • the action block 44 includes a supporting section 45 connected to the movable plate 42 and a supporting section 45 connected to the supporting section 45.
  • Extension section 46 when the protruding portions 43 of the movable plate 42 fix the goods relative to the storage position 34, the top end of the support section 45 is spaced from the rotation axis of the movable plate 42 in the second direction, so as to realize that the top end of the support section 45 receives
  • the force of the pick-and-place mechanism 5 can generate a moment that drives the rotation of the movable plate 42 relative to the rotation axis of the movable plate 42; and the distance from each point on the upper surface of the extension section 46 to the rotation axis of the movable plate 42 is along the extension direction of the upper surface slowing shrieking.
  • the self-restoring member can be omitted, and the action assembly 40 is also used to be driven by the force of the pick-and-place mechanism 5 to restore the fixation of the cargo 1 during the process of the pick-and-place mechanism 5 placing the goods 1 in the corresponding storage position 34 That is, the action component 40 is used to be driven by the force of the pick-and-place mechanism 5 during the pick-and-place mechanism 5 picking and placing the goods 1 in the corresponding storage position 34 to release and restore the fixation of the goods 1.
  • the fixing mechanism 4 includes at least one action component 40 disposed in each storage position 34.
  • the action component 40 includes a fixing plate 41 and a fixing plate 41 arranged along a first direction.
  • a hinged movable plate 42 is provided with a plurality of protrusions 43 on the side of the movable plate 42 facing the cargo 1, and the movable plate 42 and the fixed plate 41 are respectively provided with a buckle 7 and a groove 6 that cooperates with the buckle 7.
  • the action assembly 40 also includes a supporting section 45 connected to the movable plate 42.
  • the supporting section 45 is used to receive the force of the pick-and-place mechanism 5 to drive the buckle 7 of the movable plate 42 and the groove 6 of the fixed plate 41 to separate and move away from each other (please Refer to Fig. 17), so as to realize that each convex portion 43 releases the fixation of the cargo 1.
  • the action assembly 40 also includes a lifting block 8 provided at the top end of the supporting section 45. The lifting block 8 is used to receive the force of the pick-and-place mechanism 5 to drive the buckle 7 of the movable plate 42 and the groove 6 of the fixed plate 41 to be close to each other. Snap.
  • the length of the lifting block 8 in the first direction is smaller than the length of the supporting section 45 in the first direction, and the lifting block 8 is arranged away from the cargo 1, and a part of the surface of the lifting block 8 and the top end of the supporting section 45 form a direction The recess 80 of the cargo 1 (see Figure 14 and Figure 15).
  • the pick-and-place mechanism 5 includes at least two clamping arms 53 for clamping the goods 1, each clamping arm 53 is provided with a flange 54 along the second direction on the side facing the corresponding groove 80, and each convex The bottom surface of the rim 54 is coplanar with the bottom surface of the clamping arm 53 where it is located.
  • each flange 54 can partially extend into the corresponding groove 80; after the clamping arm 53 is lifted in the third direction, each flange 54 can generate a pulling force on the lifting block 8 to drive the buckle 7 of the movable plate 42 and the groove 6 of the fixed plate 41 to approach each other and engage (Please refer to FIG. 14 and FIG. 15), so as to realize that each convex part 43 restores the fixation of the cargo 1.
  • the components in this embodiment are the same as the corresponding components in the above-mentioned embodiment, and will not be repeated here.
  • the top end of the support section 45 is also spaced from the hinge shaft 48 of the movable plate 42 and the fixed plate 41 in the second direction and away from the fixed plate 41 It is arranged to realize that the force of the pick-and-place mechanism 5 received by the top end of the support section 45 can generate a moment that drives the movable plate 42 to rotate relative to the hinge shaft 48.
  • each storage position 34 also does not need to be provided with an additional driver.

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Abstract

一种运输车辆，该运输车辆包括车厢(2)和设于车厢(2)中的货物架(3)，货物架(3)具有若干用于存放货物(1)的存储位(34)；该运输车辆还包括固定机构(4)和取放机构(5)，固定机构(4)设于各存储位(34)中，用于在货物(1)放入相应存储位(34)后自动将该货物(1)相对该存储位(34)固定；取放机构(5)设于车厢(2)中，用于自动存取货物(1)于各存储位(34)。

Description

运输车辆 技术领域
本发明属于运输设备技术领域，更具体地说，是涉及一种运输车辆。
背景技术
目前，快递货物的陆路运输通常采用将所有货物整体堆叠装载于运输车辆的车厢内，如果需要运输车辆从不同的地点自动将货物存入车厢内以及需要运输车辆在不同的地点将指定的货物从车厢内自动取出，则运输车辆可内置类似地面自动化仓储系统所采用的自动存取机构，即在运输车辆的车厢内设置具有若干存储位的货物架，车厢上开设存取口，自动存取机构可在各个存储位以及存取口之间自动搬运货物，以实现运输车辆将指定的货物自动存取于车厢内。
但相比地面自动化仓储系统，运输车辆在行驶过程中易造成货物的晃动，从而可能导致货物的损坏；并且一旦货物在车辆行驶过程中相对所在存储位发生位置移动，也会对自动存取机构准确取到货物造成难度。
发明内容
基于此，有必要提供一种运输车辆，包括车厢和设于所述车厢中的货物架，所述货物架具有若干用于存放货物的存储位，所述运输车辆还包括：
取放机构，设于所述车厢中，用于自动取放所述货物于各所述存储位；
固定机构，设于各所述存储位中，用于在货物被所述取放机构放入相应所述存储位后自动将该货物相对该存储位固定。
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 他的附图。
图1为本发明实施例提供的运输车辆的部分结构示意图一；
图2为本发明实施例提供的运输车辆的部分结构示意图二；
图3为本发明实施例提供的货物架、取放机构及固定机构的结构示意图；
图4为本发明实施例提供的取放机构、货物、固定机构及第二柜体的结构示意图；
图5为本发明实施例提供的固定机构的结构示意图；
图6为本发明实施例提供的固定机构的爆炸示意图；
图7为本发明实施例提供的固定机构的侧视图；
图8为本发明实施例提供的夹持臂、固定机构及货物连接的侧视图；
图9为本发明实施例提供的夹持臂未解锁固定机构时，图8中A处的放大示意图；
图10为本发明实施例提供的夹持臂解锁固定机构时，图8中A处的放大示意图；
图11为本发明实施例提供的两个固定机构固定货物时的结构示意图；
图12为本发明实施例提供的固定同一货物的两个固定机构的侧视图；
图13为本发明实施例提供的货物的结构示意图；
图14为本发明另一实施例提供的夹持臂、固定机构与货物连接的结构示意图；
图15为图14中B处的放大示意图；
图16为本发明另一实施例提供的夹持臂未解锁固定机构时，图14中B处的放大示意图；
图17为本发明另一实施例提供的夹持臂解锁固定机构时，图14中B处的放大示意图。
具体实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。
为了方便描述，定义空间上相互垂直的三个坐标轴分别为X轴、Y轴和Z轴，其中X轴与Y轴为同一水平面相互垂直的两个坐标轴，Z轴为竖直方向的坐标轴；X轴、Y轴和Z轴位于空间相互垂直有三个平面分别为XY面、YZ面和XZ面，其中，XY面为水平面，XZ面和YZ面均为竖直面，且XZ面与YZ面垂直。
请一并参阅图1至图3，现对本发明实施例提供的运输车辆进行说明。该运输车辆包括车厢2和设于该车厢2中的货物架3，该货物架3具有若干用于存放货物1的存储位34；具体地，货物1的外形为四方体或至少货物1底部的外形为四方体。该运输车辆还包括设于各存储位34中的固定机构4和设于车厢2中的取放机构5。取放机构5用于自动取放货物1于各存储位34，固定机构4用于在货物1被取放机构5放入相应存储位34后自动将该货物 1相对该存储位34固定。具体地，各存储位34包括用于存放货物1的置物板341。
在一个实施例中，请一并参阅图3，该货物架3可包括第一柜体31及第二柜体32，第一柜体31与第二柜体32相对设置，第一柜体31和第二柜体32均具有若干存储位34。第一柜体31与第二柜体32之间形成一个可供取放机构5运动的搬运通道33，该搬运通道33连通各存储位34。此结构，取放机构5可将货物1分别存放于第一柜体31与第二柜体32的存储位34中，或者将第一柜体31与第二柜体32的存储位34中的货物1取走。在其它实施例中，柜体的数量及安放位置等都可以根据实际需要进行调节，在此不作唯一限定。
在一个实施例中，请一并参阅图2，车厢2的外侧壁上开设有存取口21和用于遮蔽该存取口21的遮板22。第一柜体31或第二柜体32的其中一个存储位34与该存取口21连通。当操作人员或外部设备将货物1通过存取口21送入与存取口21连通的存储位34后，取放机构5可将该货物1移动至其它指定的存储位34中，待货物1被放入该存储位34后，固定机构4自动将货物1相对该存储位34固定，从而完成自动存放货物1于车厢2内指定的存储位34并将货物1相对该存储位34固定的操作。反之，固定机构4自动解除对货物1的固定，取放机构5将货物1从所在的存储位34移动至与存取口21连通的存储位34中，此时操作人员或外部设备通过存取口21将货物1取走，从而完成从车厢2内指定的存储位34自动取出货物1的操作。在其它实施例中，存取口21的数量、位置、尺寸大小等都可以根据实际需要进行调节；车厢2也可以在存取口21处设置货物移动机构以实现货物1自动移入和移出存取口21，在此不作唯一限定。
本发明实施例提供的运输车辆，与现有技术相比，本发明通过在货物架3的各存储位34中设置固定机构4，在货物1被取放机构5放入指定存储位34后，固定机构4可自动将货物1相对该存储位34固定，避免运输车辆在行驶时货物1相对存储位34的晃动，从而保护货物1免受碰撞损坏，以及将货物1相对存储位34保持在指定的位置以确保取放机构5能够准确地取到货物1。
在一个实施例中，固定机构4可由受控的电磁组件或气动组件驱动以实现该固定机构4对货物1自动固定和自动解除固定。在其它实施例中，固定机构4也可设置其它类型驱动器以实现该固定机构4对货物1自动固定和自动解除固定，在此不作唯一限定。
在另一个实施例中，请一并参阅图4和图5，作为本发明实施例提供的运输车辆的一种具体实施方式，固定机构4包括设于各存储位34中的至少一个作用组件40和设于该作用组件40上的自恢复构件。作用组件40用于在取放机构5从相应存储位34取货物1的过程中受该取放机构5的作用力驱动以解除对货物1的固定；自恢复构件用于当作用组件40未受到取放机构5的作用力时带动该作用组件40恢复对货物1的固定；可以理解地，当作用组 件40受到的取放机构5的作用力逐渐减小时，自恢复构件也可以带动该作用组件40恢复对货物1的固定。本实施例中，固定机构4通过取放机构5的作用力和自恢复构件分别实现对货物1的自动解除固定和自动恢复固定，无须在各个存储位34中设置额外的驱动器，避免因为其中一驱动器失效而导致该驱动器驱动的固定机构4无法正常工作，提高了运输车辆整体的可靠性，也显著降低了运输车辆生产和维护的费用。而且，固定机构4在货物1被取放过程中可配合取放机构5取放货物1的动作同步解除或同步恢复对货物1的固定，避免影响取放机构5取放货物1的效率。
在一个实施例中，请一并参阅图11和图12，各存储位34中设置至少两个相对且间隔的作用组件40，每个作用组件40上均设有自恢复构件，货物1存放于上述两个作用组件40之间，上述两个作用组件40配合将货物1相对存储位34固定。在另一实施例中，各存储位34只设置一个与车厢2内壁相对且间隔的作用组件40，货物1存放于该作用组件40与车厢2内壁之间，该作用组件40与车厢2内壁配合将货物1相对存储位34固定。在其它实施例中，各存储位34的作用组件40的数量可以根据实际需要进行调整，在此不作唯一限定。
在一个实施例中，请一并参阅图5至图9，作为本发明实施例提供的运输车辆的一种具体实施方式，作用组件40包括沿第一方向设置的固定板41和与固定板41铰接的活动板42，固定板41固定安装于相应的存储位34中。具体地，固定板41固定安装于存储位34的置物板341上。活动板42位于固定板41背离货物1的一侧(请一并参阅图8和图9)，活动板42面向货物1的侧面设有若干凸部43(请一并参阅图8和图12)，各凸部43用于将该货物1相对存储位34固定。固定板41还用于在第二方向上对该货物1限位，固定板41也可以替换为其它结构形式，例如固定板41替换为沿第一方向设置的固定条。本实施例中，作用组件40制造成本较低，由于运输车辆中需要设置作用组件40的存储位34数量较多，所以也有助于显著降低运输车辆生产和维护的费用。
需要说明的是，此处第二方向是指与货物1的进出存储位34的方向平行的方向(如图4中的Y轴方向)；第三方向是指沿货物1的高度方向(如图4中的Z轴方向)，第一方向(如图4中的X轴方向)分别与第二方向和第三方向正交。
可选地，固定板41与活动板42通过铰接轴48铰接在一起，铰接轴48沿第一方向设置在活动板42上。自恢复构件为弹性件49(请一并参阅图6)，弹性件49套设于该铰接轴48上，弹性件49分别与固定板41与活动板42相连，弹性件49可为扭簧等。铰接轴48和弹性件49的类型都可以根据实际需要进行调整，在此不作唯一限定。
在另一个实施例中，请一并参阅图7，自恢复构件为磁性组件，该磁性组件包括一对磁性相吸的磁性单元400，分别设于固定板41和活动板42相对的一面并且靠近铰接轴48，活 动板42的磁性单元400与固定板41对应的磁性单元400之间存在较强的磁性吸力。当作用组件40未受到取放机构5的作用力时，活动板42的相对铰接轴48的自由端421可在磁性组件的作用下贴近固定板41，各凸部43将货物1相对存储位34固定。容易理解地，当固定板41和活动板42其中一者的材质为能够被磁性单元400吸附的金属时，只需另一者设置磁性单元400即可。在其它实施例中，自恢复构件的类型还可以根据实际需要进行调整，在此不作唯一限定。
在一个实施例中，请一并参阅图13，货物1可包括物流箱和物流箱内的物品，物流箱与固定板41相对的侧面设置有与各凸部43配合的开孔11。当作用组件40未受到取放机构5的作用力时，活动板42的自由端421在自恢复构件的作用下贴近固定板41，各凸部43可卡入对应的开孔11中，从而将货物1相对存储位34固定。可选地，凸部43卡入开孔11的深度较小。
在另一个实施例中，当作用组件40未受到取放机构5的作用力时，活动板42的自由端421在自恢复构件的作用下贴近固定板41，各凸部43可抵触货物1的侧面并对抵触的侧面施加较大压力，从而通过凸部43与货物1之间的摩擦力将货物1相对存储位34固定。各凸部43抵触货物1的一面上设置有防滑涂层，进而可增大凸部43与货物1的接触面的摩擦系数。
在一个实施例中，请一并参阅图6，作为本发明实施例提供的运输车辆的一种具体实施方式，各固定板41开设有供相应活动板42的凸部43穿过的通孔410。当活动板42的自由端421贴近固定板41时，各凸部43穿过对应的通孔410以保持对货物1的固定。
在另一个实施例中，活动板42的高度高于固定板41，各凸部43在活动板42的安装位置均高于固定板41，从而可取消通孔410的设计。在其它实施例中，凸部43的数量、安装位置等都可以根据实际需要进行调整，在此不作唯一限定。
在一个实施例中，请一并参阅图5，作为本发明实施例提供的运输车辆的一种具体实施方式，作用组件40还包括设于活动板42两端的作用块44，同一活动板42两端的作用块44沿第一方向分布。此结构，各作用块44用于受取放机构5的作用力以带动活动板42绕铰接轴48转动并使该活动板42的自由端421远离固定板41，从而实现各凸部43解除对货物1的固定。当各作用块44未受到取放机构5的作用力时，自恢复构件用于带动活动板42绕该铰接轴48转动并使该活动板42的自由端421贴近固定板41，以实现各凸部43恢复对货物1的固定。可以理解地，当各作用块44受到的取放机构5的作用力逐渐减小时，自恢复构件也可以带动活动板42绕该铰接轴48转动并使该活动板42的自由端421贴近固定板41。作用组件40也可以不设置作用块44，活动板42的两端用于受取放机构5的作用力以带动活动 板42绕铰接轴48转动并使该活动板42的自由端421远离固定板41；或者，当活动板42的两端未受到取放机构5的作用力时，自恢复构件用于带动活动板42绕该铰接轴48转动并使该活动板42的自由端421贴近固定板41。
在一个实施例中，请一并参阅图7，作为本发明实施例提供的运输车辆的一种具体实施方式，各作用块44包括与活动板42相连的支撑段45和与各支撑段45相连的延伸段46。当活动板42的自由端421贴近固定板41时(如图8和图9所示)，各支撑段45的顶端450在第二方向上与铰接轴48间隔并远离固定板41设置，各支撑段45的顶端450受到的取放机构5的作用力为沿第三方向的下压力，从而能够相对铰接轴48产生带动活动板42转动的力矩，该力矩的力臂大小等于上述作用力到铰接轴48的距离。可选地，延伸段46可以省略，即各作用块44只包括支撑段45。
在一个实施例中，请一并参阅图7，作为本发明实施例提供的运输车辆的一种具体实施方式，各延伸段46的上表面461从相连的支撑段45的顶端450沿第二方向延伸，且各延伸段46的上表面461的各点到活动板42的铰接轴48的距离沿该上表面461的延伸方向逐渐减小。可选地，各延伸段46的上表面461的各点与活动板42的铰接轴48的距离沿A1至A2的方向逐渐减小，在活动板42的自由端421远离固定板41的过程中，各作用块44与取放机构5的接触位置沿各延伸段46的上表面461逐渐远离相连的支撑段45的顶端450，即该接触位置由端点A1逐渐向端点A2靠近。相比未设置延伸段46的作用块44，取放机构5在接触作用块44的顶端后下压更小的距离便可实现活动板42绕铰接轴48转动指定的角度。在其它实施例中，各延伸段46的形状构造、尺寸规格等都可以根据实际需要进行调整，在此不作唯一限定。
在一个实施例中，请一并参阅图8、图9和图11，作为本发明实施例提供的运输车辆的一种具体实施方式，当作用组件40将货物1相对存储位34固定时，活动板42上的延伸段46沿第一方向并在一平面上的投影与货物1沿第一方向并在同一平面上的投影相交，该投影平面与第一方向正交，从而实现同一活动板42两端的延伸段46位于货物1的两侧并在第一方向上能够对货物1限位。可以理解地，同一活动板42两端的延伸段46之间的最小距离略大于货物1在第一方向上的长度。在运输车辆急加速、急刹车、上下陡坡时，货物1在运输车辆的速度方向(本实施例中即为第一方向)相对存储位34存在较大的位移趋势；或者，在运输车辆小半径急转弯时，货物1在运输车辆的法向加速度方向(本实施例中即为第二方向)相对存储位34存在较大的位移趋势，通过延伸段46和固定板41分别在第一方向和第二方向上对货物1进行限位，进一步确保货物1在运输车辆的多种行驶状态下能够相对存储位34固定。
在一个实施例中，请一并参阅图7，作为本发明实施例提供的运输车辆的一种具体实施方式，作用块44和活动板42为钣金一体加工结构。可选地，各支撑段45包括与活动板42相连的第一段451和与第一段451相连的第二段452，第一段451位于活动板42背离固定板41的一侧，且第一段451沿第二方向设置，第二段452沿第三方向设置，延伸段46与第二段452相连。各支撑段45与相连的延伸段46围合成空腔47，各空腔47中设有填充材料。填充材料可增强作用块44的结构刚度。可选地，填充材料可为轻质发泡材料。在其它实施例中，各作用块44也可为其它类型结构，例如注塑成型的实心结构，在此都不作唯一限定。
在一个实施例中，请一并参阅图8至图10，作为本发明实施例提供的运输车辆的一种具体实施方式，取放机构5包括至少两个用于夹持货物1的夹持臂53，夹持臂53还用于在取放机构5取放货物1于相应存储位34的过程中抵压作用组件40以解除作用组件40对货物1的固定，具体地，夹持臂53抵压各作用块44以解除各凸部43对货物1的固定。其中夹持臂53的底面可以为平面，延伸段46的上表面可以为弧面，在夹持臂53抵压作用块44时夹持臂53的底面与延伸段46的上表面的接触面积较小，故此时夹持臂53沿第一方向相对作用块44滑动受到的摩擦力也较小。另外各延伸段46的上表面即作用块44还设有第一润滑涂层，和/或各夹持臂53的底面对应设有第二润滑涂层，以减小各夹持臂53与相应的作用块44之间的摩擦力；或者，夹持臂53和作用块44分别设置相互之间能够产生较强磁性斥力的磁性单元，使得作用块44对夹持臂53施加的作用力变为两者非接触就可以产生的磁性斥力，从而消除夹持臂53和作用块44之间的摩擦力。
可选地，请一并参阅图4，取放机构5包括滑动架52及两个相对设置的夹持臂53，滑动架52设置在支撑结构51中，并且能够在支撑结构51内滑动，两个夹持臂53中的至少一个能够相对另一个滑动以使两个夹持臂53之间的距离可调节，而使两个夹持臂53能够夹取货物1和释放货物1。两个夹持臂53相互靠近的一侧设有支撑部，货物1的两侧设有高于货物1底面的承托部，两个夹持臂53的支撑部能够在夹持臂53夹持货物1的过程中共同承托货物1的承托部。两个夹持臂53还能够在第二方向上伸缩，以使两个夹持臂53能够在第二方向上搬运货物1。
在一个实施例中，固定机构4可拆卸安装于存储位34。具体地，固定板41可通过螺钉、卡扣等可拆卸方式固定安装于各存储位34的置物板341。进一步地，货物1设有不同大小规格；可选地，货物1包括物流箱和物流箱内的物品，物流箱设有不同大小规格；对应地，固定机构4设有不同的规格，以能够固定不同大小规格的货物1，例如在不同规格的固定机构4中，固定板41沿第一方向的长度不同，以及配合固定同一货物的两个作用组件40的间距不同，以分别用于固定不同长宽尺寸的货物。存储位34也可安装不同规格的固定机构4；可 选地，存储位34的置物板341设有配合不同规格的固定机构4的安装孔位。运输车辆的部分或全部存储位34可根据需要安装和更换不同规格的固定机构4，以灵活配置运输车辆对不同大小规格的货物1的存储容量，例如同一存储位34，相比安装用于固定大尺寸货物的固定机构4，在更换为用于固定小尺寸货物1的固定机构4后，能够安装更多数量的固定机构4以存储更多的小尺寸货物1。
需要说明的是，固定板41也可以与存储位34的置物板341一体化设计，作用组件40不包括固定板41，即活动板42可以直接或间接地安装于相应的存储位34并且相对该存储位34可转动，具体地，活动板42直接或间接地安装于存储位34的置物板341并且相对置物板341可转动，活动板42的转动轴沿第一方向设置。作用组件40的其它结构上述实施例已表述过，即作用组件40还包括设于活动板42上的作用块44，作用块44包括与活动板42相连的支撑段45和与支撑段45相连的延伸段46；在活动板42的各凸部43将货物相对存储位34固定时，支撑段45的顶端在第二方向上与活动板42的转动轴间隔，以实现支撑段45的顶端受到的取放机构5的作用力能够相对活动板42的转动轴产生带动活动板42转动的力矩；并且延伸段46的上表面的各点到活动板42的转动轴的距离沿该上表面的延伸方向逐渐减小。
在另一个实施例中，自恢复构件可以省略，作用组件40还用于在取放机构5放货物1于相应存储位34的过程中受取放机构5的作用力驱动以恢复对货物1的固定，即作用组件40用于在取放机构5取放货物1于相应存储位34的过程中受取放机构5的作用力驱动以解除和恢复对货物1的固定。
请一并参阅图14至图17，具体地，固定机构4包括设于各存储位34中的至少一个作用组件40，该作用组件40包括沿第一方向设置的固定板41和与固定板41铰接的活动板42，活动板42面向货物1的侧面设有若干凸部43，活动板42与固定板41分别设有卡扣7和与卡扣7配合的卡槽6。作用组件40还包括与活动板42相连的支撑段45，支撑段45用于受取放机构5的作用力以带动活动板42的卡扣7与固定板41的卡槽6分离并相互远离(请参阅图17)，从而实现各凸部43解除对货物1的固定。作用组件40还包括设于支撑段45顶端的提拉块8，提拉块8用于受取放机构5的作用力以带动活动板42的卡扣7与固定板41的卡槽6相互靠近并卡合。具体地，提拉块8在第一方向上的长度小于支撑段45在第一方向上的长度并且提拉块8远离货物1设置，提拉块8的部分表面与支撑段45的顶端形成朝向货物1的凹槽80(请参阅图14和图15)。
相应地，取放机构5包括至少两个用于夹持货物1的夹持臂53，各夹持臂53面向对应的凹槽80的侧面上沿第二方向设有凸缘条54，各凸缘条54的底面与所在夹持臂53的底面 共面。具体地，当取放机构5将货物1放置于存储位34的置物板341上时，两个夹持臂53相互远离以释放货物1，并且各凸缘条54能够部分伸入相应的凹槽80中；之后夹持臂53沿第三方向抬升，各凸缘条54能够对提拉块8产生提拉力以带动活动板42的卡扣7与固定板41的卡槽6相互靠近并卡合(请参阅图14和图15)，从而实现各凸部43恢复对货物1的固定。
本实施例中各部件与上述实施例中的对应部件相同，在此不再一一赘述。其中在活动板42的卡扣7与固定板41的卡槽6卡合时，支撑段45的顶端同样在第二方向上与活动板42和固定板41的铰接轴48间隔并远离固定板41设置，以实现支撑段45的顶端受到的取放机构5的作用力能够相对铰接轴48产生带动活动板42转动的力矩。
本实施例中，由于固定机构4通过取放机构5的作用力能够实现对货物1的自动解除固定和自动恢复固定，各个存储位34同样也无须设置额外的驱动器。
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. 运输车辆，包括车厢和设于所述车厢中的货物架，所述货物架具有若干用于存放货物的存储位；所述运输车辆还包括：
    取放机构，设于所述车厢中，用于自动取放货物于各所述存储位；
    固定机构，设于各所述存储位中，用于在货物被所述取放机构放入相应所述存储位后自动将该货物相对该存储位固定。
  2. 如权利要求1所述的运输车辆，其特征在于：所述固定机构包括设于各所述存储位中的至少一个作用组件；所述作用组件用于在所述取放机构从相应所述存储位取货物的过程中受该取放机构的作用力驱动以解除对货物的固定。
  3. 如权利要求2所述的运输车辆，其特征在于：所述固定机构还包括设于所述作用组件上的自恢复构件；所述自恢复构件用于带动该作用组件恢复对货物的固定。
  4. 如权利要求3所述的运输车辆，其特征在于：所述作用组件包括沿第一方向设置的固定板和与所述固定板铰接的活动板，所述固定板固定安装于相应的所述存储位，所述活动板位于所述固定板背离货物的一侧，所述活动板面向货物的侧面设有若干凸部，各所述凸部用于将该货物相对所述存储位固定；以及
    所述自恢复构件为弹性件，所述弹性件分别与所述固定板和所述活动板相连；或者，所述自恢复构件为一对磁性相吸的磁性单元，一对所述磁性单元分别设于所述固定板和所述活动板相对的一面并且靠近所述活动板与所述固定板的铰接轴。
  5. 如权利要求4所述的运输车辆，其特征在于：所述作用组件还包括设于所述活动板两端的作用块，同一所述活动板两端的所述作用块沿所述第一方向分布；各所述作用块用于受所述取放机构的作用力以带动所述活动板绕所述铰接轴转动并使所述活动板的相对所述铰接轴的自由端远离所述固定板，从而实现各所述凸部解除对货物的固定；当各所述作用块未受到所述取放机构的作用力或者受到所述取放机构的作用力减小时，所述自恢复构件用于带动所述活动板绕所述铰接轴转动并使所述活动板的所述自由端贴近所述固定板，以实现各所述凸部恢复对货物的固定。
  6. 如权利要求5所述的运输车辆，其特征在于：各所述作用块包括与所述活动板相连的支撑段；在所述活动板的所述自由端贴近所述固定板时，各所述支撑段的顶端在第二方向上与所述活动板的所述铰接轴间隔，以实现各所述支撑段的顶端受到的所述取放机构的作用力能够相对所述铰接轴产生带动所述活动板转动的力矩；所述第一方向与所述第二方向正交。
  7. 如权利要求6所述的运输车辆，其特征在于：各所述作用块还包括与所述支撑段相连的延伸段，各所述延伸段的上表面从相连的所述支撑段的顶端沿所述第二方向延伸，且所述延伸段的上表面的各点到所述活动板的所述铰接轴的距离沿该上表面的延伸方向逐渐减小，以实现在所述活动板的所述自由端远离所述固定板的过程中，各所述作用块与所述取放机构的接触位置沿各所述延伸段的上表面逐渐远离相连的所述支撑段的顶端。
  8. 如权利要求7所述的运输车辆，其特征在于：所述延伸段在所述活动板的所述自由端贴近所述固定板时沿所述第一方向并在一平面上的投影与货物沿该第一方向并在所述平面上的投影相交，以实现所述延伸段在所述第一方向上能够对货物限位；所述平面与所述第一方向正交；以及
    所述固定板还用于在所述第二方向上对货物限位。
  9. 如权利要求7所述的运输车辆，其特征在于：所述作用块与所述活动板为钣金一体加工结构，各所述支撑段与相连的所述延伸段围合成空腔，各所述空腔中设有填充材料。
  10. 如权利要求2所述的运输车辆，其特征在于：所述作用组件包括活动板，所述活动板可转动地安装于相应的所述存储位，所述活动板的转动轴沿第一方向设置；所述活动板面向货物的侧面设有若干凸部，各所述凸部用于将该货物相对所述存储位固定；以及
    所述作用组件还包括设于所述活动板上的作用块，所述作用块用于受所述取放机构的作用力以带动所述活动板绕所述转动轴转动并使各所述凸部解除对货物的固定。
  11. 如权利要求10所述的运输车辆，其特征在于：所述作用块包括与所述活动板相连的支撑段；当所述活动板的各所述凸部将货物相对所述存储位固定时，所述支撑段的顶端在第二方向上与所述活动板的所述转动轴间隔，以实现所述支撑段的顶端受到的所述取放机构的作用力能够相对所述转动轴产生带动所述活动板转动的力矩；所述第一方向与所述第二方向正交。
  12. 如权利要求11所述的运输车辆，其特征在于：所述作用块还包括与所述支撑段相连的延伸段，所述延伸段的上表面从相连的所述支撑段的顶端沿所述第二方向延伸，且所述延伸段的上表面的各点到所述活动板的所述转动轴的距离沿该上表面的延伸方向逐渐减小。
  13. 如权利要10项所述的运输车辆，其特征在于：货物包括物流箱和物流箱内的物品，所述物流箱的侧面设置有与各所述凸部配合的开孔，各所述凸部能够卡入对应的所述开孔中，以将货物相对所述存储位固定；或者
    各所述凸部能够抵触货物的侧面并对抵触的所述侧面施加压力，通过所述凸部与货物之间的摩擦力将货物相对所述存储位固定。
  14. 如权利要求2所述的运输车辆，其特征在于：所述作用组件还用于在所述取放机构 放货物于相应所述存储位的过程中受该取放机构的作用力驱动以恢复对货物的固定。
  15. 如权利要求14所述的运输车辆，其特征在于：所述作用组件包括沿第一方向设置的固定板和与所述固定板铰接的活动板，所述固定板固定安装于相应的所述存储位，所述活动板面向货物的侧面设有若干凸部，各所述凸部用于将该货物相对所述存储位固定；所述活动板和所述固定板分别设有卡扣和与所述卡扣配合的卡槽；以及
    所述作用组件还包括与所述活动板相连的支撑段和与所述支撑段相连的提拉块，所述支撑段用于受所述取放机构的作用力以带动所述活动板的所述卡扣与所述固定板的所述卡槽分离并相互远离，从而实现各所述凸部解除对货物的固定；所述提拉块用于受所述取放机构的作用力以带动所述活动板的所述卡扣与所述固定板的所述卡槽相互靠近并卡合，从而实现各所述凸部恢复对货物的固定。
  16. 如权利要求15所述的运输车辆，其特征在于：所述提拉块设于所述支撑段的顶端，并且所述提拉块远离货物设置；所述提拉块的部分表面与所述支撑段的顶端形成朝向货物的凹槽；以及
    所述取放机构包括至少两个用于夹持货物的夹持臂，各所述夹持臂沿第二方向设有凸缘条；当所述取放机构将货物放置于所述存储位时，两个所述夹持臂相互远离并且各所述凸缘条能够部分伸入所述凹槽中，之后所述夹持臂沿第三方向抬升以使各所述凸缘条能够对所述提拉块产生提拉力；所述第一方向分别与所述第二方向和所述第三方向正交。
  17. 如权利要求15所述的运输车辆，其特征在于：当所述活动板的所述卡扣与所述固定板的所述卡槽卡合时，所述支撑段的顶端在第二方向上与所述活动板和所述固定板的铰接轴间隔，以实现所述支撑段的顶端受到的所述取放机构的作用力能够相对所述铰接轴产生带动所述活动板转动的力矩；所述第二方向与所述第一方向正交。
  18. 如权利要求1-17任一项所述的运输车辆，其特征在于：所述固定机构设有不同的规格，用于将不同大小规格的货物相对所述存储位固定。
  19. 如权利要求18所述的运输车辆，其特征在于：所述固定机构可拆卸安装于所述存储位，所述运输车辆的部分或全部的所述存储位能够安装和更换所述不同规格的固定机构，以灵活配置所述运输车辆对不同大小规格的货物的存储容量。
  20. 如权利要求2-17任一项所述的运输车辆，其特征在于：各所述存储位中设置至少两个相对且间隔的所述作用组件，货物存放于所述两个作用组件之间，所述两个作用组件配合将货物相对所述存储位固定；或者
    各所述存储位只设置一个与所述车厢的内壁相对且间隔的所述作用组件，货物存放于该作用组件与所述内壁之间，所述作用组件与所述内壁配合将货物相对所述存储位固定。
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