WO2021147870A1 - Dispositif automoteur, dispositif de support et dispositif de distribution pour distribuer des marchandises - Google Patents

Dispositif automoteur, dispositif de support et dispositif de distribution pour distribuer des marchandises Download PDF

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Publication number
WO2021147870A1
WO2021147870A1 PCT/CN2021/072763 CN2021072763W WO2021147870A1 WO 2021147870 A1 WO2021147870 A1 WO 2021147870A1 CN 2021072763 W CN2021072763 W CN 2021072763W WO 2021147870 A1 WO2021147870 A1 WO 2021147870A1
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WO
WIPO (PCT)
Prior art keywords
self
moving
carrying
positioning
sliding
Prior art date
Application number
PCT/CN2021/072763
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010074938.3A external-priority patent/CN111285293B/zh
Application filed by 拉扎斯网络科技（上海）有限公司 filed Critical 拉扎斯网络科技（上海）有限公司
Publication of WO2021147870A1 publication Critical patent/WO2021147870A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means

Definitions

  • 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.
  • 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.
  • the above two methods have their obvious shortcomings.
  • 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.
  • the delivery device can deliver courier or takeaway to the user
  • 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.
  • 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.
  • 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.
  • the first positioning device adopts a concave positioning groove.
  • 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.
  • 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.
  • the combining mechanism further includes a locking mechanism for clamping the carrying device when the lifting platform is lifted into position.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second positioning device adopts a convex positioning groove.
  • 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 .
  • 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.
  • the supporting device further includes a supporting leg telescoping mechanism for contracting and unfolding the supporting leg of the supporting body.
  • 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.
  • 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;
  • the supporting plate and the movable guide base are provided with a second guide mechanism along the vertical direction.
  • 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.
  • 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.
  • 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 combining mechanism further includes a locking mechanism for clamping the carrying device when the lifting platform is lifted into position.
  • 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
  • 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.
  • 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.
  • the supporting device further includes a supporting leg telescoping mechanism for contracting and unfolding the supporting leg of the supporting body.
  • 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.
  • 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;
  • 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.
  • 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
  • Fig. 2 is a side view of the self-moving device provided by the first embodiment of the present application.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the self-moving body 10 also includes other structures.
  • the self-moving body 10 mainly includes a substrate 10-1 as an example for description.
  • 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.
  • the combining mechanism 11 is provided on the self-moving body 10 and includes a lifting mechanism 12 and a first positioning mechanism 13.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cam 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.
  • the first guide mechanism 15 includes: a first bearing 15-1 and a first guide shaft 15-2.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first positioning device 13-1 can adopt a convex positioning groove
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first positioning device 13-1 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.
  • 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
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • the bearing device 2 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.
  • 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.
  • 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.
  • 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.
  • the moving guide mechanism 25 includes a moving guide base 25-1 and a sliding bearing 25-2.
  • 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.
  • 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.
  • 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.
  • 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,
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the combining mechanism 11 is provided on the self-moving body 10 and includes: a lifting mechanism 12 and a first positioning mechanism 13.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cam 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.
  • the first guide mechanism 15 includes: a first bearing 15-1 and a first guide shaft 15-2.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first positioning device 13-1 can adopt a convex positioning groove
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first positioning device 13-1 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.
  • 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
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • 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.
  • the bearing device 2 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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,
  • 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
  • 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.
  • 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.
  • 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 is also provided.
  • the second guide mechanism 26 can restrict the movement of the movable guide base 25-1 in the vertical direction.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the self-moving device 1 of the delivery device 3 obtains a docking instruction with the carrier device 2.
  • 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.
  • 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.
  • 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.
  • the mobile device 1 drives the carrier device 2 to move to 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.
  • 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.
  • the mobile device 1 starts to return to the takeaway place.
  • the delivery device 3 delivers items
  • another take-out delivery person will also arrive at the take-out placement point.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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,
  • 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.
  • the mobile device 1 drives the carrier device 2 to move to 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.
  • the lifting rod 12-1 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.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un dispositif automoteur, un dispositif de support et un dispositif de distribution pour distribuer des marchandises. Le dispositif automoteur comprend : un corps automoteur (10) et un mécanisme de combinaison (11). Le mécanisme de combinaison (11) est disposé sur le corps automoteur (10) et permet au dispositif automoteur et à un dispositif de support d'être dans un état combiné ou un état séparé. Lorsque le dispositif automoteur et le dispositif de support sont dans un état combiné, le dispositif automoteur peut amener le dispositif de support à se déplacer. Lorsque le dispositif automoteur et le dispositif de support sont dans un état séparé, le dispositif de support est dans un état d'attente de support statique ou un état d'attente de ramassage. Le dispositif automoteur se déplace de manière autonome jusqu'à la position à laquelle le dispositif automoteur peut être fixé au dispositif de support, est apte à porter et transférer le dispositif de support jusqu'à la position de distribution désignée au moyen du mécanisme de combinaison (11), et est séparé du dispositif de support, de telle sorte que le dispositif de support est dans un état d'attente de support statique ou un état d'attente de ramassage.
PCT/CN2021/072763 2020-01-22 2021-01-19 Dispositif automoteur, dispositif de support et dispositif de distribution pour distribuer des marchandises WO2021147870A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010074938.3 2020-01-22
CN202010074938.3A CN111285293B (zh) 2020-01-22 用于配送物品的自移动装置、承载装置、配送装置

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WO2021147870A1 true WO2021147870A1 (fr) 2021-07-29

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016209130A (ja) * 2015-04-30 2016-12-15 三進金属工業株式会社 移動棚
CN107742235A (zh) * 2017-09-21 2018-02-27 重庆仁腾科技有限公司 一种网络销售与线下自动出货系统及方法
CN110414889A (zh) * 2019-07-09 2019-11-05 河南省吉立达机器人有限公司 基于无人配送的商品流通方法
CN110626775A (zh) * 2019-06-28 2019-12-31 北京致行慕远科技有限公司 配送系统
CN111285293A (zh) * 2020-01-22 2020-06-16 拉扎斯网络科技（上海）有限公司 用于配送物品的自移动装置、承载装置、配送装置
CN212246095U (zh) * 2020-01-22 2020-12-29 拉扎斯网络科技（上海）有限公司 用于配送物品的自移动装置、承载装置、配送装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016209130A (ja) * 2015-04-30 2016-12-15 三進金属工業株式会社 移動棚
CN107742235A (zh) * 2017-09-21 2018-02-27 重庆仁腾科技有限公司 一种网络销售与线下自动出货系统及方法
CN110626775A (zh) * 2019-06-28 2019-12-31 北京致行慕远科技有限公司 配送系统
CN110414889A (zh) * 2019-07-09 2019-11-05 河南省吉立达机器人有限公司 基于无人配送的商品流通方法
CN111285293A (zh) * 2020-01-22 2020-06-16 拉扎斯网络科技（上海）有限公司 用于配送物品的自移动装置、承载装置、配送装置
CN212246095U (zh) * 2020-01-22 2020-12-29 拉扎斯网络科技（上海）有限公司 用于配送物品的自移动装置、承载装置、配送装置

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