WO2023116140A1 - 货仓及递送机器人 - Google Patents

货仓及递送机器人 Download PDF

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Publication number
WO2023116140A1
WO2023116140A1 PCT/CN2022/125109 CN2022125109W WO2023116140A1 WO 2023116140 A1 WO2023116140 A1 WO 2023116140A1 CN 2022125109 W CN2022125109 W CN 2022125109W WO 2023116140 A1 WO2023116140 A1 WO 2023116140A1
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WO
WIPO (PCT)
Prior art keywords
partition
warehouse
movable
limiter
bracket
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2022/125109
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English (en)
French (fr)
Inventor
柳云飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Youzhuju Network Technology Co Ltd
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Beijing Youzhuju Network Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Youzhuju Network Technology Co Ltd filed Critical Beijing Youzhuju Network Technology Co Ltd
Publication of WO2023116140A1 publication Critical patent/WO2023116140A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B57/00—Cabinets, racks or shelf units, characterised by features for adjusting shelves or partitions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B96/00—Details of cabinets, racks or shelf units not covered by a single one of groups A47B43/00 - A47B95/00; General details of furniture
    • A47B96/04—Partition walls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/51—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for storing agricultural or horticultural products

Definitions

  • the present disclosure relates to the technical field of cargo transportation, in particular, to a warehouse and a delivery robot.
  • Existing warehouses are usually provided with detachable partitions so that the accommodation space in the warehouse can be changed with the size of the cargo.
  • partitions can be installed in the warehouse to expand the storage space. It is divided into different subspaces for storing different goods; when the goods are larger in size, the partition can be removed so that two smaller subspaces can be merged into one larger storage space.
  • the partitions are usually detachably installed in the warehouse by means of bolt connection.
  • the process of installing and disassembling the partitions requires the use of tools, which is cumbersome to operate, and the disassembled partitions are not easy to store and are easy to lose.
  • the purpose of the present disclosure is to provide a warehouse and a delivery robot to solve the technical problems existing in related technologies.
  • a warehouse including:
  • the warehouse body is internally formed with a storage space for accommodating goods
  • the partition arranged in the accommodation space, the partition is rotatably connected to the warehouse body and has a separated state and a storage state, and in the separated state, the partition divides the storage space into two two subspaces, in the storage state, the partition is close to the inner wall of the warehouse body, so that the two subspaces communicate with each other;
  • the locking structure includes a movable limiter, and the movable limiter is movably connected to the warehouse body. In the separated state, at least part of the movable limiter is against the partition to limit the The plate rotates, and when the partition is switched from the separated state to the storage state, the movable limiting member avoids the partition so that the partition can rotate.
  • the movable limiting member is movably connected to the bin body, the movable limiting member includes a limiting block, and a hole is formed on the partition for the limiting block to pass through. Notch, in the separated state, the limit block and the notch are staggered from each other in the moving direction of the movable limiter, and at least part of the limit block abuts against the partition, in the partition When the board is switched from the separated state to the stored state, the limiting block is aligned with the notch.
  • the warehouse further includes an operating mechanism located outside the warehouse body
  • the movable limiting member further includes a main body
  • the limiting block is formed on the main body
  • the warehouse body A chute is formed on the top
  • the limiting block slidably passes through the chute and is located in the bin body
  • the operating mechanism includes an operating portion
  • the manipulating part is connected with the main part, and is used to drive the main part to move under the action of external force.
  • the included angle between the extending direction of the diagonal rod and the moving direction of the support is smaller than the friction angle of the diagonal rod.
  • the operating mechanism further includes a bracket and a tilting rod fixed on the bracket, the operating part is formed on the bracket, the bracket is movably connected to the bin body, and the The moving direction of the bracket is perpendicular to the moving direction of the movable limiter.
  • a bump is formed on the side of the main body away from the limiter. The oblique rod slides through the bump. The inclined rod is configured to be able to push the protrusion to move during the process of moving with the bracket.
  • the operating mechanism further includes a guide rod fixed to the bracket, the axis of the guide rod is perpendicular to the moving direction of the movable limiter, and guide blocks are formed on the warehouse body.
  • a guide hole is formed on the guide block, and the guide rod is movably passed through the guide hole.
  • the operating mechanism further includes a return elastic member, and one end of the return elastic member is connected to the bracket.
  • the bin body includes a bin door and a back board oppositely arranged along the front-rear direction, a top board and a bottom board oppositely arranged along the up-down direction, and two side boards oppositely arranged along the left-right direction, the bin door,
  • the backboard, the top board, the bottom board and the two side boards jointly define the accommodation space, an outer cover is arranged above the top board, and the warehouse door includes The first warehouse door and the second warehouse door;
  • the chute is formed on the top plate and extends along the front-rear direction, the manipulation mechanism is located between the top plate and the outer cover, and the manipulation part can move along the left-right direction under the action of external force;
  • the upper ends of the first warehouse door and the second warehouse door both extend upwards and form a flange protruding from the top plate.
  • the flange can block the operating part, or the The flange and the outer cover can jointly cover the manipulation part, and during the movement of the limiting block from a position staggered with the notch to a position aligned with the notch, the manipulation part moves from the two positions to the notch. Move from above one of the subspaces to above the other subspace.
  • the bin body includes a bin door and a back board oppositely arranged along the front-rear direction, a top board and a bottom board oppositely arranged along the up-down direction, and two side boards oppositely arranged along the left-right direction, the bin door,
  • the backboard, the top board, the bottom board and the two side boards jointly define the accommodating space;
  • the baffle includes a first baffle and a second baffle, the first baffle is rotatably connected to the second baffle, and the second baffle is rotatably connected to the back plate or can be Rotatably connected to the top board and the bottom board, in the storage state, the first partition board and the second partition board overlap each other and lean against the back board.
  • the locking structure further includes a fixed limiter, the fixed limiter is fixed to the warehouse body, and in the separated state, the fixed limiter and the movable limiter clamping the partition; or,
  • the present disclosure also provides a delivery robot, including at least one of the above warehouses.
  • the movable limiter when the partition is in the separated state, the movable limiter is against the partition and restricts the rotation of the partition.
  • the partition divides the storage space into two subspaces, and the two subspaces can be used to store different Goods to effectively use the space in the warehouse.
  • the movable limiter can be moved by manipulating the movable limiter so that the movable limiter avoids the partition and releases the function of limiting the rotation of the partition.
  • the partition can be rotated close to the warehouse body
  • the position of the inner wall of the warehouse, the two sub-spaces are connected into one accommodation space, so that the warehouse can store goods of larger size, thereby improving the versatility of the warehouse and making the warehouse suitable for transporting goods of different sizes.
  • the user controls the locking structure to push against or avoid the partition, so that the partition can be rotated in the separated state. Switching between the storage state and the storage state can realize the change of the size of the storage space inside the warehouse.
  • the switching method of the partition is simple and convenient, and the partition is always located inside the warehouse, which is convenient for the storage of the partition and is not easy to lose the partition.
  • Fig. 1 is a front view of a warehouse provided by an exemplary embodiment of the present disclosure, wherein both the first warehouse door and the second warehouse door are in an open state, and the partition is in a separated state;
  • FIG. 2 is an enlarged view of part "A" in Figure 1;
  • Fig. 3 is a perspective view of a warehouse provided in an exemplary embodiment of the present disclosure, wherein the partition is in a storage state;
  • Fig. 4 is a perspective view of a warehouse provided in an exemplary embodiment of the present disclosure, wherein the partition is in a separated state;
  • Fig. 5 is an enlarged view of part "B" in Fig. 4;
  • Fig. 6 is a side view of a partition of a warehouse and a movable limiter of a locking structure provided by an exemplary embodiment of the present disclosure, wherein the partition is in a separated state;
  • Fig. 7 is a perspective view of a partition of a warehouse, a movable limiter of a locking structure and an operating mechanism provided in an exemplary embodiment of the present disclosure, wherein the partition is in a separated state;
  • Fig. 8 is a top view of the operating mechanism of the warehouse provided in an exemplary embodiment of the present disclosure.
  • orientation words such as “up, down, left, right, front, and back” refer to the up, down, left, right, front, and bottom positions of the warehouse in use.
  • up and down can refer to up and down as shown in Figure 1 and Figure 3
  • left and right can refer to left and right as shown in Figure 1 and Figure 4
  • front and back You can refer to the front and back as shown in Figure 4
  • inside and outside refer to the inside and outside of the outline of the relevant parts.
  • terms such as “first” and “second” are used to distinguish one element from another, and do not have sequence or importance.
  • the same symbols in different drawings represent the same elements.
  • the present disclosure provides a warehouse, which may include a warehouse body 1, a partition 2 and a locking structure 3.
  • the inside of the warehouse body 1 forms a useful In the accommodating space 11 for accommodating goods, the partition 2 is arranged in the accommodating space 11.
  • the partition 2 is rotatably connected to the warehouse body 1 and has a partition state and a storage state.
  • the partition 2 divides the accommodating space 11 into Two subspaces 111
  • the partition plate 2 is close to the inner wall of the warehouse body 1, so that the two subspaces 111 communicate with each other, that is, the two subspaces 111 can be combined into the above-mentioned accommodation space 11, and the locking structure 3 includes a movable limiter 31.
  • the movable limiter 31 is movably connected to the bin body 1. In the separated state, at least part of the movable limiter 31 abuts against the partition 2 to limit the rotation of the partition 2.
  • the movable limiting member 31 avoids the partition 2 so that the partition 2 can rotate.
  • the movable limiter 31 abuts against the partition 2 and restricts the rotation of the partition 2, and the partition 2 separates the accommodating space 11
  • the two subspaces 111 can be used to store different goods respectively, so as to effectively utilize the space of the warehouse.
  • the movable limiter 31 can be manipulated to move so that the movable limiter 31 avoids the divider 2, and the function of limiting the rotation of the divider 2 is released.
  • the divider 2 Can be rotated to a position close to the inner wall of the warehouse body 1, as shown in Figure 3, the two subspaces 111 are connected to form a storage space 11, so that the warehouse can store goods with a larger size, thereby improving the versatility of the warehouse and making the cargo
  • the warehouse can be adapted to transport goods of different sizes.
  • the user controls the locking structure 3 to abut against or avoid the partition 2, so that the partition 2 can pass through the rotation.
  • the way of switching between the partition state and the storage state can realize the change of the size of the storage space 11 inside the warehouse.
  • the switching method of the partition 2 is simple and convenient, and the partition 2 is always located inside the warehouse, which is convenient for the storage of the partition 2. Storage, not easy to lose partition 2.
  • the above-mentioned warehouse can be applied in various implementation scenarios such as delivery robots, cargo transport vehicles (such as unmanned delivery vehicles), express cabinets or storage cabinets, which is not limited in the present disclosure.
  • the user when applied to the implementation scenario of a delivery robot, the user can adjust the partition 2 to be in a separated state or a storage state according to the size of the goods, so that the storage space 11 can place a larger-sized goods or two smaller goods at the same time.
  • the size of the goods so as to rationally allocate the storage space 11 inside the delivery robot, and improve the delivery efficiency.
  • the above-mentioned partition 2 can be rotatably connected to the bin body 1 around an axis extending in the up-down direction of the bin body 1, so that, in the storage position, the partition 2 can be close to the side of the bin body 1 extending in the up-down direction. on the side wall.
  • the partition 2 can also be rotatably connected to the bin body 1 around an axis extending in the front-rear direction of the bin body 1, so that, in the storage position, the partition 2 can be close to the bottom wall of the bin body 1 extending in the front-rear direction, or by The locking structure is locked on the top wall of the bin body 1 .
  • the present disclosure does not limit the extension direction of the rotation axis of the separator 2 .
  • the above-mentioned movable limiter 31 can be set to be rotatable or movably connected to the bin body 1.
  • the movable limiter 31 can be The rotating shaft of the limiter is rotatably connected to the bin body 1.
  • the movable limiter 31 rotates toward the direction close to the divider 2 and abuts against the divider 2 to limit the movement of the divider 2.
  • the movable limiter 31 can rotate towards the direction away from the partition 2, thereby avoiding the partition 2, so that the partition 2 can rotate.
  • the movable limiter 31 can be configured to be able to rotate around an axis extending along the front-rear direction of the cartridge body 1 , or rotate around an axis extending along the up-down direction of the cartridge body 1 , which is not limited in the present disclosure.
  • the movable limiter 31 may be set to be movable in a direction approaching or away from the partition 2, when When the movable limiting member 31 moves towards the direction close to the partition 2 and abuts against the partition 2 , the movable limiting member 31 can limit the rotation of the partition 2 so as to maintain the partition 2 in a separated state. When the movable limiting member 31 moves away from the partition 2 , the movable limiting member 31 avoids the partition 2 so that the partition 2 can rotate.
  • the movable limiting member 31 may include a limiting block 311, and a notch 20 for passing through the limiting block 311 is formed on the partition plate 2, and in the partition state, the limit block 311 and the notch 20 are staggered in the moving direction of the movable limiter 31, and at least part of the limit block 311 abuts against the partition 2 to limit the rotation of the partition 2.
  • the stopper 311 is aligned with the notch 20 of the partition 2, and during the rotation of the partition 2, the stopper 311 can pass through the notch 20 to avoid the partition 2, thereby avoiding damage to the partition 2
  • the rotation acts as a limiter.
  • the movable limiting member 31 can be set to move along the front and rear direction of the warehouse body 1, or can be set to move along the direction of the warehouse body 1.
  • the body 1 moves up and down, which is not limited in the present disclosure.
  • the warehouse can also include an operating mechanism 4 located outside the warehouse body 1, the movable limiter 31 can also include a main body 312, and the limiter 311 forms a On the main body part 312, a chute 12 is formed on the bin body 1, the main body part 312 stops on the outer surface of the bin body 1, and the limit block 311 slidably passes through the chute 12 and is located in the bin body 1 for manipulation.
  • the mechanism 4 includes a manipulation part 41, which is connected with the main body part 312 and is used to drive the main body part 312 to move under the action of an external force.
  • the manipulating part 41 can be formed into any shape so that the user can apply a driving force to the manipulating mechanism 4, and the user can drive the movable limiter 31 to move along the chute 12 by pushing the manipulating part 41 to change the limit block of the movable limiter. 311 and the relative position of the partition 2.
  • the above-mentioned operating mechanism 4 can also play a role in changing the direction of the external force.
  • the operating mechanism 4 can include a first wedge-shaped block, the operating portion 41 is formed on the first wedge-shaped block, and the movable limiter 31
  • a second wedge-shaped block may be formed on the side of the main body portion 312 facing away from the limit block 311, and the first wedge-shaped block cooperates with the wedge-shaped surface of the second wedge-shaped block.
  • the movable limiter 31 can move along the sliding groove 12 .
  • the movable limiter 31 is set to be movable along the front and rear direction of the warehouse body 1
  • the user can move the first wedge-shaped block along the left-right direction through the manipulation part 41, and the first wedge-shaped block can push the second wedge-shaped block along the direction of the warehouse body. 1 moves forward and backward, thereby driving the main body 312 and the limiting block 311 to move along the front and rear direction of the bin body 1 , so that the limiting block 311 can be aligned with the notch 20 on the partition 2 .
  • the manipulation mechanism 4 may also include a bracket 42 and a diagonal rod 43 fixed to the bracket 42 , the manipulation portion 41 is formed on the bracket 42 , and the bracket 42 It is movably connected to the bin body 1, and the moving direction of the bracket 42 is perpendicular to the moving direction of the movable limiter 31.
  • the side of the main body 312 away from the limiter 311 is formed with a bump 313, and the oblique rod 43 slides through it.
  • the protruding block 313 the oblique rod 43 is configured to push the protruding block 313 to move when moving with the bracket 42 .
  • the diagonal rod 43 can push the protrusion 313 to move, so that the movable limit Part 31 moves along the chute 12 .
  • the movable limiter 31 is set to be movable along the front and rear direction of the warehouse body 1, the user can move the operating mechanism 4 along the left and right direction, and the projection 313 can be pushed by the inclined rod 43, so that the movable limiter 31 moves along the direction of the warehouse body. 1 to move forward and backward.
  • the manipulation mechanism 4 can be arranged close to the front side of the bin body 1, so as to facilitate the user's operation, and the user can control the movable limiter 31 to move in the front and rear directions by pushing the manipulation mechanism 4 in the left and right directions, which can Avoid interference between the user's hand and other structures of the warehouse, and the operation method is simple and convenient.
  • the included angle (as shown by ⁇ in FIG. 8 ) may be smaller than the friction angle of the inclined rod 43 .
  • the component force of the active force exerted by the movable limiter 31 on the oblique bar 43 in the moving direction of the bracket 42 is always smaller than that of the oblique bar 43 and the protrusion.
  • the component force of the static friction force between the blocks 313 in the moving direction of the bracket 42, that is, pushing the movable limiter 31 cannot cause relative movement between the inclined rod 43 and the projection 313, and the operating mechanism 4 has self-locking capability.
  • the operating mechanism 4 can also include a guide rod 44 fixed to the bracket 42, the axis of the guide rod 44 is perpendicular to the moving direction of the movable limiter 31, and the warehouse body 1 is formed with a guide block 13, a guide hole is formed on the guide block 13, and a guide rod 44 is movably installed in the guide hole.
  • the guide hole can guide the movement of the guide rod 44 to ensure that the operating mechanism 4 can move along the axis of the guide rod 44 without shaking or deviation.
  • the operating mechanism 4 can also include a reset elastic member 45, one end of the reset elastic member 45 is connected to the bracket 42, and the reset elastic member 45 can apply elastic force to the bracket 42, so that the external force applied to the operating mechanism 4 When canceled, the reset elastic member 45 can drive the operating mechanism 4 to reset.
  • a reset elastic member 45 one end of the reset elastic member 45 is connected to the bracket 42, and the reset elastic member 45 can apply elastic force to the bracket 42, so that the external force applied to the operating mechanism 4 When canceled, the reset elastic member 45 can drive the operating mechanism 4 to reset.
  • the protrusion 313 when the separator 2 is in the separated state, the protrusion 313 can be located at the first end of the inclined rod 43, the return elastic member 45 can be a tension spring, and the return elastic member 45 can be connected to On the bracket 42 away from the first end of the oblique rod 43, to apply tension to the bracket 42, so as to ensure that the oblique rod 43 and the protrusion 313 can stably contact the first end, avoiding the oblique rod 43 under conditions such as shaking or impact Relative movement with the projection 313 causes the partition 2 to rotate.
  • the reset elastic member 45 may be a spring, an elastic block, etc., which is not limited in the present disclosure.
  • the warehouse body 1 of the warehouse can have many different shapes, such as barrel shape, spherical shape, cube shape or irregular cube shape and so on.
  • the bin body 1 may include a bin door 14 and a back board 15 arranged oppositely along the front-to-back direction, a top board 16 and a bottom board 17 arranged oppositely along the up-down direction, and two side boards arranged oppositely along the left-right direction. 18 , the door 14 , the back panel 15 , the top panel 16 , the bottom panel 17 and the two side panels 18 jointly define the accommodation space 11 .
  • the chute 12 is formed on the top plate 16 and extends along the front and rear directions
  • the operating mechanism 4 is located between the top plate 16 and the outer cover
  • the operating part 41 can move in the left and right directions under the action of external force
  • the upper ends of the first door 141 and the second door 142 extend upwards and form a flange 143 protruding from the top plate 16.
  • the flange 143 can block the operating portion 41, or the flange 143 and the outer cover can be used together.
  • the manipulating part 41 (that is, the flange 143 blocks part of the manipulating part 41), and during the movement of the stop block 311 from its position staggered with the notch 20 to the position aligned with the notch 20, the manipulating part 41 moves from the two subspaces 111 Move from above one subspace 111 to above another subspace 111 .
  • the operating mechanism 4 is located between the top plate 16 and the outer cover, when the first door 141 and the second door 142 are in the closed state, the flange 143 can cover the operating part 41, or the flange 143 and the outer cover can jointly cover the operating part. 41 , the user cannot perform a push operation on the manipulation part 41 . And when only one of the first door 141 and the second door 142 is opened, the closed flange 143 of the other part still partially covers the manipulator 41, and the user can push the manipulator 41, but the manipulator 41 cannot be moved.
  • the user can push the manipulation part 41 to move from above one subspace 111 to above the other subspace 111 in the two subspaces 111 , so that the limiting block 311 moves from a position staggered with the notch 20 to a position aligned with the notch 20, the limiting block 311 avoids the partition 2, and the partition 2 can be rotated to the storage position.
  • the partition 2 when the partition 2 is in the separated state, different goods can be placed in the subspace 111 corresponding to the first warehouse door 141 and the second warehouse door 142, and the delivery robot
  • the goods in the first warehouse door 141 and the second warehouse door 142 can be delivered separately, and each time the user picks up the goods, the warehouse only opens one warehouse door 14, and the user who picks up the goods cannot take out the unopened warehouse door 14. goods, also cannot contact the goods behind the unopened door 14 by moving the partition 2, thereby effectively ensuring the safety of the goods.
  • the bin body 1 may include a bin door 14 and a back board 15 arranged oppositely along the front-rear direction, a top board 16 and a bottom board 17 arranged oppositely along the up-down direction, and a side board oppositely arranged along the left-right direction.
  • the provided two side panels 18 , the door 14 , the back panel 15 , the top panel 16 , the bottom panel 17 and the two side panels 18 jointly define the accommodation space 11 .
  • the partition 2 may include a first partition 21 and a second partition 22, the first partition 21 is rotatably connected to the second partition 22, and the second partition 22 is rotatably connected to the back plate 15 or rotatably Connected to the top board 16 and the bottom board 17 , in the storage state, the first partition board 21 and the second partition board 22 overlap each other and lean against the back board 15 .
  • the first partition plate 21 and the second partition plate 22 are arranged sequentially in the front-rear direction, and jointly divide the accommodating space 11 into two sub-spaces 111, while in the stored state, the first partition plate 21 and the second partition plate 22 They can overlap each other to reduce the space occupied in the left and right directions, avoid interference with the side plate 18 of the bin body 1 due to the excessive length of the partition board 2 , and facilitate the storage of the partition board 2 .
  • the locking structure 3 may also include a fixed limiter 32.
  • the positioning member 32 is fixed on the bin body 1, and in the separated state, the fixed limiting member 32 and the movable limiting member 31 clamp the partition 2 so that the partition 2 cannot rotate.
  • the movable limiter 31 releases the rotation limiting effect on the partition 2, while the fixed limiter 32 still touches the partition 2, and the partition 2 can only move away from it.
  • the direction of the fixed limiter 32 rotates, and when the partition 2 rotates in the direction close to the fixed limiter 32 , the fixed limiter 32 can always play a limiting role on the separator 2 .
  • the partition 2 can rotate around the rotating shaft in a direction approaching any movable limiting part 31 .
  • the present disclosure also provides a delivery robot, including at least one of the above warehouses.

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Abstract

一种货仓及递送机器人，货仓包括仓体(1)、隔板(2)以及锁止结构(3)，仓体(1)内形成有容纳空间(11)，隔板(2)设置在容纳空间(11)内，隔板(2)可转动地连接于仓体(1)并具有分隔状态和收纳状态，在分隔状态，隔板(2)将容纳空间(11)分隔为两个子空间(111)，在收纳状态，隔板(2)靠近仓体(1)的内壁，锁止结构(3)包括活动限位件(31)，活动限位件(31)活动连接于仓体(1)，在分隔状态，活动限位件(31)抵顶隔板(2)，在隔板(2)从分隔状态切换至收纳状态时，活动限位件(31)避让隔板(2)。

Description

货仓及递送机器人
相关申请的交叉引用
本公开要求于2021年12月20日提交的，申请名称为“货仓及递送机器人”的、中国专利申请号为“202111567024.1”的优先权，该中国专利申请的全部内容通过引用结合在本公开中。
技术领域
本公开涉及货物运输技术领域，具体地，涉及一种货仓及递送机器人。
背景技术
现有的货仓中通常设置有可拆卸的隔板，以使得货仓内的容纳空间能够随着货物的尺寸而改变，当货物尺寸较小时，可以在货仓内安装隔板以将容纳空间分隔为不同的子空间，以用于存放不同的货物；当货物尺寸较大时，可以将隔板拆除，以使两个尺寸较小的子空间合并为一个尺寸较大的容纳空间。
在相关技术中，隔板通常以螺栓连接的方式可拆卸地安装在货仓内，安装和拆卸隔板的过程需要使用工具，操作繁琐，且拆卸后的隔板不便于存放，容易遗失。
技术解决方案
本公开的目的是提供一种货仓及递送机器人，以解决相关技术中存在的技术问题。
为了实现上述目的，本公开提供了一种货仓，包括：
仓体，内部形成有用于容纳货物的容纳空间；
隔板，设置在所述容纳空间内，所述隔板可转动地连接于所述仓体并具有分隔状态和收纳状态，在所述分隔状态，所述隔板将所述容纳空间分隔为两个子空间，在所述收纳状态，所述隔板靠近所述仓体的内壁，以使两个所述子空间相互连通；
锁止结构，包括活动限位件，所述活动限位件活动连接于所述仓体，在所述分隔状态，至少部分所述活动限位件抵顶所述隔板，以限制所述隔板转动，在所述隔板从所述分隔状态切换至所述收纳状态时，所述活动限位件避让所述隔板，以使所述隔板能够转动。
在一些实施例中，所述活动限位件可移动地连接于所述仓体，所述活动限位件包括限位块，所述隔板上形成有用于供所述限位块穿过的缺口，在所述分隔状态，所述限位块与所述缺口在所述活动限位件的移动方向上相互错开，且至少部分所述限位块抵顶所述隔板，在所述隔板从所述分隔状态切换至所述收纳状态时，所述限位块与所述缺口对齐。
在一些实施例中，所述货仓还包括位于所述仓体外部的操纵机构，所述活动限位件还包括主体部，所述限位块形成在所述主体部上，所述仓体上形成有滑槽，所述主体部止挡在所述仓体的外表面上，所述限位块可滑动地穿过所述滑槽并位于所述仓体内，所述操纵机构包括操纵部，所述操纵部与所述主体部连接，并用于在外力作用下带动所述主体部移动。
在一些实施例中，所述斜杆的延伸方向与所述支架的移动方向之间的夹角小于所述斜杆的摩擦角。
在一些实施例中，所述操纵机构还包括支架和固定于所述支架的斜杆，所述操纵部形成在所述支架上，所述支架可移动地连接于所述仓体，且所述支架的移动方向与所述活动限位件的移动方向相互垂直，所述主体部背离所述限位块的一侧形成有凸块，所述斜杆滑动穿设于所述凸块，所述斜杆构造为能够在随所述支架移动的过程中推动所述凸块移动。
在一些实施例中，所述操纵机构还包括固定于所述支架的导向杆，所述导向杆的轴线与所述活动限位件的移动方向相互垂直，所述仓体上形成有导向块，所述导向块上形成有导向孔，所述导向杆可移动地穿设于所述导向孔。
在一些实施例中，所述操纵机构还包括复位弹性件，所述复位弹性件的一端与所述支架连接。
在一些实施例中，所述仓体包括沿前后方向相对设置的仓门和背板、沿上下方向相对设置的顶板和底板、以及沿左右方向相对设置的两个侧板，所述仓门、所述背板、所述顶板、所述底板以及两个所述侧板共同限定出所述容纳空间，所述顶板的上方设置有外罩，所述仓门包括分别与两个所述子空间对应的第一仓门和第二仓门；
所述滑槽形成在所述顶板上并沿所述前后方向延伸，所述操纵机构位于所述顶板与所述外罩之间，所述操纵部能够在外力作用下沿所述左右方向移动；
所述第一仓门和所述第二仓门的上端均向上延伸并形成凸出于所述顶板的凸缘，沿所述前后方向，所述凸缘能够遮挡所述操纵部，或者所述凸缘和所述外罩能够共同遮挡所述操纵部，在所述限位块从其与所述缺口错开的位置移动 至与所述缺口对齐的位置的过程中，所述操纵部从两个所述子空间中的一个子空间的上方移动至另一个子空间的上方。
在一些实施例中，所述仓体包括沿前后方向相对设置的仓门和背板、沿上下方向相对设置的顶板和底板、以及沿左右方向相对设置的两个侧板，所述仓门、所述背板、所述顶板、所述底板以及两个所述侧板共同限定出所述容纳空间；
所述隔板包括第一隔板和第二隔板，所述第一隔板可转动地连接于所述第二隔板，所述第二隔板可转动地连接于所述背板或可转动地连接于所述顶板和所述底板，在所述收纳状态，所述第一隔板和所述第二隔板相互重叠并抵靠在所述背板上。
在一些实施例中，所述锁止结构还包括固定限位件，所述固定限位件固定于所述仓体，在所述分隔状态，所述固定限位件和所述活动限位件夹持所述隔板；或者，
所述活动限位件为两个，在所述分隔状态，两个所述活动限位件夹持所述隔板。
本公开还提供了一种递送机器人，包括至少一个上述的货仓。
在上述的货仓中，隔板位于分隔状态时，活动限位件抵顶于隔板并限制隔板转动，隔板将容纳空间分隔为两个子空间，两个子空间可以用于分别存放不同的货物，以有效地利用货仓的空间。在隔板从分隔状态切换至收纳状态时，可以通过操纵活动限位件运动，以使活动限位件避让隔板，解除对隔板的限转作用，此时隔板能够转动至靠近仓体的内壁的位置，两个子空间连通为一个容纳空间，使得货仓能够存放尺寸较大的货物，从而提高货仓的通用性，使货仓能够适用于运输不同尺寸的货物。相比于相关技术中对隔板进行螺栓拆卸和安装的方式而言，在上述的货仓中，用户通过控制锁止结构抵顶或者避让隔板，以使隔板通过转动的方式在分隔状态和收纳状态之间切换，便能实现货仓内部容纳空间的大小的改变，隔板的切换方式简单便捷，且隔板始终位于货仓的内部，便于隔板的存放，不易遗失隔板。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图 中：
图1是本公开一种示例性实施方式提供的货仓的正视图，其中，第一仓门和第二仓门均处于开启状态，隔板处于分隔状态；
图2是图1中“A”部分的放大图；
图3是本公开一种示例性实施方式提供的货仓的立体图，其中，隔板处于收纳状态；
图4是本公开一种示例性实施方式提供的货仓的立体图，其中，隔板处于分隔状态；
图5是图4中“B”部分的放大图；
图6是本公开一种示例性实施方式提供的货仓的隔板与锁止结构的活动限位件的侧视图，其中，隔板处于分隔状态；
图7是本公开一种示例性实施方式提供的货仓的隔板、锁止结构的活动限位件和操纵机构的立体图，其中，隔板处于分隔状态；
图8是本公开一种示例性实施方式提供的货仓的操纵机构的俯视图。
附图标记说明
1-仓体；11-容纳空间；111-子空间；12-滑槽；13-导向块；14-仓门；141-第一仓门；142-第二仓门；143-凸缘；15-背板；16-顶板；17-底板；18-侧板；2-隔板；20-缺口；21-第一隔板；22-第二隔板；3-锁止结构；31-活动限位件；311-限位块；312-主体部；313-凸块；32-固定限位件；4-操纵机构；41-操纵部；42-支架；43-斜杆；44-导向杆；45-复位弹性件。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如“上、下、左、右、前、后”是指货仓在使用状态下的上、下、左、右、前、后，具体地，“上、下”可以参考如图1和图3所示的上、下，“左、右”可以参考如图1和图4所示的左、右，“前、后”可以参考如图4所示的前、后，“内、外”是指相关零部件轮廓的内、外。此外，需要说明的是，使用的术语如“第一”、“第二”等是为了区别一个要素和另一个要素，不具有顺序性和重要性。另外，在参考附图的描述中，不同附图中的同一标记表示相同的要素。
根据本公开的一个方面，如图1至图8所示，本公开提供了一种货仓，该货仓可以包括仓体1、隔板2以及锁止结构3，仓体1的内部形成有用于容纳货物的容纳空间11，隔板2设置在容纳空间11内，隔板2可转动地连接于仓体1并具有分隔状态和收纳状态，在分隔状态，隔板2将容纳空间11分隔为两个子空间111，在收纳状态，隔板2靠近仓体1的内壁，以使两个子空间111相互连通，即两个子空间111能够合并为上述容纳空间11，锁止结构3包括活动限位件31，活动限位件31活动连接于仓体1，在分隔状态，至少部分活动限位件31抵顶隔板2，以限制隔板2转动，在隔板2从分隔状态切换至收纳状态时，活动限位件31避让隔板2，以使隔板2能够转动。
在上述的货仓中，隔板2位于分隔状态时，如图1和图2所示，活动限位件31抵顶于隔板2并限制隔板2转动，隔板2将容纳空间11分隔为两个子空间111，两个子空间111可以用于分别存放不同的货物，以有效地利用货仓的空间。在隔板2从分隔状态切换至收纳状态时，可以通过操纵活动限位件31运动，以使活动限位件31避让隔板2，解除对隔板2的限转作用，此时隔板2能够转动至靠近仓体1的内壁的位置，如图3所示，两个子空间111连通为一个容纳空间11，使得货仓能够存放尺寸较大的货物，从而提高货仓的通用性，使货仓能够适用于运输不同尺寸的货物。
相比于相关技术中对隔板2进行螺栓拆卸和安装的方式而言，在上述的货仓中，用户通过控制锁止结构3抵顶或者避让隔板2，以使隔板2通过转动的方式在分隔状态和收纳状态之间切换，便能实现货仓内部容纳空间11的大小的改变，隔板2的切换方式简单便捷，且隔板2始终位于货仓的内部，便于隔板2的存放，不易遗失隔板2。
需要说明的是，上述的货仓可以应用于递送机器人、货物运输车(例如无人配送车)、快递柜或者寄存柜等多种实施场景中，本公开对此不作限定。例如，在应用于递送机器人的实施场景中时，用户可以根据货物的尺寸调整隔板2处于分隔状态或者收纳状态，以使容纳空间11可以放置一个较大尺寸的货物或者同时放置两个较小尺寸的货物，从而合理分配递送机器人内部的容纳空间11，提高递送效率。
在一些实施例中，上述隔板2可以围绕沿仓体1的上下方向延伸的轴线可转动地连接于仓体1，这样，在收纳位置，隔板2可以靠近仓体1沿上下方向延伸的侧壁上。隔板2也可以围绕沿仓体1的前后方向延伸的轴线可转动地连接于仓体1，这样，在收纳位置，隔板2可以靠近仓体1沿前后方向延伸的底 壁上，或者通过锁紧结构锁紧在仓体1的顶壁上。本公开对隔板2的转动轴线的延伸方向不作限定。
另外，上述活动限位件31可以设置为可转动或者可移动地连接于仓体1，对于活动限位件31设置为可转动的情况而言，作为一种实施方式，活动限位件31可以通过限位件转轴可转动地连接于仓体1，在隔板2处于分隔状态时，活动限位件31朝向靠近隔板2的方向转动，并抵顶于隔板2以限制隔板2的转动，而在隔板2从分隔状态切换至收纳状态时，活动限位件31可以朝向远离隔板2的方向转动，从而避让隔板2，使得隔板2能够转动。
在一些实施例中，活动限位件31可以设置为能够围绕沿仓体1的前后方向延伸的轴线转动，或者，围绕沿仓体1的上下方向延伸的轴线转动，本公开对此不作限定。
对于活动限位件31设置为可移动地连接于仓体1的情况而言，作为一种示例性实施方式，活动限位件31可以设置为沿靠近或者远离隔板2的方向可移动，当活动限位件31朝向靠近隔板2的方向移动并抵顶在隔板2上时，活动限位件31能够限制隔板2的转动以使隔板2维持在分隔状态。而当活动限位件31朝向远离隔板2的方向移动时，活动限位件31避让隔板2以使得隔板2可转动。
作为另一种示例性实施方式，如图6和图7所示，活动限位件31可以包括限位块311，隔板2上形成有用于供限位块311穿过的缺口20，在分隔状态，限位块311与缺口20在活动限位件31的移动方向上相互错开，且至少部分限位块311抵顶隔板2以能够限制隔板2的转动，在隔板2从分隔状态切换至收纳状态时，限位块311与隔板2的缺口20对齐，在隔板2转动的过程中，限位块311能够穿过缺口20以避让隔板2，从而避免对隔板2的转动起到限位作用。
在一些实施例中，对于上述活动限位件31可移动地连接于仓体1的实施例而言，活动限位件31可以设置为沿仓体1的前后方向移动，也可以设置为沿仓体1的上下方向移动，本公开对此不作限定。
为了便于用户对活动限位件31进行操作，在一些实施例中，货仓还可以包括位于仓体1外部的操纵机构4，活动限位件31还可以包括主体部312，限位块311形成在主体部312上，仓体1上形成有滑槽12，主体部312止挡在仓体1的外表面上，限位块311可滑动地穿过滑槽12并位于仓体1内，操纵机构4包括操纵部41，操纵部41与主体部312连接，并用于在外力作用下带动主体部312移动。其中，操纵部41可以形成为任意形状以便于用户对操纵机构4 施加推动力，用户可以通过推动操纵部41带动活动限位件31沿滑槽12移动，以改变活动限位部的限位块311和隔板2的相对位置。
上述的操纵机构4还可以起到改变外力方向的作用，作为一种示例性实施方式，操纵机构4可以包括第一楔形块，操纵部41形成在该第一楔形块上，活动限位件31的主体部312背离限位块311的一侧可以形成有第二楔形块，第一楔形块与第二楔形块楔形面配合。这样，当用户沿垂直于活动限位件31的移动方向的操纵方向移动第一楔形块时，用户对第一楔形块施加的外力通过楔形面传递给活动限位件31，以使得活动限位件31能够沿滑槽12移动。例如，当活动限位件31设置为沿该仓体1的前后方向可移动时，用户可以通过操纵部41沿左右方向移动第一楔形块，第一楔形块可以推动第二楔形块沿仓体1的前后方向移动，从而带动主体部312和限位块311沿仓体1的前后方向移动，使限位块311能够与隔板2上的缺口20对齐。
作为另一种示例性实施方式，如图5、图7以及图8所示，操纵机构4还可以包括支架42和固定于支架42的斜杆43，操纵部41形成在支架42上，支架42可移动地连接于仓体1，且支架42的移动方向与活动限位件31的移动方向相互垂直，主体部312背离限位块311的一侧形成有凸块313，斜杆43滑动穿设于凸块313，斜杆43构造为能够在随支架42移动的过程中推动凸块313移动。
由于支架42的移动方向与活动限位件31的移动方向相互垂直，当用于通过操纵部41操纵支架42和斜杆43移动时，斜杆43可以推动凸块313移动，以使得活动限位件31沿滑槽12产生移动。例如，当活动限位件31设置为沿仓体1的前后方向可移动时，用户可以沿左右方向移动操纵机构4，通过斜杆43可以推动凸块313，使得活动限位件31沿仓体1的前后方向移动。
在一些实施例中，操纵机构4可以靠近仓体1的前侧设置，以便于用户操作，并且，用户通过在左右方向上推动操纵机构4即可控制活动限位件31沿前后方向移动，可以避免用户的手和货仓的其他结构产生干涉，操作方式简单便捷。
在上述的实施例中，为了避免用户从货仓的容纳空间11内推动活动限位件31，在一些实施例中，如图8所示，斜杆43的延伸方向和支架42的移动方向之间的夹角(如图8中的θ所示)可以小于斜杆43的摩擦角。这样，即使用户从货仓的容纳空间11内推动活动限位件31，活动限位件31对斜杆43施加的作用力在支架42的移动方向上的分力，始终小于斜杆43和凸块313之间的 静摩擦力在支架42的移动方向上的分力，即推动活动限位件31无法使得斜杆43和凸块313之间产生相对移动，操纵机构4具有自锁能力。
为了保证支架42能够沿指定方向移动，在一些实施例中，操纵机构4还可以包括固定于支架42的导向杆44，导向杆44的轴线与活动限位件31的移动方向相互垂直，仓体1上形成有导向块13，导向块13上形成有导向孔，导向杆44可移动地穿设于导向孔。导向孔可以对导向杆44的移动起到导向作用，保证操纵机构4能够沿导向杆44的轴线方向移动而不会产生晃动或者偏差。
在一些实施例中，操纵机构4还可以包括复位弹性件45，复位弹性件45的一端与支架42连接，复位弹性件45可以对支架42施加弹性力，从而在施加在操纵机构4上的外力撤销时，复位弹性件45可以带动操纵机构4复位。
在一些实施例中，如图1所示，当隔板2处于分隔状态时，凸块313可以位于斜杆43的第一端，复位弹性件45可以为拉簧，且复位弹性件45可以连接于支架42上远离斜杆43的第一端的位置，以对支架42施加拉力，从而保证斜杆43和凸块313能够稳定地接触于第一端，避免晃动或撞击等情况下斜杆43和凸块313发生相对移动而造成隔板2转动。
在一些实施例中，上述复位弹性件45可以为弹簧、弹性块等，本公开对此不作限定。
针对不同的应用场景，货仓的仓体1可以具有多种不同的形状，例如桶形、球形、正方体形或者不规则立方体形等。作为一种示例性实施方式，仓体1可以包括沿前后方向相对设置的仓门14和背板15、沿上下方向相对设置的顶板16和底板17、以及沿左右方向相对设置的两个侧板18，仓门14、背板15、顶板16、底板17以及两个侧板18共同限定出容纳空间11。
在上述的仓体1中，为了保证货仓的安全性，在一些实施例中，如图1至图5所示，顶板16的上方设置有外罩，仓门14包括分别与两个子空间111对应的第一仓门141和第二仓门142，滑槽12形成在顶板16上并沿前后方向延伸，操纵机构4位于顶板16与外罩之间，操纵部41能够在外力作用下沿左右方向移动，第一仓门141和第二仓门142的上端均向上延伸并形成凸出于顶板16的凸缘143，沿前后方向，凸缘143能够遮挡操纵部41，或者凸缘143和外罩能够共同遮挡操纵部41(即凸缘143遮挡部分操纵部41)，在限位块311从其与缺口20错开的位置移动至与缺口20对齐的位置的过程中，操纵部41从两个子空间111中的一个子空间111的上方移动至另一个子空间111的上方。
由于操纵机构4位于顶板16和外罩之间，当第一仓门141和第二仓门142 均处于关闭状态时，凸缘143能够遮挡操纵部41，或者凸缘143和外罩能够共同遮挡操纵部41，用户无法对操纵部41进行推动操作。而当第一仓门141和第二仓门142中仅仅打开一者时，关闭的另一者的凸缘143仍部分地遮挡操纵部41，用户可以推动操纵部41，但无法将操纵部41从一个子空间111的上方移动至另一个子空间111的上方，即，虽然限位块311能够沿前后方向移动，但无法移动至与缺口20对齐的位置，限位块311仍能够对隔板2起到止挡作用，隔板2无法从分隔状态切换至收纳状态，因此，未开启的仓门14内的货物也无法被取出，从而保证了货物的安全性。也就是说，只有在第一仓门141和第二仓门142同时开启时，用户才可以推动操纵部41从两个子空间111中的一个子空间111的上方移动至另一个子空间111的上方，以使得限位块311从其与缺口20错开的位置移动至与缺口20对齐的位置，限位块311避让隔板2，隔板2可以转动至收纳位置。
以上述的货仓应用于递送机器人的应用场景为例，当隔板2处于分隔状态时，第一仓门141和第二仓门142所对应的子空间111内可以放置不同的货物，递送机器人可以分别对第一仓门141和第二仓门142内的货物进行递送，而每次用户取货时，货仓仅打开一个仓门14，取货的用户无法取出未打开的仓门14内的货物，也无法通过移动隔板2而接触未打开的仓门14后的货物，从而有效地保证货物的安全性。
为了便于隔板2的收纳，在一些实施例中，仓体1可以包括沿前后方向相对设置的仓门14和背板15、沿上下方向相对设置的顶板16和底板17、以及沿左右方向相对设置的两个侧板18，仓门14、背板15、顶板16、底板17以及两个侧板18共同限定出容纳空间11。隔板2可以包括第一隔板21和第二隔板22，第一隔板21可转动地连接于第二隔板22，第二隔板22可转动地连接于背板15或可转动地连接于顶板16和底板17，在收纳状态，第一隔板21和第二隔板22相互重叠并抵靠在背板15上。在分隔状态，第一隔板21和第二隔板22在前后方向上依次排列，共同将容纳空间11分隔为两个子空间111，而在收纳状态，第一隔板21和第二隔板22可以相互重叠，以减少在左右方向上所占用的空间，可以避免由于隔板2过长而与仓体1的侧板18产生干涉，便于隔板2的收纳。
为了进一步地保证活动限位件31能够限制隔板2在不同方向上的转动，作为一种示例性实施方式，如图2所示，锁止结构3还可以包括固定限位件32，固定限位件32固定于仓体1，在分隔状态，固定限位件32和活动限位件31夹持隔板2，以使隔板2无法转动。在隔板2从分隔状态切换至收纳状态的过程 中，活动限位件31解除对隔板2的限转作用，而固定限位件32依然抵顶隔板2，隔板2只能朝向远离固定限位件32的方向转动，当隔板2沿靠近固定限位件32的方向转动时，固定限位件32始终能够对隔板2起到限位作用。
作为另一种示例性实施方式，活动限位件31还可以为两个，在分隔状态，两个活动限位件31共同夹持隔板2。当两个活动限位件31均避让隔板2时，隔板2可以围绕转轴沿靠近任一活动限位件31的方向转动。
根据本公开的另一个方面，本公开还提供了一种递送机器人，包括至少一个上述的货仓。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (11)

  1. 一种货仓，包括：
    仓体(1)，内部形成有用于容纳货物的容纳空间(11)；
    隔板(2)，设置在所述容纳空间(11)内，所述隔板(2)可转动地连接于所述仓体(1)并具有分隔状态和收纳状态，在所述分隔状态，所述隔板(2)将所述容纳空间(11)分隔为两个子空间(111)，在所述收纳状态，所述隔板(2)靠近所述仓体(1)的内壁，以使两个所述子空间(111)相互连通；
    锁止结构(3)，包括活动限位件(31)，所述活动限位件(31)活动连接于所述仓体(1)，在所述分隔状态，至少部分所述活动限位件(31)抵顶所述隔板(2)，以限制所述隔板(2)转动，在所述隔板(2)从所述分隔状态切换至所述收纳状态时，所述活动限位件(31)避让所述隔板(2)，以使所述隔板(2)能够转动。
  2. 根据权利要求1所述的货仓，其中，所述活动限位件(31)可移动地连接于所述仓体(1)，所述活动限位件(31)包括限位块(311)，所述隔板(2)上形成有用于供所述限位块(311)穿过的缺口(20)，在所述分隔状态，所述限位块(311)与所述缺口(20)在所述活动限位件(31)的移动方向上相互错开，且至少部分所述限位块(311)抵顶所述隔板(2)，在所述隔板(2)从所述分隔状态切换至所述收纳状态时，所述限位块(311)与所述缺口(20)对齐。
  3. 根据权利要求2所述的货仓，其中，所述货仓还包括位于所述仓体(1)外部的操纵机构(4)，所述活动限位件(31)还包括主体部(312)，所述限位块(311)形成在所述主体部(312)上，所述仓体(1)上形成有滑槽(12)，所述主体部(312)止挡在所述仓体(1)的外表面上，所述限位块(311)可滑动地穿过所述滑槽(12)并位于所述仓体(1)内，所述操纵机构(4)包括操纵部(41)，所述操纵部(41)与所述主体部(312)连接，并用于在外力作用下带动所述主体部(312)移动。
  4. 根据权利要求3所述的货仓，其中，所述操纵机构(4)还包括支架(42)和固定于所述支架(42)的斜杆(43)，所述操纵部(41)形成在所述支架(42)上，所述支架(42)可移动地连接于所述仓体(1)，且所述支架(42)的移动方向与所述活动限位件(31)的移动方向相互垂直，所述主体部(312)背离所述限位块(311)的一侧形成有凸块(313)，所述斜杆(43)滑动穿设于所述凸块(313)，所述斜杆(43)构造为能够在随所述支架(42)移动的过程中推动所述凸块(313)移动。
  5. 根据权利要求4所述的货仓，其中，所述斜杆(43)的延伸方向与所述支架(42)的移动方向之间的夹角小于所述斜杆(43)的摩擦角。
  6. 根据权利要求4所述的货仓，其特征在于，所述操纵机构(4)还包括固定于所述支架(42)的导向杆(44)，所述导向杆(44)的轴线与所述活动限位件(31)的移动方向相互垂直，所述仓体(1)上形成有导向块(13)，所述导向块(13)上形成有导向孔，所述导向杆(44)可移动地穿设于所述导向孔。
  7. 根据权利要求4所述的货仓，其中，所述操纵机构(4)还包括复位弹性件(45)，所述复位弹性件(45)的一端与所述支架(42)连接。
  8. 根据权利要求3-7中任一项所述的货仓，其特征在于，所述仓体(1)包括沿前后方向相对设置的仓门(14)和背板(15)、沿上下方向相对设置的顶板(16)和底板(17)、以及沿左右方向相对设置的两个侧板(18)，所述仓门(14)、所述背板(15)、所述顶板(16)、所述底板(17)以及两个所述侧板(18)共同限定出所述容纳空间(11)，所述顶板(16)的上方设置有外罩，所述仓门(14)包括分别与两个所述子空间(111)对应的第一仓门(141)和第二仓门(142)；
    所述滑槽(12)形成在所述顶板(16)上并沿所述前后方向延伸，所述操纵机构(4)位于所述顶板(16)与所述外罩之间，所述操纵部(41)能够在外力作用下沿所述左右方向移动；
    所述第一仓门(141)和所述第二仓门(142)的上端均向上延伸并形成凸出于所述顶板(16)的凸缘(143)，沿所述前后方向，所述凸缘(143)能够遮挡所述操纵部(41)，或者所述凸缘(143)和所述外罩能够共同遮挡所述操纵部(41)，在所述限位块(311)从其与所述缺口(20)错开的位置移动至与所述缺口(20)对齐的位置的过程中，所述操纵部(41)从两个所述子空间(111)中的一个子空间(111)的上方移动至另一个子空间(111)的上方。
  9. 根据权利要求1-7中任一项所述的货仓，其中，所述仓体(1)包括沿前后方向相对设置的仓门(14)和背板(15)、沿上下方向相对设置的顶板(16)和底板(17)、以及沿左右方向相对设置的两个侧板(18)，所述仓门(14)、所述背板(15)、所述顶板(16)、所述底板(17)以及两个所述侧板(18)共同限定出所述容纳空间(11)；
    所述隔板(2)包括第一隔板(21)和第二隔板(22)，所述第一隔板(21)可转动地连接于所述第二隔板(22)，所述第二隔板(22)可转动地连接于所 述背板(15)或可转动地连接于所述顶板(16)和所述底板(17)，在所述收纳状态，所述第一隔板(21)和所述第二隔板(22)相互重叠并抵靠在所述背板(15)上。
  10. 根据权利要求1-7中任一项所述的货仓，其中，所述锁止结构(3)还包括固定限位件(32)，所述固定限位件(32)固定于所述仓体(1)，在所述分隔状态，所述固定限位件(32)和所述活动限位件(31)夹持所述隔板(2)；或者，
    所述活动限位件(31)为两个，在所述分隔状态，两个所述活动限位件(31)夹持所述隔板(2)。
  11. 一种递送机器人，包括至少一个根据权利要求1-10中任一项所述的货仓。
PCT/CN2022/125109 2021-12-20 2022-10-13 货仓及递送机器人 Ceased WO2023116140A1 (zh)

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