transport vehicles

Abstract

A transport vehicle, comprising a carriage (2) and a cargo rack (3) arranged in the carriage (2), the cargo rack (3) having a plurality of storage positions (34) for storing cargo (1); the transport vehicle also comprises a fixing mechanism (4) and a pick-and-place mechanism (5), the fixing mechanism (4) being arranged in each storage position (34) and being used to automatically fix the cargo (1) relative to the corresponding storage position (34) after the cargo (1) is placed in the corresponding storage position (34); the pick-and-place mechanism (5) being arranged in the carriage (2) and being used to automatically store and retrieve the cargo (1) in each storage position (34).

Description

Technical Field

[0001] The present invention belongs to the technical field of transportation equipment, and more specifically, relates to a transportation vehicle. Background Art

[0002] At present, land transportation of express goods usually adopts the method of stacking all the goods as a whole and loading them into the compartment of the transport vehicle. If the transport vehicle is required to automatically store the goods into the compartment from different locations and the transport vehicle is required to automatically take out the designated goods from the compartment at different locations, the transport vehicle can be built-in with an automatic storage and retrieval mechanism similar to that used in the ground automated warehousing system, that is, a cargo rack with a number of storage positions is set in the compartment of the transport vehicle, and a storage and retrieval port is opened on the compartment. The automatic storage and retrieval mechanism can automatically move the goods between the various storage positions and the storage and retrieval ports, so that the transport vehicle can automatically store and retrieve the designated goods in the compartment.

[0003] However, compared with the ground automated warehousing system, transport vehicles are more likely to cause the goods to shake during driving, which may lead to damage to the goods; and once the goods move relative to the storage location during the driving process of the vehicle, it will also make it difficult for the automatic storage and retrieval mechanism to accurately retrieve the goods. Summary of the invention

[0004] Based on this, it is necessary to provide a transport vehicle, comprising a carriage and a cargo rack arranged in the carriage, wherein the cargo rack has a plurality of storage locations for storing cargo, and the transport vehicle further comprises:

[0005] A pick-and-place mechanism, disposed in the carriage, for automatically picking up and placing the goods in each of the storage locations;

[0006] A fixing mechanism is arranged in each of the storage positions and is used to automatically fix the goods relative to the corresponding storage position after the goods are placed in the corresponding storage position by the pick-and-place mechanism.

[0007] The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 A schematic diagram of a portion of the structure of a transport vehicle provided in an embodiment of the present invention Figure 1 ;

[0010] Figure 2 A schematic diagram of a portion of the structure of a transport vehicle provided in an embodiment of the present invention Figure 2 ;

[0011] Figure 3 A schematic diagram of the structure of a cargo rack, a pick-and-place mechanism, and a fixing mechanism provided in an embodiment of the present invention;

[0012] Figure 4 A schematic diagram of the structure of a pick-and-place mechanism, goods, a fixing mechanism and a second cabinet provided in an embodiment of the present invention;

[0013] Figure 5 A schematic diagram of the structure of a fixing mechanism provided in an embodiment of the present invention;

[0014] Figure 6 An exploded schematic diagram of a fixing mechanism provided in an embodiment of the present invention;

[0015] Figure 7 A side view of a fixing mechanism provided by an embodiment of the present invention;

[0016] Figure 8 A side view of a clamping arm, a fixing mechanism and a cargo connection provided by an embodiment of the present invention;

[0017] Fig. 9 When the clamping arm provided in the embodiment of the present invention does not unlock the fixing mechanism, Figure 8 The enlarged schematic diagram of point A in the middle;

[0018] Fig.10 When the clamping arm provided in the embodiment of the present invention unlocks the fixing mechanism, Figure 8 The enlarged schematic diagram of point A in the middle;

[0019] Fig.11 A schematic diagram of the structure of a fixing mechanism provided in an embodiment of the present invention when fixing goods;

[0020] Fig.12 A side view of a fixing mechanism for fixing the same cargo provided by an embodiment of the present invention;

[0021] Fig.13 A schematic diagram of the structure of the goods provided by the embodiment of the present invention;

[0022] Fig.14 A schematic diagram of the structure of the connection between the clamping arm, the fixing mechanism and the cargo provided in another embodiment of the present invention;

[0023] Fig.15 for Fig.14 The enlarged schematic diagram of point B in the middle;

[0024] Fig.16When the clamping arm provided in another embodiment of the present invention does not unlock the fixing mechanism, Fig.14 The enlarged side view of point B in the middle;

[0025] Fig.17 When the clamping arm unlocks the fixing mechanism provided in another embodiment of the present invention, Fig.14 Enlarged side view of point B in the middle. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] For the convenience of description, three coordinate axes perpendicular to each other in space are defined as X-axis, Y-axis and Z-axis, where X-axis and Y-axis are two coordinate axes perpendicular to each other in the same horizontal plane, and Z-axis is a coordinate axis in the vertical direction; X-axis, Y-axis and Z-axis are located in three planes perpendicular to each other in space, namely XY plane, YZ plane and XZ plane, where XY plane is a horizontal plane, XZ plane and YZ plane are both vertical planes, and XZ plane is perpendicular to YZ plane.

[0028] Please also read Figures 1 to 3 , the transport vehicle provided by the embodiment of the present invention is now described. The transport vehicle includes a carriage 2 and a cargo rack 3 provided in the carriage 2, the cargo rack 3 having a plurality of storage positions 34 for storing goods 1; specifically, the shape of the goods 1 is a cube or at least the shape of the bottom of the goods 1 is a cube. The transport vehicle also includes a fixing mechanism 4 provided in each storage position 34 and a pick-and-place mechanism 5 provided in the carriage 2. The pick-and-place mechanism 5 is used to automatically pick up and place the goods 1 in each storage position 34, and the fixing mechanism 4 is used to automatically fix the goods 1 relative to the corresponding storage position 34 after the goods 1 are placed in the corresponding storage position 34 by the pick-and-place mechanism 5. Specifically, each storage position 34 includes a storage plate 341 for storing the goods 1.

[0029] In one embodiment, please refer to Figure 3 , the cargo rack 3 may include a first cabinet 31 and a second cabinet 32, the first cabinet 31 and the second cabinet 32 ​​are arranged opposite to each other, and the first cabinet 31 and the second cabinet 32 ​​each have a plurality of storage positions 34. A transport channel 33 for the movement of the pick-up and place mechanism 5 is formed between the first cabinet 31 and the second cabinet 32, and the transport channel 33 is connected to each storage position 34. With this structure, the pick-up and place mechanism 5 can store the cargo 1 in the storage positions 34 of the first cabinet 31 and the second cabinet 32 ​​respectively, or take away the cargo 1 in the storage positions 34 of the first cabinet 31 and the second cabinet 32. In other embodiments, the number and placement of the cabinets can be adjusted according to actual needs, and are not limited to this.

[0030] In one embodiment, please refer to Figure 2 , a storage port 21 and a shield 22 for shielding the storage port 21 are provided on the outer wall of the compartment 2. One of the storage positions 34 of the first cabinet 31 or the second cabinet 32 ​​is connected to the storage port 21. When the operator or external device sends the goods 1 into the storage position 34 connected to the storage port 21 through the storage port 21, the pick-and-place mechanism 5 can move the goods 1 to other designated storage positions 34. After the goods 1 are placed in the storage position 34, the fixing mechanism 4 automatically fixes the goods 1 relative to the storage position 34, thereby completing the operation of automatically storing the goods 1 in the designated storage position 34 in the compartment 2 and fixing the goods 1 relative to the storage position 34. On the contrary, the fixing mechanism 4 automatically releases the fixation of the goods 1, and the pick-and-place mechanism 5 moves the goods 1 from the storage position 34 where it is located to the storage position 34 connected to the storage port 21. At this time, the operator or external device takes away the goods 1 through the storage port 21, thereby completing the operation of automatically taking out the goods 1 from the designated storage position 34 in the compartment 2. In other embodiments, the number, position, size, etc. of the access openings 21 can be adjusted according to actual needs; the carriage 2 can also be provided with a cargo moving mechanism at the access openings 21 to enable the cargo 1 to be automatically moved in and out of the access openings 21, which is not a sole limitation here.

[0031] Compared with the prior art, the transport vehicle provided by the embodiment of the present invention has a fixing mechanism 4 set in each storage position 34 of the cargo rack 3. After the cargo 1 is placed in the designated storage position 34 by the pick-up and placement mechanism 5, the fixing mechanism 4 can automatically fix the cargo 1 relative to the storage position 34, thereby preventing the cargo 1 from shaking relative to the storage position 34 when the transport vehicle is driving, thereby protecting the cargo 1 from collision damage, and keeping the cargo 1 in a designated position relative to the storage position 34 to ensure that the pick-up and placement mechanism 5 can accurately pick up the cargo 1.

[0032] In one embodiment, the fixing mechanism 4 can be driven by a controlled electromagnetic component or a pneumatic component to realize that the fixing mechanism 4 automatically fixes and automatically releases the goods 1. In other embodiments, the fixing mechanism 4 can also be provided with other types of drivers to realize that the fixing mechanism 4 automatically fixes and automatically releases the goods 1, which is not limited here.

[0033] In another embodiment, please refer to Figure 4 and Figure 5As a specific implementation of the transport vehicle provided by the embodiment of the present invention, the fixing mechanism 4 includes at least one action component 40 provided in each storage position 34 and a self-restoring member provided on the action component 40. The action component 40 is used to be driven by the action force of the pick-and-place mechanism 5 to release the fixation of the goods 1 when the pick-and-place mechanism 5 takes the goods 1 from the corresponding storage position 34; the self-restoring member is used to drive the action component 40 to restore the fixation of the goods 1 when the action component 40 is not acted upon by the action force of the pick-and-place mechanism 5; it can be understood that when the action force of the pick-and-place mechanism 5 on the action component 40 gradually decreases, the self-restoring member can also drive the action component 40 to restore the fixation of the goods 1. In this embodiment, the fixing mechanism 4 realizes automatic release and automatic restoration of the goods 1 respectively through the action force of the pick-and-place mechanism 5 and the self-restoring member, without the need to set additional drivers in each storage position 34, avoiding the failure of the fixing mechanism 4 driven by the driver to work normally due to the failure of one of the drivers, improving the overall reliability of the transport vehicle, and significantly reducing the production and maintenance costs of the transport vehicle. Moreover, the fixing mechanism 4 can cooperate with the picking and placing mechanism 5 to synchronously release or restore the fixing of the goods 1 during the picking and placing process of the goods 1, so as to avoid affecting the efficiency of the picking and placing mechanism 5 in picking and placing the goods 1.

[0034] In one embodiment, please refer to Fig.11 and Fig.12 , at least two opposing and spaced action components 40 are provided in each storage position 34, each action component 40 is provided with a self-restoring member, and the cargo 1 is stored between the two action components 40, and the two action components 40 cooperate to fix the cargo 1 relative to the storage position 34. In another embodiment, each storage position 34 is provided with only one action component 40 opposing and spaced from the inner wall of the carriage 2, and the cargo 1 is stored between the action component 40 and the inner wall of the carriage 2, and the action component 40 cooperates with the inner wall of the carriage 2 to fix the cargo 1 relative to the storage position 34. In other embodiments, the number of action components 40 in each storage position 34 can be adjusted according to actual needs, and is not limited here.

[0035] In one embodiment, please refer to Figures 5 to 9 As a specific implementation of the transport vehicle provided by the embodiment of the present invention, the action component 40 includes a fixed plate 41 arranged along the first direction and a movable plate 42 hinged to the fixed plate 41, and the fixed plate 41 is fixedly installed in the corresponding storage position 34. Specifically, the fixed plate 41 is fixedly installed on the storage plate 341 of the storage position 34. The movable plate 42 is located on the side of the fixed plate 41 away from the cargo 1 (please refer to Figure 8 and Fig. 9 ), the side of the movable plate 42 facing the cargo 1 is provided with a plurality of protrusions 43 (please refer to Figure 8 and Fig.12), each convex portion 43 is used to fix the cargo 1 relative to the storage position 34. The fixing plate 41 is also used to limit the cargo 1 in the second direction, and the fixing plate 41 can also be replaced by other structural forms, for example, the fixing plate 41 is replaced by a fixing strip arranged along the first direction. In this embodiment, the manufacturing cost of the action component 40 is relatively low. Since a large number of storage positions 34 in which the action component 40 needs to be arranged in the transport vehicle are required, it also helps to significantly reduce the cost of production and maintenance of the transport vehicle.

[0036] It should be noted that the second direction here refers to a direction parallel to the direction of the goods 1 entering and exiting the storage position 34 (such as Figure 4 The third direction refers to the height direction of the cargo 1 (such as Figure 4 The Z-axis direction in the first direction (such as Figure 4 The X-axis direction in the figure) is orthogonal to the second direction and the third direction respectively.

[0037] Optionally, the fixed plate 41 and the movable plate 42 are hinged together through a hinge shaft 48, and the hinge shaft 48 is arranged on the movable plate 42 along the first direction. The self-restoring member is an elastic member 49 (please refer to Figure 6 ), the elastic member 49 is sleeved on the hinge shaft 48, and the elastic member 49 is respectively connected to the fixed plate 41 and the movable plate 42, and the elastic member 49 can be a torsion spring, etc. The types of the hinge shaft 48 and the elastic member 49 can be adjusted according to actual needs, and are not limited here.

[0038] In another embodiment, please refer to Figure 7 The self-restoring component is a magnetic component, which includes a pair of magnetic units 400 that attract each other, which are respectively arranged on the opposite sides of the fixed plate 41 and the movable plate 42 and close to the hinge shaft 48. There is a strong magnetic attraction between the magnetic unit 400 of the movable plate 42 and the magnetic unit 400 corresponding to the fixed plate 41. When the action component 40 is not subjected to the force of the pick-and-place mechanism 5, the free end 421 of the movable plate 42 relative to the hinge shaft 48 can be close to the fixed plate 41 under the action of the magnetic component, and each protrusion 43 fixes the goods 1 relative to the storage position 34. It is easy to understand that when the material of one of the fixed plate 41 and the movable plate 42 is a metal that can be adsorbed by the magnetic unit 400, only the other one needs to be provided with the magnetic unit 400. In other embodiments, the type of the self-restoring component can also be adjusted according to actual needs, and is not limited to it here.

[0039] In one embodiment, please refer to Fig.13The cargo 1 may include a logistics box and articles in the logistics box. The side of the logistics box opposite to the fixed plate 41 is provided with an opening 11 that matches with each convex portion 43. When the action component 40 is not acted upon by the pick-and-place mechanism 5, the free end 421 of the movable plate 42 is close to the fixed plate 41 under the action of the self-restoring member, and each convex portion 43 may be inserted into the corresponding opening 11, thereby fixing the cargo 1 relative to the storage position 34. Optionally, the depth of the convex portion 43 inserted into the opening 11 is small.

[0040] In another embodiment, when the action component 40 is not acted upon by the pick-and-place mechanism 5, the free end 421 of the movable plate 42 is brought close to the fixed plate 41 under the action of the self-restoring member, and each convex portion 43 can contact the side of the cargo 1 and exert a relatively large pressure on the contacted side, thereby fixing the cargo 1 relative to the storage position 34 through the friction between the convex portion 43 and the cargo 1. An anti-slip coating is provided on the side of each convex portion 43 that contacts the cargo 1, thereby increasing the friction coefficient of the contact surface between the convex portion 43 and the cargo 1.

[0041] In one embodiment, please refer to Figure 6 As a specific implementation of the transport vehicle provided by the embodiment of the present invention, each fixed plate 41 is provided with a through hole 410 for the convex portion 43 of the corresponding movable plate 42 to pass through. When the free end 421 of the movable plate 42 is close to the fixed plate 41, each convex portion 43 passes through the corresponding through hole 410 to keep the cargo 1 fixed.

[0042] In another embodiment, the height of the movable plate 42 is higher than that of the fixed plate 41, and the installation position of each protrusion 43 on the movable plate 42 is higher than that of the fixed plate 41, so that the design of the through hole 410 can be eliminated. In other embodiments, the number and installation position of the protrusions 43 can be adjusted according to actual needs, and are not limited here.

[0043] In one embodiment, please refer to Figure 5As a specific implementation of the transport vehicle provided by the embodiment of the present invention, the action assembly 40 also includes action blocks 44 arranged at both ends of the movable plate 42, and the action blocks 44 at both ends of the same movable plate 42 are distributed along the first direction. In this structure, each action block 44 is used to receive the action force of the pick-up and placement mechanism 5 to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 away from the fixed plate 41, so as to achieve the release of the fixation of the goods 1 by each convex portion 43. When each action block 44 is not subjected to the action force of the pick-up and placement mechanism 5, the self-restoring component is used to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate 41, so as to achieve the restoration of the fixation of the goods 1 by each convex portion 43. It can be understood that when the action force of the pick-up and placement mechanism 5 received by each action block 44 gradually decreases, the self-restoring component can also drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate 41. The action component 40 may also not be provided with the action block 44, and the two ends of the movable plate 42 are used to receive the force of the pick-up and placement mechanism 5 to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 away from the fixed plate 41; or, when the two ends of the movable plate 42 are not subjected to the force of the pick-up and placement mechanism 5, the self-restoring component is used to drive the movable plate 42 to rotate around the hinge shaft 48 and make the free end 421 of the movable plate 42 close to the fixed plate 41.

[0044] In one embodiment, please refer to Figure 7 As a specific implementation of the transport vehicle provided by the embodiment of the present invention, each action block 44 includes a support section 45 connected to the movable plate 42 and an extension section 46 connected to each support section 45. When the free end 421 of the movable plate 42 is close to the fixed plate 41 (such as Figure 8 and Fig. 9 As shown in FIG. 1 , the top end 450 of each support segment 45 is spaced from the hinge shaft 48 in the second direction and is arranged away from the fixed plate 41. The top end 450 of each support segment 45 is subjected to a downward force from the pick-and-place mechanism 5 in the third direction, thereby generating a moment relative to the hinge shaft 48 to drive the movable plate 42 to rotate. The magnitude of the moment arm is equal to the distance from the above-mentioned force to the hinge shaft 48. Optionally, the extension segment 46 can be omitted, that is, each action block 44 only includes the support segment 45.

[0045] In one embodiment, please refer to Figure 7As a specific implementation of the transport vehicle provided by the embodiment of the present invention, the upper surface 461 of each extension section 46 extends from the top 450 of the connected support section 45 along the second direction, and the distance from each point of the upper surface 461 of each extension section 46 to the hinge shaft 48 of the movable plate 42 decreases along the extension direction of the upper surface 461. Optionally, the distance from each point of the upper surface 461 of each extension section 46 to the hinge shaft 48 of the movable plate 42 decreases along the direction from A1 to A2. In the process of the free end 421 of the movable plate 42 moving away from the fixed plate 41, the contact position between each action block 44 and the pick-and-place mechanism 5 gradually moves away from the top 450 of the connected support section 45 along the upper surface 461 of each extension section 46, that is, the contact position gradually approaches the end point A1 to the end point A2. Compared with the case where the action block 44 is not provided with the extension section 46, the pick-and-place mechanism 5 can realize the movable plate 42 rotating around the hinge shaft 48 by a specified angle by pressing down a smaller distance after contacting the top of the action block 44. In other embodiments, the shape, structure, size, etc. of each extension section 46 can be adjusted according to actual needs and are not limited here.

[0046] In one embodiment, please refer to Figure 8 , Fig. 9 and Fig.11 As a specific implementation of the transport vehicle provided by the embodiment of the present invention, when the action component 40 fixes the goods 1 relative to the storage position 34, the projection of the extension section 46 on the movable plate 42 along the first direction and on a plane intersects with the projection of the goods 1 along the first direction and on the same plane, and the projection plane is orthogonal to the first direction, so that the extension sections 46 at both ends of the same movable plate 42 are located on both sides of the goods 1 and can limit the goods 1 in the first direction. It can be understood that the minimum distance between the extension sections 46 at both ends of the same movable plate 42 is slightly greater than the length of the goods 1 in the first direction. When the transport vehicle accelerates, brakes suddenly, or goes up and down steep slopes, the goods 1 has a large displacement tendency relative to the storage position 34 in the speed direction of the transport vehicle (i.e., the first direction in this embodiment); or, when the transport vehicle makes a sharp turn with a small radius, the goods 1 has a large displacement tendency relative to the storage position 34 in the normal acceleration direction of the transport vehicle (i.e., the second direction in this embodiment), and the goods 1 are limited in the first direction and the second direction by the extension section 46 and the fixed plate 41, respectively, to further ensure that the goods 1 can be fixed relative to the storage position 34 under various driving conditions of the transport vehicle.

[0047] In one embodiment, please refer to Figure 7As a specific implementation of the transport vehicle provided by an embodiment of the present invention, the action block 44 and the movable plate 42 are sheet metal integrated processing structures. Optionally, each support segment 45 includes a first segment 451 connected to the movable plate 42 and a second segment 452 connected to the first segment 451, the first segment 451 is located on the side of the movable plate 42 away from the fixed plate 41, and the first segment 451 is arranged along the second direction, the second segment 452 is arranged along the third direction, and the extension segment 46 is connected to the second segment 452. Each support segment 45 and the connected extension segment 46 enclose a cavity 47, and each cavity 47 is provided with a filling material. The filling material can enhance the structural rigidity of the action block 44. Optionally, the filling material can be a lightweight foam material. In other embodiments, each action block 44 can also be other types of structures, such as a solid structure of injection molding, which is not limited here.

[0048] In one embodiment, please refer to Figures 8 to 10 As a specific implementation of the transport vehicle provided by the embodiment of the present invention, the pick-and-place mechanism 5 includes at least two clamping arms 53 for clamping the goods 1. The clamping arms 53 are also used to press the action component 40 to release the fixation of the action component 40 on the goods 1 during the process of the pick-and-place mechanism 5 taking and placing the goods 1 in the corresponding storage position 34. Specifically, the clamping arms 53 press each action block 44 to release the fixation of each protrusion 43 on the goods 1. The bottom surface of the clamping arm 53 can be a plane, and the upper surface of the extension section 46 can be an arc surface. When the clamping arm 53 presses the action block 44, the contact area between the bottom surface of the clamping arm 53 and the upper surface of the extension section 46 is small, so at this time, the friction force encountered by the clamping arm 53 when sliding relative to the action block 44 along the first direction is also small. In addition, the upper surface of each extension section 46, i.e., the action block 44, is also provided with a first lubricating coating, and / or the bottom surface of each clamping arm 53 is correspondingly provided with a second lubricating coating, so as to reduce the friction between each clamping arm 53 and the corresponding action block 44; or, the clamping arm 53 and the action block 44 are respectively provided with magnetic units that can generate a strong magnetic repulsion force between each other, so that the force applied by the clamping arm 53 to the action block 44 becomes a magnetic repulsion force that can be generated without contact between the two, thereby eliminating the friction between the clamping arm 53 and the action block 44.

[0049] Optionally, please also refer to Figure 4The pick-and-place mechanism 5 includes a sliding frame 52 and two clamping arms 53 arranged opposite to each other. The sliding frame 52 is arranged in the support structure 51 and can slide in the support structure 51. At least one of the two clamping arms 53 can slide relative to the other so that the distance between the two clamping arms 53 can be adjusted, so that the two clamping arms 53 can clamp the goods 1 and release the goods 1. A supporting part is provided on the side where the two clamping arms 53 are close to each other, and a supporting part higher than the bottom surface of the goods 1 is provided on both sides of the goods 1. The supporting parts of the two clamping arms 53 can jointly support the supporting parts of the goods 1 in the process of the clamping arms 53 clamping the goods 1. The two clamping arms 53 can also be extended and retracted in the second direction so that the two clamping arms 53 can carry the goods 1 in the second direction.

[0050] In one embodiment, the fixing mechanism 4 is detachably mounted on the storage position 34. Specifically, the fixing plate 41 can be detachably fixed to the storage plate 341 of each storage position 34 by means of screws, buckles, etc. Further, the goods 1 are provided with different sizes; optionally, the goods 1 include a logistics box and items in the logistics box, and the logistics box is provided with different sizes; correspondingly, the fixing mechanism 4 is provided with different specifications to be able to fix goods 1 of different sizes, for example, in the fixing mechanisms 4 of different specifications, the length of the fixing plate 41 along the first direction is different, and the spacing between the two functional components 40 for fixing the same goods is different, so as to be used to fix goods of different lengths and widths. The storage position 34 can also be installed with fixing mechanisms 4 of different specifications; optionally, the storage plate 341 of the storage position 34 is provided with mounting holes for matching the fixing mechanisms 4 of different specifications. Part or all of the storage positions 34 of the transport vehicle can be installed and replaced with fixing mechanisms 4 of different specifications as needed to flexibly configure the transport vehicle's storage capacity for goods 1 of different sizes. For example, the same storage position 34, compared with installing a fixing mechanism 4 for fixing large-sized goods, can be replaced with a fixing mechanism 4 for fixing small-sized goods 1. A larger number of fixing mechanisms 4 can be installed to store more small-sized goods 1.

[0051] It should be noted that the fixed plate 41 can also be designed to be integrated with the storage plate 341 of the storage position 34, and the working component 40 does not include the fixed plate 41, that is, the movable plate 42 can be directly or indirectly installed on the corresponding storage position 34 and can be rotated relative to the storage position 34. Specifically, the movable plate 42 is directly or indirectly installed on the storage plate 341 of the storage position 34 and can be rotated relative to the storage plate 341, and the rotation axis of the movable plate 42 is set along the first direction. The other structures of the action component 40 have been described in the above embodiment, that is, the action component 40 also includes an action block 44 arranged on the movable plate 42, and the action block 44 includes a support section 45 connected to the movable plate 42 and an extension section 46 connected to the support section 45; when the protrusions 43 of the movable plate 42 fix the goods relative to the storage position 34, the top end of the support section 45 is spaced from the rotation axis of the movable plate 42 in the second direction, so that the action force of the pick-and-place mechanism 5 applied to the top end of the support section 45 can generate a torque relative to the rotation axis of the movable plate 42 to drive the movable plate 42 to rotate; and the distance from each point on the upper surface of the extension section 46 to the rotation axis of the movable plate 42 decreases along the extension direction of the upper surface.

[0052] In another embodiment, the self-restoring component can be omitted, and the action component 40 is also used to be driven by the action force of the pick-and-place mechanism 5 to restore the fixation of the goods 1 during the process of the pick-and-place mechanism 5 placing the goods 1 in the corresponding storage position 34, that is, the action component 40 is used to be driven by the action force of the pick-and-place mechanism 5 to release and restore the fixation of the goods 1 during the process of the pick-and-place mechanism 5 placing the goods 1 in the corresponding storage position 34.

[0053] Please also read Figures 14 to 17 Specifically, the fixing mechanism 4 includes at least one action component 40 disposed in each storage position 34, the action component 40 includes a fixed plate 41 disposed along a first direction and a movable plate 42 hinged to the fixed plate 41, a plurality of convex portions 43 are disposed on the side of the movable plate 42 facing the cargo 1, and the movable plate 42 and the fixed plate 41 are respectively provided with a buckle 7 and a slot 6 matched with the buckle 7. The action component 40 also includes a support section 45 connected to the movable plate 42, the support section 45 is used to receive the action force of the pick-and-place mechanism 5 to drive the buckle 7 of the movable plate 42 to separate from the slot 6 of the fixed plate 41 and move away from each other (see Fig.17 ), so that each convex part 43 releases the fixation of the goods 1. The action component 40 also includes a lifting block 8 arranged at the top of the support section 45, and the lifting block 8 is used to receive the force of the pick-up and release mechanism 5 to drive the buckle 7 of the movable plate 42 and the slot 6 of the fixed plate 41 to approach each other and engage with each other. Specifically, the length of the lifting block 8 in the first direction is less than the length of the support section 45 in the first direction, and the lifting block 8 is arranged away from the goods 1, and a groove 80 facing the goods 1 is formed between a part of the surface of the lifting block 8 and the top of the support section 45 (see Fig.14 and Fig.15 ).

[0054] Correspondingly, the pick-and-place mechanism 5 includes at least two clamping arms 53 for clamping the goods 1. A flange strip 54 is provided on the side of each clamping arm 53 facing the corresponding groove 80 along the second direction, and the bottom surface of each flange strip 54 is coplanar with the bottom surface of the clamping arm 53. Specifically, when the pick-and-place mechanism 5 places the goods 1 on the storage plate 341 of the storage position 34, the two clamping arms 53 move away from each other to release the goods 1, and each flange strip 54 can partially extend into the corresponding groove 80; then the clamping arm 53 is lifted along the third direction, and each flange strip 54 can generate a lifting force on the lifting block 8 to drive the buckle 7 of the movable plate 42 and the slot 6 of the fixed plate 41 to approach each other and engage with each other (please refer to Fig.14 and Fig.15 ), so that each protrusion 43 can restore the fixation of the goods 1.

[0055] The other components of this embodiment are the same as the corresponding components in the above embodiment, and are not described one by one here. When the buckle 7 of the movable plate 42 is engaged with the slot 6 of the fixed plate 41, the top of the support section 45 is also spaced from the hinge shaft 48 of the movable plate 42 and the fixed plate 41 in the second direction and is arranged away from the fixed plate 41, so that the force of the pick-and-place mechanism 5 applied to the top of the support section 45 can generate a torque relative to the hinge shaft 48 to drive the movable plate 42 to rotate.

[0056] In this embodiment, since the fixing mechanism 4 can automatically release and restore the fixing of the goods 1 through the force of the pick-and-place mechanism 5, each storage position 34 also does not need to be provided with an additional driver.

[0057] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A transport vehicle, comprising a carriage and a cargo rack arranged in the carriage, wherein the cargo rack has a plurality of storage spaces for storing cargo, characterized in that: The transport vehicle also includes: A pick-and-place mechanism, disposed in the carriage, for automatically picking up and placing goods in each of the storage locations; A fixing mechanism is provided in each of the storage positions, and is used to automatically fix the goods relative to the corresponding storage position after the goods are placed in the corresponding storage position by the pick-and-place mechanism, so as to prevent the goods from shaking relative to the storage position when the transport vehicle is traveling; the fixing mechanism includes at least one acting component provided in each of the storage positions, and the acting component is used to be driven by the action force of the pick-and-place mechanism to release the fixation of the goods during the process of the pick-and-place mechanism taking the goods from the corresponding storage position; The action component comprises a movable plate, which is installed at the corresponding storage position and can rotate relative to the storage position; a plurality of protrusions are arranged on the side of the movable plate facing the goods, and each of the protrusions is used to fix the goods relative to the storage position.

2. The transport vehicle according to claim 1, characterized in that: The fixing mechanism also includes a self-restoring component arranged on the acting component; the self-restoring component is used to drive the acting component to restore the fixation of the goods.

3. The transport vehicle according to claim 2, characterized in that: The action component includes a fixed plate or a fixed strip arranged along a first direction, and the movable plate is hinged to the fixed plate or the fixed strip; the fixed plate or the fixed strip is fixedly installed in the corresponding storage position, and the movable plate is located on the side of the fixed plate away from the goods or on the side of the fixed strip away from the goods.

4. The transport vehicle according to claim 3, characterized in that: The self-restoring component is an elastic member, which is respectively connected to the fixed plate or the fixed strip and the movable plate; or, the self-restoring component is a pair of magnetically attracted magnetic units, which are respectively arranged on the opposite sides of the fixed plate and the movable plate and close to the hinge axis of the movable plate and the fixed plate, or are respectively arranged on the opposite sides of the fixed strip and the movable plate and close to the hinge axis of the movable plate and the fixed strip; or, the self-restoring component is a magnetic unit, one of the fixed plate and the movable plate is made of metal that can be attracted by the magnetic unit, and the magnetic unit is arranged on the other; or, the self-restoring component is a magnetic unit, one of the fixed bar and the movable plate is made of metal that can be attracted by the magnetic unit, and the magnetic unit is arranged on the other.

5. The transport vehicle according to claim 3, characterized in that: The action component also includes action blocks arranged at both ends of the movable plate, and the action blocks at both ends of the same movable plate are distributed along the first direction; each of the action blocks is used to receive the action force of the pick-and-place mechanism to drive the movable plate to rotate around the hinge axis between the movable plate and the fixed plate or the fixed strip and to make the free end of the movable plate relative to the hinge axis away from the fixed plate or the fixed strip, thereby realizing that each of the protrusions releases the fixation of the goods; when each of the action blocks is not subjected to the action force of the pick-and-place mechanism or the action force of the pick-and-place mechanism is reduced, the self-restoring component is used to drive the movable plate to rotate around the hinge axis and make the free end of the movable plate close to the fixed plate or the fixed strip, thereby realizing that each of the protrusions restores the fixation of the goods.

6. The transport vehicle according to claim 5, characterized in that: Each of the action blocks includes a support segment connected to the movable plate; when the free end of the movable plate is close to the fixed plate or the fixed strip, the top end of each of the support segments is spaced from the hinge axis of the movable plate in the second direction, so that the action force of the pick-and-place mechanism applied to the top end of each of the support segments can generate a torque relative to the hinge axis to drive the movable plate to rotate; the first direction is orthogonal to the second direction.

7. The transport vehicle according to claim 6, characterized in that: Each of the action blocks also includes an extension section connected to the support section, and the upper surface of each of the extension sections extends from the top of the connected support section along the second direction, and the distance from each point on the upper surface of the extension section to the hinge axis of the movable plate decreases along the extension direction of the upper surface, so as to achieve that in the process of the free end of the movable plate moving away from the fixed plate or the fixed strip, the contact position between each of the action blocks and the pick-and-place mechanism gradually moves away from the top of the connected support section along the upper surface of each of the extension sections.

8. The transport vehicle according to claim 7, characterized in that: When the free end of the movable plate is close to the fixed plate or the fixed strip, the projection of the extension section along the first direction and on a plane intersects with the projection of the cargo along the first direction and on the plane, so that the extension section can limit the cargo in the first direction: the plane is orthogonal to the first direction; and The fixing plate or the fixing strip is also used to limit the position of the goods in the second direction.

9. The transport vehicle according to claim 7, characterized in that: The action block and the movable plate are sheet metal integrated processing structures, each of the support sections and the connected extension sections enclose a cavity, and each of the cavities is provided with filling material; or, the action block is an injection molded solid structure.

10. The transport vehicle according to claim 3, characterized in that: Each of the fixed plates or the fixed strips is provided with a through hole for the protrusion of the corresponding movable plate to pass through; when the free end of the movable plate relative to the hinge axis is close to the fixed plate or the fixed strip, each of the protrusions passes through the corresponding through hole to keep the goods fixed; or The height of the movable plate is higher than that of the fixed plate or the fixed strip, and each of the protrusions is higher than that of the fixed plate or the fixed strip at the installation position of the movable plate.

11. The transport vehicle according to claim 1, characterized in that: The rotation axis of the movable plate is arranged along the first direction; The action component also includes an action block arranged on the movable plate, and the action block is used to receive the action force of the pick-up and placement mechanism to drive the movable plate to rotate around the rotation axis and release the fixation of the goods by each of the protrusions; or, the two ends of the movable plate are used to receive the action force of the pick-up and placement mechanism to drive the movable plate to rotate around the rotation axis and release the fixation of the goods by each of the protrusions.

12. The transport vehicle according to claim 11, characterized in that: The action block includes a support section connected to the movable plate; when the protrusions of the movable plate fix the goods relative to the storage position, the top end of the support section is spaced from the rotation axis of the movable plate in the second direction, so that the force of the pick-and-place mechanism applied to the top end of the support section can generate a torque relative to the rotation axis to drive the movable plate to rotate; the first direction is orthogonal to the second direction.

13. The transport vehicle according to claim 12, characterized in that: The action block further comprises an extension section connected to the support section, the upper surface of the extension section extends from the top of the connected support section along the second direction, and the distance from each point on the upper surface of the extension section to the rotation axis of the movable plate decreases along the extension direction of the upper surface; and / or The force exerted by the pick-and-place mechanism on the top end of the support section is a downward pressure along a third direction; the first direction is orthogonal to the second direction and the third direction respectively.

14. The transport vehicle according to claim 13, characterized in that: The upper surface of the extension section is a curved surface.

15. The transport vehicle according to claim 1, characterized in that: The action component is also used to be driven by the action force of the pick-and-place mechanism to restore the fixation of the goods during the process of the pick-and-place mechanism placing the goods in the corresponding storage position.

16. The transport vehicle according to claim 15, characterized in that: The action component comprises a fixed plate or a fixed strip arranged along a first direction, the movable plate is hinged to the fixed plate or the fixed strip; the fixed plate or the fixed strip is fixedly installed at the corresponding storage position; the movable plate and the fixed plate are respectively provided with a buckle and a slot matched with the buckle, or the movable plate and the fixed strip are respectively provided with a buckle and a slot matched with the buckle; and The action component also includes a supporting section connected to the movable plate and a lifting block connected to the supporting section. The supporting section is used to receive the force of the pick-and-place mechanism to drive the buckle of the movable plate and the slot of the fixed plate or the fixed strip to separate and move away from each other, thereby achieving the release of the fixation of the goods by each of the protrusions; the lifting block is used to receive the force of the pick-and-place mechanism to drive the buckle of the movable plate and the slot to approach and engage with each other, thereby achieving the restoration of the fixation of the goods by each of the protrusions.

17. The transport vehicle according to claim 16, characterized in that: When the buckle of the movable plate is engaged with the slot, the top end of the support section is spaced from the hinge axis of the movable plate and the fixed plate or the hinge axis of the movable plate and the fixed bar in the second direction, so that the force of the pick-and-place mechanism applied to the top end of the support section can generate a torque relative to the hinge axis to drive the movable plate to rotate; the second direction is orthogonal to the first direction.

18. The transport vehicle according to claim 16, characterized in that: The lifting block is disposed at the top of the supporting section; a groove facing the goods is formed between a part of the surface of the lifting block and the top of the supporting section; and The picking and placing mechanism includes at least two clamping arms for clamping goods, and each of the clamping arms is provided with a flange strip along the second direction; when the picking and placing mechanism places the goods in the storage position, the two clamping arms move away from each other to release the goods, and each of the flange strips can partially extend into the groove, and then the clamping arms are lifted along the third direction so that each of the flange strips can generate a lifting force on the lifting block to drive the buckle of the movable plate and the slot to approach and engage with each other; the first direction is orthogonal to the second direction and the third direction respectively.

19. The transport vehicle according to any one of claims 1 to 17, characterized in that: The pick-and-place mechanism comprises at least two clamping arms for clamping goods, and the clamping arms are also used to press the action component to release the fixation of the goods by the action component during the process of the pick-and-place mechanism taking goods from the corresponding storage position.

20. The transport vehicle according to claim 19, characterized in that: The clamping arm and the action block of the action assembly are respectively provided with magnetic units capable of generating magnetic repulsion between each other, so that the action force applied by the clamping arm to the action block becomes a magnetic repulsion that can be generated without contact between the two, thereby eliminating the friction between the clamping arm and the action block; and / or A supporting portion is provided on one side of the two clamping arms close to each other, and the supporting portions of the two clamping arms can jointly support the supporting portion of the goods during the process of the clamping arms clamping the goods; and / or The two clamping arms can also be extended and retracted in a second direction, so that the two clamping arms can carry goods in the second direction.

21. The transport vehicle according to any one of claims 1 to 18, characterized in that: The fixing mechanism can release the fixing of the goods synchronously with the action of the picking and placing mechanism to pick up the goods during the process of picking up the goods.

22. The transport vehicle according to any one of claims 1 to 18, characterized in that: The fixing mechanism is provided with different specifications and is used to fix goods of different sizes relative to the storage position; the fixing mechanism can be detachably installed on the storage position, and some or all of the storage positions of the transport vehicle can be installed and replaced with the fixing mechanisms of different specifications, so as to flexibly configure the storage capacity of the transport vehicle for goods of different sizes.

23. The transport vehicle according to any one of claims 1 to 18, characterized in that: At least two opposite and spaced functional components are provided in each storage location, and the goods are stored between the two functional components, and the two functional components cooperate to fix the goods relative to the storage location; or Each storage position is provided with only one action component which is opposite to and spaced from the inner wall of the carriage, and the goods are stored between the action component and the inner wall, and the action component cooperates with the inner wall to fix the goods relative to the storage position.

24. The transport vehicle according to any one of claims 1 to 18, characterized in that: The goods include a logistics box and items in the logistics box. The side of the logistics box is provided with an opening that cooperates with each of the protrusions. When the acting component is not subjected to the force of the pick-and-place mechanism, each of the protrusions can be inserted into the corresponding opening to fix the goods relative to the storage position; or, when the acting component is not subjected to the force of the pick-and-place mechanism, each of the protrusions can contact the side of the goods and apply pressure to the contacting side, thereby fixing the goods relative to the storage position through the friction between the protrusions and the goods.

25. The transport vehicle according to any one of claims 1 to 18, characterized in that: The cargo rack comprises a first cabinet and a second cabinet, the first cabinet is arranged opposite to the second cabinet, and the first cabinet and the second cabinet each have a plurality of storage locations; a transport channel for the movement of the pick-and-place mechanism is formed between the first cabinet and the second cabinet, and the transport channel is connected to each of the storage locations; the pick-and-place mechanism can store the cargo in the storage locations of the first cabinet and the second cabinet, respectively, or take away the cargo in the storage locations of the first cabinet and the second cabinet; An access port is provided on the outer side wall of the carriage, and one of the storage positions of the first cabinet or the second cabinet is connected to the access port; the picking and placing mechanism can move the goods from the storage position connected to the access port to other designated storage positions, and after the goods are placed in the storage position, the fixing mechanism can automatically fix the goods relative to the storage position; and after the fixing mechanism automatically releases the fixation of the goods, the picking and placing mechanism can move the goods from the storage position where it is located to the storage position connected to the access port.

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