WO2022052389A1 - 用于安装货物存取终端的自动装置 - Google Patents

用于安装货物存取终端的自动装置 Download PDF

Info

Publication number
WO2022052389A1
WO2022052389A1 PCT/CN2021/000184 CN2021000184W WO2022052389A1 WO 2022052389 A1 WO2022052389 A1 WO 2022052389A1 CN 2021000184 W CN2021000184 W CN 2021000184W WO 2022052389 A1 WO2022052389 A1 WO 2022052389A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
assembly
fixing
automatic device
fixing member
Prior art date
Application number
PCT/CN2021/000184
Other languages
English (en)
French (fr)
Inventor
周鹏跃
Original Assignee
周鹏跃
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010970119.7A external-priority patent/CN114161103A/zh
Priority claimed from CN202010970120.XA external-priority patent/CN114162533A/zh
Application filed by 周鹏跃 filed Critical 周鹏跃
Priority to CN202180022572.8A priority Critical patent/CN116113518A/zh
Priority to JP2023516497A priority patent/JP2023542649A/ja
Publication of WO2022052389A1 publication Critical patent/WO2022052389A1/zh
Priority to US18/120,474 priority patent/US20230220691A1/en

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/163—Jacks specially adapted for working-up building elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article

Definitions

  • the invention belongs to the technical field of smart logistics, and more particularly, relates to an automatic device for installing a cargo access terminal.
  • the cargo access terminal is an automated device that cooperates with the last mile delivery and pickup of the drone.
  • the cargo is transferred between the user and the drone through the cargo access terminal.
  • the cargo access terminal is composed of a plurality of modules, including a handling module for transporting cargo.
  • a handling module for transporting cargo.
  • at least part of the handling modules can be deployed on a floor of a high-rise building.
  • On the indoor ceiling there is a device for the drone to load and unload goods on the outside of the wall on the same floor.
  • the handling module can transport the goods between the device and the designated area in the room for users to access the goods indoors.
  • a first automatic device for installing a first cargo access terminal includes at least one first handling module for transporting cargo and capable of being deployed on an indoor ceiling.
  • the first automatic device includes an automatic guided vehicle, a stationary assembly, a lifting mechanism and a working assembly.
  • the fixing component is at least partially located directly above the automatic guided vehicle, and is used for fixing the first handling module to be installed;
  • the lifting mechanism connects the automatic guided vehicle and the fixing component, and is used to drive the fixing component to raise and lower the height relative to the automatic guided vehicle,
  • the first automatic device cooperates with the automatic guided vehicle and the lifting mechanism to fix the fixed assembly.
  • the conveying module is transferred to the installation position; the working assembly is arranged on the fixing assembly or the lifting mechanism, and is used for realizing and/or releasing the fastened connection between the first conveying module and the ceiling.
  • FIG. 1 is a schematic perspective view of a first automatic device according to Embodiment 1;
  • Fig. 2 is that the first automatic device shown in Fig. 1 realizes that the first conveying module is fastened and connected to the ceiling and the three-dimensional schematic diagram that the adjacent first conveying module is fastened and connected;
  • FIG. 3 is a schematic perspective view of the first automatic device shown in FIG. 1 to realize the fastening connection of adjacent second conveying modules;
  • FIG. 4 is a schematic perspective view of the first automatic device shown in FIG. 1 to realize the fastened connection of the first conveying module and the second conveying module;
  • Fig. 5 is the enlarged schematic diagram of A place in Fig. 4;
  • FIG. 6 is a schematic perspective view of the second automatic device of the second embodiment to realize the fastening connection of the adjacent third conveying modules;
  • FIG. 7 is a schematic perspective view of the second automatic device shown in FIG. 6 fixing the third conveying module and sliding along the first guide rail;
  • FIG. 8 is a schematic perspective view of the second automatic device shown in FIG. 6 to realize the fastened connection between the platform module and the third conveying module;
  • FIG. 9 is a schematic perspective view of the second automatic device shown in FIG. 6 fixing the platform module and sliding along the first guide rail;
  • FIG. 10 is a perspective view of the second automatic device shown in FIG. 6 to realize the fastened connection between the first wall mounting member and the building and the realization of the second wall mounting member and the building fastened connection;
  • FIG. 11 is a schematic perspective view of the second automatic device shown in FIG. 6 fixing the combination of the third conveying module and the storage module;
  • FIG. 12 is a schematic perspective view of the second automatic device shown in FIG. 6 to realize the fastened connection between the first guide rail and the support structure;
  • FIG. 13 is a three-dimensional schematic diagram of the first automatic device fixing the first conveying module placed in a standing position according to the third embodiment
  • FIG. 14 is a perspective view of the separation of the fixing component, the working component and the lifting mechanism in the first automatic device shown in FIG. 13 .
  • 15 is a schematic perspective view of the separation of the fixing component, the working component and the sliding component in the second automatic device of the third embodiment
  • FIG. 16 is a schematic perspective view of the second automatic device shown in FIG. 15 installed on the first guide rail and the moving parts are away from each other.
  • this embodiment provides a first automatic device 1 for installing a first cargo access terminal 2 in smart logistics.
  • the first cargo access terminal 2 includes at least one first handling module 21 for transporting cargo and capable of being deployed on the indoor ceiling 8 .
  • the first automatic device 1 includes an automatic guided vehicle 11 , a fixing assembly 12 , a lifting mechanism 13 and a working assembly 14 .
  • the fixing assembly 12 can be located at least partially directly above the automatic guided vehicle 11 for fixing the first handling module 21 to be installed; the lifting mechanism 13 connects the automatic guided vehicle 11 and the fixing assembly 12 to realize the relative relationship between the fixing assembly 12
  • the automatic guided vehicle 11 is raised and lowered in height to lift the first handling module 21 fixed by the fixing assembly 12 to be against or close to the ceiling 8 and lower the fixing assembly 12 to be close to the automatic guided vehicle 11, respectively, and the first automatic device 1 passes through
  • the automatic guided vehicle 11 and the lifting mechanism 13 cooperate to transfer the first conveying module 21 fixed by the fixing assembly 12 to the installation position; the working assembly 14 is provided on the fixing assembly 12 for realizing and/or releasing the first conveying module. 21 and the ceiling 8 are fastened.
  • the automated guided vehicle 11 is a small vehicle with autonomous mobility, and includes sensors such as cameras to assist the automated guided vehicle 11 in navigating to a designated area, or the automated guided vehicle 11 can also be remotely controlled by an operator.
  • the automatic guided vehicle 11 also includes a battery or a cable for connecting the indoor power supply, so as to realize the power supply to the first automatic device 1 .
  • the fixing assembly 12 is provided with a fixing member 1210 for fixing the first conveying module 21 relative to the fixing assembly 12, such as an electromagnet.
  • the component 1210 may also adopt other structures, such as a vacuum suction cup capable of attracting the first conveying module 21 or a convex portion capable of being inserted into the first conveying module 21 .
  • the first conveying module 21 can be located at the top of the fixing assembly 12 .
  • the lift mechanism 13 can automatically extend and retract the length to adjust the height of the fixed assembly 12 relative to the automatic guided vehicle 11.
  • the lift mechanism 13 includes a scissor lift mechanism and a driver for driving the telescopic length of the mechanism.
  • the fixed assembly 12 is provided on the scissors.
  • the top end of the scissor lift mechanism, the sliding direction of the slide rail of the scissor lift mechanism 13 can be consistent with the longitudinal direction of the automatic guided vehicle 11 .
  • the lifting mechanism 13 can also adopt other structures, such as a folding arm or a telescopic arm.
  • the working assembly 14 is a robotic arm assembly, including a working unit 141 and a robotic arm 142.
  • the working unit 141 is used to realize the fastening connection between the first transport module 21 and the ceiling 8. For example, if expansion bolts are used to realize the connection between the first transport module 21 and the ceiling 8 The ceiling 8 is tightly connected.
  • the working unit 141 is used to drill holes in the ceiling 8 and install expansion bolts into the drilled holes; Ground, the working unit 141 is used for spraying glue.
  • the first transport module 21 includes a ceiling mount (not shown), the ceiling mount can be a hanger pre-installed on the main structure of the first transport module 21, and the working assembly 14 can attach the hanger.
  • the hanger can be pre-installed on the ceiling 8, and the working assembly 14 can fasten the first transport module 21 to the hanger.
  • the robotic arm 142 can make the working unit 141 move in a larger spatial range. It is easy to understand that the robotic arm 142 can expand the movement range of the working unit 141 by increasing the number of its joints or the length of the joints, so that the working unit 141 can
  • the fixed assembly 12 works in a remote area.
  • a sensor such as a camera may also be provided at the end of the robotic arm 142 to assist the operation of the working assembly 14 .
  • the number of the robotic arm 142 is one, and the robotic arm 142 is connected to the bottom end of the fixing assembly 12 .
  • at least one robotic arm 142 can also be provided on opposite sides of the fixed assembly 12 respectively, and the two robotic arms 142 can make the two working units 141 move in different spatial ranges at the same time, so as to improve the working efficiency of the working assembly 14 and It also helps to reduce the number of joints or joint lengths of a single robotic arm 142 .
  • the working assembly 14 may also be disposed on the lifting mechanism 13 , for example, the working assembly 14 and the fixing assembly 12 are jointly disposed on the top of the lifting mechanism 13 .
  • the robotic arm 142 and the working unit 141 can be separated, and the working unit 141 has various types of operations such as adapting drilling holes and installing screws. Different types of working units 141 can be provided on the robotic arm 142 according to the working tasks. .
  • the working assembly 14 is also not limited to be a robotic arm assembly.
  • the working assembly 14 includes a working unit 141 and a connecting piece for connecting the working unit 141 and the fixing assembly 12 , and the connecting piece is immovable relative to the fixing assembly 12 .
  • a first handling module 21 to be installed is loaded onto the fixing assembly 12 manually or through other external equipment, and the fixing assembly 12 is fixed, and then the automatic guided vehicle 11 is moved to just below the installation position of the first transport module 21, and then the lifting mechanism 13 drives the fixed assembly 12 to raise the height relative to the automatic guided vehicle 11 until the first transport module 21 where the fixed assembly 12 is fixed Abutting or close to the ceiling 8, i.e. in the installation position.
  • the fixing assembly 12 releases the fixing of the first conveying module 21 and is driven by the lifting mechanism 13 to lower to a position close to the ceiling 8 .
  • the first automatic device 1 transfers the first transport module 21 fixed by the fixing assembly 12 to the installation position through the automatic guide vehicle 11 and the lifting mechanism 13, so that the first transport module 21 and the ceiling 8 Fastened connection, for example, the first conveying module 21 and the ceiling mounting piece are fastened and connected by means of snap-fit and slot matching, the ceiling mounting piece is pre-installed on the ceiling 8, and the first automatic device 1 passes through the automatic guided vehicle 11.
  • the lifting mechanism 13 transfers the first transport module 21 fixed by the fixing assembly 12 to the installation position, and at the same time makes the clip of one of the first transport module 21 and the corresponding ceiling mount fit into the slot of the other. Therefore, the first automatic device 1 may not include the working assembly 14 or the working assembly 14 is only used to release the tightening connection between the first transport module 21 and the ceiling 8, for example, to release the above-mentioned buckle and card slot. cooperation.
  • the first automatic device 1 can automatically install the first transport module 21 on the ceiling 8, replacing at least part of the manual installation work, thereby reducing the installation cycle and installation cost of the first cargo access terminal 2, which is helpful for the first Mass deployment of cargo access terminal 2.
  • the first automatic device 1 is capable of splicing and installing a plurality of first conveying modules 21 along the first direction (hereinafter referred to as splicing installation) on the ceiling 8 to increase the number of first conveying modules 21 along the first direction
  • the distance the cargo is carried, wherein the first direction may be the horizontal direction.
  • the working assembly 14 is used to realize the fastened connection of the adjacent first conveying modules 21 .
  • Adjacent first conveying modules 21 may be connected by bolts or glue.
  • the operation unit 141 is an electric bit for tightening bolts or a glue gun for spraying glue.
  • the adjacent first conveying modules 21 can be fastened and connected by other means, for example, a fast-installation mechanism can be used to realize the fastened connection.
  • the action portion is at least partially exposed so that it can move under the force exerted by the first automatic device 1, thereby driving the locking portion to realize or release the first transport module 21 where the locking portion is located and another adjacent first transport module 21.
  • the fastening connection of the module 21, wherein the locking part is but not limited to the structure of lock, hook, latch, etc.; Either a connecting rod, a gear set, a steel cable or other transmission parts can be used for transmission connection, or direct transmission connection.
  • the operation unit 141 can be any structure that can correctly exert an acting force on the acting part.
  • the working assembly 14 can also realize the first conveying module 21 and another first conveying module 21 that has been installed on the ceiling 8 before realizing the fastening connection between the first conveying module 21 fixed by the fixing assembly 12 and the ceiling 8 .
  • a transport module 21 is fastened and connected, and the fixing assembly 12 keeps the first transport module 21 fixed until the working module 14 completes the fastening of the first transport module 21 and the ceiling 8 .
  • the adjacent first conveying modules 21 can also be fastened and connected by means of quick-connection such as buckles and card-slots. At this time, the working assembly 14 can also be omitted or only used to release the connection between the adjacent first conveying modules 21. tight connection.
  • the automatic guided vehicle 11 is provided with an omnidirectional wheel set, so that the automatic guided vehicle 11 can more flexibly adjust the position and horizontal orientation of the first transport module 21 fixed by the fixing assembly 12 on the indoor floor.
  • the fixing assembly 12 includes a lifting base 120 connected with the lifting mechanism 13 and a fixing member 121 for fixing the first conveying module 21.
  • the fixing member 121 can rotate relative to the lifting base 120 to Part or all of the fixing member 121 can be positioned obliquely above or on the side of the automatic guided vehicle 11 after being rotated.
  • the fixing member 121 is provided with the above-mentioned fixing member 1210 , and the working assembly 14 can be arranged on the lifting base 120 or the fixing member 121 .
  • the fixing member 121 can rotate relative to the lift base 120 around a first rotating shaft, wherein the first rotating shaft can be arranged along the lateral direction of the automatic guided vehicle 11, and the driving mechanism 122 is an automatic telescopic rod, two ends of the automatic telescopic rod They are respectively connected to the lifting base 120 and the fixing member 121 , and the automatic telescopic rod is extended and retracted to realize the rotation of the fixing member 121 relative to the lifting base 120 .
  • the driving mechanism 122 is also not limited to be an automatic telescopic rod.
  • the driving mechanism may be a rotary motor disposed at the first rotating shaft, and the rotary motor drives the fixing member 121 to rotate relative to the lifting base 120 .
  • the fixing member 121 is rotated relative to the lift base 120 so that the fixing member 121 can automatically fix the first conveying module 21 placed on the indoor floor in a standing position when the fixing assembly 12 is close to the automatic guided vehicle 11; the first conveying module 21 is fixed on the fixing member 121 After the assembly 21, the fixing member 121 is rotated in the opposite direction relative to the lifting base 120 to change the first transport module 21 fixed by the fixing member 121 from the standing posture to the required lying posture for installation, so that the first transport module 21 is installed on the ceiling in the lying posture. 8, that is, the longitudinal direction of the first conveying module 21 after installation is substantially the horizontal direction, as shown in FIG. 2 .
  • the first conveying module 21 to be installed is placed on the indoor floor in a standing position, the automatic guided vehicle 11 is moved to be close to the first conveying module 21, and the fixing member 121 is rotated relative to the lifting seat 120 until part or all of the automatic guiding
  • the first transport module 21 can be automatically fixed on the oblique upper or side of the vehicle 11 without the need to load the first transport module 21 on the fixing assembly 12 by manual or other external equipment.
  • the first cargo access terminal 2 further includes a plurality of second handling modules 22 for transporting cargo and capable of being spliced and installed along a second direction, and the second direction may be a vertical direction or a intersects the first direction.
  • a plurality of second handling modules 22 can be spliced and installed from bottom to top, so as to transfer and transport goods between the area close to the indoor ceiling 8 and the area close to the indoor floor.
  • the second transport module 22 is a bar-shaped cabinet structure, and the second transport module 22 is in a standing posture after installation, that is, the length direction of the second transport module 22 is substantially vertical.
  • the fixing member 121 is rotated relative to the lift base 120 so that the fixing member 121 can automatically fix the second transport module 22 placed on the indoor floor when the fixing assembly 12 is close to the automatic guided vehicle 11 .
  • the first automatic device 1 transfers the second conveying module 22 fixed by the fixing member 121 to directly above the installed second conveying module 22 through the cooperation of the automatic guiding vehicle 11 and the lifting mechanism 13 so that the two second conveying modules 22
  • the groups 22 are spliced together, and the working assembly 14 is used to realize and/or release the fastening connection of the second conveying modules 22 adjacent up and down, as shown in FIG. 3 .
  • the second transport module 22 located at the lowest position can be firstly transferred to the installation position on the indoor floor by the first automatic device 1 or manually.
  • the first transport module 21 and the second transport module 22 can also be spliced to transfer goods to each other.
  • the installation position of the second transport module 22 is located in the first transport module. Directly below the module 21, and the second transport module 22 located at the highest position is spliced with the first transport module 21 above it, correspondingly, the operation assembly 14 is also used to realize and/or release the first transport module 21 and the The second conveying module 22 is fastened and connected.
  • the fastening connection between the adjacent second conveying modules 22 or between the first conveying module 21 and the second conveying module 22 may be the same as the fastening connection between the adjacent first conveying modules 21
  • the method is basically the same, and will not be repeated here.
  • a plurality of second handling modules 22 can be spliced and installed from top to bottom, that is, the second handling module 22 located at the highest position can be transferred to the installation position by the first automatic device 1 first, and the assembly 14 can be operated.
  • the second conveying module 22 is fastened to the first conveying module 21 installed on the ceiling 8, and then the first automatic device 1 fixes another second conveying module 22 to be installed and transfers it to the installed first conveying module 22.
  • the two second conveying modules 22 are directly below the two conveying modules 22 so that the two second conveying modules 22 are spliced together, and the two second conveying modules 22 are fastened and connected through the operation assembly 14 or the above-mentioned quick connection method.
  • the first automatic device 1 further includes a rotating mechanism 15, the rotating mechanism 15 is respectively connected to the lifting mechanism 13 and the automatic guided vehicle 11 for driving the lifting mechanism 13 to rotate relative to the automatic guided vehicle 11.
  • the rotating mechanism 15 includes a flat plate 151, the lifting mechanism 13 is mounted on the upper surface of the flat plate 151, and the lower surface of the flat plate 151 is provided with a second rotating shaft 150 connected to the automatic guided vehicle 11;
  • the rotating shaft 150 can be arranged along the longitudinal direction of the automatic guided vehicle 11 and at a position in the center of the automatic guided vehicle 11; As shown in FIG. 5 , so that the flat plate 151 can be rotated around the second rotating shaft 150 by a certain angle to both sides of the automatic guided vehicle 11;
  • the driving plate 151 rotates around the second rotating shaft 150 .
  • the lateral stability of the first automatic device 1 is relatively small. Longitudinal stability is poor, if the indoor floor surface where the automatic guided vehicle 11 is located is uneven or not level, after the elevating mechanism 13 is extended, the first automatic device 1 tends to fall laterally, and the elevating mechanism 13 is driven by the rotating mechanism 15 to face
  • the rotation of the automatic guided vehicle 11 can reduce or even eliminate the lateral inclination of the lifting mechanism 13 and prevent the first automatic device 1 from tipping over, so that the first automatic device 1 may not be provided with outriggers for improving stability and omit the outriggers.
  • the placing step is helpful for the first automatic device 1 to improve the installation efficiency in the process of continuously installing the multiple first conveying modules 21 or the second conveying modules 22 .
  • the first automatic device 1 can also fix the first conveying module 21 or the second conveying module 21 or the second conveying module fixed by the fixing member 121 through the cooperation of the driving mechanism 122 and the rotating mechanism 15 .
  • Group 22 is adjusted to the correct installation posture.
  • a posture sensor is provided on the fixing member 121, and forms a closed-loop control loop with the driving mechanism 122, the rotating mechanism 15, and the controller of the first automatic device 1, so as to realize a mold in which the fixing member 121 is fixed by the first automatic device 1.
  • the group automatically adjusts to the correct installation posture.
  • the modules of the first cargo access terminal 2, such as the first handling module 21 and/or the second handling module 22, are provided with readable labels 23.
  • the first An automatic device 1 also includes a reading part 16 capable of reading the information of the readable label 23 of the module for identifying the identity information of the module.
  • the readable label 23 may be an RFID label or a label printed with a two-dimensional code, and correspondingly, the reading component 16 is an RFID label reader or a photoelectric converter.
  • the identification The identity information of the module can prevent the first automatic device 1 from installing the module. Specifically, the first automatic device 1 or its networked equipment checks whether the module is the next preset module to be installed according to the identity information of the module, and if the check result is wrong, the first automatic device 1 stops fixing or Stop installing this mod.
  • the first automatic device 1 first reads the readable label 23 of the module to check whether the module is the next preset to be installed module, and take the correct inspection result as the trigger condition for the first automatic device 1 to automatically fix the module.
  • the first automatic device 1 can execute an installation program matching the module according to the identity information of the module.
  • the first automatic device 1 presets different installation programs according to different structures of the modules, For example, in different installation procedures of the first handling module 21, the number and position of the fastening points selected by the first automatic device 1 on the ceiling 8 may be different.
  • the first automatic device 1 or its networked device matches the installation program corresponding to the module according to the obtained identity information, so that the first automatic device 1 can automatically execute the installation program matched with the module.
  • the operation unit 141 is also used to release the fastened connection between some modules of the installed first cargo access terminal 2, so that the first automatic device 1 can automatically remove the modules from the installed first cargo access terminal 2. Cargo access terminal 2 is removed.
  • the work unit 141 also has a type for performing at least one of cleaning, inspection, and maintenance, so that the first robot 1 can perform maintenance work on the installed first cargo access terminal 2 .
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • this embodiment provides a second automatic device 3 for installing a second cargo access terminal 4 in smart logistics.
  • the second cargo access terminal 4 includes a plurality of third handling modules 41 for transporting goods and can be spliced and installed from bottom to top.
  • the second cargo access terminal 4 can be deployed in a high-rise building.
  • the outer wall is used to transport goods between the area near the ground and the area near the top of the building, and can also be used for unmanned aerial vehicles to load and unload goods at the top of the second cargo access terminal 4 .
  • the second automatic device 3 includes a sliding assembly 31 , a fixing member 32 , a moving mechanism 33 and a working assembly 34 .
  • the third conveying module 41 is provided with a first guide rail 411, wherein the first guide rails 411 of the adjacent third conveying modules 41 can be connected after splicing installation; It can slide up or down from the side of one of the third transport modules 41 to the side of the other third transport module 41 along the first guide rails 411 of the plurality of third transport modules 41 , that is, the sliding assembly 31 It can be located on the side of the installed third conveying module 41 and can slide up and down along the first guide rail 411 of the third conveying module 41 .
  • the fixing member 32 can be located at least partially above the sliding assembly 31 for fixing the third transport module 41 to be installed.
  • the moving mechanism 33 is arranged on the sliding component 31 and is connected with the fixing member 32 in a driving manner. After the sliding component 31 is slid to or is close to the top of the installed third handling module 41, the moving mechanism 33 is used to move the The three conveying modules 41 are transferred to just above the installed third conveying module 41 .
  • the working assembly 34 is arranged on the sliding assembly 31 or the moving mechanism 33 or the fixing member 32, and is used for realizing and/or releasing the fastening connection of the third conveying modules 41 adjacent to each other up and down.
  • the sliding assembly 31 includes a guide wheel (not shown) and a driving member (not shown).
  • the guiding wheel can make the sliding assembly 31 adhere to the first guide rail 411 and slide along the first guide rail 411
  • the driving member can drive the sliding
  • the assembly 31 slides autonomously along the first guide rail 411
  • the driving member includes a motor and a gear connected to the motor
  • the first guide rail 411 is also provided with a rack matched with the gear.
  • the driving member is also not limited to the above structure, for example, the driving member includes a pulling cable and a cable reel for automatically retracting and unwinding the cable, and one end of the cable is fixed to the top of the installed part of the second cargo access terminal 4 .
  • the sliding assembly 31 may also include a battery or a cable for connecting to a ground power source, so as to realize the power supply to the second automatic device 3 .
  • the fixing member 32 is provided with a fixing member for fixing the third conveying module 41 relative to the fixing member 32 , and the fixing member can be basically the same as the fixing member 1210 of the fixing assembly 12 in the first embodiment, so as to realize the fixing of the third conveying module 41 , the structure of the third conveying module 41 can also be basically the same as that of the second conveying module 22 .
  • the fixing member 32 is a pair of cantilevers disposed above the sliding assembly 31 and opposite to each other, the moving mechanism 33 is disposed at the top of the sliding assembly 31 , and the cantilever and the moving mechanism 33 are movably connected to the sliding assembly 31 . It moves between right above and right above the mounted third conveyance module 41 .
  • the fixing member 32 is also not limited to the structure of the cantilever.
  • the moving mechanism 33 and the fixing member 32 together form a quadrilateral movable link mechanism, and the fixing member 32 is a movable link.
  • the structure of the working assembly 34 and the manner of realizing the fastening connection of the adjacent third conveying modules 41 may be the same as the working assembly 14 in the first embodiment, and will not be repeated here.
  • the working assembly 34 is one and is provided at the bottom end of the sliding assembly 31 .
  • the number of the working assemblies 34 is not limited to one, for example, one working assembly 34 is respectively provided on the opposite sides of the sliding assembly 31 or the moving mechanism 33; the working assembly 34 can also be provided on the moving mechanism 33 or the fixing member 32 And move relative to the sliding assembly 31 through the moving mechanism 33 .
  • At least one third conveying module 41 is pre-installed on the ground, and then the second automatic device 3 is installed on the first guide rail 411 of the third conveying module 41 to realize the second automatic device 3. Slide along the first guide rail 411 between the height close to the ground and the height close to the top of the installed third transport module 41; when the second automatic device 3 is close to the ground, other external equipment or manual
  • the conveying module 41 is loaded on the fixing member 32; then the second automatic device 3 slides upward until the sliding assembly 31 is close to the top of the installed third conveying module 41; then the fixing member 32 is moved relative to the sliding assembly 31 by the moving mechanism 33 until The fixed third conveying module 41 is transferred from just above the sliding assembly 31 to just above the installed third conveying module 41.
  • the third conveying module 41 fixed by the second automatic device 3 is close to the lower part.
  • the adjacent third conveying modules 41 are spliced together, or if the third conveying module 41 fixed by the second automatic device 3 is vertically spaced from the adjacent third conveying module 41 directly below, the sliding assembly 31 can also be used to connect to the adjacent third conveying module 41. Sliding down makes the two third conveying modules 41 spliced together.
  • the fixing member 32 releases the fixing of the third conveying module 41 and returns.
  • the sliding assembly 31 slides down to be close to the ground to receive the next third transport module 41 to be installed.
  • the second automatic device 3 transfers the third transport module 41 to be installed directly above the installed third transport module 41 through the sliding assembly 31 and the moving mechanism 33, so that the two The third conveying modules 41 are tightly connected, for example, the adjacent third conveying modules 41 are fast-connected by means of snap-fit and card-slot fitting, and the second automatic device 3 is connected by the sliding assembly 31 and the moving mechanism 33 .
  • the moving mechanism 33 may also not be connected with the fixing member 32 in a transmission.
  • the fixing member 32 releases the first to be installed.
  • the three conveying modules 41 are fixed, and then the moving mechanism 33 directly drives the third conveying module 41 to transfer to the right above the installed third conveying module 41, and the third conveying module 41 to be installed is directly below it.
  • One of the adjacent third conveying modules 41 is provided with a chute, and the other is provided with a matching structure corresponding to the chute.
  • the matching structure can be snapped into the chute and slide along the length of the chute to prevent the The third conveying module 41 moves in other directions during the process of being driven by the moving mechanism 33, thereby preventing the third conveying module 41 from falling.
  • the length direction of the chute and the moving mechanism 33 drive the The transfer directions of the third transport modules 41 are the same
  • the top and bottom ends of each third transport module 41 are respectively provided with a chute and a matching structure
  • the moving mechanism can be a movable part capable of pushing and pulling the third transport module 41 to be installed Or it can carry the sliding belt of the third conveying module 41 to be installed, or the rolling wheel provided near the first guide rail 411 , or the like.
  • the second automatic device 3 can automatically splicing and install a plurality of third handling modules 41 from bottom to top, without the need to build scaffolding or use large-scale hoisting equipment, and improve the installation efficiency, thereby reducing the installation cycle and installation of the second cargo access terminal 4 .
  • the cost is helpful for the large-scale deployment of the second cargo access terminal 4 .
  • the second cargo access terminal 4 may further include a platform module 42 for taking off and landing the drone, and the platform module 42 is provided with a connection for fast connection with the third handling module 41 part 421 , so that the platform module 42 can be installed on the top of the third conveying module 41 .
  • the fixing member 32 of the second automatic device 3 is also used for fixing the platform module 42 to be installed. Specifically, the fixing member 32 fixes the platform module 42 through the connecting portion 421 .
  • the fixing member 32 can be rotated relative to the sliding assembly 31 to realize the conversion of the platform module 42 fixed by the fixing member 32 between the vertical posture required for sliding and the horizontal posture required for installation.
  • the platform module 42 fixed by the fixing member 32 may be partially or completely located on the side of the sliding assembly 31 opposite to the first guide rail 411 in the vertical position to avoid collision with the first guide rail 411 .
  • the second automatic device 3 further includes a driving mechanism 35 for driving the fixing member 32 to rotate relative to the sliding assembly 31 .
  • the driving mechanism 35 is an automatic telescopic rod. Both ends of the automatic telescopic rod are connected to the sliding assembly 31 and the moving mechanism 33 respectively.
  • the automatic telescopic rod can be extended and retracted to realize the rotation of the fixing member 32 relative to the sliding assembly 31.
  • the driving mechanism 35 is not limited to being an automatic telescopic rod, for example, the driving mechanism 35 may be a rotary motor.
  • the platform module 42 is provided with a take-off and landing surface for the drone to take off and land. After the platform module 42 is installed, the platform module 42 is in a horizontal position, and the take-off and landing surface is approximately horizontal. As shown in FIG. 8 , the horizontal dimension of the platform module 42 is significantly larger than its height dimension and the installed first The horizontal dimensions of the three transport modules 41; and when the platform module 42 is in an upright posture, the take-off and landing surface is substantially vertical, as shown in FIG. 9 .
  • the fixing member 32 rotates relative to the sliding assembly 31 to fix the platform module 42 in the vertical position when the second automatic device 3 is close to the ground or the bottom end of the installed third handling module 41;
  • the fixing member 32 rotates in the opposite direction relative to the sliding assembly 31, so that the platform module 42 fixed by the fixing member 32 is transformed into a horizontal posture required for installation.
  • the second cargo access terminal 4 when deployed on the outer wall of the building 9 , the second cargo access terminal 4 further includes a first wall mounting member 43 preinstalled on the third transport module 41 .
  • the first wall The mounting member 43 is used to fix the third transport module 41 on the outer wall of the building 9
  • the working assembly 34 is also used to realize and/or release the fastening connection between the first wall mounting member 43 and the building 9 .
  • the first wall mounting member 43 can be retracted and abutted against the side surface of the third handling module 41.
  • the working assembly 34 also The first wall mount 43 can be unfolded.
  • the second cargo access terminal 4 can also be independently deployed on an outdoor open space, and at this time, the third handling module 41 does not need to be pre-installed with the first wall mounting member 43 .
  • the second cargo access terminal 4 further includes a storage module 44 for the user to access the cargo, and the third handling module 41 can move the cargo into and out of the storage module 44 .
  • the storage module 44 is arranged on the side of the third transport module 41 and the two modules can be assembled together in advance. After the third transport module 41 is installed on the outer wall of the building 9, the storage module 44 is provided near a communication part of the building 9, such as a window sill or balcony, for the user to access goods indoors.
  • the fixing member 32 can fix the combination of the third transport module 41 and the storage module 44.
  • the storage module 44 in the combination is The bottom end is higher than the bottom end of the third transport module 41 in the assembly, and the height of the fixing member 32 is located between the bottom end of the storage module 44 and the bottom end of the third transport module 41, as shown in FIG. 11 .
  • the second cargo access terminal 4 further includes a second wall mounting member 45 pre-installed on the storage module 44 , and the second wall mounting member 45 is used for fixing the storage module 44 to the side of the building 9 .
  • the working assembly 34 can also realize and/or release the fastening connection between the second wall mounting member 45 and the building 9 .
  • the second wall mounting member 45 can be retracted and abutted against the side of the storage module 44 , and can be deployed by the working assembly 34 .
  • the third transport module 41 includes a support structure 412 .
  • the support structure 412 can be a hollow bar-shaped cabinet structure with both ends open.
  • a plurality of support structures 412 can be spliced end to end.
  • the handling mechanism can drive the goods to slide up and down along the second guide rail to realize the transportation of the goods by the third handling module 41 .
  • the first guide rail 411 is located outside the support structure 412 and can be separated from the support structure 412 .
  • the fixing member 32 is also used to fix the first guide rail 411
  • the working assembly 34 is also used to release the fastened connection between the first guide rail 411 and the support structure 412 , so that the second automatic device 3 can move the first guide rail 411 above the sliding assembly 31 .
  • the guide rail 411 is removed from the installed support structure 412 and transferred to the bottom end near the ground or the installed third handling module 41 .
  • the first guide rail 411 and the support structure 412 are fastened and connected by bolts, correspondingly, the working unit of the working assembly 34 is used to loosen the bolts;
  • the working unit of the working assembly 34 is used to release the cooperation of the locking catch and the locking groove in the fitting and tightening connection.
  • the second automatic device 3 sequentially removes the first guide rail 411 located above the sliding assembly 31 from top to bottom and removes the first
  • the guide rail 411 is transferred to the bottom end near the ground or the installed third handling module 41, and then the first guide rail 411 is unloaded from the fixing member 32 by manual or other external equipment, until the second cargo access terminal 4 is the most remaining.
  • the first guide rail 411 at the bottom end after the second automatic device 3 is removed from the first guide rail 411, the remaining first guide rail 411 is removed manually or by other external equipment, and the removed first guide rail 411 can be used for Installation of other second cargo access terminals 4 .
  • the first guide rail 411 and the support structure 412 can be pre-assembled together, or the working assembly 34 is used to realize the fast connection between the first guide rail 411 and the support structure 412, so that the second automatic device 3 can install the support structure 412 first, and then install the support structure 412. Install the first guide rail 411 on the support structure 412 .
  • the second automatic device 3 first installs a support structure 412 , and then fastens the first guide rail 411 to the support structure 412 , and thus installs a plurality of support structures 412 and the first guide rails 411 alternately.
  • the fixing member 32 includes at least two sets of fixing parts, and each set of fixing parts is used to fix a first guide rail 411 , so that the second automatic device 3 can continuously remove a plurality of first guide rails from the supporting structure 412 .
  • the guide rails 411 and the dismantled first guide rails 411 are transferred to the bottom end of the third handling module 41 close to the ground or installed at one time, or can be close to the ground or the bottom end of the installed third handling module 41
  • the plurality of first guide rails 411 are simultaneously received and the plurality of first guide rails 411 are continuously installed on the support structure 412 , so as to improve the efficiency of the second automatic device 3 in installing or removing the first guide rails 411 .
  • multiple groups of fixing components are distributed along the direction in which the fixing member 32 or the moving mechanism 35 moves relative to the sliding assembly 31 .
  • the first guide rail 411 is inseparable from the support structure 412 or the first guide rail 411 remains after the installation of the second cargo access terminal 4 is completed.
  • the above-mentioned handling mechanism can be installed on the first guide rail 411 to drive the goods to slide up and down relative to the first guide rail 411.
  • the third handling module 41 does not need to be provided with a second guide rail, and the support structure 412 may not be a hollow strip-shaped structure with open ends at both ends.
  • the modules of the second cargo access terminal 4, such as the third handling module 41 and/or the platform module 42, are provided with readable labels, and correspondingly, the second automatic device 3 further includes a reading component that reads
  • the working method of taking the part is basically the same as that of the reading part 16 of the first automatic device 1 in the first embodiment, and will not be repeated here.
  • the working unit of the working assembly 34 is also used to release the fastened connection between some modules of the installed second cargo access terminal 4, so that the second automatic device 3 can automatically remove the modules from the installed modules.
  • the second cargo access terminal 4 is removed.
  • the work unit of the work assembly 34 also has a type for performing at least one of cleaning, inspection and maintenance, so that the second robot 3 can perform maintenance work on the installed second cargo access terminal 4 .
  • this embodiment provides another first automatic device 5 and another second automatic device 7 .
  • the structure of the first automatic device 5 is basically the same as that of the first automatic device 1 in the first embodiment, except that For installing the first cargo access terminal 2, the structure of the second automatic device 7 is basically the same as that of the second automatic device 3 in the second embodiment for installing the second cargo access terminal 4, the difference is: the first automatic device 5
  • the fixed assembly 52 and the working assembly 54 can be separated from the lifting mechanism 13 and re-installed on the sliding assembly 71 to form the second automatic device 7;
  • the mounting seat 524 is used to connect or separate with the sliding assembly 71 so that the fixed assembly 52 and the working assembly 54 can be disassembled and detached from the sliding assembly 71, and used to connect or separate from the lifting mechanism 13 to make the fixed assembly 52
  • the working assembly 54 can be disassembled to the lifting mechanism 13; and the working methods of the sliding assembly 71, the fixing member 522 and the moving mechanism 523 are basically the same as the sliding assembly 31, the
  • the fixing assembly 52 does not include the lifting seat 120 , and the lifting seat 120 may be used as a part of the lifting mechanism 13 ; alternatively, the mounting seat 524 may be used as the lifting seat 120 .
  • the fixed assembly 52 may not include the moving mechanism 523 , and in this case, the moving mechanism 523 is provided on the sliding assembly 71 and is not shared with the first automatic device 5 .
  • the first automatic device 5 and the second automatic device 7 share the fixing assembly 52 and the working assembly 54, which can effectively reduce the overall development, production and use costs of the two automatic devices.
  • the fixing member 522 can rotate relative to the lifting mechanism 13 or the sliding assembly 71 .
  • the fixing assembly 52 also includes a driving mechanism 525 .
  • the working method of the driving mechanism 525 is basically the same as that of the driving mechanism 122 of the first automatic device 1 .
  • the working method of the driving mechanism 525 is basically the same as that of the driving mechanism 35 of the second automatic device 3, and will not be repeated here.
  • the fixing member 522 and the working assembly 54 installed on the sliding assembly 71 can be rotated so that their ends away from the rotation axis are close to the sliding assembly 71 to reduce the size of the second automatic device 7, as shown in FIG. 15, which is convenient for the first
  • the fixing member 32 and the working assembly 34 of the second automatic device 3 in the second embodiment can also be rotated to make the ends away from the rotation axis close to each other.
  • Slide assembly 31 to reduce the size of second robot 3 .
  • the fixing member 522 includes at least a pair of oppositely arranged fixing members 5220 for jointly fixing a module of the first cargo access terminal 2 or the second cargo access terminal 4, and the module can be the first carrier
  • the module 21 or the second conveying module 22 or the third conveying module 41 is located between the two fixing parts 5220 when being fixed, and at least two working assemblies 54 are connected to the moving mechanism 523 or the fixing member 522 and are respectively set.
  • the moving mechanism 523 is also used to adjust the distance between the two fixing parts 5220 of the fixing member 522 and the distance between the two working assemblies 54 , so that the fixing member 522 can fix the first cargo access terminal 2
  • the various sizes of modules of the first or second cargo access terminal 4 and the two operating assemblies 54 can be located on or near opposite sides of the module fixed by the fixing member 522, respectively.
  • the moving mechanism 523 includes a pair of moving parts 5230 that can move away from or approach each other, and each moving part 5230 is provided with at least one fixing part 5220 and at least one working assembly 54 , wherein the fixing parts 5220 move relatively
  • the parts 5230 are fixedly arranged, or can move relative to the respective moving parts 5230 to transfer the third conveying module 41 which is fixed together to be directly above the installed third conveying module 41 .
  • the first automatic device 1 of the first embodiment and the second automatic device 3 of the second embodiment can also be set by adopting the above structure.
  • the second automatic device 7 further includes a power supply assembly 76 and a cable 77.
  • the power supply assembly 76 is fixedly installed on the first guide rail 411. It is arranged on the ground and is closer to the ground than the sliding assembly 71 .
  • the power supply assembly 76 can be engaged and spaced from the slide assembly 71 .
  • the power supply component 76 When the power supply component 76 is spaced from the sliding component 71, the power supply component 76 can be connected with the sliding component 71 through the cable 77 to supply power to the sliding component 71, so the sliding component 71 does not need to be provided with a battery or a cable for connecting to the ground power supply, which is helpful to reduce It is small in size and weight, and keeps the cable 77 disposed close to the first guide rail 411 .
  • the power supply assembly 76 is connected to a ground power source or includes a battery, and may include a cable reel for automatically retracting and unwinding the cable 77 .
  • the cable 77 may be used for data communication, or the power supply assembly 76 may act as a fall protection device for the sliding assembly 71 in the event of an uncontrolled fall.
  • the power supply assembly 76 and the sliding assembly 71 can be installed on the first guide rail 411 together or can be removed from the first guide rail 411 together, so as to improve the disassembly and assembly efficiency of the second automatic device 7, It also contributes to the integrated storage and transportation of the second automatic device 7 .
  • the second automatic device 3 of the second embodiment may also be provided with a power supply assembly 76 and a cable 77 .
  • the power supply assembly 76 also includes a locking mechanism (not shown) for maintaining engagement with the sliding assembly 71.
  • the locking mechanism releases the sliding assembly 71 and slides The assembly 71 slides upward and is spaced from the power supply assembly 76 ; before the second automatic device 7 is removed from the first guide rail 411 , the sliding assembly 71 slides downward until it engages with the power supply assembly 76 , and the locking mechanism locks the sliding assembly 71 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Automatic Assembly (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种用于安装第一货物存取终端（2）的第一自动装置（1），包括自动引导车（11）、固定组件（12）、升降机构（13）和作业组件（14）；第一货物存取终端（2）包括用于运送货物且设于室内天花板的第一搬运模组（21）；固定组件（12）用于固定待安装的第一搬运模组（21）；升降机构（13）用于驱使固定组件（12）相对自动引导车（11）升降，第一自动装置（1）通过自动引导车（11）和升降机构（13）配合将第一搬运模组（21）转移至安装位置；作业组件（14）用于实现和/或解除第一搬运模组（21）和天花板紧固连接。第一自动装置能够自动将第一搬运模组安装于天花板上，降低第一货物存取终端安装的周期和费用。还提供了一种用于安装第二货物存取终端的第二自动装置。

Description

用于安装货物存取终端的自动装置 技术领域
本发明属于智慧物流技术领域，更具体地说，是涉及用于安装货物存取终端的自动装置。
背景技术
货物存取终端是一种配合无人机最后一公里送取货的自动化设备，货物通过货物存取终端在用户与无人机之间传递。该货物存取终端由多个模组构成，包括用于运送货物的搬运模组，在该货物存取终端的一种构型中，至少部分的搬运模组可以部署于高层建筑物一楼层的室内天花板上，同一楼层的墙体外侧设有供无人机装卸货物的装置，搬运模组能够将货物在该装置与室内的指定区域之间运输以供用户在室内存取货物。
但是，如果人工将搬运模组安装于室内天花板，需要人员在距离室内地板较高的区域实施安装工作，作业难度比较大，导致安装周期较长以及安装费用较高，不利于货物存取终端大规模的部署。
发明内容
基于此，有必要提供一种能够替代人工将上述搬运模组安装于室内天花板的自动装置。
一种用于安装第一货物存取终端的第一自动装置，第一货物存取终端包括至少一个用于运送货物且能够部署于室内天花板的第一搬运模组。第一自动装置包括自动引导车、固定组件、升降机构和作业组件。
其中，固定组件至少部分位于自动引导车的正上方，用于固定待安装的第一搬运模组；升降机构连接自动引导车和固定组件，用于驱使固定组件相对自动引导车提升和降低高度，以分别将固定组件固定的第一搬运模组抬升至贴靠或接近天花板和将固定组件降低至靠近自动引导车，第一自动装置通过自动引导车和升降机构配合能够将固定组件固定的第一搬运模组转移至安装位置；作业组件设于固定组件上或升降机构上，用于实现和/或解除第一搬运模组和天花板紧固连接。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为实施例一的第一自动装置的立体示意图；
图2为图1所示的第一自动装置实现第一搬运模组与天花板紧固连接以及实现相邻的第一搬运 模组紧固连接的立体示意图；
图3为图1所示的第一自动装置实现相邻的第二搬运模组紧固连接的立体示意图；
图4为图1所示的第一自动装置实现第一搬运模组与第二搬运模组紧固连接的立体示意图；
图5为图4中A处的放大示意图；
图6为实施例二的第二自动装置实现相邻的第三搬运模组紧固连接的立体示意图；
图7为图6所示的第二自动装置固定第三搬运模组并沿第一导轨滑动的立体示意图；
图8为图6所示的第二自动装置实现平台模组与第三搬运模组紧固连接的立体示意图；
图9为图6所示的第二自动装置固定平台模组并沿第一导轨滑动的立体示意图；
图10为图6所示的第二自动装置实现第一墙面安装件与建筑物紧固连接以及实现第二墙面安装件与建筑物紧固连接的立体示意图；
图11为图6所示的第二自动装置固定第三搬运模组和存储模组的组合体的立体示意图；
图12为图6所示的第二自动装置实现第一导轨与支撑结构紧固连接的立体示意图；
图13为实施例三的第一自动装置固定以立姿放置的第一搬运模组的立体示意图；
图14为图13所示的第一自动装置中固定组件、作业组件与升降机构分离的立体示意图。
图15为实施例三的第二自动装置中固定组件、作业组件与滑动组件分离的立体示意图；
图16为图15所示的第二自动装置安装于第一导轨上并且运动部相互远离的立体示意图。
具体实施方式
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。
实施例一：
请参阅图1和图2，本实施例提供一种第一自动装置1，用于安装智慧物流中的第一货物存取终端2。第一货物存取终端2包括至少一个用于运送货物且能够部署于室内天花板8的第一搬运模组21。第一自动装置1包括自动引导车11、固定组件12、升降机构13和作业组件14。其中，固定组件12至少部分能够位于自动引导车11的正上方，用于固定待安装的第一搬运模组21；升降机构13连接自动引导车11和固定组件12，用于实现固定组件12相对自动引导车11提升和降低高度，以分别将固定组件12固定的第一搬运模组21抬升至贴靠或接近天花板8和将固定组件12降低至靠近自动引导车11，第一自动装置1通过自动引导车11和升降机构13配合能够将固定组件12固定的第一搬运模组21转移至安装位置；作业组件14设于固定组件12上，用于实现和/或解除该第一搬运模组21和天花板8紧固连接。
具体地，自动引导车11为具有自主移动能力的小车，并且包括传感器例如摄像头等以辅助自动引导车11导航至指定区域，或者自动引导车11也可以由操作人员遥控。自动引导车11还包括电池或者用于连接室内电源的电缆，以实现对第一自动装置1的供电。
固定组件12设有用于将第一搬运模组21相对固定组件12固定的固定部件1210，例如电磁铁， 对应地，第一搬运模组21的外壳采用能够被电磁铁吸附的金属材料，或者固定部件1210也可以采用其它结构，例如能够吸附住第一搬运模组21的真空吸盘或能够插入第一搬运模组21的凸部。可选地，当固定组件12固定第一搬运模组21时，该第一搬运模组21能够位于固定组件12的顶端。
升降机构13能够自动伸缩长度，以调节固定组件12相对自动引导车11的高度，可选地，升降机构13包括剪叉式升降机构和驱动该机构伸缩长度的驱动器，固定组件12设于剪叉式升降机构的顶端，剪叉式升降机构13的滑轨的滑动方向可以与自动引导车11的纵向一致。升降机构13也可以采用其它结构，例如采用折叠臂或伸缩臂。
作业组件14为机械臂组件，包括作业单元141和机械臂142，作业单元141用于实现第一搬运模组21和天花板8紧固连接，例如：若使用膨胀螺栓实现第一搬运模组21与天花板8紧固连接，对应地，作业单元141用于在天花板8钻孔和将膨胀螺栓装入钻孔；或者，若使用胶接方式实现第一搬运模组21与天花板8紧固连接，对应地，作业单元141用于喷涂胶水。可选地，第一搬运模组21包括天花板安装件(图未示)，该天花板安装件可以为预装于第一搬运模组21的主体结构上的吊架，作业组件14能够将吊架与天花板8紧固连接，或者，第一搬运模组21不包括吊架，吊架可以预装于天花板8上，作业组件14能够将第一搬运模组21与吊架紧固连接。机械臂142能够使作业单元141在较大的空间范围内运动，容易理解地，机械臂142可以通过增加其关节数量或关节长度，扩大作业单元141的运动范围，从而使得作业单元141能够在距固定组件12较远的区域作业。另外地，机械臂142末端还可设置摄像头等传感器，以辅助作业组件14作业。
在图示的实施方式中，机械臂142的数量为一个且该机械臂142连接于固定组件12的底端。当然，也可以在固定组件12相对的两侧分别设置至少一个机械臂142并且两个机械臂142能够使两个作业单元141同时在不同的空间范围内运动，以提高作业组件14的作业效率并且还有助于减小单个机械臂142的关节数量或关节长度。在另一个实施方式中，作业组件14也可以设于升降机构13上，例如作业组件14与固定组件12共同设于升降机构13的顶端。可选地，机械臂142与作业单元141可分离，并且作业单元141具有如适配钻孔、安装螺丝等作业的多种类型，根据作业任务不同类型的作业单元141可设于机械臂142上。
需要说明的是，在本实施例中，“纵向”和“横向”分别是指自动引导车11的长度方向和宽度方向。作业组件14也不限于为机械臂组件，例如在另一实施方式中，作业组件14包括作业单元141以及用于连接作业单元141和固定组件12的连接件，连接件相对固定组件12不可活动。
在一种实施方式中，当第一自动装置1安装第一搬运模组21前，通过人工或通过其它外部设备将一待安装的第一搬运模组21装载至固定组件12上并由固定组件12固定，之后自动引导车11移动至该第一搬运模组21安装位置的正下方，接着升降机构13驱使固定组件12相对自动引导车11提升高度直至固定组件12固定的第一搬运模组21贴靠或接近天花板8，即位于安装位置。待作业组件14将第一自动装置1固定的第一搬运模组21与天花板8紧固连接后，固定组件12解除对第一搬运模组21的固定并在升降机构13的驱动下降低至靠近自动引导车11的高度以接收下一个待安装的第一搬运模组21。
在另一种实施方式中，第一自动装置1通过自动引导车11和升降机构13将固定组件12固定的第一搬运模组21转移至安装位置，使得该第一搬运模组21和天花板8紧固连接，例如第一搬运模组21和天花板安装件通过卡扣和卡槽配合等快接方式紧固连接，天花板安装件预先设置于天花板8上，第一自动装置1通过自动引导车11和升降机构13将固定组件12固定的第一搬运模组21转移至安装位置，同时使得该第一搬运模组21和对应的天花板安装件其中一者的卡扣卡入另一者的卡槽以实现二者紧固连接，因此第一自动装置1可以不包括作业组件14或者作业组件14仅用于解除第一搬运模组21和天花板8的紧固连接，例如解除上述卡扣与卡槽的配合。
第一自动装置1能够自动将第一搬运模组21安装于天花板8上，替代了至少部分的人工安装作业，从而降低第一货物存取终端2的安装周期和安装费用，有助于第一货物存取终端2大规模的部署。
请再次参阅图2，第一自动装置1能够将多个第一搬运模组21沿第一方向拼接与安装(以下简称拼接安装)于天花板8，以增加第一搬运模组21沿第一方向搬运货物的距离，其中第一方向可以为水平方向。具体地，在多个第一搬运模组21和天花板8紧固连接后，作业组件14用于实现其中相邻的第一搬运模组21紧固连接。相邻的第一搬运模组21之间可以通过螺栓或胶接紧固连接，对应的，作业单元141为用于拧紧螺栓的电动批头或用于喷涂胶水的胶枪。或者，相邻的第一搬运模组21之间可以通过其它方式紧固连接，例如通过快装机构实现紧固连接，具体地，快装机构包括作用部及与作用部传动连接的锁定部，其中作用部至少部分外露，以在受到第一自动装置1施加的作用力下能够活动，进而带动锁定部实现或解除该锁定部所在的第一搬运模组21与另一相邻的第一搬运模组21的紧固连接，其中，锁定部为但不限于锁扣、卡勾、插销等结构，作用部为但不限于活动手柄、旋转盘、锁孔等结构，锁定部与作用部之间既可以采用连杆、齿轮组、钢缆等传动件传动连接，也可以直接传动连接，此时作业单元141可以为能够对作用部正确施加作用力的任意结构。
需要说明的是，作业组件14也可以在实现固定组件12固定的第一搬运模组21和天花板8紧固连接前，先实现该第一搬运模组21与另一已安装于天花板8的第一搬运模组21的紧固连接，并且固定组件12保持对该第一搬运模组21的固定直至作业组件14完成该第一搬运模组21与天花板8的紧固连接。相邻第一搬运模组21之间也可以通过卡扣和卡槽配合等快接方式紧固连接，此时作业组件14也可以省略或者仅用于解除相邻第一搬运模组21之间的紧固连接。
可选地，自动引导车11设有全向轮组，以使自动引导车11能够更灵活地调整固定组件12固定的第一搬运模组21在室内地板上的位置和水平方位。
可选地，请一并参阅图3，固定组件12包括与升降机构13连接的升降座120和用于固定第一搬运模组21的固定件121，固定件121能够相对升降座120转动，以使固定件121在转动后能够部分或全部位于自动引导车11的斜上方或侧方。其中固定件121设有上述固定部件1210，作业组件14可以设于升降座120上或固定件121上，固定组件12还包括用于驱使固定件121相对升降座120转动的驱动机构122。在图示的实施方式中，固定件121能够相对升降座120绕第一转轴转动，其中第一转轴可以沿自动引导车11的横向设置，驱动机构122为自动伸缩杆，自动伸缩杆的两端分别连接 于升降座120和固定件121，自动伸缩杆伸缩以实现固定件121相对升降座120转动。驱动机构122也不限于为自动伸缩杆，例如驱动机构可以为设于第一转轴处的旋转马达，旋转马达驱使固定件121相对升降座120转动。
固定件121相对升降座120转动以使固定件121在固定组件12靠近自动引导车11时能够自动固定以立姿放置于室内地板上的第一搬运模组21；在固定件121固定第一搬运模组21后，固定件121相对升降座120反向转动以将固定件121固定的第一搬运模组21由立姿变为安装需要的卧姿，使得第一搬运模组21以卧姿安装于天花板8上，即安装后的第一搬运模组21的长度方向大致为水平方向，如图2所示。具体地，待安装的第一搬运模组21以立姿放置于室内地板上，自动引导车11移动至靠近该第一搬运模组21，固定件121相对升降座120转动至部分或全部位于自动引导车11的斜上方或侧方以能够自动固定该第一搬运模组21，而无需通过人工或其它外部设备将第一搬运模组21装载至固定组件12上。
可选地，请再次参阅图3，第一货物存取终端2还包括多个用于运送货物且能够沿第二方向拼接安装的第二搬运模组22，第二方向可以为竖直方向或与第一方向相交。具体地，多个第二搬运模组22可以自下向上拼接安装，以将货物于靠近室内天花板8的区域和靠近室内地板的区域之间传递运送。在图示的实施方式中，第二搬运模组22为条形柜体结构，并且安装后第二搬运模组22处于立姿下，即第二搬运模组22的长度方向大致为竖直方向。
进一步地，固定件121相对升降座120转动以使固定件121在固定组件12靠近自动引导车11时能够自动固定放置于室内地板上的第二搬运模组22。第一自动装置1通过自动引导车11和升降机构13配合将固定件121固定的第二搬运模组22转移至已安装的第二搬运模组22的正上方以使这两个第二搬运模组22拼接，作业组件14用于实现和/或解除上下相邻的第二搬运模组22紧固连接，如图3所示。需要说明的是，位于最低位置的第二搬运模组22可先由第一自动装置1或人工转移至室内地板上的安装位置。
进一步地，请参阅图4，第一搬运模组21与第二搬运模组22还能够拼接以相互传递货物，在图示的实施方式中，第二搬运模组22的安装位置位于第一搬运模组21的正下方，并且位于最高位置的第二搬运模组22与其上方的第一搬运模组21拼接，对应地，作业组件14还用于实现和/或解除第一搬运模组21与第二搬运模组22紧固连接。其中相邻的第二搬运模组22之间的或者第一搬运模组21与第二搬运模组22之间的紧固连接方式可以与相邻第一搬运模组21之间的紧固连接方式基本相同，在此不再赘述。
在另外一个实施方式中，多个第二搬运模组22可以自上向下拼接安装，即位于最高位置的第二搬运模组22可以先由第一自动装置1转移至安装位置并且作业组件14实现该第二搬运模组22与已安装于天花板8的第一搬运模组21紧固连接，接着第一自动装置1固定另一待安装的第二搬运模组22并转移至已安装的第二搬运模组22的正下方以使这两个第二搬运模组22拼接，通过作业组件14或上述快接方式实现这两个第二搬运模组22紧固连接。
可选地，请一并参阅图5，第一自动装置1还包括转动机构15，该转动机构15分别连接于升降 机构13和自动引导车11，用于驱使升降机构13相对自动引导车11转动。在图示的实施方式中，转动机构15包括一平板151，升降机构13安装于该平板151的上表面，平板151的下表面设有与自动引导车11连接的第二转轴150；其中第二转轴150可以沿自动引导车11的纵向设置并且设于自动引导车11横向居中的位置；自动引导车11与平板151相对的顶面从横向居中的位置向两侧逐渐降低高度并形成倾斜面，如图5所示，以使平板151能够向自动引导车11的两侧绕第二转轴150分别转动一定的角度；转动机构15还包括与平板151传动连接的驱动件(图未示)，以驱动平板151绕第二转轴150转动。
在图示的实施方式中，由于自动引导车11的横向尺寸相比纵向尺寸较小，而且自动引导车11的头部或尾部可以设置配重块，故第一自动装置1横向稳定性相较纵向稳定性较差，如果自动引导车11所在的室内地板面不平整或不水平，则在升降机构13伸长后，第一自动装置1容易沿横向倾倒，通过转动机构15驱使升降机构13相对自动引导车11转动，能够减小甚至消除升降机构13横向的倾斜度，防止第一自动装置1发生倾倒，从而第一自动装置1可以不设置用于提高稳定性的支腿以及省略支腿收放的步骤，有助于第一自动装置1在连续安装多个第一搬运模组21或第二搬运模组22的过程中提升安装效率。
进一步地，在室内地板面不平整或不水平的情况下，通过驱动机构122和转动机构15配合，第一自动装置1还能够将固定件121固定的第一搬运模组21或第二搬运模组22调整至正确的安装姿态。可选地，固定件121上设有姿态传感器，并与驱动机构122、转动机构15、第一自动装置1的控制器形成闭环控制回路，以实现第一自动装置1将固定件121固定的模组自动调整至正确的安装姿态。
可选地，请再次参阅图1和图2，第一货物存取终端2的模组例如第一搬运模组21和/或第二搬运模组22设有可读标签23，对应地，第一自动装置1还包括读取部件16，该读取部件16能够读取模组的可读标签23的信息以用于识别模组的身份信息。可读标签23可以为RFID标签或印有二维码的标签，对应地，读取部件16为RFID标签读取器或光电转换器。
在一个实施方式中，若第一货物存取终端2的各个模组预设安装次序，则在人工或其它外部设备未按预设安装次序将模组装载至第一自动装置1时，通过识别模组的身份信息能够避免第一自动装置1安装该模组。具体地，第一自动装置1或与其联网的设备根据模组的身份信息检查该模组是否为预设的下一个待安装的模组，如果检查结果错误，则第一自动装置1停止固定或停止安装该模组。或者，第一自动装置1在自动固定第一搬运模组21或第二搬运模组22前，先读取模组的可读标签23，以检查该模组是否为预设的下一个待安装的模组，并将检查结果正确作为第一自动装置1自动固定该模组的触发条件。
在另一个实施方式中，第一自动装置1能够根据模组的身份信息执行与模组匹配的安装程序，具体地，第一自动装置1根据模组的不同结构对应预设不同的安装程序，例如在不同第一搬运模组21的安装程序中，第一自动装置1在天花板8上选择的紧固点的数量和位置可以不同。第一自动装置1或与其联网的设备根据得到的身份信息匹配与该模组对应的安装程序，以使得第一自动装置1 能够自动执行与模组匹配的安装程序。
可选地，作业单元141还用于解除已安装的第一货物存取终端2的部分模组之间的紧固连接，以使第一自动装置1能够自动将模组从已安装的第一货物存取终端2上拆除。或者，作业单元141还具有用于实施清洁、检视和维修中的至少一种作业的类型，以使第一自动装置1能够对已安装的第一货物存取终端2实施维护作业。
实施例二：
请参阅图6和图7，本实施例提供一种第二自动装置3，用于安装智慧物流中的第二货物存取终端4。第二货物存取终端4包括多个用于运送货物且能够自下向上拼接安装的第三搬运模组41，在一种实施方式中，第二货物存取终端4可以部署于高层建筑物的外墙面以将货物于靠近地面的区域与靠近建筑物顶部的区域之间运送，并且还能够供无人机装卸货物于第二货物存取终端4的顶端。如果人工将多个第三搬运组件41拼接安装，需要搭建供工人作业的脚手架，或者需要借助大型吊装设备，会导致安装周期较长以及安装费用较高，不利于第二货物存取终端4的大规模部署。
第二自动装置3包括滑动组件31、固定件32、移动机构33和作业组件34。第三搬运模组41设有第一导轨411，其中拼接安装后相邻的第三搬运模组41的第一导轨411可以连接；当多个第三搬运模组41拼接安装后，滑动组件31能够沿多个第三搬运模组41的第一导轨411从其中一个第三搬运模组41的侧方向上或向下滑动至其中另一个第三搬运模组41的侧方，即滑动组件31能够位于已安装的第三搬运模组41的侧方并沿该第三搬运模组41的第一导轨411上下自主滑动。固定件32至少部分能够位于滑动组件31的上方，用于固定待安装的第三搬运模组41。移动机构33设于滑动组件31上，并与固定件32传动连接，待滑动组件31滑动至位于或接近已安装的第三搬运模组41的顶端后，移动机构33用于将待安装的第三搬运模组41转移至已安装的第三搬运模组41的正上方。作业组件34设于滑动组件31上或移动机构33上或固定件32上，用于实现和/或解除上下相邻的第三搬运模组41紧固连接。
具体地，滑动组件31包括导向轮(图未示)和驱动件(图未示)，导向轮能够使滑动组件31贴附于第一导轨411并沿第一导轨411滑动，驱动件能够驱使滑动组件31沿第一导轨411自主滑动，驱动件包括电机和与电机传动连接的齿轮，第一导轨411对应还设有与齿轮配合的齿条。驱动件也不限于上述结构，例如驱动件包括牵引缆绳和用于自动收放缆绳的缆盘，缆绳的一端固定于第二货物存取终端4已安装部分的顶端。另外地，滑动组件31还可以包括电池或者用于连接地面电源的电缆，以实现对第二自动装置3的供电。
固定件32设有用于将第三搬运模组41相对固定件32固定的固定部件，固定部件可以与实施一中的固定组件12的固定部件1210基本相同以实现对第三搬运模组41的固定，第三搬运模组41的结构也可以与第二搬运模组22基本相同。在图示的实施方式中，固定件32为一对设于滑动组件31上方且相对设置的悬臂，移动机构33设于滑动组件31的顶端，悬臂与移动机构33活动连接以在滑动组件31的正上方与已安装的第三搬运模组41的正上方之间移动。固定件32也不限于悬臂的结构，例如在另一实施方式中，移动机构33与固定件32共同组成四边形活动连杆机构，固定件32为一活 动连杆。
作业组件34的结构以及实现相邻的第三搬运模组41紧固连接的方式可以与实施例一的作业组件14相同，在此不作赘述。在图示的实施方式中，作业组件34为一个并且设于滑动组件31的底端。当然，作业组件34的数量也不限于为一个，例如在滑动组件31的或者移动机构33的相对两侧分别设置一个作业组件34；作业组件34也可以设于移动机构33上或固定件32上并通过移动机构33而相对滑动组件31移动。
在一种实施方式中，至少一个第三搬运模组41被预先安装于地面上，接着第二自动装置3被安装于该第三搬运模组41的第一导轨411上以实现第二自动装置3沿第一导轨411在靠近地面的高度与接近已安装的第三搬运模组41顶端的高度之间滑动；当第二自动装置3靠近地面时，其它外部设备或人工将待安装的第三搬运模组41装载至固定件32上；之后第二自动装置3向上滑动至滑动组件31接近已安装的第三搬运模组41的顶端；接着固定件32通过移动机构33相对滑动组件31移动直至其固定的第三搬运模组41从滑动组件31的正上方转移至已安装的第三搬运模组41的正上方，此时，第二自动装置3固定的第三搬运模组41与其下方相邻的第三搬运模组41拼接，或者若第二自动装置3固定的第三搬运模组41与正下方相邻的第三搬运模组41在竖直方向间隔，还可以通过滑动组件31向下滑动使这两个第三搬运模组41拼接。待作业组件34将第二自动装置3固定的第三搬运模组41与正下方相邻的第三搬运模组41紧固连接后，固定件32解除对第三搬运模组41的固定并退回至滑动组件31的正上方，滑动组件31向下滑动至靠近地面以接收下一个待安装的第三搬运模组41。
在另一种实施方式中，第二自动装置3通过滑动组件31和移动机构33将待安装的第三搬运模组41转移至已安装的第三搬运模组41的正上方，使得这两个第三搬运模组41紧固连接，例如相邻的第三搬运模组41之间通过卡扣和卡槽配合等快接方式紧固连接，第二自动装置3通过滑动组件31和移动机构33将固定件32固定的第三搬运模组41转移至已安装的第三搬运模组41的正上方，同时使得这两个第三搬运模组41其中一者的卡扣卡入另一者的卡槽以实现二者紧固连接。因此第二自动装置3可以不包括作业组件34；或者作业组件34仅用于解除相邻第三搬运模组41之间的紧固连接，例如解除卡扣与卡槽的配合。
移动机构33也可以不与固定件32传动连接，在又一种实施方式中，滑动组件31滑动至位于或接近已安装的第三搬运模组41的顶端后，固定件32解除对待安装的第三搬运模组41的固定，之后移动机构33直接带动该第三搬运模组41转移至已安装的第三搬运模组41的正上方，待安装的第三搬运模组41和其正下方相邻的第三搬运模组41其中一者设有滑槽，另一者设有与滑槽对应的配合结构，配合结构能够卡入滑槽中并沿滑槽的长度方向滑动以阻止待安装的第三搬运模组41在被移动机构33带动的过程中沿其它方向的运动，从而防止该第三搬运模组41发生掉落，具体地，滑槽的长度方向与移动机构33带动待安装的第三搬运模组41转移的方向一致，各第三搬运模组41的顶端和底端分别设有滑槽和配合结构，移动机构可以为能够推拉待安装的第三搬运模组41的活动件或者能够承载待安装的第三搬运模组41的滑动带或者靠近第一导轨411设置的滚动轮等。
第二自动装置3能够自动将多个第三搬运模组41自下向上拼接安装，无需搭建脚手架或者借助大型吊装设备，并提高安装效率，从而降低第二货物存取终端4的安装周期和安装费用，有助于第二货物存取终端4大规模的部署。
请参阅图8和图9，第二货物存取终端4还可以包括供无人机起降的平台模组42，该平台模组42设有用于和第三搬运模组41紧固连接的连接部421，以使平台模组42能够安装于第三搬运模组41的顶端。第二自动装置3的固定件32还用于固定待安装的平台模组42，具体地，固定件32通过连接部421固定平台模组42。
进一步地，固定件32能够相对滑动组件31转动以实现固定件32固定的平台模组42在滑动需要的竖置姿态和安装需要的平置姿态之间转换。其中固定件32固定的平台模组42在处于竖置姿态下可以部分或全部位于滑动组件31的与第一导轨411相背的一侧，以避免与第一导轨411碰撞。具体地，第二自动装置3还包括用于驱动固定件32相对滑动组件31转动的驱动机构35。在图示的实施方式中，驱动机构35为自动伸缩杆，自动伸缩杆的两端分别连接于滑动组件31和移动机构33，自动伸缩杆伸缩实现固定件32相对滑动组件31转动，当然驱动机构35也不限于为自动伸缩杆，例如驱动机构35可以为旋转马达。
在一种实施方式中，平台模组42设有供无人机起降的起降面。在平台模组42被安装后，平台模组42处于平置姿态，起降面大致水平，如图8所示，平台模组42的水平尺寸显著大于其高度方向上的尺寸以及已安装的第三搬运模组41的水平尺寸；而在平台模组42处于竖置姿态下时，起降面大致竖直，如图9所示。固定件32相对滑动组件31转动以在第二自动装置3靠近地面或已安装的第三搬运模组41底端时固定竖置姿态下的平台模组42；当滑动组件31滑动至位于或接近已安装的第三搬运模组41的顶端时，固定件32相对滑动组件31反向转动，以使固定件32固定的平台模组42转变为安装需要的平置姿态。
请参阅图10，当部署于建筑物9的外墙面时，第二货物存取终端4还包括预装于第三搬运模组41上的第一墙面安装件43，该第一墙面安装件43用于将第三搬运模组41固定于建筑物9的外墙面上，作业组件34还用于实现和/或解除第一墙面安装件43与建筑物9的紧固连接。可选地，第一墙面安装件43能够收拢并贴靠于第三搬运模组41的侧面，对应地，在第一墙面安装件43与建筑物9紧固连接前，作业组件34还能够将第一墙面安装件43展开。需要说明的是，第二货物存取终端4也可以单独部署于户外空旷场地上，此时第三搬运模组41无需预装第一墙面安装件43。
进一步地，请一并参阅图11，第二货物存取终端4还包括供用户存取货物的存储模组44，第三搬运模组41能将货物移入和移出存储模组44。其中存储模组44设于第三搬运模组41的侧方并且这两种模组可以预先组装在一起，待第三搬运模组41被安装于建筑物9的外墙面后，存储模组44靠近建筑物9的连通部例如窗台或阳台设置以供用户在室内存取货物。对应地，固定件32能够固定第三搬运模组41和存储模组44的组合体，在图示的实施方式中，当固定件32固定该组合体时，组合体中的存储模组44的底端高于与组合体中的第三搬运模组41的底端，固定件32的高度位于存储模组44的底端与第三搬运模组41的底端之间，如图11所示。另外地，第二货物存取终端4还包括预 装于存储模组44上的第二墙面安装件45，该第二墙面安装件45用于将存储模组44固定于建筑物9的外墙面上，而作业组件34还能够实现和/或解除第二墙面安装件45与建筑物9的紧固连接。可选地，第二墙面安装件45能够收拢并贴靠于存储模组44的侧面，并可以由作业组件34进行展开。
请一并参阅图12，第三搬运模组41包括支撑结构412，该支撑结构412可以为两端开口的中空条状柜体结构，多个支撑结构412能够首尾依次拼接，并且支撑结构412的内部设有第二导轨(图未示)和安装于第二导轨上的搬运机构(图未示)，搬运机构能够带动货物沿第二导轨上下滑动以实现第三搬运模组41对货物的运送。其中第一导轨411位于支撑结构412的外侧并且与支撑结构412可分离。
固定件32还用于固定第一导轨411，以及作业组件34还用于解除第一导轨411与支撑结构412的紧固连接，以使第二自动装置3能够将位于滑动组件31上方的第一导轨411从已安装的支撑结构412上拆除并转移至靠近地面或已安装的第三搬运模组41的底端。可选地，第一导轨411与支撑结构412通过螺栓紧固连接，对应地，作业组件34的作业单元用于拧松螺栓；或者，第一导轨411与支撑结构412通过锁扣和锁槽的配合紧固连接，作业组件34的作业单元用于解除锁扣和锁槽的配合。
在一种实施方式中，当第二货物存取终端4的所有模组安装完成后，第二自动装置3从上往下依次拆除位于滑动组件31上方的第一导轨411并将拆除的第一导轨411转移至靠近地面或已安装的第三搬运模组41的底端，之后通过人工或其它外部设备将第一导轨411从固定件32上卸载，直至第二货物存取终端4剩下最底端的第一导轨411，待第二自动装置3从第一导轨411上被移除后，再通过人工或其它外部设备拆除剩下的第一导轨411，拆除下来的第一导轨411可以用于其它第二货物存取终端4的安装。
第一导轨411与支撑结构412可预先组装在一起，或者，作业组件34用于实现第一导轨411与支撑结构412的紧固连接，以使第二自动装置3能够先安装支撑结构412，再将第一导轨411安装于支撑结构412上。具体地，第二自动装置3先安装一个支撑结构412，之后再将第一导轨411与该支撑结构412紧固连接，如此交替安装多个支撑结构412和第一导轨411。
在图示的实施方式中，固定件32包括至少两组固定部件，每组固定部件用于固定一个第一导轨411，以使第二自动装置3能够从支撑结构412上连续拆除多个第一导轨411并将拆除的多个第一导轨411一次性转移至靠近地面或已安装的第三搬运模组41的底端，或者能够在靠近地面或已安装的第三搬运模组41的底端时同时接收多个第一导轨411并连续将多个第一导轨411安装于支撑结构412上，以提高第二自动装置3安装或拆除第一导轨411的效率。可选地，多组固定部件沿固定件32或移动机构35相对滑动组件31移动的方向分布。
在另一个实施方式中，第一导轨411与支撑结构412不可分离或者当第二货物存取终端4安装完成后保留第一导轨411。待第二自动装置3从第一导轨411上移除后，上述的搬运机构可安装于第一导轨411以用于带动货物相对第一导轨411上下滑动，此种结构下，第三搬运模组41无需设置第二导轨，而且支撑结构412也可以不为两端开口的中空条状结构。
可选地，第二货物存取终端4的模组例如第三搬运模组41和/或平台模组42设有可读标签，对 应地，第二自动装置3还包括读取部件，该读取部件的工作方法与实施例一的第一自动装置1的读取部件16基本相同，在此不再赘述。
可选地，作业组件34的作业单元还用于解除已安装的第二货物存取终端4的部分模组之间的紧固连接，以使第二自动装置3能够自动将模组从已安装的第二货物存取终端4上拆除。或者，作业组件34的作业单元还具有用于实施清洁、检视和维修中的至少一种作业的类型，以使第二自动装置3能够对已安装的第二货物存取终端4实施维护作业。
实施例三：
请参阅图13至图16，本实施例提供另一种第一自动装置5和另一种第二自动装置7，第一自动装置5的结构与实施例一的第一自动装置1基本相同以用于安装第一货物存取终端2，第二自动装置7的结构与实施例二的第二自动装置3基本相同以用于安装第二货物存取终端4，区别在于：第一自动装置5的固定组件52和作业组件54能够与升降机构13分离，并重新安装到滑动组件71上以组合形成第二自动装置7；固定组件52还包括固定件522、安装座524、设于安装座524上的移动机构523，安装座524用于与滑动组件71连接或分离以使固定组件52和作业组件54能够拆装于滑动组件71，以及用于与升降机构13连接或分离以使固定组件52和作业组件54能够拆装于升降机构13；而滑动组件71、固定件522和移动机构523三者的工作方法分别与实施例二中的滑动组件31、固定件32和移动机构33基本相同，在此不再赘述。需要说明的是，固定组件52不包括升降座120，升降座120可以作为升降机构13的一部分；或者，安装座524可以作为升降座120。固定组件52可以不包括移动机构523，此时移动机构523设于滑动组件71上且不与第一自动装置5共享。
第一自动装置5和第二自动装置7共享固定组件52和作业组件54，能够有效降低两种自动装置整体的开发、生产和使用成本。
可选地，固定件522能够相对升降机构13或滑动组件71转动。具体地，固定组件52还包括驱动机构525，当固定组件52安装于升降机构13以作为第一自动装置5的部件时，该驱动机构525的工作方法与第一自动装置1的驱动机构122基本相同；而当固定组件52安装于滑动组件71以作为第二自动装置7的部件时，该驱动机构525的工作方法与第二自动装置3的驱动机构35基本相同，在此不再赘述。另外地，安装于滑动组件71上的固定件522和作业组件54可以通过转动使各自远离转动轴线的一端靠近滑动组件71以减小第二自动装置7的尺寸，如图15所示，便于第二自动装置7从第一导轨411移除后的储运，需要说明的是，实施例二的第二自动装置3的固定件32和作业组件34也可通过转动使各自远离转动轴线的一端靠近滑动组件31以减小第二自动装置3的尺寸。
可选地，固定件522包括至少一对相对设置的固定部件5220以用于共同固定第一货物存取终端2的或者第二货物存取终端4的模组，该模组可以为第一搬运模组21或第二搬运模组22或第三搬运模组41并在被固定时位于两个固定部件5220之间，至少两个作业组件54与移动机构523或与固定件522连接并分别设于移动机构523相对的两侧，移动机构523还用于调节固定件522的两个固定部件5220的间距和两个作业组件54的间距，以使得固定件522能够固定第一货物存取终端2的或第二货物存取终端4的多种尺寸的模组和使得两个作业组件54能够分别位于或靠近固定件522固定 的模组相对的两侧区域设置。在图示的实施方式中，移动机构523包括一对能够相互远离或靠近的运动部5230，每个运动部5230上设有至少一个固定部件5220和至少一个作业组件54，其中固定部件5220相对运动部5230固定设置，或者能够相对各自所在的运动部5230活动以将其共同固定的第三搬运模组41转移至已安装的第三搬运模组41的正上方。需要说明的是，实施例一的第一自动装置1和实施例二的第二自动装置3也可采用上述结构设置。
可选地，请再次参阅图15和图16，第二自动装置7还包括供电组件76和电缆77，当滑动组件71沿第一导轨411滑动时，供电组件76固定安装于该第一导轨411上并相对滑动组件71更靠近地面设置。供电组件76能够与滑动组件71接合和间隔。当供电组件76与滑动组件71间隔时，供电组件76能够通过电缆77与滑动组件71连接以给滑动组件71供电，故滑动组件71无需设置电池或用于连接地面电源的电缆，有助于减小其体积和重量，并使得电缆77保持靠近第一导轨411设置。其中，供电组件76连接地面电源或者包括电池，并且可以包括用于自动收放电缆77的缆盘。另外地，电缆77可以用于数据通信，或者供电组件76可以作为滑动组件71在发生失控下落时的坠地保护装置。当供电组件76与滑动组件71接合时，供电组件76与滑动组件71能够共同安装于第一导轨411上或者能够共同从第一导轨411上拆除，以提高第二自动装置7拆装的效率，也有助于第二自动装置7的一体式储运。需要说明的是，实施例二的第二自动装置3也可设有供电组件76和电缆77。
进一步地，供电组件76还包括用于保持与滑动组件71接合的锁合机构(图未示)，当第二自动装置7安装于第一导轨411上后，锁合机构释放滑动组件71，滑动组件71向上滑动并与供电组件76间隔；当第二自动装置7从第一导轨411上拆除前，滑动组件71向下滑动直至与供电组件76接合，锁合机构锁合滑动组件71。
以上所述实施例的各技术特征可以进行任意组合，为使描述简洁，未对上述实施例中各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种用于安装第一货物存取终端的第一自动装置，所述第一货物存取终端包括至少一个用于运送货物且能够部署于室内天花板的第一搬运模组，所述第一自动装置特征在于，包括：
    自动引导车；
    固定组件，至少部分能够位于所述自动引导车的正上方，用于固定待安装的所述第一搬运模组；
    升降机构，连接所述自动引导车和所述固定组件，用于实现所述固定组件相对所述自动引导车提升和降低高度，以分别将所述固定组件固定的所述第一搬运模组抬升至贴靠或接近所述天花板和将所述固定组件降低至靠近所述自动引导车，所述第一自动装置通过所述自动引导车和所述升降机构配合能够将所述固定组件固定的所述第一搬运模组转移至安装位置；以及
    作业组件，设于所述固定组件上或所述升降机构上，用于实现和/或解除所述第一搬运模组和所述天花板紧固连接。
  2. 如权利要求1所述的第一自动装置，其特征在于，所述第一货物存取终端中所述第一搬运模组的数量大于一个，所述第一自动装置能够将多个所述第一搬运模组沿第一方向拼接安装于所述天花板；以及，
    在多个所述第一搬运模组和所述天花板紧固连接后，所述作业组件用于实现其中相邻的所述第一搬运模组紧固连接，或者，所述作业组件在实现所述固定组件固定的所述第一搬运模组和所述天花板紧固连接前，还用于实现该第一搬运模组与另一已安装于所述天花板的所述第一搬运模组紧固连接。
  3. 如权利要求1所述的第一自动装置，其特征在于，所述固定组件还包括移动机构和用于固定所述第一搬运模组的固定件，所述固定件包括至少一对相对设置的固定部件以用于共同固定所述第一搬运模组，至少两个所述作业组件与所述移动机构或与所述固定件连接并分别设于所述移动机构相对的两侧，所述移动机构用于调节所述两个固定部件的间距和所述两个作业组件的间距，以使得所述固定件能够固定所述第一货物存取终端的多种尺寸的模组和使得所述两个作业组件能够分别位于或靠近所述固定件固定的所述模组相对的两侧区域设置。
  4. 如权利要求3所述的第一自动装置，其特征在于，所述移动机构包括一对能够相互远离或靠近的运动部，各所述运动部上设有至少一个所述固定部件和至少一个所述作业组件。
  5. 如权利要求1所述的第一自动装置，其特征在于，所述固定组件包括与所述升降机构连接的升降座和用于固定所述第一搬运模组的固定件；所述固定件能够相对所述升降座转动，以使所述固定件在转动后能够部分或全部位于所述自动引导车的斜上方或所述自动引导车的侧方。
  6. 如权利要求5所述的第一自动装置，其特征在于，所述固定件相对所述升降座转动以使所述固定件在所述固定组件靠近所述自动引导车时能够自动固定以立姿放置于室内地板上的所述第一搬运模组，待所述固定件固定所述第一搬运模组后，所述固定件相对所述升降座反向转动以将所述固定件固定的所述第一搬运模组由立姿变为安装需要的卧姿。
  7. 如权利要求5所述的第一自动装置，其特征在于，所述第一货物存取终端还包括多个用于运送货物且能够沿第二方向拼接安装的第二搬运模组，所述第二方向与所述第一方向相交；所述固定件相对所述升降座转动以使所述固定件在所述固定组件靠近所述自动引导车时能够自动固定放置于室内地板上的所述第二搬运模组。
  8. 如权利要求7所述的第一自动装置，其特征在于，所述第一自动装置通过所述自动引导车和所述升降机构配合将所述固定件固定的所述第二搬运模组转移至已安装的所述第二搬运模组的正上方或正下方，所述作业组件还用于实现和/或解除上下相邻的所述第二搬运模组紧固连接。
  9. 如权利要求5所述的第一自动装置，其特征在于，所述第一自动装置还包括转动机构，所述转动机构分别连接于所述升降机构和所述自动引导车，用于驱使所述升降机构相对所述自动引导车转动以防止所述第一自动装置发生倾倒和/或以将所述固定件固定的所述第一搬运模组调整至正确的安装姿态。
  10. 如权利要求1所述的第一自动装置，其特征在于，所述第一货物存取终端的模组设有可读标签，所述第一自动装置还包括用于读取所述可读标签信息的读取部件，以能够识别所述模组的身份信息并根据所述身份信息检查所述模组的安装次序或者自动执行与所述模组匹配的安装程序。
  11. 一种用于安装第二货物存取终端的第二自动装置，所述第二货物存取终端包括多个用于运送货物的第三搬运模组，所述第三搬运模组能够自下向上拼接安装并且设有第一导轨，所述第二自动装置特征在于，
    所述第二自动装置包括滑动组件，当多个所述第三搬运模组拼接安装后，所述滑动组件能够沿所述多个第三搬运模组的所述第一导轨从其中一个所述第三搬运模组的侧方向上或向下滑动至其中另一个所述第三搬运模组的侧方；
    所述第二自动装置能够与权利要求1所述的第一自动装置共享所述固定组件和所述作业组件，所述固定组件和所述作业组件能够与所述升降机构分离，并重新安装到所述滑动组件上以组合形成所述第二自动装置，所述固定组件包括固定件、安装座和设于所述安装座上的移动机构，其中所述安装座用于与所述滑动组件连接或分离以使所述固定组件和所述作业组件能够拆装于所述滑动组件，以及用于与所述升降机构连接或分离以使所述固定组件和所述作业组件能够拆装于所述升降机构；或者，所述第二自动装置还包括固定件、设于所述滑动组件上的移动机构、以及设于所述滑动组件上或所述移动机构上或所述固定件上的作业组件；
    所述固定件至少部分能够位于所述滑动组件的上方，用于固定待安装的所述第三搬运模组；待所述滑动组件滑动至位于或接近已安装的所述第三搬运模组的顶端后，所述移动机构用于将待安装的所述第三搬运模组转移至已安装的所述第三搬运模组的正上方；以及所述作业组件用于实现和/或解除上下相邻的所述第三搬运模组紧固连接。
  12. 如权利要求11所述的第二自动装置，其特征在于，所述第二货物存取终端还包括供无人机起降的平台模组，所述固定件还用于固定待安装的所述平台模组：所述固定件能够相对所述滑动组 件转动以实现所述固定件固定的所述平台模组在滑动需要的竖置姿态和安装需要的平置姿态之间转换；所述固定件固定的所述平台模组在处于所述竖置姿态下部分或全部位于所述滑动组件的与所述第一导轨相背的一侧。
  13. 如权利要求11所述的第二自动装置，其特征在于，所述固定件包括至少一对相对设置的固定部件以用于共同固定所述第三搬运模组，至少两个所述作业组件与所述移动机构或与所述固定件连接并分别设于所述移动机构相对的两侧，所述移动机构还用于调节所述两个固定部件的间距和所述两个作业组件的间距，以使得所述固定件能够固定所述第二货物存取终端的多种尺寸的模组和使得所述两个作业组件能够分别位于或靠近所述固定件固定的所述模组相对的两侧区域设置。
  14. 如权利要求13所述的第二自动装置，其特征在于，所述移动机构包括一对能够相互远离或靠近的运动部，各所述运动部上设有至少一个所述固定部件和至少一个所述作业组件；所述固定部件相对所述运动部固定设置，或者还能够相对各自所在的所述运动部活动以将其固定的所述第三搬运模组转移至已安装的所述第三搬运模组的正上方。
  15. 如权利要求11所述的第二自动装置，其特征在于，所述第二货物存取终端还包括第一墙面安装件，所述第一墙面安装件用于将所述第三搬运模组固定于建筑物上并且预装于待安装的所述第三搬运模组上，所述作业组件还用于实现和/或解除所述第一墙面安装件与所述建筑物紧固连接；及/或，
    所述第二货物存取终端还包括供用户存取货物的存储模组和第二墙面安装件，所述第二墙面安装件用于将所述存储模组固定于建筑物上并且预装于待安装的所述存储模组上，所述固定件还用于固定所述第三搬运模组和所述存储模组的组合体，所述作业组件还用于实现和/或解除所述第二墙面安装件与所述建筑物紧固连接。
  16. 如权利要求11所述的第二自动装置，其特征在于，所述第三搬运模组还包括支撑结构，所述第一导轨固定于所述支撑结构的外侧并且与所述支撑结构可分离，所述固定件还用于固定所述第一导轨；
    所述作业组件还用于解除所述第一导轨与所述支撑结构的紧固连接，以使所述第二自动装置能够将位于所述滑动组件上方的所述第一导轨从已安装的所述支撑结构上拆除并转移至靠近地面或已安装的所述第三搬运模组的底端；及/或，所述作业组件还用于将所述第一导轨与所述支撑结构紧固连接，以使所述第二自动装置能够先安装支撑结构，再将所述第一导轨安装于所述支撑结构上。
  17. 如权利要求16所述的第二自动装置，其特征在于，所述固定件包括至少两组固定部件，每组所述固定部件用于固定一个所述第一导轨，以使所述第二自动装置能够从所述支撑结构上连续拆除多个所述第一导轨并将拆除的多个所述第一导轨一次性转移至靠近地面或已安装的所述第三搬运模组的底端，或者能够在靠近地面或已安装的所述第三搬运模组的底端时同时接收多个所述第一导轨并连续将多个所述第一导轨安装于所述支撑结构上。
  18. 如权利要求11所述的第二自动装置，其特征在于，所述第二货物存取终端的模组设有可读 标签，所述第二自动装置还包括用于读取所述可读标签信息的读取部件，以能够识别所述模组的身份信息并根据所述身份信息检查所述模组的安装次序或者执行与所述模组匹配的安装程序。
  19. 如权利要求11所述的第二自动装置，其特征在于，所述第二自动装置还包括供电组件和电缆，当所述滑动组件沿所述第一导轨滑动时，该供电组件固定安装于所述第一导轨上并相对所述滑动组件更靠近地面设置；以及
    所述供电组件能够与所述滑动组件接合和间隔；当所述供电组件与所述滑动组件间隔时，所述供电组件能够通过所述电缆与所述滑动组件连接以给所述滑动组件供电和/或数据通信；当所述供电组件与所述滑动组件接合时，所述供电组件与所述滑动组件能够共同安装于所述第一导轨上或者能够共同从所述第一导轨上拆除。
  20. 如权利要求1至10任一项所述的第一自动装置或者如权利要求11至19任一项所述的第二自动装置，其特征在于，所述作业组件包括机械臂和作业单元，所述作业单元用于实施松紧螺栓、喷涂胶水、钻孔、清洁、检视和维修中的至少一种作业；所述机械臂用于使所述作业单元运动。
PCT/CN2021/000184 2020-09-11 2021-09-13 用于安装货物存取终端的自动装置 WO2022052389A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202180022572.8A CN116113518A (zh) 2020-09-11 2021-09-13 用于安装货物存取终端的自动装置
JP2023516497A JP2023542649A (ja) 2020-09-11 2021-09-13 貨物アクセスターミナルの取り付けに用いる自動装置
US18/120,474 US20230220691A1 (en) 2020-09-11 2023-03-13 Automatic apparatus for installing goods delivery terminal

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010970119.7A CN114161103A (zh) 2020-09-11 2020-09-11 一种用于安装货物存取终端的自动装置
CN202010970119.7 2020-09-11
CN202010970120.X 2020-09-11
CN202010970120.XA CN114162533A (zh) 2020-09-11 2020-09-11 一种用于安装货物存取终端的自动装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/120,474 Continuation US20230220691A1 (en) 2020-09-11 2023-03-13 Automatic apparatus for installing goods delivery terminal

Publications (1)

Publication Number Publication Date
WO2022052389A1 true WO2022052389A1 (zh) 2022-03-17

Family

ID=80632050

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/000184 WO2022052389A1 (zh) 2020-09-11 2021-09-13 用于安装货物存取终端的自动装置

Country Status (4)

Country Link
US (1) US20230220691A1 (zh)
JP (1) JP2023542649A (zh)
CN (1) CN116113518A (zh)
WO (1) WO2022052389A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0524607A (ja) * 1991-07-18 1993-02-02 Nippon Steel Corp 立体自動倉庫に於けるフオーク昇降位置の制御方法
CN107738848A (zh) * 2017-09-26 2018-02-27 苗娥 一种仓库自动装卸搬运设备
CN107738364A (zh) * 2017-11-09 2018-02-27 山西大学 天花板自动取料、打孔和紧固机
CN110539996A (zh) * 2017-06-15 2019-12-06 烟台知兴知识产权咨询服务有限公司 一种自动装卸式货架仓储装置
CN110980081A (zh) * 2019-12-10 2020-04-10 上海道简机电科技有限公司 一种仓储物流智能搬运机器人及搬运方法和中转系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0524607A (ja) * 1991-07-18 1993-02-02 Nippon Steel Corp 立体自動倉庫に於けるフオーク昇降位置の制御方法
CN110539996A (zh) * 2017-06-15 2019-12-06 烟台知兴知识产权咨询服务有限公司 一种自动装卸式货架仓储装置
CN107738848A (zh) * 2017-09-26 2018-02-27 苗娥 一种仓库自动装卸搬运设备
CN107738364A (zh) * 2017-11-09 2018-02-27 山西大学 天花板自动取料、打孔和紧固机
CN110980081A (zh) * 2019-12-10 2020-04-10 上海道简机电科技有限公司 一种仓储物流智能搬运机器人及搬运方法和中转系统

Also Published As

Publication number Publication date
US20230220691A1 (en) 2023-07-13
CN116113518A (zh) 2023-05-12
JP2023542649A (ja) 2023-10-11

Similar Documents

Publication Publication Date Title
US10807801B2 (en) Inverted carrier lift device system and method
US8571712B2 (en) Robot system
CN110076053B (zh) 一种车门涂胶自动化设备及车门涂胶方法
CN216735893U (zh) 容器装卸装置、仓储系统
JPWO2021030647A5 (zh)
US20120180424A1 (en) Construction material handling method and apparatus
CN111185759A (zh) 电脑主机组装设备
WO2022052389A1 (zh) 用于安装货物存取终端的自动装置
WO2022143696A1 (zh) 一种设备装配系统及方法
CN110902249A (zh) 一种智能拣选agv
CN211728247U (zh) 电脑主机组装设备
US11615975B2 (en) Storage system
JP3062101B2 (ja) 物品積載容器移載装置
JP2005294280A (ja) 密閉容器搬送システム
CN115520646A (zh) 一种光伏组件辅助安装结构
WO2020248593A1 (zh) 货物存取终端及其组装方法
CN209063079U (zh) 一种动车组装配系统
CN114162533A (zh) 一种用于安装货物存取终端的自动装置
JP2009166969A (ja) 搬送装置
CN114161103A (zh) 一种用于安装货物存取终端的自动装置
CN219299243U (zh) 一种输送组件及动力猫道
CN212449141U (zh) 一种搬运机器人
CN216836069U (zh) 运送装置
CN219313879U (zh) 自动取料装卸货装置
US20240166441A1 (en) Automated garment storage and retrieval system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21865454

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2023516497

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21865454

Country of ref document: EP

Kind code of ref document: A1