CN107599938B - An intelligent express delivery device - Google Patents

Abstract

The invention relates to an intelligent express delivery device, which belongs to the technical field of logistics transportation devices and solves the technical problem of low delivery and pick-up efficiency in the prior art. The solution is: the storage area is set at the front of the compartment, the storage area expansion device is set at the top of the compartment, and an automatic hatch is also arranged on the top of the compartment; the pick-up device is installed at the middle of the bottom surface of the compartment, and the There are upper and lower floors at the rear, of which the lower layer is the delivery platform, the upper layer of the carriage is the drone delivery device, and a hydraulic lifting device is installed between the bottom of the carriage and the carrier. The invention applies the improvement of the automatic three-dimensional warehouse technology to the express car, realizes a high degree of intensification, gets rid of the time limit on sending and receiving express delivery, realizes the intelligent and unmanned sending and receiving process, saves human resources, and saves human resources. To a greater extent, it solves the "last mile" problem of express mail, conforms to the development trend of "Internet + express delivery", and has extensive promotion and application value.

Description

An intelligent express delivery device

technical field

The invention belongs to the technical field of logistics transportation devices, and in particular relates to an intelligent express delivery device.

Background technique

With the rise of the e-commerce industry, popular online shopping has given birth to the prosperity of the express delivery industry, making the development of macro logistics very rapid. However, the development of micro-logistics is relatively lagging behind. The "last mile" delivery from the distribution center to the user has become the bottleneck in the development of the logistics and express delivery industry today.

At present, the "last mile" of the express delivery industry relies heavily on the work of the courier. After the courier arrives at the designated delivery area, he will notify the customer and wait for the recipient to come to pick up the goods. Uncertainty in picking up time results in manpower consumption and time waste.

The express cabinet alleviates this problem to a certain extent, but there are still the following disadvantages:

1. It is necessary to manually pick up the express and notify the customer. The operation is cumbersome and does not save labor costs;

2. The boxes of the express cabinets are limited, and the storage methods of express items of different shapes are not considered, the storage efficiency is reduced, and the inventory quantity is difficult to guarantee;

3. In order to expand the storage space, the terminal of the express cabinet can only expand the horizontal size. For the "fruit-picking" delivery method that is generally adopted today, the height of the self-pickup cabinet is difficult to expand, and the utilization rate of the three-dimensional space is not high and lacks flexibility;

4. The express cabinet is a third-party product between the express company and the customer, which increases the industrial chain of express delivery, and has a low degree of functional integration, which increases the delivery cost of express mail.

Contents of the invention

The purpose of the present invention is to overcome the defects of the prior art, solve the technical problems of low delivery and pick-up efficiency and high labor cost in the prior art, and provide an intelligent express delivery device.

The present invention is achieved through the following technical solutions.

An intelligent express delivery device, which includes a carrier vehicle and a compartment, the compartment is detachably installed on the carrier vehicle, wherein: the compartment includes a storage area, a storage area expansion device, a pick-up device, a delivery and pick-up platform, and an unmanned A machine delivery device and a hydraulic lifting device, the delivery and pickup platform includes a delivery platform and a pick-up platform, and the pick-up platform includes a pick-up platform A area and a pick-up platform B area;

The storage area is arranged at the front of the carriage, and the storage area includes a fixed storage area, a movable storage area A and a movable storage area B, the fixed storage area is fixedly arranged at the front of the carriage, and the movable storage area A and the movable storage area The movable storage area B is symmetrically arranged on the front and rear sides on the right side of the fixed storage area;

The storage area unfolding device is arranged on the top of the compartment, and the storage area deploying device includes a movable cantilever, and the movable storage area A and the movable storage area B are installed on the movable cantilever; the top of the compartment is also provided with an automatic compartment Door;

The pick-up device is installed in the middle of the bottom surface of the compartment, and the pick-up device is a five-degree-of-freedom rectangular coordinate manipulator with a gripper installed at the end;

There are upper and lower layers at the rear of the compartment, the lower layer is a pick-up platform, and the express mail is transferred from the working area of the pick-up device to area A of the pick-up platform or pick-up through the indexable chain conveyor device. Platform B area, on the contrary, take the express mail from the sending platform and transport it to the working area of the pick-up device; The motor drives the UAV delivery device to lift the UAV to a predetermined height, and the automatic hatch opens automatically to complete the take-off or recovery of the UAV;

There are upper and lower layers at the rear of the compartment, the lower layer is a pick-up platform, and the express mail is transferred from the working area of the pick-up device to area A of the pick-up platform or pick-up through the indexable chain conveyor device. Platform B area, on the contrary, the express mail is removed from the sending platform and transported to the working area of the pick-up device; the upper layer of the compartment is the drone delivery device, and the drone delivery device includes the parking platform and the parking platform lifting mechanism, There is a drone on the parking platform, and the stepping motor drives the lifting mechanism of the parking platform to lift the drone to a predetermined height, and the automatic hatch is opened to complete the take-off or recovery of the drone;

A hydraulic lifting device is installed between the bottom of the compartment and the carrier, which is used for installing the compartment on the carrier or dismounting the compartment from the carrier.

Further, the carrier vehicle is a light-duty flatbed carrier; the upper surface of the carriage is provided with a solar photovoltaic panel, which converts solar energy into electrical energy to provide electrical energy for the electrical components in the device.

Further, the storage area includes a number of storage compartments for storing express mail, the storage compartments are dense narrow body grids, the middle part of the pallet on the bottom of each storage compartment is hollowed out, and each storage compartment has a unique number .

Further, the size of the storage compartments in the storage area is set in various specifications according to the size of the express mail.

Further, the storage area unfolding device includes linear guide rails 15, 16, a transmission nut, a transmission screw fixed to the top of the compartment through a bearing, and two drive motors 11, 12, and the two drive motors 11, 12 are respectively arranged on the Above the movable storage area A and the movable storage area B, two transmission nuts are respectively installed on the upper surfaces of the movable storage area A and the movable storage area B, and the movable storage area A and the movable storage area B Mounted on the linear guide rails 15 and 16, the transmission nuts are correspondingly installed on the transmission screw, the controller sends motion signals to the two drive motors 11 and 12 at the same time, and the drive motors 11 and 12 drive the transmission through the reduction chain transmission mechanism 13 and 14 The lead screw rotates, and the transmission lead screw converts the rotary motion into linear motion through the lead screw nut mechanism. The movable storage area A and the movable storage area B move synchronously along the linear guide rails 15 and 16 in opposite directions or opposite directions, and the movable storage areas on both sides The object area A and the movable storage area B are opened or closed synchronously, and the standard movement stroke is the width of the storage area. When the stopper touches the limit switches 17, 18, the movement of the movable storage area A and the movable storage area B stops.

Further, the unmanned aerial vehicle delivery device includes an express loading mechanism, a parking platform lifting mechanism and an automatic hatch mechanism. The manipulator sends the express into the entrance of the unmanned aerial vehicle delivery device and releases it. The roller conveyor slides into the loading compartment which is set at the end of the roller conveyor and is located below the lifting mechanism of the parking platform. The lifting mechanism of the parking platform drives the drone down to the top of the loading cabin, and the clamping mechanism of the drone will The cargo compartment is clamped and loaded to its belly, completing the loading work;

The loading compartment of the UAV is placed at the end of the roller conveyor. Both sides of the parking platform are installed on the lifting chains on both sides by double-sided curved plate chain buckles, and the UAV loading motor is fixed on the upper floor at the rear of the carriage. The UAV loads the reduction box to transmit the power to the driving bevel gear arranged inside the transfer case, and the opposite transfer bevel gear meshing with the driving bevel gear decomposes the motion into two reverse rotation motions, and the transfer bevel gear The other end of the shaft is rigidly connected with the transfer worm, and the transfer worm meshed with the transfer worm is installed on the sprocket shaft at the lower part of the lifting chain, and the sprocket is driven by the worm gear reduction mechanism to realize the lifting movement of the parking platform; The poles are equipped with limit switches to limit the travel;

The automatic door mechanism is arranged directly above the parking platform, and the door DC motor fixed on the top plate transmits the motion to the gear a through the door gear reduction box, and the gear b is arranged above the gear a and meshes with the gear a , the gear c fixed to the other end of the central shaft of gear b meshes with the door shaft gear d, and drives the door shaft to rotate through the DC motor; gear b transmits the motor power to gear e through the first and second passing wheels, and The rotation speed of the gear e is the same as that of the opposite direction, and the power is transmitted to the door shaft gear through the gear e to drive the other door shaft to rotate, and the opening or closing of the automatic door is controlled by controlling the number of turns and the direction of rotation of the door DC motor.

Further, the pick-up device is a five-degree-of-freedom manipulator based on a Cartesian joint, including a Cartesian joint that realizes three degrees of freedom of movement in the X, Y, and Z directions, and can realize that the end gripper of the manipulator can rotate around the X-axis and The rotary joint of the rotation degree of freedom of the column around the Z axis, the rotary joint includes an X-axis rotary motion module and a Z-axis rotary motion module; the Cartesian joint includes an X-axis translational motion module and a Y-axis translational motion module . The Z-axis translation movement module; the Y-axis translation movement module is set on the connecting frame, and the X-axis translation movement module drives the connecting frame to move along the X direction;

The X-axis translational movement module includes a DC high-power motor x, X-axis linear guide rails 21, 22, wheels, lead screws x, and nuts x. The DC high-power motor x is fixed on the bottom plate of the carriage body and is arranged on a fixed storage Below the area, two X-axis linear guide rails 21, 22 are fixed on the bottom plate of the carriage body and are respectively arranged under the movable storage area A and the movable storage area B. The X-axis linear guide rails 21, 22 bear the load of the manipulator and guide The connecting frame performs reciprocating linear motion in the X direction; there are a pair of wheels on both sides of the connecting frame, and the wheels on both sides slide reciprocatingly along the X-axis linear guide rails 21 and 22 respectively; the x output shaft of the DC high-power motor and the wire The shaft center of the bar x is connected by a rigid coupling, and the rotational motion of the DC high-power motor x is converted into the translational motion of the connecting frame along the X direction through the screw nut mechanism fixedly connected under the connecting frame;

The Y-axis translation movement module includes a conveying motor y, a Y-axis linear guide rail, a rotating base, a reduction box y, and a rack. The rotating base is arranged above the connecting frame, and the boss below the rotating base is connected to the The rotating base can move in the Y direction along the connecting frame; the Y-axis linear guide rail and the rack are arranged parallel to each other inside the connecting frame; the reduction box y is fixed under the rotating base, and the conveying motor y The motor rotor provides the power source for the reduction box y, and the rotating base is driven by the rack and pinion mechanism to realize the translational movement of the manipulator along the Y direction;

The Z-axis translation movement module includes a conveying motor z, a column, a rotating base, a Z-axis linear guide, a steering gear z, a reduction box z, a screw z, and a nut z. The rotating base is arranged inside the rotating base and is connected to the rotating base. The base constitutes a rotating pair, which can realize the relative rotation between the rotating base and the rotating base; the column is fixedly connected above the rotating base, the Z-axis linear guide rails are arranged on both sides of the column, the conveying motor z is arranged above the column, and the conveying motor z The output shaft of the gear box z is used as the input shaft of the gearbox z; the screw z is fixed above the rotating base and parallel to the Z-axis linear guide, and the screw z is used as the output shaft of the gear box z; the base of the steering gear z is aligned with the nut z Connected, through the screw nut mechanism, the rotary motion of the conveying motor z is converted into the lifting motion of the steering gear z along the Z direction;

The X-axis rotation movement module includes a manipulator end gripper, the output shaft of the steering gear z is fixedly connected to the bottom plate of the manipulator end gripper, and the movement of the manipulator end gripper around the X-axis is realized through the operation of the steering gear z. Rotary motion: the Z-axis rotary motion module includes an encoding motor, a rotating base, a rotating base and planetary gears, the encoding motor is fixedly connected above the rotating base to drive the planetary gears and acts as a planet carrier, and the edge of the rotating base is set There is a ring gear meshed with the planetary gear, and the rotating base, the rotating base and the planetary gear together realize the rotation of the rotating base relative to the rotating base around the Z axis.

Further, the gripper at the end of the manipulator includes a steering gear a, a steering gear b, a connecting rod a, a connecting rod b, a connecting rod c, a clamping plate and an anti-slip pad, the inner surface of the clamping plate is covered with an anti-slip pad, and even Rod a, connecting rod b, connecting rod c and the frame of steering gear a form a rotating pair in turn, forming a parallelogram-shaped planar linkage mechanism. The output shaft of steering gear a is fixedly connected with connecting rod a, and the clamping plate and The connecting rod b is fixedly connected, and the rotary motion of the steering gear a drives the clamping plate to make a translational movement; the clamper is composed of two symmetrical parallelogram-shaped plane linkages, and the plane linkages arranged symmetrically on both sides pass through the control rudder The closing and unfolding of the two clamping plates are controlled by the rotation angle of the steering gear a and the steering gear b, so as to realize the clamping action and the loosening action of the clamper.

Further, the delivery and pick-up platform is composed of an indexable chain conveyor, a pick-up platform and a delivery platform:

The indexable chain conveying device is arranged on the lower layer at the rear of the carriage, and the bottom of the conveying device is provided with a worm gear, and the bottom of the conveying device is provided with a worm in cooperation with the worm gear, and is driven by a DC motor a fixedly connected to the carriage floor. The worm gear mechanism realizes the rotary movement of the conveying device; the corresponding positions of the conveying device facing the mailing port and the pick-up port are respectively provided with limit switches on the floor of the carriage, and the conveying device rotates to the entrance position of the mailing platform or the pick-up platform. Stop rotation; a chain conveyor belt is installed on the upper part of the conveying device, the front end of the chain conveyor belt is set in the working space of the manipulator, photoelectric proximity switches are installed on both sides of the chain conveyor belt, and the DC motor drives the chain conveyor belt through the sprocket sports;

The mailing platform is arranged at the rear of the chain conveying device, and the DC motor b drives the parallelogram mechanism through the worm gear mechanism to realize the lifting movement of the mailing platform. The width of the mailing platform is not less than the width of the conveyor belt, and the surface of the mailing platform When it moves to the position where it fits the conveyor belt surface, the limit switch is triggered, and the movement stops; the upper partition at the far end limit position on the surface of the sending platform is installed with a scraper for pushing the express from the sending platform to the conveyor belt mechanism, the scraper mechanism is driven by the sprocket fixed on the other side of the parallelogram mechanism on the mailing platform, and the movement is transmitted to the small sprocket fixed on the partition through the chain drive and drives the cam to rotate, and the cam mechanism will rotate The movement is converted into the translation of the cam ejector rod, and then the scraper rotates from 0° to 95° through the crank slider mechanism;

The pick-up platform is set on the right side of the chain conveyor. The pick-up platform is a 30° smooth slope. The express pieces slide from the conveyor belt of the chain conveyor to the pick-up platform, and the express pieces are distributed to the pick-up port through the baffle. A or pick-up port B; the baffle is driven by a micro motor under the pick-up platform, the baffle rotating shaft is connected to the motor output shaft through a Vientiane coupling, and the two movement poles of the baffle are equipped with limit switches 62 and 63; A human-computer interactive LCD display is set above the exit of the pick-up platform.

Further, the hydraulic lifting device includes a hydraulic cylinder and a load beam, and the two load beams are longitudinally distributed at the bottom of the compartment, and the cylinder bodies of the two hydraulic cylinders are fixedly connected to the front and rear of one load beam, and the other two hydraulic cylinders are symmetrically Fixedly connected to another load beam, the piston rods of the four hydraulic cylinders move synchronously to drive the lifting and lowering of the carriage.

Compared with the prior art, the present invention has the following beneficial effects.

1. The station-type smart express vehicle that adopts the self-service express delivery system can get rid of the time limit for sending and picking up express delivery, making the process of sending and picking up express delivery more convenient for users; adopting the pick-up reservation mechanism to improve equipment utilization;

2. Combining the concept of intensive storage with the compartment design of intelligent express vehicles, various specifications of racks are designed, and the expandable shelf design is adopted to improve flexibility. With the five-degree-of-freedom picking manipulator, the three-dimensional space utilization rate is high and high efficiency is achieved. Quickly distribute the express mail; sending the mail is the reverse process, combined with the planning of the mailing route, put the express mail into the empty shelf;

3. The external auxiliary loading manipulator is adopted, and the express mail can be directly loaded into the bin by the loading manipulator after sorting; the design of "one car with multiple compartments" improves the flexibility of the distribution station setting, and facilitates the loading and unloading mail and mail in one;

4. A delivery UAV is installed in the carriage, which cooperates with the lifting mechanism of the parking platform in the carriage and the automatic hatch on the top of the carriage, so that the UAV and the express carriage are integrated, which is conducive to expanding the delivery of the express delivery vehicle;

5. Utilizing the advantages of the Internet of Things technology, combined with the intelligent control system, the intelligent and unmanned operation of the delivery and pickup process is realized; the supporting information system integrates express delivery pickup reservation, postponement, delivery, and return services.

Since the number of self-pickup service points has reached a certain scale, its function is also equivalent to a small logistics center. This design is based on the improvement of the widely used automated three-dimensional warehouse technology and is applied to express vehicles, which realizes a high degree of intensification, gets rid of the time limit for express delivery, realizes the intelligent and unmanned delivery process, and saves Human resources solve the "last mile" problem of express mail to a greater extent, conform to the development trend of "Internet + express delivery", and have good promotion and application value.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the overall three-dimensional structure of the storage area.

Fig. 3 is a schematic diagram of the front view structure in Fig. 2 .

FIG. 4 is a schematic top view of the structure in FIG. 2 .

Fig. 5 is a schematic diagram of the left view in Fig. 2 .

Fig. 6 is a schematic top view of the pick-up device.

Fig. 7 is a schematic diagram of the left view of the pick-up device.

Fig. 8 is a schematic diagram of the three-dimensional structure of the holder.

Fig. 9 is a schematic diagram of the overall three-dimensional structure of the delivery and pick-up platform.

Fig. 10 is a schematic structural diagram of the front view of the delivery and pick-up platform in Fig. 9 .

Fig. 11 is a left view structural schematic diagram of the mailing and picking platform in Fig. 9 .

Fig. 12 is a schematic diagram of the side view structure of the delivery device of the drone.

Fig. 13 is a schematic diagram of the overall three-dimensional structure of the lifting mechanism of the parking platform in Fig. 12 .

Fig. 14 is a front structural schematic diagram of the lifting mechanism of the parking platform in Fig. 13 .

Fig. 15 is a top structural schematic diagram of the lifting mechanism of the parking platform in Fig. 13 .

Fig. 16 is a schematic side view of the lifting mechanism of the parking platform in Fig. 13 .

Fig. 17 is a schematic diagram of the overall three-dimensional structure of the automatic hatch mechanism.

Fig. 18 is a front structural schematic diagram of the automatic hatch mechanism in Fig. 17 .

Fig. 19 is a schematic top view of the automatic hatch mechanism in Fig. 17 .

Fig. 20 is a schematic diagram of the side view of the automatic door mechanism in Fig. 17 .

Fig. 21 is a schematic bottom view of the automatic hatch mechanism in Fig. 17 .

Fig. 22 is a schematic diagram of the overall three-dimensional structure of the external auxiliary mounting device.

Fig. 23 is a front structural schematic diagram of the external auxiliary mounting device in Fig. 22 .

FIG. 24 is a schematic top view of the external auxiliary mounting device in FIG. 22 .

Fig. 25 is a left view structural diagram of the external auxiliary mounting device in Fig. 22 .

Fig. 26 is a right view structural diagram of the external auxiliary mounting device in Fig. 22 .

Fig. 27 is a flow chart of the user self-pick-up method.

Fig. 28 is a flow chart of the sending mode.

Detailed ways

The present invention is described in detail below in conjunction with embodiment: present embodiment is implemented on the premise of technical solution of the present invention, has provided detailed embodiment and concrete operation process, but protection scope of the present invention is not limited to following embodiment.

As shown in Figure 1, a kind of intelligent courier device in the present embodiment, it comprises carrier vehicle 1 and compartment, and compartment is detachably installed on carrier vehicle 1, wherein: described compartment comprises storage area 2, storage area The unfolding device 3, the pick-up device 4, the pick-up platform 5, the unmanned aerial vehicle delivery device 6 and the hydraulic lifting device 7, the pick-up platform 5 includes a sender platform and a pick-up platform, and the pick-up platform Including pick-up platform A area and pick-up platform B area;

The storage area 2 is arranged at the front portion of the carriage, and the storage area 2 includes a fixed storage area 8, a movable storage area A9 and a movable storage area B10, the fixed storage area 8 is fixedly arranged at the front portion of the carriage, and the movable storage area The object area A9 and the movable storage area B10 are symmetrically arranged on the front and rear sides on the right side of the fixed storage area 8;

The storage area deployment device 3 is arranged on the top of the carriage, and the storage area deployment device 3 includes a moving cantilever on which the movable storage area A9 and the movable storage area B10 are installed; the top of the carriage is also provided with automatic hatch;

The pick-up device 4 is installed in the middle part of the bottom surface of the compartment, and the pick-up device 4 is a five-degree-of-freedom rectangular coordinate manipulator with a gripper 19 installed at the end;

The rear portion of the carriage is provided with upper and lower floors, wherein the lower floor is a pick-up platform 5, and the express mail is diverted from the working area of the pick-up device 4 to the pick-up platform A area or In area B of the pick-up platform, otherwise, the express mail is removed from the sending platform and transported to the working area of the pick-up device 4; Man-machine, the UAV delivery device 6 is driven by a stepping motor to lift the UAV to a predetermined height, and the automatic cabin door is automatically opened to complete the take-off or recovery of the UAV;

A hydraulic lifting device 7 is installed between the bottom of the compartment and the carrier vehicle 1, and is used for installing the compartment on the carrier vehicle or dismounting the compartment from the carrier vehicle.

Further, the carrier vehicle 1 is a light-duty flatbed carrier vehicle, and the carrier vehicle is mainly composed of four parts: a power part, a steering part, a frame part, and a suspension part. The whole device adopts an electric dragging method, and is characterized in that: Driven by a pair of high-power motors located side by side in the middle of the frame, combined with a large-speed reduction gearbox, the power is input to the rear axle through a universal coupling; the electronic speed is regulated by the control panel, and the output has 8 speed levels. Model Numerical value; the steering part is an electric steering system, the driving motor at the front end of the device drives the gear reduction box to move, the gear reduction box slides on the fixed rack of the rack, and uses the rack and pinion mechanism to convert the motion into the translational motion of the steering slider; The slider mechanism drives the four-bar mechanism and the front trapezoidal mechanism to move, and drives the wheels on the sides of the two trapezoids to swing synchronously around the steering axis; The suspension part is integrated; the front wheel adopts independent suspension, the rear wheel adopts non-independent leaf spring suspension, and the middle and both ends of the leaf spring are provided with hinge points, which are connected with the frame to transmit various forces and moments. Double rear axle articulation.

Further, the upper surface of the compartment is provided with a solar photovoltaic panel, which converts solar energy into electrical energy to provide electrical energy for the electrical components in the device.

Further, the hydraulic lifting device includes a hydraulic cylinder 86 and a load beam 87, and the two load beams 87 are longitudinally distributed at the bottom of the compartment respectively, and the cylinder bodies of the two hydraulic cylinders 86 are fixedly connected to one load beam 87 front and rear, and the other two Two hydraulic cylinders 86 are symmetrically fixed on the other load beam, and the piston rods of the four hydraulic cylinders 86 move synchronously to drive the lifting and lowering of the carriage.

As shown in Figures 2 to 5, the storage area 2 includes a number of storage compartments for storing express mail. Objects are each uniquely numbered.

Further, the size of the storage compartments in the storage area 2 is set in various specifications according to the size of the express mail.

Further, the storage area unfolding device 3 includes linear guide rails 15, 16, a transmission nut, a transmission screw fixed to the top of the compartment through a bearing, and two drive motors 11, 12, and the two drive motors 11, 12 are respectively arranged on Above the movable storage area A9 and the movable storage area B10, two transmission nuts are respectively installed on the upper surfaces of the movable storage area A9 and the movable storage area B10, and the movable storage area A9 and the movable storage area B10 is mounted on the linear guide rails 15 and 16, and the transmission nuts are correspondingly installed on the transmission screw. The controller sends motion signals to the two driving motors 11 and 12 at the same time, and the driving motors 11 and 12 are driven by the reduction chain transmission mechanism 13 and 14. The transmission screw rotates, and the transmission screw converts the rotary motion into a linear motion through the screw nut mechanism. The movable storage area A9 and the movable storage area B10 move synchronously along the linear guide rails 15 and 16 in opposite directions or opposite directions, and the two sides move The storage area A9 and the movable storage area B10 are opened or closed synchronously. The standard movement stroke is the width of the storage area. When the stopper touches the limit switches 17 and 18, the movement of the movable storage area A9 and the movable storage area B10 stops immediately. .

As shown in Figures 6 to 8, the pick-up device 4 is a five-degree-of-freedom manipulator based on a Cartesian joint, including a Cartesian joint that realizes three degrees of freedom of movement in the X, Y, and Z directions and a manipulator end that can realize The rotary joint of the degree of freedom of rotation of the holder 19 around the X axis and the column 31 around the Z axis, the rotary joint includes an X-axis rotary motion module and a Z-axis rotary motion module; the Cartesian coordinate joint includes an X-axis translational motion module, Y-axis translation movement module, and Z-axis translation movement module; the Y-axis translation movement module is arranged on the connecting frame 23, and the X-axis translation movement module drives the connecting frame 23 to move along the X direction;

The X-axis translation movement module includes a DC high-power motor x20, X-axis linear guide rails 21, 22, wheels 38, lead screws x24, and nuts x. Below the object area 8, two X-axis linear guide rails 21, 22 are fixed on the bottom plate of the carriage body and are respectively arranged under the movable storage area A9 and the movable storage area B10, and the X-axis linear guide rails 21, 22 bear the load of the manipulator And guide the connecting frame 23 to make a reciprocating linear motion in the X direction; a pair of wheels 38 are respectively arranged under the two sides of the connecting frame 23, and the wheels 38 on both sides slide reciprocatingly along the X-axis linear guide rails 21, 22 respectively; DC high-power The output shaft of the motor x20 is connected to the shaft center of the lead screw x24 through a rigid coupling, and the rotation motion of the DC high-power motor x20 is converted into the movement of the connection frame 23 along the X direction through the screw nut mechanism fixedly connected under the connection frame 23. Translational movement;

The Y-axis translation movement module includes a conveying motor y, a Y-axis linear guide rail 25, a rotating base 26, a reduction box y, and a rack 27. The rotating base 26 is arranged above the connecting frame 23, and the rotating base 26 The boss below matches with the connecting frame 23, and the rotating base 26 can do translational movement in the Y direction along the connecting frame 23; the Y-axis linear guide rail 25 and the rack 27 are arranged in the inside of the connecting frame 23 parallel to each other; the reduction box y Fixed below the rotating base 26, the motor rotor of the conveying motor y provides the power source for the reduction box y, and the rotating base 26 is driven by the rack and pinion mechanism to realize the translational movement of the manipulator along the Y direction;

The Z-axis translation movement module includes a conveying motor z, a column 31, a rotating base 28, a Z-axis linear guide rail 32, a steering gear z29, a reduction box z33, a lead screw z34, and a nut z35. The rotating base 28 is arranged on the rotating base 26 The interior of the rotating base and the rotating base 26 constitute a rotating pair, which can realize the relative rotation between the rotating base 28 and the rotating base 26; the column 31 is fixedly connected above the rotating base 28, and the Z-axis linear guide rail 32 is arranged on both sides of the column 31, The conveying motor z is arranged above the column 31, and the output shaft of the conveying motor z is used as the input shaft of the reduction box z33; the lead screw z34 is fixedly arranged above the rotating base 28 and is parallel to the Z-axis linear guide rail 32, and the lead screw z34 acts as a reducer The output shaft of the box z33; the base of the steering gear z29 is connected with the nut z35, and the rotation motion of the conveying motor z is converted into the lifting motion of the steering gear z29 along the Z direction through the screw nut mechanism;

The X-axis rotation movement module includes a manipulator end gripper 19, the output shaft of the steering gear z29 is fixedly connected to the bottom plate 39 of the manipulator end gripper 19, and the manipulator end gripper 19 is realized through the operation of the steering gear z29. Rotational movement around the X-axis; the Z-axis rotational movement module includes an encoding motor 36, a rotating base 26, a rotating base 28 and a planetary gear 37, and the encoding motor 36 is fixedly connected to the top of the rotating base 28 to drive the planetary gear 37 and The role of the planetary carrier, the edge of the rotating base 26 is provided with a ring gear meshed with the planetary gear 37, the rotating base 26, the rotating base 28 and the planetary gear 37 together realize the direction of the rotating base 28 around the Z axis relative to the rotating base 26 rotation.

Further, the manipulator end gripper 19 includes a steering gear a40, a steering gear b41, a connecting rod a42, a connecting rod b43, a connecting rod c44, a clamping plate 45 and an anti-skid pad 46, and the inner surface of the clamping plate 45 is covered with The anti-skid pad 46, the connecting rod a42, the connecting rod b43, the connecting rod c44 and the frame of the steering gear a40 constitute a revolving pair in turn, forming a parallelogram-shaped plane linkage mechanism, and the output shaft of the steering gear a40 is fixedly connected with the connecting rod a42 , the clamping plate 45 is fixedly connected with the connecting rod b43, and the rotational movement of the steering gear a40 drives the clamping plate 45 to perform a translational movement; the clamping device is composed of two symmetrical parallelogram-shaped plane linkages, and the The planar link mechanism controls the closing and unfolding of the two clamping plates 45 by controlling the rotation angles of the steering gear a40 and the steering gear b41, so as to realize the clamping action and the loosening action of the clamper.

As shown in Figures 9 to 11, the delivery and pick-up platform is composed of an indexable chain conveyor, a pick-up platform and a delivery platform:

The indexable chain conveyor is arranged on the lower floor at the rear of the compartment, the bottom of the conveyor is provided with a worm gear 47, and the bottom of the conveyor is matched with the worm gear 47 to be provided with a worm 49, which is fixedly connected to the direct current on the compartment floor. The motor a48 drives the worm gear mechanism to realize the rotary movement of the conveying device; the corresponding positions of the conveying device facing the mailing port and the pick-up port are respectively provided with limit switches on the floor of the carriage, and the conveying device rotates to the entrance of the mailing platform or the pick-up platform Stop rotating at the position; a chain conveyor belt 50 is installed on the upper part of the conveying device, the front end of the chain conveyor belt 50 is set in the working space of the manipulator, and photoelectric proximity switches 51 are arranged on both sides of the chain conveyor belt 50, and the DC motor passes through The sprocket drives the chain conveyor belt 50 to move, and the chain conveyor belt 50 moves to drive the conveying device to move forward or backward synchronously;

The mailing platform is arranged at the rear of the chain conveying device. The DC motor b52 drives the parallelogram mechanism 54 through the worm and gear transmission mechanism 53 to realize the lifting movement of the mailing platform. The width of the mailing platform is not less than the width of the conveyor belt. When the surface of the platform moves to the position where it fits the surface of the conveyor belt, the limit switch is triggered, and the movement stops; the upper partition at the far end limit position on the surface of the sending platform is installed on the upper partition for pushing the express from the sending platform to the conveyor belt. Scraper mechanism, the scraper mechanism is driven by the sprocket 55 fixed on the other side of the parallelogram mechanism on the sending platform, and the motion is transmitted to the small sprocket 56 fixed on the partition through the chain drive and drives the cam 57 to rotate, Use the cam mechanism to convert the rotary motion into the translation of the cam ejector rod 58, and then realize the rotation of the scraper from 0° to 95° through the crank slider mechanism 59;

The pick-up platform is arranged on the right side of the chain conveyor, and the pick-up platform is a 30 ° smooth slope 60, and the express piece slides from the conveyor belt of the chain conveyor to the pick-up platform, and the express piece is distributed to the pick-up platform through the baffle plate 61. Port A or pick-up port B; the baffle is driven by a micro-motor below the pick-up platform, the baffle rotating shaft is connected to the output shaft of the motor through a Vientiane coupling, and the two movement poles of the baffle are provided with limit switches 62, 63; A man-machine interactive LCD display is set above the exit of the pick-up platform.

As shown in Fig. 12 to Fig. 21, described unmanned aerial vehicle conveying device comprises fast mail loading mechanism 64, parking platform elevating mechanism 65 and automatic cabin door mechanism 66, and manipulator sends express mail into the entrance of unmanned aerial vehicle conveying device and releases. Open, the express mail is slid by the inclined roller conveyor 67 under the action of gravity into the load compartment 68 which is arranged at the end of the roller conveyor 67 and is located below the parking platform lifting mechanism 65, and the parking platform lifting mechanism 65 drives the UAV to descend To the top of the loading compartment 68, the UAV clamping mechanism clamps the loading compartment 68 and loads it to its abdomen to complete the loading work;

The unmanned aerial vehicle loading cargo compartment 68 is placed at the end of the roller conveyor 67, and the two sides of the parking platform are installed on the lifting chains 69 on both sides by double-sided curved plate chain buckles, and the unmanned aerial vehicle fixed on the upper floor of the rear of the carriage. The loading motor 70 drives the UAV loading reduction box 71 to transmit power to the driving bevel gear arranged inside the transfer case, and the opposing transfer bevel gear 72 meshing with the driving bevel gear decomposes the motion into two opposite rotations Movement, the other end of the transfer bevel gear shaft is rigidly connected with the transfer worm 73, and the transfer worm gear 74 meshed with the transfer worm 73 is installed on the sprocket shaft at the bottom of the lifting chain, and the sprocket is driven by the worm gear reduction mechanism to rotate. The lifting movement of the parking platform; limit switches are set at the extreme positions of the platform to limit the stroke;

Described automatic hatch mechanism 66 is arranged on the top of the parking platform, and the hatch dc motor 75 fixed on the top plate transmits motion to the gear a77 through the hatch gear reduction box 76, and the gear b78 is arranged on the top of the gear a77 and is connected with the gear a77 meshes with each other, and the gear c79 fixedly connected to the other end of the central shaft of the gear b78 meshes with the hatch shaft gear d80, and drives the door shaft to rotate through a DC motor; the gear b78 transmits the motor power to the Gear e83 and gear b78 have the same rotation speed as gear e83, and the direction of rotation is opposite. Through gear e83, the power is transmitted to the door shaft gear 84 to drive the other door shaft to rotate, and the door is controlled by controlling the number of turns and the direction of rotation of the door DC motor 75. 85 open or close.

As shown in Figure 22 to Figure 26, an auxiliary loading device is also provided outside the device. The auxiliary loading device is a set that can realize translational movement along the X direction and Y direction and around the X axis, Y axis and Z axis. The five-degree-of-freedom manipulator with rotating motion mainly completes the external loading and unloading of express mail on the express car body. The movement of the five-degree-of-freedom manipulator mainly includes: the translational movement of the base 88 along the X direction, the rotational movement of the column 104 around the Z direction, the translational movement of the big arm 89 along the Y direction, the lifting movement of the forearm 90 along the Z direction, and the movement of the end of the forearm. Rotational motion around the Y direction. The translation joint includes the X-axis translation movement module and the Y-axis translation movement module. Rotary joints include X-axis rotary motion module, Y-axis rotary motion module and Z-axis rotary motion module;

In the auxiliary loading device: the X-axis translational movement module includes a DC drive motor 91, a reduction box 92, a base platform 93, an X-axis linear guide 94, a chain 95, a lead screw 96, a nut, a limit switch 97, Mobile platform98. The DC drive motor 1 and the gear reduction box are located on the base platform, and the output gear of the reduction box is used as the chain transmission input gear. The screw shaft is placed on the base platform and is fixedly connected with the chain drive output gear shaft. The linear guide rail is fixed on the base platform parallel to the lead screw. The nut is fixedly connected with the mobile platform, and the DC drive motor 1 realizes the translational movement of the mobile platform and the upper manipulator along the X direction by using the screw nut mechanism through the chain transmission. The limit switch is placed on the base platform according to the position of the storage compartment to detect the position of the manipulator;

In the auxiliary loading device: the Z-axis rotary motion module includes a mobile platform 98, a rotary base 99, a rotary base, a worm 100, a DC motor 101, a reduction box 102, and a code disc. The rotating base is fixed on the mobile platform and cooperates with the rotating base. The edge of the rotating base is provided with a ring gear, which cooperates with the worm next to it to form a worm gear mechanism. The DC motor shaft is connected with the input shaft of the reduction box and fixed on the mobile platform. The output shaft of the gearbox is fixedly connected with the worm shaft, and the rotation of the mechanical arm around the Z axis is realized through the rotation of the DC motor. The other end of the worm shaft is installed with a code disc, and the rotation angle is controlled by controlling the number of pulses;

In the auxiliary loading device: the Y-axis translation movement module includes a Y-axis linear guide rail 103 , a boom 89 , a rotating base, a column 104 , a lead screw, a nut, a DC motor 105 , and a reducer 106 . The column is located above the swivel base. Two Y-axis linear guide rails and lead screws are located above the column and the guide rails and lead screws are parallel to each other. The DC motor is located above the column, and its output shaft serves as the input shaft of the reducer. The output shaft of the reducer is rigidly connected to one end of the lead screw, and the other end of the lead screw is installed with a code disc to control the displacement distance of the boom. The nut cooperates with the lead screw and is fixed below the boom 89, the DC motor rotates, and the telescopic movement of the boom along the Y direction is realized through the lead screw nut mechanism;

In the auxiliary loading device: the X-axis rotary motion module includes a DC motor 107, a reduction box 108, a screw 109, a nut slider 110, a gear 111, a gear 112, a gear 113, a crank slider mechanism, a parallel quadrilateral body. DC motor, gear 111, gear 112, gear 113, leading screw are fixed on the upper arm. The DC motor drives the reduction box to output power to the gear 111, and the gear 112 meshing with it drives the lead screw to rotate, and the lead screw nut mechanism converts the rotational motion of the motor into the linear motion of the nut slider 110 along the Y-axis direction. The connecting rod 114 is connected with the nut slider 110 and the crank 115 through a hinge, and the crank slider mechanism converts the linear motion of the nut slider 110 into the rotational motion of the crank around the hinge. The crank is fixedly connected to one side of the parallelogram mechanism, so as to realize the rotation movement of the small arm of the manipulator around the X-axis, and the parallelogram mechanism ensures that the end piece of the manipulator is always kept perpendicular to the ground. The gear 113 is meshed with the gear 112, and the other end of the shaft of the gear 113 is equipped with a code disc, which is used to control the rotation angle of the small arm of the manipulator around the X axis.

In the auxiliary loading device: the Y-axis rotary motion module includes a steering gear 116 and a manipulator end gripper 117 . The frame of the steering gear 116 is fixedly connected to the end of the forearm of the manipulator, and the output shaft of the steering gear 116 is fixedly connected to the bottom plate of the end gripper of the manipulator. Through the operation of the steering gear 116, the rotation movement of the end gripper of the manipulator around the Y axis can be realized.

The structure of the gripper at the end of the mechanical arm of the external auxiliary loading device is the same as that of the gripper at the end of the mechanical arm of the aforementioned pick-up device, and will not be described here.

During use:

1. The external auxiliary loading device works in the distribution center. It is installed on the express conveyor belt and the loading area of the carriage. The end gripper of the loading device grabs the express, and allocates the corresponding rack according to the shape and size of the express, and adjusts it through the controller. The pose of the manipulator accurately sends the express from the outside to the shelf of the carriage. Multiple loading devices load express items from three sides of the carriage respectively to improve loading efficiency.

2. User self-pick-up method: the flow chart is shown in Figure 27. The carrier transports the compartment to the designated location and separates the compartment and places it at the predetermined location, and automatically activates the storage area expansion device to unfold the movable storage area and take it out. The component device automatically resets, and the carriage enters the service state. The internal controller of the compartment sends a pick-up message to the user client, informing the user to reserve a pick-up time according to their own needs. According to the compartment pick-up function design, two people can operate at the same time at the same time. When the user picks up the item according to the scheduled time, scan the QR code received by the user client in the scanning window, or enter the pickup code on the operation panel to read the information and perform security matching. Issue a motion command to move the end gripper of the pick-up manipulator to the target position, take out the express piece, the pick-up device continues to move, adjust the position of the end gripper of the manipulator under the movement command of the controller, and transport the express piece to the transferable At the entrance of the front end of the position-type chain conveyor, the gripper moves a certain distance in the negative direction of the Z-axis to unload the express onto the conveyor belt. At the entrance of the interval platform, the express mail slides from the conveyor belt of the chain conveyor device to the pick-up platform, and is distributed to the pick-up port A and pick-up port B through the baffle, and the user takes the express mail from the pick-up port to complete the pick-up process.

3. UAV delivery mode: After booking the pick-up time, the user can choose the UAV delivery mode. After confirmation and other operations, the car controller accepts the delivery command, and after information reading and safety matching, control The device sends a motion command to the pickup device, moves the end gripper of the pickup manipulator to the target position, and takes out the express, adjusts the position of the end gripper of the manipulator under the motion command of the controller, and transports it to the rear end of the carriage At the entrance of the roller conveyor on the upper layer, the gripper releases the express piece at this time, and the express piece slides through the roller conveyor into the load compartment under the lifting mechanism of the parking platform, the pick-up device completes the work and resets to stand by, and the stop platform The lifting mechanism drives the drone down to the top of the loading compartment, and the clamping mechanism of the drone clamps the loading compartment and loads it on its abdomen to complete the loading work; after that, the lifting mechanism of the parking platform starts to move, and the special delivery unmanned The drone is lifted to a predetermined height, and at the same time, the automatic hatch on the top of the compartment opens, and the drone takes off with the express to the target location. Afterwards, the automatic hatch closes. After the user takes out the express from the loading compartment, the UAV returns to the voyage. When it is close to the position of the automatic hatch, the automatic hatch opens, and the UAV is recovered to complete the delivery task of the UAV.

4. Mailing mode: the flow chart is shown in Figure 28. When sending mail, the user clicks the mailing button on the operation panel, and after confirmation and other operations, the carriage controller generates a mailing task, the mailing port opens, and the user Place the express on the special E-shaped plate on the upper surface of the sending device, and the DC motor drives the parallelogram mechanism to complete the lifting and delivery of the express. When the shipment moves to the entrance of the chain conveyor belt, the scraper mechanism at the upper partition pushes the shipment from the sending platform to the chain conveyor belt, the parallelogram mechanism resets, and the pick-up device moves to the exit of the chain conveyor belt At the position, the conveyor belt moves to transport the express to the pick-up plate at the end of the manipulator, the controller retrieves the vacant racks, performs path planning, sends a motion command to the pick-up device, moves the pick-up plate at the end of the pick-up manipulator to the target position, and Load the express mail, reset the pick-up device, and send the mail is completed.

5. Unloading of carriages on the delivery vehicle: When the express delivery vehicle arrives at the express distribution site, the carriages need to be unloaded from the delivery vehicle. When the carrier vehicle is parked at an appropriate position for placing the compartment, start the motor to drive the oil pump to suck pressure oil from the oil tank and send it to the hydraulic cylinder to make the piston rod do the elongation movement. At this time, when the carrier is driven out, the car is placed at the target position; when the car needs to be returned to the logistics distribution center, the car needs to be loaded onto the carrier. Firstly, park the carrier vehicle in a proper position so that the rear plate is placed under the compartment; then, start the motor to drive the oil pump to suck out the pressure oil from the hydraulic cylinder and send it to the fuel tank to make the piston rod do contraction movement. When it reaches the minimum limit position, the carrier The flat plate at the rear of the vehicle props up the compartment; finally, the fixing pins are inserted, and the carrier can transport the compartment to the logistics distribution center.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention are all Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (7)

1. The utility model provides an intelligence express delivery device, it includes carrier loader (1) and carriage, carriage detachably installs on carrier loader (1), its characterized in that: the carriage comprises a storage area (2), a storage area unfolding device (3), a picking device (4), a picking platform (5), an unmanned aerial vehicle picking device (6) and a hydraulic lifting device (7), wherein the picking platform (5) comprises a picking platform and a picking platform, and the picking platform comprises a picking platform A area and a picking platform B area;

the storage area (2) is arranged at the front part of the carriage, the storage area (2) comprises a fixed storage area (8), a movable storage area A (9) and a movable storage area B (10), the fixed storage area (8) is fixedly arranged at the front part of the carriage, and the movable storage area A (9) and the movable storage area B (10) are symmetrically arranged on the front side surface and the rear side surface of the right side of the fixed storage area (8);

The storage area unfolding device (3) is arranged at the top of the carriage, the storage area unfolding device (3) comprises a moving cantilever, and the movable storage area A (9) and the movable storage area B (10) are arranged on the moving cantilever; an automatic cabin door (85) is further arranged at the top of the carriage;

the pick-up device (4) is arranged in the middle of the bottom surface of the carriage, and the pick-up device (4) is a five-degree-of-freedom rectangular coordinate manipulator with a clamp holder (19) arranged at the tail end;

an upper layer and a lower layer are arranged at the rear part of the carriage, wherein the lower layer is a mail picking platform (5), a quick mail is split into a first section or a second section of the mail picking platform from a working section of the mail picking device (4) through an indexable chain type conveying device, and otherwise, the quick mail is taken down from the mail picking platform and conveyed to the working section of the mail picking device (4); the upper layer of the carriage is an unmanned aerial vehicle delivery device (6), the unmanned aerial vehicle delivery device (6) is provided with an unmanned aerial vehicle, the unmanned aerial vehicle is driven by a stepping motor to lift the unmanned aerial vehicle to a preset height by the unmanned aerial vehicle delivery device (6), and the automatic cabin door (85) is automatically opened to finish take-off or recovery of the unmanned aerial vehicle;

a hydraulic lifting device (7) is arranged between the bottom of the carriage and the carrier vehicle (1) and is used for mounting the carriage on the carrier vehicle or dismounting the carriage from the carrier vehicle;

The unmanned aerial vehicle delivery device comprises a express mail loading mechanism (64), a stopping platform lifting mechanism (65) and an automatic cabin door mechanism (66), a manipulator loosens after delivering express mail into an inlet of the unmanned aerial vehicle delivery device, the express mail slides into a carrying cabin (68) arranged at the tail end of the roller conveyor (67) and positioned below the stopping platform lifting mechanism (65) under the action of gravity by an inclined roller conveyor (67), the stopping platform lifting mechanism (65) drives the unmanned aerial vehicle to descend to the position above the carrying cabin (68), and an unmanned aerial vehicle clamping mechanism clamps and loads the carrying cabin (68) to the abdomen of the unmanned aerial vehicle to finish loading work;

the unmanned aerial vehicle loading cargo cabin (68) is arranged at the tail end of the roller conveyor (67), two sides of the stopping platform are mounted on lifting chains (69) at two sides by double-side bent plate buckles, an unmanned aerial vehicle loading motor (70) fixed on an upper bottom plate at the rear part of a carriage drives an unmanned aerial vehicle loading reduction gearbox (71) to transmit power to a drive bevel gear arranged in the transfer box, an opposite transfer bevel gear (72) meshed with the drive bevel gear breaks up the motion into two opposite rotary motions, the other end of the transfer bevel gear shaft is rigidly connected with a transfer worm (73), a transfer worm wheel (74) meshed with the transfer worm (73) is mounted on a chain wheel shaft at the lower part of the lifting chain, and a worm wheel reduction mechanism is utilized to drive a chain wheel to rotate so as to realize lifting motion of the stopping platform; limit switches are arranged at the lifting pole positions of the platform to limit the stroke;

The automatic cabin door mechanism (66) is arranged right above the shutdown platform, a cabin door direct current motor (75) fixed on the top plate transmits motion to a gear a (77) through a cabin door gear reduction box (76), a gear b (78) is arranged above the gear a (77) and meshed with the gear a (77), a gear c (79) fixedly connected to the other end of the central shaft of the gear b (78) is meshed with a cabin door shaft gear d (80), and the door shaft is driven to rotate through the direct current motor; the gear b (78) transmits motor power to the gear e (83) through the first idler wheel (81) and the second idler wheel (82), the gear b (78) rotates reversely with the rotation speed of the gear e (83), the gear e (83) transmits power to the cabin door shaft gear (84) to drive the other door shaft to rotate, and the opening or closing of the automatic cabin door (85) is controlled by controlling the number of turns and the rotating direction of the cabin door direct current motor (75);

the workpiece taking device (4) is a five-degree-of-freedom manipulator based on rectangular coordinates, and comprises rectangular coordinates for realizing X, Y, Z three-direction movement degrees of freedom and a rotary joint for realizing the rotational degrees of freedom of a manipulator tail end clamp holder (19) around an X axis and a stand column (31) around a Z axis, wherein the rotary joint comprises an X axis rotary motion module and a Z axis rotary motion module; the rectangular coordinate joint comprises an X-axis translational movement module, a Y-axis translational movement module and a Z-axis translational movement module; the Y-axis translational movement module is arranged on the connecting frame (23), and the X-axis translational movement module drives the connecting frame (23) to move along the X direction;

The X-axis translational motion module comprises a direct-current high-power motor X (20), X-axis linear guide rails (21, 22), wheels (38), a screw rod X (24) and a nut X, wherein the direct-current high-power motor X (20) is fixed on a bottom plate of a carriage main body, is arranged below a fixed storage area (8), and two X-axis linear guide rails (21, 22) are fixed on the bottom plate of the carriage main body and are respectively arranged below a movable storage area A (9) and a movable storage area B (10), and the X-axis linear guide rails (21, 22) bear the load of a manipulator and guide a connecting frame (23) to do reciprocating linear motion in the X direction; a pair of wheels (38) are respectively arranged below two sides of the connecting frame (23), and the wheels (38) at two sides respectively slide along the X-axis linear guide rails (21, 22) in a reciprocating manner; an output shaft of the direct current high-power motor X (20) is connected with the axis of a screw rod X (24) through a rigid coupling, and the rotation motion of the direct current high-power motor X (20) is converted into the translational motion of the connecting frame (23) along the X direction through a screw rod nut mechanism fixedly connected below the connecting frame (23);

the Y-axis translational motion module comprises a conveying motor Y, a Y-axis linear guide rail (25), a rotating base (26), a reduction gearbox Y and a rack (27), wherein the rotating base (26) is arranged above the connecting frame (23), a boss below the rotating base (26) is matched with the connecting frame (23), and the rotating base (26) can do translational motion along the connecting frame (23) in the Y direction; the Y-axis linear guide rail (25) and the rack (27) are arranged in parallel in the connecting frame (23); the reduction gearbox Y is fixed below the rotating base (26), a motor rotor of the conveying motor Y provides a power source for the reduction gearbox Y, and the rotating base (26) is driven by the gear rack mechanism to realize translational movement of the manipulator along the Y direction;

The Z-axis translational motion module comprises a conveying motor Z, an upright post (31), a rotating base (28), a Z-axis linear guide rail (32), a steering engine Z (29), a reduction gearbox Z (33), a screw rod Z (34) and a nut Z (35), wherein the rotating base (28) is arranged in the rotating base (26) and forms a revolute pair with the rotating base (26), and the relative rotation of the rotating base (28) and the rotating base (26) can be realized; the upright post (31) is fixedly connected above the rotary base (28), the Z-axis linear guide rails (32) are arranged on two sides of the upright post (31), the conveying motor Z is arranged above the upright post (31), and an output shaft of the conveying motor Z is used as an input shaft of the reduction gearbox Z (33); the screw rod Z (34) is fixedly arranged above the rotating base (28) and is parallel to the Z-axis linear guide rail (32), and the screw rod Z (34) is used as an output shaft of the reduction gearbox Z (33); the base of the steering engine Z (29) is connected with a nut Z (35), and the rotating motion of the conveying motor Z is converted into the lifting motion of the steering engine Z (29) along the Z direction through a screw-nut mechanism;

the X-axis rotary motion module comprises a manipulator tail end clamp holder (19), an output shaft of the steering engine z (29) is fixedly connected with a bottom plate (39) of the manipulator tail end clamp holder (19), and rotary motion of the manipulator tail end clamp holder (19) around the X-axis is realized through operation of the steering engine z (29);

The Z-axis rotary motion module comprises a coding motor (36), a rotary base (26), a rotary base (28) and a planetary gear (37), wherein the coding motor (36) is fixedly connected above the rotary base (28) to drive the planetary gear (37) and plays a role of a planet carrier, a gear ring meshed with the planetary gear (37) is arranged on the edge of the rotary base (26), and the rotary base (26), the rotary base (28) and the planetary gear (37) jointly realize the rotation of the rotary base (28) around the Z-axis direction relative to the rotary base (26);

the mail sending and taking platform consists of an indexable chain type conveying device, a mail taking platform and a mail sending platform:

the indexable chain type conveying device is arranged at the lower layer at the rear part of the carriage, a worm wheel (47) is arranged at the bottom of the conveying device, a worm (49) is arranged at the bottom of the conveying device in cooperation with the worm wheel (47), and a direct current motor a (48) fixedly connected to the bottom plate of the carriage drives a worm wheel and worm mechanism to realize the rotary motion of the conveying device; limit switches are respectively arranged on the carriage bottom plate at the corresponding positions of the conveying device, which are opposite to the mail sending port and the mail taking port, and the conveying device stops rotating when rotating to the mail sending platform or the inlet position of the mail taking platform; the upper part of the conveying device is provided with a chain type conveying belt (50), the front end of the chain type conveying belt (50) is arranged in a working space of the manipulator, two sides of the chain type conveying belt (50) are provided with photoelectric proximity switches (51), and a direct current motor drives the chain type conveying belt (50) to move through a chain wheel;

The mail platform is arranged at the rear of the chain type conveying device, the direct current motor b (52) drives the parallelogram mechanism (54) through the worm gear and worm transmission mechanism (53) to realize lifting movement of the mail platform, the width of the mail platform is not smaller than that of the conveying belt, and when the surface of the mail platform moves to a position attached to the belt surface of the conveying belt, the limit switch is triggered, and the movement is stopped; a scraping plate mechanism for pushing the express mail from the mail platform to the conveying belt is arranged on a baffle plate above the far-end limit position of the surface of the mail platform, the scraping plate mechanism is driven by a chain wheel (55) fixed on the other side of the parallelogram mechanism of the mail platform, the movement is transmitted to a small chain wheel (56) fixed on the baffle plate through chain transmission and drives a cam (57) to rotate, the rotation movement is converted into the translation of a cam ejector rod (58) through the cam mechanism, and then the rotation of 0-95 degrees of scraping plate is realized through a crank slider mechanism (59);

the picking platform is arranged on the right side of the chain type conveying device, the picking platform is a 30-degree smooth inclined surface (60), the quick-speed parts slide from the conveying belt of the chain type conveying device to the picking platform, and the quick-speed parts are distributed to the picking port A or the picking port B through the baffle plate (61); the baffle is driven by a micro motor below the workpiece taking platform, a baffle rotating shaft is connected with a motor output shaft through a universal coupling, and limit switches (62, 63) are arranged at two motion pole positions of the baffle; and a man-machine interaction LCD display screen is arranged above the pickup platform outlet.

2. The intelligent express delivery device of claim 1, wherein: the carrier vehicle (1) is a light flat-plate carrier vehicle; the upper surface of the carriage is provided with a solar photovoltaic panel which converts solar energy into electric energy to provide electric energy for electric elements in the device.

3. The intelligent express delivery device of claim 1, wherein: the storage area (2) comprises a plurality of storage grids for storing express items, the storage grids are dense narrow-body grids, the middle of a supporting plate on the bottom surface of each storage grid is hollowed out, and each storage grid is respectively provided with a unique number.

4. The intelligent express delivery device of claim 3, wherein: the size of the storage grid in the storage area (2) is set into various specifications according to the size of the express mail.

5. The intelligent express delivery device of claim 1, wherein: the storage area unfolding device (3) comprises linear guide rails (15, 16), transmission nuts, a transmission screw rod fixed on the top of a carriage through bearings and two driving motors (11, 12), wherein the two driving motors (11, 12) are respectively arranged above the movable storage area A (9) and the movable storage area B (10), the two transmission nuts are respectively correspondingly arranged on the upper surfaces of the movable storage area A (9) and the movable storage area B (10), the movable storage area A (9) and the movable storage area B (10) are hung on the linear guide rails (15, 16), the transmission nuts are correspondingly arranged on the transmission screw rod, the controller simultaneously sends motion signals to the two driving motors (11, 12), the driving motors (11, 12) drive the transmission screw rod to rotate through a speed reduction chain transmission mechanism (13, 14), the transmission screw rod converts rotary motion into linear motion, the movable storage area A (9) and the movable storage area B (10) synchronously move in opposite directions or back to back along the linear guide rails (15, 16), the movable storage area A (9) and the movable storage area B (10) synchronously move to stop the movable storage area (10) when the movable storage area A (10) and the movable storage area (10) move in a standard storage area (17) are closed.

6. The intelligent express delivery device of claim 1, wherein: the manipulator tail end clamp holder (19) comprises a steering engine a (40), a steering engine b (41), a connecting rod a (42), a connecting rod b (43), a connecting rod c (44), a clamping plate (45) and an anti-slip pad (46), wherein the anti-slip pad (46) is covered on the inner surface of the clamping plate (45), the connecting rod a (42), the connecting rod b (43), the connecting rod c (44) and a rack of the steering engine a (40) sequentially form a revolute pair to form a parallelogram plane connecting rod mechanism, an output shaft of the steering engine a (40) is fixedly connected with the connecting rod a (42), the clamping plate (45) is fixedly connected with the connecting rod b (43), and the rotating motion of the steering engine a (40) drives the clamping plate (45) to do translational motion; the clamp holder is composed of two symmetrical parallelogram plane link mechanisms, and the two plane link mechanisms which are symmetrically arranged at two sides control the closing and the opening of the two clamping plates (45) through controlling the rotation angles of the steering engine a (40) and the steering engine b (41), so that the clamping action and the releasing action of the clamp holder are realized.

7. The intelligent express delivery device of claim 1, wherein: the hydraulic lifting device comprises hydraulic cylinders (86) and bearing beams (87), wherein the two bearing beams (87) are respectively longitudinally distributed at the bottom of a carriage, the front and back of the cylinder bodies of the two hydraulic cylinders (86) are fixedly connected to one bearing beam (87), the other two hydraulic cylinders (86) are symmetrically fixedly connected to the other bearing beam, and the piston rods of the four hydraulic cylinders (86) synchronously move to drive the lifting and the descending of the carriage.

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