WO2021147870A1

WO2021147870A1 - Self-moving device, bearing device, and distribution device for distributing goods

Info

Publication number: WO2021147870A1
Application number: PCT/CN2021/072763
Authority: WO
Inventors: 王恺; 闵伟; 李佩; 王小朝; 袁梦杰
Original assignee: 拉扎斯网络科技（上海）有限公司
Priority date: 2020-01-22
Filing date: 2021-01-19
Publication date: 2021-07-29
Also published as: CN111285293A

Abstract

A self-moving device, a bearing device, and a distribution device for distributing goods. The self-moving device comprises: a self-moving body (10) and a combining mechanism (11). The combining mechanism (11) is disposed on the self-moving body (10) and enables the self-moving device and a bearing device to be in a combined state or a separated state. When the self-moving device and the bearing device are in a combined state, the self-moving device can drive the bearing device to move. When the self-moving device and the bearing device are in a separated state, the bearing device is in a static bearing waiting state or a pick-up waiting state. The self-moving device autonomously moves to the position where the self-moving device can be fitted to the bearing device, is enabled to bear and transfer the bearing device to the designated distribution position by means of the combining mechanism (11), and is separated from the bearing device, so that the bearing device is in a static bearing waiting state or a pick-up waiting state.

Description

Self-moving device, carrying device, and distributing device for distributing items

Technical field

This application relates to the field of logistics technology, in particular to a self-moving device for distributing items, a carrying device for distributing items, and a distributing device for distributing items.

Background technique

With the rapid development of the Internet, more and more users choose to shop online. Users can complete operations such as selecting goods and making payments without leaving their homes. One of the shortcomings of online shopping is that users cannot obtain goods in real time like in traditional retail stores after payment, but need to wait for the seller to deliver the goods to users through courier and delivery personnel. Moreover, when the user purchases food and beverage products, the seller will deliver the products to the user through the delivery staff. Because the delivery time of the delivery personnel and the time of the user's pick-up are often not coordinated, which affects the delivery timeliness of express and takeaway delivery.

At present, the main way to solve the above-mentioned problems is that the user picks it up through a smart pick-up cabinet or distributes it through an automatic delivery device. However, the above two methods have their obvious shortcomings.

Due to the complexity of the installation and the large occupied area, the intelligent pickup cabinet facilities are generally installed in a centralized manner, which makes it inconvenient for users to pick up express delivery or takeaway, and reduces the convenience of online shopping.

Although the delivery device can deliver courier or takeaway to the user, when the delivery device delivers the courier or takeaway, the delivery person needs to wait for the machine delivery person to return to the delivery point before the courier or takeaway can be placed on the warehouse of the delivery device, and the delivery device After arriving at the designated distribution point, it is necessary to wait for the user to complete the courier or takeaway before returning to the distribution point, resulting in low distribution efficiency of the distribution device, and the distribution device has a high production cost due to its complex structure.

Therefore, how to improve the distribution efficiency of the distribution device and reduce the cost has become an urgent problem to be solved by those skilled in the art.

Summary of the invention

The embodiment of the present application provides a self-moving device for distributing items, including: a self-moving body and a coupling mechanism; the self-moving body can move autonomously; the coupling mechanism is provided on the self-moving body, and With a combination mechanism, the self-moving body can be in a combined state or a separate state with the supporting device matched with it; when in the combined state, the self-moving device and the supporting device are combined into one body, and the self-moving device can Drive the carrying device to move; when in the separated state, the self-moving device can be separated from the carrying device, and the carrying device is in a static waiting state for loading or waiting for retrieval.

Optionally, the combining mechanism includes a lifting mechanism and a first positioning mechanism; the lifting mechanism is installed on the self-moving body, and includes a lifting rod and a lifting platform that can be extended and contracted in a vertical direction. A lifting platform is installed on the top of the lifting platform; the first positioning mechanism is installed on the upper part of the lifting platform and includes one or more first positioning devices; the first positioning device can be combined with a second positioning device installed on the carrying device The positioning device is matched. When the lifting platform is lifted into position, the first positioning device and the second positioning device are combined with each other to realize the mutual positioning of the self-moving device and the carrying device.

Optionally, the first positioning device adopts a concave positioning groove.

Optionally, the first positioning mechanism further includes a positioning guide post, the positioning guide post is arranged on the upper part of the lifting platform, and the positioning guide post can be matched with a positioning guide groove installed on the carrying device.

Optionally, the self-moving device further includes a top block, the top block is arranged on the upper part of the lifting platform, and when the lifting platform is lifted, the top block and a moving guide mechanism installed on the carrying device Abut to drive the moving guide mechanism to lift.

Optionally, the combining mechanism further includes a locking mechanism for clamping the carrying device when the lifting platform is lifted into position.

Optionally, the locking mechanism includes a sliding locking part and a swing stretching part, the sliding locking part includes a locking element that is slidably arranged in a horizontal direction, and the swing stretching part includes a fixed end and a swing extension. The fixed end is pivotally connected to the self-moving body, and the swing end is pivotally connected to the slidable part of the sliding lock part; the swing stretch part is inward as the lifting platform rises Swing, to provide the locking element of the sliding lock part with a driving force to slide in the clamping direction, so that the locking element of the sliding lock part closes on the lifting platform along the horizontal direction; the swing The stretching part swings outward with the descending of the lifting platform, and provides the locking part of the sliding lock part with a driving force to slide in the releasing direction, so that the locking part of the sliding lock part moves along the Move to the initial position in the horizontal direction; when the lifting platform rises to the position, the locking member abuts against the locking groove provided on the supporting device to clamp the supporting device.

Optionally, the sliding and locking part further includes a first guide rail and a first sliding block as the slidable part; the first guide rail is horizontally arranged at the lower part of the lifting platform, and the first The sliding block is slidably arranged on the first guide rail, and the locking member is connected with the first sliding block and moves on the first guide rail through the first sliding block.

Optionally, the main body of the swing stretching part is a symmetrical pull rod, one end of the pull rod is the fixed end pivotally connected to the self-moving body, and the other end is a slidable end connected to the sliding lock part. The pivoting end of the part.

Optionally, the self-moving device further includes a support frame provided on the self-moving body; the fixed end is pivotally connected to the self-moving body, specifically the fixed end is pivotally connected to the On the support frame.

Optionally, the self-moving device further includes: a first guiding mechanism disposed between the lifting platform and the self-moving body, and the first guiding mechanism includes: a first bearing and a first The guide shaft; the first bearing is provided on the self-moving body, and the axial direction of the first bearing is the vertical direction; one end of the first guide shaft is connected to the lifting platform, and the other end is It is slidably sleeved in the first bearing.

Optionally, the first guiding mechanism further includes a bearing bracket, the bearing bracket is arranged on the self-moving body, and the first bearing is arranged on the bearing bracket.

Optionally, the self-moving device further includes a navigation mechanism for navigating the movement of the self-moving body.

The embodiment of the present application provides a carrying device for distributing articles, including: a carrying body and a docking mechanism; the carrying body can carry articles; the docking mechanism is arranged on the carrying body, and the docking mechanism The supporting body can be in a combined state or a separated state with its matched self-moving device; when in the combined state, the supporting device is integrated with the self-moving device, and the supporting device is driven by the self-moving device Moving; when in the separated state, the carrying device is separated from the self-moving device, and the carrying device is in a static waiting state for loading or waiting for retrieval.

Optionally, the docking mechanism includes a second positioning mechanism, and the second positioning mechanism includes one or more second positioning devices; the second positioning device can correspond to a second positioning device installed on the self-moving device. A positioning device is matched. When the self-moving device is lifted into position, the second positioning device and the first positioning device are combined with each other to realize the mutual positioning of the carrying device and the self-moving device.

Optionally, the second positioning device adopts a convex positioning groove.

Optionally, the second positioning mechanism further includes a positioning guide groove, the positioning guide groove is provided at a lower portion of the carrying body, and the positioning guide groove can be matched with a positioning guide post installed on the self-moving device .

Optionally, the docking mechanism further includes a locking groove, the locking groove is provided in the lower part of the carrying body, the notch of the locking groove is set away from the center of the carrying body, and the locking groove can be connected with The locks installed on the self-moving device match.

Optionally, the supporting device further includes a supporting leg telescoping mechanism for contracting and unfolding the supporting leg of the supporting body.

Optionally, the supporting leg telescoping mechanism includes a second guide rail and a second sliding block; the second guide rail is horizontally arranged at the lower part of the carrying plate of the carrying body, and the second sliding block is slidably arranged on the supporting body. The second guide rail; the support leg includes a connecting end and a ground end, the connecting end is arranged along the horizontal direction, the ground end is arranged in a vertical direction; the connecting end and the second slider Connected and moved along the second guide rail by the second sliding block.

Optionally, the support leg telescopic mechanism further includes a moving guide mechanism, the moving guide mechanism includes a moving guide base and a sliding bearing, the moving guide base is symmetrically provided with sliding grooves inclined inward and downward; The sliding bearing is connected to the second sliding block and the sliding groove of the moving guide base; a connecting plate arranged parallel to the bearing plate is arranged below the bearing plate of the bearing body; the moving guiding base is arranged on the bearing plate And the connecting plate; when the self-moving device and the carrying device perform a combined operation, the bottom surface of the moving guide base abuts against the top block installed on the self-moving device, thereby moving upward , The sliding bearing slides from the high end position to the bottom end position of the sliding groove, and the supporting leg is driven to move to the center of the carrying body; when the self-moving device and the carrying device perform a separation operation, the moving The guide base descends, the sliding bearing slides from the low end position of the sliding groove to the high end position, and the supporting leg is driven away from the center of the carrying body.

Optionally, the supporting plate and the movable guide base are provided with a second guide mechanism along the vertical direction.

Optionally, the second guide mechanism includes a second bearing and a second guide shaft; the second bearing is arranged on the movable guide base, and the axial direction of the second bearing is the vertical direction; One end of the second guide shaft is connected to the lower part of the carrying plate, and the other end is slidably sleeved in the second bearing.

Optionally, a compression spring is provided between the bearing plate and the moving guide base.

The embodiment of the present application provides a distribution device for distributing items, including: a self-moving device and a carrying device that can be combined or separated, wherein the self-moving device includes: a self-moving body and a coupling mechanism, the self-moving body It can move autonomously, the coupling mechanism is arranged on the self-moving body; the carrying device includes: a carrying body and a docking mechanism, the carrying body can carry items, and the docking mechanism is arranged on the carrying body; The coupling mechanism is docked with the docking mechanism, and the self-moving body can be in a coupled state or a separate state with the supporting device matched with it; when in the coupled state, the self-moving device and the supporting device are combined as Integral, the self-moving device can drive the carrying device to move; when in the separated state, the self-moving device can be separated from the carrying device, and the carrying device is in a stationary state waiting for loading or waiting Take the object state object.

Optionally, the combining mechanism includes a lifting mechanism and a first positioning mechanism; the lifting mechanism is installed on the self-moving body, and includes a lifting rod and a lifting platform that can be extended and contracted in a vertical direction. A lifting platform is installed on the top of the lifting platform; the first positioning mechanism is installed on the upper part of the lifting platform and includes one or more first positioning devices.

Optionally, the docking mechanism includes a second positioning mechanism, and the second positioning mechanism includes one or more second positioning devices; The first positioning device is matched, and when the self-moving device is lifted into position, the second positioning device and the first positioning device are combined with each other to realize the mutual positioning of the carrying device and the self-moving device.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings.

Fig. 1 is a front view of a self-moving device for distributing items provided by the first embodiment of the application.

Fig. 2 is a side view of a self-moving device for distributing items provided by the first embodiment of the application.

Fig. 3 is a front view of a carrying device for distributing articles provided by the second embodiment of the application.

Fig. 4 is a side view of a carrying device for distributing articles provided by the second embodiment of the application.

Fig. 5 is a bottom view of a carrying device for distributing articles provided by the second embodiment of the application.

Fig. 6 is a perspective view corresponding to the partially enlarged view at A in Fig. 3.

FIG. 7 is a schematic structural diagram of a distribution device for distributing items provided by the third embodiment of the application.

Self-moving device 1, self-moving body 10, base plate 10-1, coupling mechanism 11, lifting mechanism 12, lifting rod 12-1, lifting adapter plate 12-2, lifting platform 12-3, top block 12-4, The first positioning mechanism 13, the first positioning device 13-1, the positioning guide post 13-2, the locking mechanism 14, the sliding locking portion 14-1, the locking member 14-1-1, the first guide rail 14-1- 2. The first sliding block 14-1-3, the swing stretching part 14-2, the pull rod 14-2-1, the fixed end 14-2-2, the swing end 14-2-3, the support frame 14-2-4 , The first guide mechanism 15, the first bearing 15-1, the first guide shaft 15-2, the bearing bracket 15-3, the navigation mechanism 16, the driving mechanism 17, the driving wheel 17-1, the universal wheel 17-2.

Bearing device 2, bearing body 20, bearing plate 20-1, connecting plate 20-2, supporting column 20-3, supporting leg 20-4, connecting end 20-4-1, grounding end 20-4-2, casters 20-5, docking mechanism 21, second positioning mechanism 21-1, second positioning device 21-1-1, positioning guide groove 21-1-2, locking groove 21-1-3, notch 21-1- 4. Support leg telescoping mechanism 22, second guide rail 23, second sliding block 24, mobile guide mechanism 25, mobile guide base 25-1, sliding groove 25-1-1, sliding bearing 25-2, second guide mechanism 26, the second bearing 26-1, the second guide shaft 26-2, the compression spring 27, the distribution device 3.

Detailed ways

In the following description, many specific details are set forth in order to fully understand this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar promotion without violating the connotation of this application. Therefore, this application is not limited by the specific implementation disclosed below.

The first embodiment of the present application provides a self-moving device for distributing items, which is briefly described as the self-moving device below. Fig. 1 is a front view of a self-moving device provided by the first embodiment of the present application, and Fig. 2 is a side view of the self-moving device provided by the first embodiment of the present application.

In the first embodiment of the present application, as shown in FIG. 2, the self-moving device 1 includes: a self-moving body 10 and a coupling mechanism 11; wherein the self-moving body 10 can move autonomously, and the coupling mechanism 11 is provided on the self-moving body 10. , Through the coupling mechanism 11, the self-moving body 10 can be in a coupled state or a separated state with the supporting device 2 (shown in FIG. 3) matched with it. As shown in FIG. 7, when in the combined state, the self-moving device 1 and the supporting device 2 are combined into one body, and the self-moving device 1 can drive the supporting device 2 to move. When in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static waiting state for loading or waiting for fetching.

The first embodiment of the present application will describe the specific structure of the self-mobile device 1. Specifically, as shown in FIGS. 1 and 2, the self-moving body 10 mainly includes a substrate 10-1, and the substrate 10-1 is used to carry the coupling mechanism 11 and the driving mechanism 17. Of course, the self-moving body 10 also includes other structures. In the first embodiment of the present application, the self-moving body 10 mainly includes a substrate 10-1 as an example for description. Wherein, the driving mechanism 17 is arranged at the bottom of the base plate 10-1, and the driving mechanism 17 includes a driving motor (not shown), a driving wheel 17-1 and a universal wheel 17-2. The driving motor and the driving wheel 17-1 are arranged at the side position of the bottom of the base plate 10-1, and the driving motor and the driving wheel 17-1 are connected to realize the self-movement of the self-moving body 10; the universal wheel 17-2 is arranged on the base plate 10 -1 at the bottom to improve the smoothness of the movement of the self-moving body 10. The embodiments of the application do not specifically limit the number and positions of the driving wheels 17-1 and the universal wheels 17-2. As long as they can drive the movement of the self-moving body 10 and maintain the smooth movement of the self-moving body 10, they are all the same. The scope of protection required by the first embodiment is applied.

The self-moving device 1 of the first embodiment of the present application is capable of self-moving, and in order to make the route and position of the self-moving device 1 accurate, a navigation mechanism 16 is also provided on the front side of the self-moving body 10. 16 is used to realize the navigation of the self-moving body 10 during the movement process, where the navigation mechanism 16 may be a laser radar or an infrared detector or the like.

The self-moving device 1 of the first embodiment of the present application mainly integrates the self-moving device 1 and the carrying device 2 into one body through a combining mechanism 11. The specific structure of the combining mechanism 11 will be further described in the following content.

In the first embodiment of the present application, the combining mechanism 11 is provided on the self-moving body 10 and includes a lifting mechanism 12 and a first positioning mechanism 13. Wherein, the lifting mechanism 12 is installed on the self-moving body 10, that is, on the base plate 10-1. The lifting mechanism 12 includes a lifting rod 12-1, a lifting platform 12-3, and a lifting seat (not shown). It is fixedly installed on the base plate 10-1, the lifting rod 12-1 is installed in the lifting seat, the lifting rod 12-1 can be extended and contracted in the direction perpendicular to the base plate 10-1, and the lifting platform 12-3 is installed on the lifting rod 12-1. At the top position, the lifting and lowering of the lifting platform 12-3 is realized by the lifting and lowering of the lifting rod 12-1. In the first embodiment of the present application, in order to improve the stability of the lifting rod 12-1 connected to the lifting platform 12-3, a lifting adapter plate 12-2 is installed at the top of the lifting rod 12-1, and the lifting adapter plate 12 -2 can increase the connection contact area of the lifting rod 12-1 and the lifting platform 12-3, thereby improving the stability of the lifting rod 12-1 connected to the lifting platform 12-3. In an example, the lifting rod 12-1 may be a lifting rod 12-1 pushed by a pneumatic cylinder, or it may be a lifting rod 12-1 pushed by a hydraulic cylinder.

In another example, the lifting rod 12-1 can also be driven up and down by a lifting drive mechanism (not shown), where the lifting drive mechanism includes a drive motor, a cam and a connecting rod, and the output end of the drive motor is a transmission shaft, The cam is connected to the transmission shaft, one end of the connecting rod is pivotally connected to the cam, and the other end is connected to the lifting rod 12-1. When the drive shaft of the drive motor rotates clockwise to a certain angle, the cam can be driven to rotate, thereby driving the connecting rod to move in the vertical direction, and then driving the lifting rod 12-1 to lift; on the contrary, when the drive shaft of the drive motor moves counterclockwise When rotated at a certain angle, the cam can be driven to rotate, thereby driving the connecting rod to move down in the vertical direction, and then driving the lifting rod 12-1 to descend, so as to realize the lifting movement of the lifting rod 12-1.

Further, in order to improve the stability of the lifting rod 12-1 lifting the lifting platform 12-3, a first guiding mechanism 15 is further provided, and the first guiding mechanism 15 is provided between the lifting platform 12-3 and the self-moving body 10. , The first guide mechanism 15 includes: a first bearing 15-1 and a first guide shaft 15-2. Specifically, the first bearing 15-1 is disposed on the base plate 10-1, and the axial direction of the first bearing 15-1 is In the vertical direction, one end of the first guide shaft 15-2 is connected to the lifting platform 12-3, and the other end of the first guide shaft 15-2 is sleeved in the first bearing 15-1 to define the first guide shaft 15- 2 Movement in the vertical direction. Further, in order to reduce the size of the first bearing 15-1 and the first guide shaft 15-2 without affecting the limited distance of the first guide mechanism 15 in the vertical direction, the first guide mechanism 15 further includes a bearing bracket 15-3, the bearing bracket 15-3 is arranged on the base plate 10-1, and the first bearing 15-1 is arranged on the bearing bracket 15-3. It can be seen that the support height of the base plate 10-1 is indirectly increased by the provided bearing bracket 15-3, so that the first bearing 15- can be installed separately without affecting the limited distance of the first guiding mechanism 15 in the vertical direction. The volume reduction of 1 and the first guide shaft 15-2 also improves the stability of the connection between the first bearing 15-1 and the first guide shaft 15-2.

In the first embodiment of the present application, the lifting platform 12-3 is arranged in a plate shape, which is arranged in parallel with the substrate 10-1. The first positioning mechanism 13 is installed on the upper part of the lifting platform 12-3, that is, on the upper end surface of the lifting platform 12-3. The first positioning mechanism 13 includes at least one or more first positioning devices 13-1; among them, the first positioning device 13-1 can be matched with the second positioning device 21-1-1 installed on the carrying device 2, and is lifted and lowered. When the platform 12-3 is lifted into position, the first positioning device 13-1 and the second positioning device 21-1-1 are combined with each other to realize the mutual positioning of the self-moving device 1 and the carrying device 2. The first positioning device 13-1 may adopt a concave positioning groove, and correspondingly, the second positioning device 21-1-1 adopts a convex positioning groove. Of course, when the first positioning device 13-1 can adopt a convex positioning groove, in order to achieve positioning, the second positioning device 21-1-1 adopts a concave positioning groove correspondingly. The number and positions of the concave positioning grooves are not specifically limited here. As long as the mutual positioning of the self-moving device 1 and the carrying device 2 can be realized, they are within the scope of protection of the first embodiment of the present application.

In the first embodiment of the present application, in order to realize the accurate and rapid docking of the self-moving device 1 and the carrying device 2 during the dynamic mutual combination process, the first positioning mechanism 13 further includes a positioning guide post 13-2, and a positioning guide post 13 -2 is set on the upper part of the lifting platform 12-3, specifically, it can be set at the center of the lifting platform 12-3. The positioning guide column 13-2 can be matched with the positioning guide groove 21-1-2 installed on the carrying device 2. When the moving device 1 moves in the direction of the carrying device 2, the positioning guide column 13-2 can slide into the positioning guide groove In 21-1-2, the direction in which the self-moving device 1 and the supporting device 2 can be docked is defined, and the self-moving device 1 is guided below the supporting body 20 of the supporting device 2.

When the lifting rod 12-1 pushes the lifting platform 12-3 to move up and docking with the carrier device 2, in order to be able to drive the movement guide mechanism 25 installed on the carrier device 2 to move, a top is also provided on the lifting platform 12-3. Block 12-4, the top block 12-4 is arranged on the upper part of the lifting platform 12-3, when the lifting platform 12-3 is lifted, the top block 12-4 abuts against the moving guide mechanism 25 installed on the carrying device 2 , And can drive the mobile guide mechanism 25 to lift. The top block 12-4 may be a part of the structure of the lifting mechanism 12, or may be a part of the structure of the self-moving device 1 that exists independently of the lifting mechanism 12.

In the first embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, the combining mechanism 11 further includes a locking mechanism 14 symmetrically arranged with the center of the self-moving body 10 as a symmetrical point, for When the lifting platform 12-3 is lifted in place, the load bearing device 2 is clamped. Specifically, the locking mechanism 14 includes a sliding locking part 14-1 and a swing stretching part 14-2, wherein the sliding locking part 14-1 is provided on the lower end surface of the lifting platform 12-3 and includes a horizontally slidable part. The locking member 14-1-1 is arranged in a manner; the swing stretching portion 14-2 includes a fixed end 14-2-2 and a swing end 14-2-3, and the fixed end 14-2-2 is pivotally connected to the base plate 10-1 (Self-moving body 10), and the fixed end 14-2-2 is pivotally connected to the side close to the center of the self-moving body 10; the swinging end 14-2-3 pivots with the slidable part of the sliding lock portion 14-1 Then, the swing end 14-2-3 is far away from the center of the self-moving body 10. When the lifting platform 12-3 is raised, the fixed end 14-2-2 of the swing stretching portion 14-2 is pivotally connected to the base plate 10-1, and the swing stretch portion 14-2 rises with the lifting platform 12-3. Swing inward, and provide driving force to slide in the clamping direction to the lock piece 14-1-1 of the sliding lock portion 14-1, and the lock piece 14-1-1 is slidably arranged in the horizontal direction, so The driving force causes the locking member 14-1-1 to close on the lifting platform 12-3 in the horizontal direction, even if the locking member 14-1-1 closes to the center of the self-moving body 10 in the horizontal direction. When the lifting platform 12-3 rises to the position, the locking member 14-1-1 moves to the clamping position and abuts against the locking groove 21-1-3 provided on the carrying device 2 to realize the clamping of the carrying device 2. On the contrary, when the lifting platform 12-3 is lowered, the swing stretching portion 14-2 swings outward as the lifting platform 12-3 descends, and provides the locking member 14-1-1 of the sliding lock portion 14-1 The driving force of sliding in the releasing direction causes the locking member 14-1-1 to move in the horizontal direction away from the center of the moving body 10, that is, the locking member 14-1-1 moves to the initial position in the horizontal direction, The initial position is the position of the locking member 14-1-1 when the lifting platform 12-3 is not raised.

Further, the sliding lock portion 14-1 includes a first guide rail 14-1-2, and a first sliding block 14-1-3 as a slidable part; the first guide rail 14-1-2 is arranged in the vertical direction along the horizontal direction. The lower part of the platform 12-3, that is, the lower end surface of the lifting platform 12-3; the first sliding block 14-1-3 is slidably arranged on the first guide rail 14-1-2, and the locking member 14-1-1 is connected to the first guide rail 14-1-2. The sliding block 14-1-3 is connected and moves on the first guide rail 14-1-2 through the first sliding block 14-1-3. The main body of the swing stretching portion 14-2 is a symmetrical pull rod 14-2-1. One end of the pull rod 14-2-1 is a fixed end 14-2-2 pivotally connected to the self-moving body 10, and the other end is a sliding lock The slidable part of the joint 14-1 is pivotally connected to the swing end 14-2-3. In an example, in order to reduce the volume of the tie rod 14-2-1 and the stability of stretching, a support frame 14-2-4 is further provided on the base plate 10-1, and in order to cooperate with the swing stretch part 14- 2 the fixed end 14-2-2 is arranged, the support frame 14-2-4 can be arranged at a position close to the center of the self-moving body 10. The support frame 14-2-4 may be a part of the structure of the swing stretching part 14-2, or may be a part of the structure of the self-moving device 1 independent of the swing stretching part 14-2.

The first embodiment of the present application provides a self-moving device 1 for distributing items, including: a self-moving body 10 and a coupling mechanism 11; the self-moving body 10 can move autonomously; the coupling mechanism 11 is provided on the self-moving body 10, Through the combining mechanism 11, the self-moving body 10 can be in a combined state or a separated state with the supporting device 2 matched with it; when in the combined state, the self-moving device 1 and the supporting device 2 are combined into one body, and the self-moving device 1 can drive the supporting device 2 Move; when in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static waiting state for loading or waiting for retrieval. In the first embodiment of the present application, the mobile device 1 autonomously moves to a position capable of docking with the carrier device 2, and the coupling mechanism 11 enables the self-moving body 10 to be in a combined or separated state with the carrier device 2 matched with it, and In the combined state, the self-mobile device 1 can carry the carrier device 2 to the designated delivery location. The delivery location can be the location where the items are obtained or the location where the items are sent out. After reaching the delivery location, the self-moving device 1 Separate from the carrying device 2 so that the carrying device 2 is in a stationary state of waiting for loading or waiting for retrieval. The mobile device 1 can carry another carrying device 2 at the current position or move to another position and continue to move to the designated delivery position In this way, the uninterrupted delivery operation from the mobile device is realized, thereby realizing the uninterrupted delivery of the items, thereby improving the delivery efficiency.

The second embodiment of the present application provides a carrying device for distributing items, which is briefly described as the carrying device below. FIG. 3 is a front view of the carrying device provided by the second embodiment of the present application, FIG. 4 is a side view of the carrying device provided by the second embodiment of the present application, and FIG. 5 is a bottom view of the carrying device provided by the second embodiment of the present application , Figure 6 is a perspective view corresponding to the partially enlarged view at A in Figure 3.

As shown in Figures 3 to 6, the carrying device 2 includes: a carrying body 20 and a docking mechanism 21; wherein, the carrying body 20 can carry items; the docking mechanism 21 is provided on the carrying body 20, through the docking mechanism 21, the carrying body 20 can The matched self-moving device 1 (shown in Figures 1 and 2) is in a combined or separated state; as shown in Figure 7, when in the combined state, the carrying device 2 is integrated with the self-moving device 1, and the carrying device 2 Driven by the self-moving device 1 to move. When in the separated state, the carrying device 2 is separated from the self-moving device 1, and the carrying device 2 is in a static waiting state for loading or waiting for fetching.

The second embodiment of the present application will describe the specific structure of the carrying device 2. Specifically, as shown in FIG. 3 and FIG. 6, for ease of explanation, FIG. 1 and FIG. 2 corresponding to the self-mobile device 1 provided in the first embodiment of the present application can also be combined. The carrying body 20 mainly includes a carrying plate 20-1 and a connecting plate 20-2. The carrying plate 20-1 and the connecting plate 20-2 are connected by a supporting column 20-3, and the carrying plate 20-1 is arranged above the connecting plate 20-2 And it is arranged in parallel, and the carrying plate 20-1 is used for carrying objects. Of course, in order to protect the items when the carrier board 20-1 carries items, a cover body (not shown) can be provided on the carrier board 20-1, and one side of the cover body is provided with an open opening through which The opening can be used to place items in the cover. Of course, a fixed structure (not shown) that can be changed in size can also be provided on the bearing plate 20-1, such as a fixed bracket equipped with a sliding sleeve and the like.

The docking mechanism 21 includes a second positioning mechanism 21-1, and the second positioning mechanism 21-1 includes at least one or more second positioning devices 21-1-1. The above-mentioned docking mechanism 21 is arranged on the carrying body 20. Specifically, the second positioning device 21-1-1 is arranged at the lower part of the connecting plate 20-2, and the lower part of the connecting plate 20-2 is the lower end surface of the connecting plate 20-2. The second positioning device 21-1-1 can be matched with the corresponding first positioning device 13-1 installed on the self-moving device 1. When the self-moving device 1 is lifted into position, the second positioning device 21-1-1 is The first positioning device 13-1 is combined with each other to realize the mutual positioning of the carrying device 2 and the self-moving device 1. Among them, the second positioning device 21-1-1 may adopt a convex positioning groove, and correspondingly, the first positioning device 13-1 adopts a concave positioning groove. Of course, when the second positioning device 21-1-1 can adopt a concave positioning groove, in order to achieve positioning, the first positioning device 13-1 correspondingly adopts a convex positioning groove. The number and positions of the second positioning devices 21-1-1 are not specifically limited here, as long as the mutual positioning of the self-moving device 1 and the carrying device 2 can be realized, they are all within the scope of protection of the first embodiment of the present application.

In an example, in order to realize the quick docking between the carrying device 2 and the self-moving device 1, the second positioning mechanism 21-1 further includes a positioning guide groove 21-1-2, and the positioning guide groove 21-1-2 is provided on the carrying body The lower part of 20 is specifically arranged on the lower end surface of the connecting plate 20-2 and is close to the center of the connecting plate 20-2. The positioning guide groove 21-1-2 is a guide groove 21-1-2 on the connecting plate 20- in the advancing direction of the carrying device 2. The lower end surface of 2 has an extended length guide groove. The positioning guide groove 21-1-2 can be matched with the positioning guide post 13-2 installed on the self-moving device 1, so that the positioning guide post 13-2 can slide into the positioning guide groove 21-1-2, thereby restricting the self-moving device 1 The direction in which the mobile device 1 and the carrier device 2 can be docked. In order to be able to be quickly and accurately combined with the positioning guide post 13-2, one end of the positioning guide groove 21-1-2 is a flared opening to the outside (as shown in Figure 5), so the positioning guide post 13-2 does not need to be very accurate The alignment can enter the positioning guide groove 21-1-2. After the positioning guide column 13-2 continues to enter the positioning guide groove 21-1-2, as the positioning guide groove 21-1-2 narrows, it can be accurate The realization of the mutual positioning between the mobile device 1 and the carrier device 2 is achieved.

In the second embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, and corresponding to the locking member 14-1-1 installed on the self-moving device 1 in the first embodiment, The docking mechanism 21 further includes locking grooves 21-1-3 symmetrically arranged with the center of the carrying body 20 as a symmetrical point, and the locking grooves 21-1-3 are arranged at the lower part of the carrying body 20, namely the locking grooves 21-1- 3 The center of the connecting plate 20-2 is symmetrically arranged on the lower end surface of the connecting plate 20-2, and the center of the locking groove 21-1-3 away from the connecting plate 20-2 is located at the end of the connecting plate 20-2 Position, the notch 21-1-4 of the locking groove 21-1-3 is set away from the center of the carrier body 20, so that the locking groove 21-1-3 can interact with the locking member 14- installed on the self-moving device 1 1-1 matching, as shown in Figure 7, when the locking member 14-1-1 and the locking groove 21-1-3 are in a tight state, the protruding part of the locking member 14-1-1 abuts on In the notch 21-1-4 of the locking groove 21-1-3, the notch of the locking member 14-1-1 is engaged with the edge of the locking groove 21-1-3, thereby realizing the locking member 14- Locking of 1-1 and locking groove 21-1-3.

The carrying device 2 of the second embodiment of the present application is used to carry delivery items, and the carrying device 2 is an independent device, so the carrying device 2 is also provided with a plurality of supporting legs 20 which can support the carrying body 20. 4. The supporting leg 20-4 can be specifically arranged on the connecting plate 20-2 or the carrying plate 20-1. Wherein, the supporting leg 20-4 can be set as a fixed structure for fixing the bearing body 20, that is, the supporting leg 20-4 is not provided with casters 20-5 at the end of the supporting leg 20-4 relative to the ground, so that the supporting leg 20-4 cannot be autonomous. Move occurs. Of course, in the preferred solution of this embodiment, in order to meet the needs of the carrying device 2 for distributing goods, casters 20-5 are provided at the ground end 20-4-2 of the support leg 20-4 relative to the ground, so that even if the carrying device 2 When it is independent, the carrying device 2 can be easily pushed by the supporting legs 20-4 with casters 20-5.

Further, since the bearing device 2 is provided with a supporting leg 20-4, and the bearing device 2 can be moved by the self-moving device 1, in order to reduce the inconvenience caused by the supporting leg 20-4 in the moving process, the bearing device 2 also It includes a supporting leg telescoping mechanism 22 for contracting and unfolding the supporting leg 20-4 of the carrying body 20. Specifically, the support leg telescoping mechanism 22 includes a second guide rail 23 and a second sliding block 24. The second guide rail 23 is horizontally arranged on the lower part of the supporting plate 20-1 of the supporting body 20, specifically, the second guide rail 23 is horizontally arranged. The second sliding block 24 is slidably disposed on the second guide rail 23 and is arranged on the lower end surface of the supporting board 20-1. The supporting leg 20-4 is symmetrically arranged with the center of the bearing body 20 as a symmetrical point. The supporting leg 20-4 also includes a connecting end 20-4-1 integrally formed with the grounding end 20-4-2, and a connecting end 20-4- 1 is arranged in the horizontal direction, the ground end 20-4-2 is arranged in the vertical direction, and the connecting end 20-4-1 is connected to the second sliding block 24 and moves along the second guide rail 23 through the second sliding block 24. Through the second guide rail 23 and the second sliding block 24, the supporting leg 20-4 can be moved closer to the center of the supporting body 20; conversely, the supporting leg 20-4 can also be moved away from the center of the supporting body 20.

The supporting leg telescopic mechanism 22 provided above can realize the contraction and expansion of the supporting leg 20-4, and the contraction and expansion can be realized manually. However, considering the requirement of unmanned operation of the entire device, it is also possible to further realize the automatic expansion and contraction of the support leg 20-4 on the basis of the above structure. To this end, the support leg telescoping mechanism 22 may also include a movement guide mechanism 25 for automatic expansion and contraction. Through the movement guide mechanism 25, the support leg 20-4 can be contracted when the self-moving device 1 and the carrying device 2 are combined. When the self-moving device 1 and the carrying device 2 are separated, the supporting legs 20-4 are extended.

Specifically, the moving guide mechanism 25 includes a moving guide base 25-1 and a sliding bearing 25-2. Wherein, the movable guide base 25-1 is arranged between the bearing plate 20-1 and the connecting plate 20-2, and the movable guide base 25-1 is symmetrically provided with sliding grooves 25-1-1 or sliding grooves inclined inward and downward. Hole (25-1-1), the sliding bearing 25-2 is connected to the sliding groove 25-1-1 or sliding hole of the second sliding block 24 and the moving guide base 25-1. Please refer to Figure 3, Figure 4 and Figure 6, the notch direction of the sliding groove 25-1-1 of the moving guide base 25-1 or the direction of the orifice of the sliding hole is consistent with the advancing direction of the carrying device 2. And the axial direction of the sliding bearing 25-2 is consistent with the forward direction of the carrying device 2, so as to realize the sliding groove 25-1-1 or sliding hole of the sliding bearing 25-2 and the second sliding block 24 and the movable guide base 25-1 Connection. When the self-moving device 1 and the carrying device 2 perform the combined operation, the bottom surface of the moving guide base 25-1 abuts against the top block 12-4 installed on the self-moving device 1, thereby moving upward, and the sliding bearing 25-2 is moved upward from The high end position of the sliding groove 25-1-1 or sliding hole slides to the bottom end position, and the supporting leg 20-4 is driven to move toward the center of the carrier body 20 by the movement of the second sliding block 24 on the second guide rail 23; otherwise, When the self-moving device 1 and the carrying device 2 perform the separation operation, the moving guide base 25-1 descends, and the sliding bearing 25-2 slides from the low end position of the sliding groove 25-1-1 or sliding hole to the high end position, and the supporting leg 20-4 is driven away from the center of the supporting body 20 by the movement of the second sliding block 24 on the second guide rail 23. It can be seen that the support leg 20-4 can be lifted up by the second guide rail 23, the second sliding block 24, and the moving guide mechanism 25, so that the support leg 20-4 is far away from the ground, and the support leg 20-4 can be automatically retracted or When unfolded and in the contracted state, the width occupied by the carrying device 2 is only the width of the carrying body 20, thereby facilitating the movement of the carrying device.

In the second embodiment of the present application, in order to realize the stability of the movement of the mobile guide base 25-1, a second guide mechanism 26 is also provided. The second guide mechanism 26 is arranged on the carrier plate 20-1 and moves in the vertical direction. Between the guide base 25-1. Specifically, the second guide mechanism 26 includes a second bearing 26-1 and a second guide shaft 26-2. The second bearing 26-1 is arranged on the movable guide base 25-1, and the shaft of the second bearing 26-1 Direction is the vertical direction, one end of the second guide shaft 26-2 is connected to the lower part of the carrying plate 20-1, that is, connected to the lower end surface of the carrying plate 20-1, and the other end of the second guide shaft 26-2 is sleeved on the second guide shaft 26-2. The second bearing 26-1. The second guide mechanism 26 can restrict the movement of the movable guide base 25-1 in the vertical direction.

In order to prevent the moving guide base 25-1 from being lifted, between the moving guide base 25-1 and the bearing plate 20-1, a compression spring 27 with a buffering effect is also provided, which is provided by the compression spring 27 The elastic force enables the movable guide base 25-1 to be moved away from the bearing plate 20-1 by the elastic force of the compression spring 27 when the bottom of the movable guide base 25-1 is not lifted, thereby effectively realizing the extension of the supporting leg 20-4; at the same time, the compression spring 27 can prevent Because the moving guide base 25-1 is lifted too fast and directly contacts the bearing plate 20-1, a collision sound is generated, and the service life of the bearing device 2 is indirectly increased.

The second embodiment of the present application provides a carrying device 2 for distributing articles, including: a carrying body 20 and a docking mechanism 21; the carrying body 20 can carry articles; the docking mechanism 21 is provided on the carrying body 20, and the docking mechanism 21 , The carrying body 20 can be in a combined state or a separated state with its matched self-moving device 1; when in the combined state, the supporting device 2 is integrated with the self-moving device 1, and the supporting device 2 is driven to move by the self-moving device 1; In the separated state, the carrying device 2 is separated from the self-moving device 1, and the carrying device 2 is in a static waiting state for loading or waiting for fetching. In the second embodiment of the present application, the docking mechanism 21 enables the carrier body 20 to be in a combined state or a separate state with the self-moving device 1 that it is matched with, and in the combined state, the carrier device 2 can be moved from the mobile device 1 to the designated delivery position The delivery location can be the location where the items are obtained or the location where the items are delivered. After reaching the delivery location, the carrier device 2 is separated from the self-moving device 1, so that the carrier device 2 is in a stationary state waiting for loading or waiting to be retrieved. In the state of goods, since the mobile device 1 can carry another carrier device 2 at the current position and continue to move to the designated delivery location, the uninterrupted delivery of the items is realized, thereby improving the delivery efficiency.

The third embodiment of the present application provides a distribution device 3 for distributing items, which is briefly described below as the distribution device 3. Based on the distribution device 3 provided by the third embodiment of the present application, the self-moving device 3 used in the first embodiment of the present application is adopted. The device 1 has a structure corresponding to the carrying device 2 of the second embodiment of the present application, so the structure of the delivery device 3 provided by the third embodiment of the present application adopts the markings corresponding to the above-mentioned structure.

Fig. 7 is a schematic structural diagram of a delivery device provided by a third embodiment of the present application. Moreover, the delivery device 3 provided in the third embodiment of the present application adopts a structure corresponding to the self-moving device 1 of the first embodiment of the present application and the carrier device 2 of the second embodiment of the present application, which can be combined with those shown in FIGS. 1 to 6 As shown, the delivery device 3 includes: a self-moving device 1 and a carrier device 2 that can be combined or separated, wherein the self-moving device 1 includes a self-moving body 10 and a coupling mechanism 11, and the self-moving body 10 can move autonomously, and the coupling mechanism 11 is arranged at Self-moving body 10 on. The carrying device 2 includes a carrying body 20 and a docking mechanism 21, the carrying body 20 can carry articles, and the docking mechanism 21 is provided on the carrying body 20. Through the docking mechanism 11 and the docking mechanism 21, the self-moving body 10 can be in a combined or separated state with the supporting device 2 matched with it; when in the combined state, the self-moving device 1 and the supporting device 2 are combined into one body, and the self-moving device 1 can drive the carrying device 2 to move; when in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static waiting state for loading or waiting for an object to be retrieved.

Specifically, the self-moving body 10 of the self-moving device 1 mainly includes a substrate 10-1, and the substrate 10-1 is used to carry the coupling mechanism 11 and the driving mechanism 17. The self-moving body 10 may also include other structures. The third embodiment of the present application takes the self-moving body 10 mainly including the substrate 10-1 as an example for description. Wherein, the driving mechanism 17 is arranged at the bottom of the base plate 10-1, and the driving mechanism 17 includes a driving motor (not shown), a driving wheel 17-1 and a universal wheel 17-2. The driving motor and the driving wheel 17-1 are arranged on the side of the bottom of the base plate 10-1, and the driving motor and the driving wheel 17-1 are connected to realize the self-movement of the self-moving body 10; the universal wheel 17-2 is arranged on the base plate 10 The bottom of -1 improves the smoothness of the movement of the self-moving body 10. The embodiments of the application do not specifically limit the number and positions of the driving wheels 17-1 and the universal wheels 17-2. As long as they can drive the movement of the self-moving body 10 and maintain the smooth movement of the self-moving body 10, they are all the same. Apply for the protection scope of the third embodiment.

The self-moving device 1 of the third embodiment of the present application is capable of self-moving, and in order to make the route and position of the self-moving device 1 accurate, a navigation mechanism 16 is also provided on the front side of the self-moving body 10. 16 is used to realize the navigation of the self-moving body 10 during the movement process, where the navigation mechanism 16 may be a laser radar or an infrared detector or the like.

The self-moving device 1 of the third embodiment of the present application mainly integrates the self-moving device 1 and the carrying device 2 into one body through a combining mechanism 11. The specific structure of the combining mechanism 11 will be further described in the following content.

In the third embodiment of the present application, the combining mechanism 11 is provided on the self-moving body 10 and includes: a lifting mechanism 12 and a first positioning mechanism 13. Wherein, the lifting mechanism 12 is installed on the self-moving body 10, that is, installed on the base plate 10-1. The lifting mechanism 12 includes a lifting rod 12-1, a lifting platform 12-3, and a lifting seat (not shown). It is fixedly installed on the base plate 10-1, the lifting rod 12-1 is installed in the lifting seat, the lifting rod 12-1 can be extended and retracted in the vertical direction, and the lifting platform 12-3 is installed at the top position of the lifting rod 12-1 to pass the lifting The raising and lowering of the rod 12-1 realizes the raising and lowering of the lifting platform 12-3. In the third embodiment of the present application, in order to improve the stability of the lifting rod 12-1 connected to the lifting platform 12-3, a lifting adapter plate 12-2 is installed at the top of the lifting rod 12-1, and the lifting adapter plate 12 -2 can increase the connection contact area of the lifting rod 12-1 and the lifting platform 12-3, thereby improving the stability of the lifting rod 12-1 connected to the lifting platform 12-3. In an example, the lifting rod 12-1 may be a lifting rod 12-1 pushed by a pneumatic cylinder, or it may be a lifting rod 12-1 pushed by a hydraulic cylinder.

Further, in order to improve the stability of the lifting rod 12-1 lifting the lifting platform 12-3, a first guiding mechanism 15 is further provided, and the first guiding mechanism 15 is provided between the lifting platform 12-3 and the self-moving body 10. , The first guide mechanism 15 includes: a first bearing 15-1 and a first guide shaft 15-2. Specifically, the first bearing 15-1 is disposed on the base plate 10-1, and the axial direction of the first bearing 15-1 is It is the vertical direction; one end of the first guide shaft 15-2 is connected to the lifting platform 12-3, and the other end of the first guide shaft 15-2 is sleeved in the first bearing 15-1 to define the first guide shaft 15- 2 Movement in the vertical direction. Further, in order to reduce the size of the first bearing 15-1 and the first guide shaft 15-2 without affecting the limited distance of the first guide mechanism 15 in the vertical direction, the first guide mechanism 15 further includes a bearing bracket 15-3, the bearing bracket 15-3 is arranged on the base plate 10-1, and the first bearing 15-1 is arranged on the bearing bracket 15-3. It can be seen that the support height of the base plate 10-1 is indirectly increased by the provided bearing bracket 15-3, so that the first bearing 15- can be installed separately without affecting the limited distance of the first guiding mechanism 15 in the vertical direction. The volume reduction of 1 and the first guide shaft 15-2 also improves the stability of the connection between the first bearing 15-1 and the first guide shaft 15-2.

In the third embodiment of the present application, the lifting platform 12-3 is arranged in a plate shape, which is arranged in parallel with the substrate 10-1. The first positioning mechanism 13 is installed on the upper part of the lifting platform 12-3, that is, on the upper end surface of the lifting platform 12-3. The first positioning mechanism 13 includes at least one or more first positioning devices 13-1; among them, the first positioning device 13-1 can be matched with the second positioning device 21-1-1 installed on the carrying device 2, and is lifted and lowered. When the platform 12-3 is lifted into position, the first positioning device 13-1 and the second positioning device 21-1-1 are combined with each other to realize the mutual positioning of the self-moving device 1 and the carrying device 2. The first positioning device 13-1 may adopt a concave positioning groove, and correspondingly, the second positioning device 21-1-1 adopts a convex positioning groove. Of course, when the first positioning device 13-1 can adopt a convex positioning groove, in order to achieve positioning, the second positioning device 21-1-1 adopts a concave positioning groove correspondingly. The number and positions of the concave positioning grooves are not specifically limited here. As long as the mutual positioning of the self-moving device 1 and the carrying device 2 can be realized, they are all within the scope of protection of the third embodiment of the present application.

In the third embodiment of the present application, in order to realize accurate and rapid docking of the self-moving device 1 and the carrying device 2 during the dynamic mutual combination process, the first positioning mechanism 13 further includes a positioning guide post 13-2, and a positioning guide post 13 -2 is set on the upper part of the lifting platform 12-3, specifically, it can be set at the center of the lifting platform 12-3. The positioning guide column 13-2 can be matched with the positioning guide groove 21-1-2 installed on the carrying device 2. When the moving device 1 moves in the direction of the carrying device 2, the positioning guide column 13-2 can slide into the positioning guide groove In 21-1-2, the direction in which the self-moving device 1 and the supporting device 2 can be docked is defined, and the self-moving device 1 is guided below the supporting body 20 of the supporting device 2.

When the lifting rod 12-1 pushes the lifting platform 12-3 to move up and docking with the carrier device 2, in order to be able to drive the movement guide mechanism 25 installed on the carrier device 2 to move, a top is also provided on the lifting platform 12-3. Block 12-4. The top block 12-4 is arranged on the upper part of the lifting platform 12-3. When the lifting platform 12-3 is lifted, the top block 12-4 abuts against the moving guide mechanism 25 installed on the carrying device 2 , And can drive the mobile guide mechanism 25 to lift.

In the third embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, the combining mechanism 11 further includes a locking mechanism 14 symmetrically arranged with the center of the self-moving body 10 as a symmetrical point, for When the lifting platform 12-3 is lifted in place, the load bearing device 2 is clamped. Specifically, the locking mechanism 14 includes a sliding locking part 14-1 and a swing stretching part 14-2, wherein the sliding locking part 14-1 is provided on the lower end surface of the lifting platform 12-3 and includes a horizontally slidable part. The locking member 14-1-1 is arranged in a manner; the swing stretching portion 14-2 includes a fixed end 14-2-2 and a swing end 14-2-3, and the fixed end 14-2-2 is pivotally connected to the base plate 10-1 (Self-moving body 10), and the fixed end 14-2-2 is pivotally connected to the side close to the center of the self-moving body 10; the swinging end 14-2-3 pivots with the slidable part of the sliding lock portion 14-1 Then, the swing end 14-2-3 is far away from the center of the self-moving body 10. When the lifting platform 12-3 is raised, the fixed end 14-2-2 of the swing stretching portion 14-2 is pivotally connected to the base plate 10-1, and the swing stretch portion 14-2 rises with the lifting platform 12-3. Swing inward, and provide driving force to slide in the clamping direction to the lock piece 14-1-1 of the sliding lock portion 14-1, and the lock piece 14-1-1 is slidably arranged in the horizontal direction, so The driving force causes the locking member 14-1-1 to close on the lifting platform 12-3 in the horizontal direction, even if the locking member 14-1-1 closes to the center of the self-moving body 10 in the horizontal direction. When the lifting platform 12-3 rises to the position, the locking member 14-1-1 moves to the clamping position and abuts against the locking groove 21-1-3 provided on the carrying device 2 to realize the clamping of the carrying device 2. On the contrary, when the lifting platform 12-3 is lowered, the swing stretching portion 14-2 swings outward as the lifting platform 12-3 descends, and provides the locking member 14-1-1 of the sliding lock portion 14-1 The driving force of sliding in the releasing direction causes the locking member 14-1-1 to move in the horizontal direction away from the center of the moving body 10, that is, the locking member 14-1-1 moves to the initial position in the horizontal direction, The initial position is the position of the locking member 14-1-1 when the lifting platform 12-3 is not raised.

Further, the sliding lock portion 14-1 includes a first guide rail 14-1-2, and a first sliding block 14-1-3 as a slidable part; the first guide rail 14-1-2 is arranged in the vertical direction along the horizontal direction. The lower part of the platform 12-3, that is, the lower end surface of the lifting platform 12-3; the first sliding block 14-1-3 is slidably arranged on the first guide rail 14-1-2, and the locking member 14-1-1 is connected to the first guide rail 14-1-2. The sliding block 14-1-3 is connected and moves on the first guide rail 14-1-2 through the first sliding block 14-1-3. The main body of the swing stretching portion 14-2 is a symmetrical pull rod 14-2-1. One end of the pull rod 14-2-1 is a fixed end 14-2-2 pivotally connected to the self-moving body 10, and the other end is a sliding lock The slidable part of the joint 14-1 is pivotally connected to the swing end 14-2-3. In an example, in order to reduce the volume of the tie rod 14-2-1 and the stability of stretching, a support frame 14-2-4 is further provided on the base plate 10-1, and in order to cooperate with the swing stretch part 14- 2 the fixed end 14-2-2 is arranged, the support frame 14-2-4 can be arranged at a position close to the center of the self-moving body 10.

The bearing body 20 of the bearing device 2 mainly includes a bearing plate 20-1 and a connecting plate 20-2. The bearing plate 20-1 and the connecting plate 20-2 are connected by a supporting column 20-3, and the bearing plate 20-1 is arranged on the connecting plate 20. -2 is arranged in parallel and above, and the carrying plate 20-1 is used to carry articles. Of course, in order to protect the items when the carrier board 20-1 carries items, a cover body (not shown) can be provided on the carrier board 20-1, and one side of the cover body is provided with an open opening through which The opening can be used to place items in the cover. Of course, a fixed structure (not shown) that can be changed in size can also be provided on the bearing plate 20-1, such as a fixed bracket equipped with a sliding sleeve and the like.

The docking mechanism 21 includes a second positioning mechanism 21-1, and the second positioning mechanism 21-1 includes at least one or more second positioning devices 21-1-1. The above-mentioned docking mechanism 21 is arranged on the carrying body 20, that is, the second positioning device 21-1-1 is arranged at the lower part of the connecting plate 20-2, and the lower part of the connecting plate 20-2 is the lower end surface of the connecting plate 20-2. The second positioning device 21-1-1 can be matched with the corresponding first positioning device 13-1 installed on the self-moving device 1. When the self-moving device 1 is lifted into position, the second positioning device 21-1-1 is The first positioning device 13-1 is combined with each other to realize the mutual positioning of the carrying device 2 and the self-moving device 1. Among them, the second positioning device 21-1-1 may adopt a convex positioning groove, and correspondingly, the first positioning device 13-1 adopts a concave positioning groove. Of course, when the second positioning device 21-1-1 can adopt a concave positioning groove, in order to achieve positioning, the first positioning device 13-1 correspondingly adopts a convex positioning groove. The number and positions of the concave positioning grooves are not specifically limited here. As long as the mutual positioning of the self-moving device 1 and the carrying device 2 can be realized, they are all within the scope of protection of the first embodiment of the present application.

In the third embodiment of the present application, in order to improve the stability of the combination of the self-moving device 1 and the carrying device 2, and corresponding to the locking member 14-1-1 installed on the self-moving device 1 in the aforementioned first embodiment, Then the docking mechanism 21 further includes locking grooves 21-1-3 symmetrically arranged with the center of the carrying body 20 as a symmetrical point, and the locking grooves 21-1-3 are arranged at the lower part of the carrying body 20, that is, the locking grooves 21-1- 3 The center of the connecting plate 20-2 is symmetrically arranged on the lower end surface of the connecting plate 20-2, and the center of the locking groove 21-1-3 away from the connecting plate 20-2 is located at the end of the connecting plate 20-2 Position, the notch 21-1-4 of the locking groove 21-1-3 is set away from the center of the carrier body 20, so that the locking groove 21-1-3 can interact with the locking member 14- installed on the self-moving device 1 1-1 matching, as shown in Figure 7, when the locking member 14-1-1 and the locking groove 21-1-3 are in a tight state, the protruding part of the locking member 14-1-1 abuts on In the notch 21-1-4 of the locking groove 21-1-3, the notch of the locking member 14-1-1 is engaged with the edge of the locking groove 21-1-3, thereby realizing the locking member 14- Locking of 1-1 and locking groove 21-1-3.

The carrying device 2 of the third embodiment of the present application is used to carry delivery items, and the carrying device 2 is an independent device, so the carrying device 2 is also provided with a plurality of supporting legs 20 which can support the carrying body 20. 4. The supporting leg 20-4 can be specifically arranged on the connecting plate 20-2 or the carrying plate 20-1. Wherein, the supporting leg 20-4 can be set as a fixing structure for fixing the supporting body 20, that is, the supporting leg 20-4 is provided with no caster 20-5 at the ground end 20-4-2 of the supporting leg 20-4 relative to the ground, so that the supporting leg 20 -4 Will not move autonomously. Of course, in the preferred solution of this embodiment, in order to meet the needs of the carrying device 2 for distributing goods, casters 20-5 are provided at the ground end 20-4-2 of the support leg 20-4 relative to the ground, so that even if the carrying device 2 When it is independent, the carrying device 2 can be easily pushed by the supporting legs 20-4 with casters 20-5.

Further, since the bearing device 2 is provided with a supporting leg 20-4, and the bearing device 2 can be moved by the self-moving device 1, in order to reduce the inconvenience caused by the supporting leg 20-4 in the moving process, the bearing device 2 also It includes a supporting leg telescoping mechanism 22 for contracting and unfolding the supporting leg 20-4 of the carrying body 20. Specifically, the supporting leg telescopic mechanism 22 includes a second guide rail 23, a second sliding block 24, and the aforementioned supporting leg 20-4. The second guide rail 23 is horizontally arranged on the lower part of the supporting plate 20-1 of the supporting body 20, specifically The second guide rail 23 is disposed on the lower end surface of the supporting board 20-1 along the horizontal direction, and the second sliding block 24 is slidably disposed on the second guide rail 23. The supporting leg 20-4 is symmetrically arranged with the center of the bearing body 20 as a symmetrical point. The supporting leg 20-4 also includes a connecting end 20-4-1 integrally formed with the grounding end 20-4-2, and a connecting end 20-4- 1 is arranged in the horizontal direction, the ground end 20-4-2 is arranged in the vertical direction, and the connecting end 20-4-1 is connected to the second sliding block 24 and moves along the second guide rail 23 through the second sliding block 24. Through the second guide rail 23 and the second sliding block 24, the supporting leg 20-4 can be moved closer to the center of the supporting body 20; conversely, the supporting leg 20-4 can also be moved away from the center of the supporting body 20.

Still further, the support leg expansion mechanism 22 provided above can realize the contraction and expansion of the support leg 20-4, and the contraction and expansion can be realized manually. However, considering the requirement of unmanned operation of the entire device, it is also possible to further realize the automatic expansion and contraction of the support leg 20-4 on the basis of the above-mentioned structure. To this end, the support leg telescoping mechanism 22 may also include a movement guide mechanism 25 for automatic expansion and contraction. Through the movement guide mechanism 25, the support leg 20-4 can be contracted when the self-moving device 1 and the carrying device 2 are combined. When the self-moving device 1 and the carrying device 2 are separated, the supporting legs 20-4 are extended.

Specifically, the mobile guide mechanism 25 includes a mobile guide base 25-1 and a sliding bearing 25-2, wherein the mobile guide base 25-1 is arranged between the carrying plate 20-1 and the connecting plate 20-2, and the mobile guide base The seat 25-1 is symmetrically provided with sliding grooves 25-1-1 or sliding holes inclined inward and downward, and the sliding bearing 25-2 is connected to the second sliding block 24 and the sliding groove 25-1 of the moving guide base 25-1 -1 or sliding hole. Please refer to Figure 3, Figure 4 and Figure 6, the notch direction of the sliding groove 25-1-1 of the moving guide base 25-1 or the direction of the orifice of the sliding hole is consistent with the advancing direction of the carrying device 2. And the axial direction of the sliding bearing 25-2 is consistent with the forward direction of the carrying device 2, so as to realize the sliding groove 25-1-1 or sliding hole of the sliding bearing 25-2 and the second sliding block 24 and the movable guide base 25-1 Connection. When the self-moving device 1 and the carrying device 2 perform the combined operation, the bottom surface of the moving guide base 25-1 abuts against the top block 12-4 installed on the self-moving device 1, thereby moving upward, and the sliding bearing 25-2 is moved upward from The high end position of the sliding groove 25-1-1 or sliding hole slides to the bottom end position, and the supporting leg 20-4 is driven to move toward the center of the carrier body 20 by the movement of the second sliding block 24 on the second guide rail 23; otherwise, When the self-moving device 1 and the carrying device 2 perform the separation operation, the moving guide base 25-1 descends, and the sliding bearing 25-2 slides from the low end position of the sliding groove 25-1-1 or sliding hole to the high end position, and the supporting leg 20-4 is driven away from the center of the supporting body 20 by the movement of the second sliding block 24 on the second guide rail 23. It can be seen that the support leg 20-4 can be lifted up by the second guide rail 23, the second sliding block 24, and the moving guide mechanism 25, so that the support leg 20-4 is far away from the ground, and the support leg 20-4 can be automatically retracted or When unfolded and in the contracted state, the width occupied by the carrying device 2 is only the width of the carrying body 20, thereby facilitating the movement of the carrying device.

In the third embodiment of the present application, in order to achieve the stability of the movement of the mobile guide base 25-1, a second guide mechanism 26 is also provided. The second guide mechanism 26 is arranged on the carrier plate 20-1 and moves in the vertical direction. Between the guide base 25-1. Specifically, the second guide mechanism 26 includes a second bearing 26-1 and a second guide shaft 26-2. The second bearing 26-1 is arranged on the movable guide base 25-1, and the shaft of the second bearing 26-1 Direction is the vertical direction, one end of the second guide shaft 26-2 is connected to the lower part of the carrying plate 20-1, that is, connected to the lower end surface of the carrying plate 20-1, and the other end of the second guide shaft 26-2 is sleeved on the second guide shaft 26-2. The second bearing 26-1. The second guide mechanism 26 can restrict the movement of the movable guide base 25-1 in the vertical direction. In one example, in order to prevent the moving guide base 25-1 from being lifted, a compression spring 27 with buffering effect is also provided between the moving guide base 25-1 and the bearing plate 20-1. The elastic force provided by the compression spring 27 enables the movable guide base 25-1 to be moved away from the bearing plate 20-1 by the elastic force of the compression spring 27 when the bottom of the movable guide base 25-1 is not lifted, thereby effectively realizing the extension of the supporting legs 20-4; at the same time, The compression spring 27 can prevent the moving guide base 25-1 from being pushed up too quickly and directly contacting the bearing plate 20-1 from making a collision sound, and indirectly improves the service life of the bearing device 2.

The third embodiment of the present application provides a distribution device 3 for distributing items, including: a self-moving device 1 and a carrying device 2 that can be combined or separated, wherein the self-moving device 1 includes: a self-moving body 10 and a coupling mechanism 11 , The self-moving body 10 can move autonomously, and the coupling mechanism 11 is arranged on the self-moving body 10; the carrying device 2 includes: a carrying body 20 and a docking mechanism 21, the carrying body 20 can carry items, and the docking mechanism 21 is arranged on the carrying body 20; Through the docking mechanism 11 and the docking mechanism 21, the self-moving body 10 can be in a combined or separated state with the supporting device 2 matched with it; when in the combined state, the self-moving device 1 and the supporting device 2 are combined into one body, and the self-moving device 1 can drive the carrying device 2 to move; when in the separated state, the self-moving device 1 can be separated from the carrying device 2, and the carrying device 2 is in a static waiting state for loading or waiting for an object to be retrieved. In the third embodiment of the present application, the mobile device 1 autonomously moves to a position capable of docking with the carrying device 2, and the coupling mechanism 11 enables the self-moving body 10 to be in a combined or separated state with the supporting device 2 matched with it, and In the combined state, the self-mobile device 1 can carry the carrier device 2 to the designated delivery location. The delivery location can be the location where the items are obtained or the location where the items are sent out. After reaching the delivery location, the self-moving device 1 Separate from the carrying device 2 so that the carrying device 2 is in a static waiting state for loading or waiting for retrieval. The self-moving device 1 can carry another carrying device 2 at the current position and continue to move to the designated delivery position, thus realizing the goods The uninterrupted distribution, thus improving the distribution efficiency.

The delivery device 3 for delivering items provided in the third embodiment of the present application will be explained below according to specific application scenarios.

Application scenario 1

The delivery device 3 is used for delivery of take-out. The scene includes the take-out placement point of the take-out delivery staff and the user's pick-up point. The delivery device 3 can move between the take-out placement point and the user's pick-up point according to a set path pattern. Specifically, in this scenario, the self-moving device 1 and the carrying device 2 based on the delivery device 3 can be combined or separated, and then multiple supporting devices 2 and one self-moving device 1 can be provided at the take-out placement point as an example. When a take-out delivery person arrives at the take-out placement point, he can place the item in his hand on the carrying device 2, and then the delivery device 3 senses that there is an item loaded through the carrying device 2 (the sensor), and obtains the corresponding item Information, the item information mainly includes the location information of the delivery target. At the same time, based on the item information, the self-moving device 1 of the delivery device 3 obtains a docking instruction with the carrier device 2. According to the instruction, the self-moving device 1 moves to the carrier device 2 carrying the item through the navigation mechanism 16 and passes The positioning guide post 13-2 is matched with the positioning guide groove 21-1-2, so that the self-moving device 1 moves into the bottom of the carrier body 20 and further moves to the docking position, that is, directly below the carrier body 20. At this time, the lifting rod 12-1 lifts the lifting platform 12-3 upwards, and the pull rod 14-2-1 on the moving body 10 simultaneously pulls the lock piece 14-1-1 to move to the center of the self-moving body 10. During the ascent of the table 12-3, the top block 12-4 first abuts against the movable guide base 25-1, so that the movable guide base 25-1 moves upward, thereby driving the supporting leg 20-4 to contract toward the center of the delivery device 3. , So that the overall width of the carrying device 2 is reduced. The lifting platform 12-3 continues to rise, and the concave positioning groove provided on the upper end surface of the lifting platform 12-3 is docked with the convex positioning groove provided on the lower end surface of the connecting plate 20-2, so as to realize the preliminary docking between the self-moving device 1 and the carrying device 2; Then, when the lower end surface of the locking groove 21-1-3 is in contact with the upper end surface of the lifting platform 12-3, the self-moving body 10 and the supporting body 20 can be accurately butted, and the supporting legs 20-4 are recovered in place. The lifting rod 12-1 continues to rise, the lifting platform 12-3 and the carrying body 20 rise together, and the supporting leg 20-4 leaves the ground. When the lifting rod 12-1 is lifted to the highest position, the locking piece 14-1-1 and The locking groove 21-1-3 abuts, thereby locking the self-moving device 1 and the supporting device 2, that is, realizing the docking of the self-moving device 1 and the supporting device 2. Finally, the mobile device 1 drives the carrier device 2 to move to the user's pick-up point. When it reaches the user's pick-up point, the lifting rod 12-1 of the mobile device 1 starts to descend. Based on the descending process, the entire delivery device 3 corresponds to the structure The movement is opposite to the ascending process, and the descending process can be derived from the ascending process, so this scenario will not be described in detail. After the lifting rod 12-1 finishes descending, it is separated from the mobile device 1 and the carrying device 2, and the carrying device 2 waits for the user to pick up the items at the user picking point. At the same time, the mobile device 1 starts to return to the takeaway place. It is understandable that when the delivery device 3 delivers items, another take-out delivery person will also arrive at the take-out placement point. At this time, the take-out delivery person can directly place the items on the other carrying device 2 and leave, so that the take-out delivery The employee does not need to wait for the carrier device 2 to be carried by the mobile device 1, as long as the carrier device 2 is returned from the mobile device 1 to the take-out place, the carrier device 2 carrying the article can be docked and transported according to the above steps. It can be seen that the delivery device 3 in this scenario can not only shorten the time for the take-out delivery staff to pick up the meal, but also realize the rapid delivery of items, thereby improving the delivery efficiency of the delivery device 3.

Application scenario 2

The delivery device 3 is used to deliver the express. The scene includes the delivery location of the courier and the user's pick-up point. The delivery device 3 can move between the express delivery location and the user's pick-up point according to a set path pattern. Specifically, in this scenario, the self-moving device 1 and the carrying device 2 based on the delivery device 3 can be combined or separated, and then multiple supporting devices 2 and one self-moving device 1 can be set at the express delivery point as an example. When a courier arrives at the courier placement point, he can place the item in his hand on the carrying device 2, and then the delivery device 3 senses that there is an item loaded through the carrier device 2 (the sensor), and obtains the corresponding item The item information mainly includes the location information of the delivery target; at the same time, based on the item information, the self-mobile device 1 of the delivery device 3 obtains the docking instruction with the carrier device 2, according to the instruction, the self-mobile device 1 passes the navigation mechanism 16 Move to the direction of the carrier device 2 that carries the article, and match the positioning guide post 13-2 with the positioning guide groove 21-1-2, so that the self-moving device 1 drives into the bottom of the carrier body 20 and further moves to the docking position, That is, directly below the carrying body 20. At this time, the lifting rod 12-1 lifts the lifting platform 12-3 upwards, and the pull rod 14-2-1 on the movable body 10 simultaneously pulls the lock piece 14-1-1 to move to the center of the movable body 10, During the ascent of the table 12-3, the top block 12-4 first abuts against the movable guide base 25-1, so that the movable guide base 25-1 moves upward, thereby driving the supporting leg 20-4 to contract toward the center of the delivery device 3. , So that the width of the carrying device 2 is reduced. The lifting platform 12-3 continues to rise, and the concave positioning groove provided on the upper end surface of the lifting platform 12-3 is docked with the convex positioning groove provided on the lower end surface of the connecting plate 20-2, so as to realize the preliminary docking between the self-moving device 1 and the carrying device 2; Then, when the lower end surface of the locking groove 21-1-3 is in contact with the upper end surface of the lifting platform 12-3, the self-moving body 10 and the supporting body 20 can be accurately butted, and the supporting legs 20-4 are recovered in place. The lifting rod 12-1 continues to rise, the lifting platform 12-3 and the carrying body 20 rise together, and the supporting leg 20-4 leaves the ground. When the lifting rod 12-1 is lifted to the highest position, the locking piece 14-1-1 and The locking groove 21-1-3 abuts, thereby locking the self-moving device 1 and the supporting device 2, that is, realizing the docking of the self-moving device 1 and the supporting device 2. Finally, the mobile device 1 drives the carrier device 2 to move to the user's pick-up point. When reaching the user's pick-up point, the lifting rod 12-1 of the mobile device 1 starts to descend. Based on the descending process, the entire delivery device 3 corresponds to the structure The movement is opposite to the ascending process, and the descending process can be derived from the ascending process, so this scenario will not be described in detail. After the lifting rod 12-1 finishes descending, it separates from the mobile device 1 and the carrying device 2, and the carrying device 2 waits for the user to pick up the goods at the user picking point. At the same time, the mobile device 1 starts to return to the courier placement point. It is understandable that when the delivery device 3 delivers items, another courier will also arrive at the courier placement point. At this time, the courier can directly place the items on the other carrier device 2 and leave, so that the courier delivers The employee does not need to wait for the carrier device 2 to be carried by the mobile device 1, as long as the carrier device 2 is returned from the mobile device 1 to the courier placement point, the carrier device 2 carrying the article can be docked and transported according to the above steps. It can be seen that the delivery device 3 in this scenario can not only shorten the time for the courier to pick up the meal, but also realize the rapid delivery of items, thereby improving the delivery efficiency of the delivery device 3.

The delivery device 3 of the third embodiment of the present application can also deliver other items. The implementation in this scenario is only to facilitate the understanding of the delivery device 3 provided by the third embodiment of the present application, and does not limit the delivery device of the third embodiment of the present application 3. The scope of protection.

Although this application is disclosed above with some embodiments, it is not intended to limit the application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the application. Therefore, the application is The scope of protection shall be subject to the scope defined by the claims of this application.

Claims

A self-moving device for distributing items, including:

A self-moving body that can move autonomously; and

The combining mechanism is arranged on the self-moving body;

Through the combining mechanism, the self-moving body can be in a combined state or a separated state with the supporting device matched with it; when in the combined state, the self-moving device and the supporting device are combined into one body, and the self-moving device is integrated with the supporting device. The moving device can drive the carrying device to move; when in the separated state, the self-moving device can be separated from the carrying device, and the carrying device is in a static waiting state for loading or waiting for retrieval.
The self-moving device for distributing articles according to claim 1, wherein the combining mechanism comprises:

A lifting mechanism is installed on the self-moving body, and the lifting mechanism includes:

Lifting rod, said lifting rod can be extended and contracted in the vertical direction, and

A lifting platform, the lifting platform is installed on the top of the lifting rod; and

The first positioning mechanism is installed on the upper part of the lifting platform and includes one or more first positioning devices;

The first positioning device can be matched with a second positioning device installed on the carrying device. When the lifting platform is lifted into position, the first positioning device and the second positioning device are combined with each other to realize all The description is from the mutual positioning of the mobile device and the carrying device.
The self-moving device for distributing articles according to claim 2, wherein the first positioning device adopts a concave positioning groove.
The self-moving device for distributing articles according to claim 2, wherein the first positioning mechanism further comprises a positioning guide post, the positioning guide post is arranged on the upper part of the lifting platform, and the positioning guide The column can be matched with the positioning guide groove installed on the carrying device.
The self-moving device for distributing items according to claim 2, further comprising a top block, the top block is arranged on the upper part of the lifting platform, and when the lifting platform is lifted, the top The block abuts against a moving guide mechanism installed on the carrying device to drive the moving guide mechanism to lift.
The self-moving device for distributing articles according to claim 2, wherein the coupling mechanism further comprises a locking mechanism for clamping the carrying device when the lifting platform is lifted in place.
The self-moving device for distributing articles according to claim 6, wherein the locking mechanism comprises:

The sliding lock portion includes a lock piece that is slidably arranged in a horizontal direction; and

The swing stretching part includes a fixed end and a swing end, and the fixed end is pivotally connected to the self-moving body;

The swing end is pivotally connected to the slidable part of the sliding lock portion; the swing stretch portion swings inward as the lifting platform rises, and provides a clip for the lock of the sliding lock portion The driving force of the sliding in the tightening direction causes the locking member of the sliding lock portion to close on the lifting platform along the horizontal direction; the swing stretching portion swings outward as the lifting platform descends toward The locking member of the sliding lock portion provides a driving force to slide in the releasing direction, so that the locking member of the sliding lock portion moves to the initial position along the horizontal direction; when the lifting platform is raised to the position, The locking member abuts against the locking groove provided on the supporting device, and clamps the supporting device.
The self-moving device for distributing articles according to claim 7, wherein the sliding lock part further comprises:

The first guide rail is arranged at the lower part of the lifting platform along the horizontal direction; and

The first sliding block as the slidable part is slidably arranged on the first guide rail, the locking member is connected with the first sliding block, and is on the first guide rail through the first sliding block move.
The self-moving device for distributing articles according to claim 7, wherein the swing stretching portion comprises a symmetrically arranged pull rod, and one end of the pull rod is the pivotally connected to the self-moving body The fixed end, the other end of the pull rod is a swing end pivotally connected to the slidable part of the sliding lock part.
The self-moving device for distributing items according to claim 9, further comprising a support frame, the support frame is arranged on the self-moving body; the fixed end is pivotally connected to the support frame .
The self-moving device for distributing items according to claim 2, further comprising:

A first guiding mechanism, the first guiding mechanism is arranged between the lifting platform and the self-moving body, and the first guiding mechanism includes:

A first bearing is provided on the self-moving body, and the axial direction of the first bearing is the vertical direction; and

One end of the first guide shaft is connected to the lifting platform, and the other end is slidably sleeved in the first bearing.
The self-moving device for distributing articles according to claim 10, wherein the first guiding mechanism further comprises: a bearing bracket, the bearing bracket is arranged on the self-moving body, and the first bearing It is arranged on the bearing bracket.
The self-moving device for distributing articles according to claim 1, further comprising: a navigation mechanism for navigating the movement of the self-moving body.
A carrying device for distributing items, including:

A carrier body capable of carrying items; and

The docking mechanism is arranged on the carrying body;

Wherein, through the docking mechanism, the supporting body can be in a combined state or a separated state with its matched self-moving device; when in the combined state, the supporting device and the self-moving device are combined into one body, the The supporting device is driven to move by the self-moving device; when in the separated state, the supporting device is separated from the self-moving device, and the supporting device is in a static waiting state for loading or waiting for retrieval.
The carrying device for distributing articles according to claim 14, wherein the docking mechanism includes a second positioning mechanism, and the second positioning mechanism includes one or more second positioning devices; the second positioning device can It is matched with the corresponding first positioning device installed on the self-moving device. When the self-moving device is lifted into position, the second positioning device and the first positioning device are combined with each other to realize the carrying device Mutual positioning with the self-moving device.
The carrying device for distributing articles according to claim 15, wherein the second positioning device adopts a convex positioning groove.
The carrying device for distributing articles according to claim 15, wherein the second positioning mechanism further comprises a positioning guide groove, the positioning guide groove is provided at the lower part of the carrying body, and the positioning guide groove can be installed with The positioning guide post on the self-moving device matches.
The carrying device for distributing articles according to claim 15, wherein the docking mechanism further comprises a locking groove, the locking groove is provided at the lower part of the carrying body, and the notch of the locking groove faces away from the carrying body. The body is centrally arranged, and the locking groove can be matched with the locking piece installed on the self-moving device.
The carrying device for distributing articles according to claim 14, wherein the carrying device further comprises a supporting leg telescoping mechanism for contracting and unfolding the supporting legs of the supporting body.
The carrying device for distributing articles according to claim 19, characterized in that:

The supporting leg telescopic mechanism includes:

The second guide rail is arranged in the lower part of the carrying plate of the carrying body along the horizontal direction, and

The second sliding block is slidably arranged on the second guide rail;

The supporting legs include:

The connecting end arranged along the horizontal direction, and

The ground end arranged in the vertical direction;

Wherein, the connecting end is connected with the second sliding block and moves along the second guide rail through the second sliding block.
The carrying device for distributing articles according to claim 20, wherein the supporting leg telescoping mechanism further comprises a moving guide mechanism, and the moving guiding mechanism comprises:

A movable guide base, which is symmetrically provided with sliding grooves inclined inward and downward; and

A sliding bearing, the sliding bearing is connected to the second sliding block and the sliding groove of the moving guide base;

A connecting plate arranged parallel to the carrying plate is arranged below the carrying plate of the carrying body; the movable guide base is arranged between the carrying plate and the connecting plate;

When the self-moving device and the carrying device perform the combined operation, the bottom surface of the moving guide base abuts against the top block installed on the self-moving device to move upward, and the sliding bearing moves upward from the The high end position of the chute slides to the bottom end position, and the support leg is driven to move to the center of the carrier body;

When the self-moving device and the carrying device perform a separation operation, the moving guide base descends, the sliding bearing slides from the low end position of the sliding groove to the high end position, and the support leg Is driven away from the center of the carrying body.
The carrying device for distributing articles according to claim 21, wherein the carrying plate and the movable guide base are provided with a second guide mechanism along the vertical direction.
The carrying device for distributing articles according to claim 22, wherein the second guiding mechanism comprises:

A second bearing, the second bearing is provided on the moving guide base, and the axial direction of the second bearing is the vertical direction; and

One end of the second guide shaft is connected to the lower part of the carrying plate, and the other end is slidably sleeved in the second bearing.
The carrying device for distributing articles according to claim 21, wherein a compression spring is arranged between the carrying plate and the moving guide base.
A distribution device for distributing items, including:

Self-moving devices that can be combined or separated, including:

A self-moving body, which can move autonomously, and

The combining mechanism is arranged on the self-moving body; and

Carrying device, including:

A carrying body capable of carrying articles, and

The docking mechanism is arranged on the carrying body;

Through the docking of the coupling mechanism and the docking mechanism, the self-moving body can be in a combined or separated state with the supporting device matched with it; when in the combined state, the self-moving device is combined with the supporting device As a whole, the self-moving device can drive the carrying device to move; when in the separated state, the self-moving device can be separated from the carrying device, and the carrying device is in a static waiting state or Waiting for fetching state objects.
The distributing device for distributing articles according to claim 25, wherein the combining mechanism comprises:

A lifting mechanism is installed on the self-moving body, and the lifting mechanism includes:

Lifting rod, said lifting rod can be extended and contracted in the vertical direction, and

A lifting platform, the lifting platform is installed on the top of the lifting rod; and

The first positioning mechanism is installed on the upper part of the lifting platform and includes one or more first positioning devices.
22. The distribution device for distributing articles according to claim 25, wherein the coupling mechanism further comprises a locking mechanism for clamping the carrying device when the lifting platform is lifted in place.
The delivery device for delivering items according to claim 27, wherein the locking mechanism comprises:

The sliding lock portion includes a lock piece that is slidably arranged in a horizontal direction; and

The swing stretching part includes a fixed end and a swing end, and the fixed end is pivotally connected to the self-moving body;

The swing end is pivotally connected to the slidable part of the sliding lock portion; the swing stretch portion swings inward as the lifting platform rises, and provides a clip for the lock of the sliding lock portion The driving force of the sliding in the tightening direction causes the locking member of the sliding lock portion to close on the lifting platform along the horizontal direction; the swing stretching portion swings outward as the lifting platform descends toward The locking member of the sliding lock portion provides a driving force to slide in the releasing direction, so that the locking member of the sliding lock portion moves to the initial position along the horizontal direction; when the lifting platform is raised to the position, The locking member abuts against the locking groove provided on the supporting device, and clamps the supporting device.
The distribution device for distributing items according to claim 26, wherein the docking mechanism includes a second positioning mechanism, and the second positioning mechanism includes one or more second positioning devices; the second positioning mechanism The device can be matched with the corresponding first positioning device installed on the self-moving device. When the self-moving device is lifted into position, the second positioning device and the first positioning device are combined with each other to achieve The mutual positioning of the carrying device and the self-moving device.
The delivery device for delivering goods according to claim 25, wherein the carrying device further comprises a supporting leg telescoping mechanism for contracting and unfolding the supporting legs of the carrying body.
The distribution device for distributing articles according to claim 30, wherein the supporting leg telescopic mechanism comprises:

The second guide rail is arranged in the lower part of the carrying plate of the carrying body along the horizontal direction, and

The second sliding block is slidably arranged on the second guide rail;

The supporting legs include:

The connecting end arranged along the horizontal direction, and

The ground end arranged in the vertical direction;

Wherein, the connecting end is connected with the second sliding block and moves along the second guide rail through the second sliding block.
The distributing device for distributing articles according to claim 31, wherein the supporting leg telescoping mechanism further comprises a moving guide mechanism, and the moving guide mechanism comprises:

A movable guide base, which is symmetrically provided with sliding grooves inclined inward and downward; and

A sliding bearing, the sliding bearing is connected to the second sliding block and the sliding groove of the moving guide base;

A connecting plate arranged parallel to the carrying plate is arranged below the carrying plate of the carrying body; the movable guide base is arranged between the carrying plate and the connecting plate;

When the self-moving device and the carrying device perform the combined operation, the bottom surface of the moving guide base abuts against the top block installed on the self-moving device to move upward, and the sliding bearing moves upward from the The high end position of the chute slides to the bottom end position, and the support leg is driven to move to the center of the carrier body;

When the self-moving device and the carrying device perform a separation operation, the moving guide base descends, the sliding bearing slides from the low end position of the sliding groove to the high end position, and the support leg Is driven away from the center of the carrying body.