Collecting and transferring system for shared bicycles

Abstract

The invention provides a shared bicycle collecting and transferring system, and belongs to the technical field of shared bicycle operation, the shared bicycle collecting and transferring system comprises a shared bicycle collecting device and a shared bicycle transferring device.The shared bicycle collecting device comprises a first supporting chassis, a first moving assembly, a front-back sliding assembly, a lifting assembly, a transverse moving assembly and a grabbing assembly; during use, the first moving assembly drives the first supporting chassis to move, the front-back sliding assembly drives the lifting assembly to slide front and back, the lifting assembly drives the transverse moving assembly to ascend or descend, and the transverse moving assembly drives the grabbing assembly to transversely move left and right. Therefore, the grabbing assembly moves in all directions to find the most suitable shared bicycle grabbing point for grabbing so as to collect the shared bicycles in various parking states, and the grabbing assembly is used for placing the grabbed shared bicycles in the shared bicycle transfer device or unloading the shared bicycles from the shared bicycle transfer device. The shared bicycle transfer device is used for containing and transferring shared bicycles.

Description

Technical Field

[0001] The present invention relates to the technical field of shared bicycle operation, and in particular to a shared bicycle collection and transportation system. Background Art

[0002] As a light and flexible means of transportation, shared bicycles can effectively relieve traffic pressure in short-distance travel. However, with the large-scale investment in shared bicycles, the phenomenon of random parking is quite serious, especially in crowded areas such as bus stations and subway entrances. In order to prevent shared bicycles from causing chaos in relevant areas and improve operational efficiency, shared bicycle operating companies currently need to rely on manual or auxiliary devices to move shared bicycles to mobile compartments for collection and dispatching. The existing Chinese invention patent with authorization announcement number "CN108422923B" discloses a shared bicycle collection and arrangement device, which includes a shared bicycle fork placement frame, a fork placement frame driving mechanism, a shared bicycle placement frame and a shared bicycle capture device. The shared bicycle placement frame and the shared bicycle capture device are arranged in the compartment of the truck. After the shared bicycle capture device captures the shared bicycle, the shared bicycle is placed at an effective positioning point of the shared bicycle placement frame. However, since the shared bicycle placement frame and the shared bicycle capture device of the above technical solution are both arranged in the compartment of the truck, on the one hand, the shared bicycle capture device The working efficiency of the device is related to the effective positioning points of the shared bicycle placement rack and the delivery site. For example, when the shared bicycles on the shared bicycle placement rack are fully loaded, the shared bicycle capture device can no longer collect the shared bicycles and can only transport them to the delivery site for unloading and then return for collection. It is unable to flexibly cope with the different conditions of the shared bicycle collection site and the transfer site. On the other hand, it leads to the limitation of the working surface of the shared bicycle capture device. For example, when collecting shared bicycles, it is necessary to rely on manual labor to arrange the shared bicycles neatly on one side of the compartment. Only then can the shared bicycle capture device be extended from the compartment to fork the shared bicycles, resulting in low working efficiency. Summary of the invention

[0003] In view of this, it is necessary to provide a shared bicycle collection and transfer system to improve the efficiency of shared bicycle collection and transfer.

[0004] The present invention provides a shared bicycle collection and transfer system, comprising a shared bicycle collection device and a shared bicycle transfer device, wherein the shared bicycle collection device is used to grab shared bicycles and place them in or unload them from the shared bicycle transfer device, and the shared bicycle transfer device is used to accommodate and transfer shared bicycles, and the shared bicycle collection device comprises a first supporting chassis, a first moving component, a front and rear sliding component, a lifting component, a transverse movement component, and a grabbing component, wherein the first moving component is located at the bottom of the first supporting chassis, the front and rear sliding component is located at the upper part of the first supporting chassis, the lifting component is located on the front and rear sliding component, and the lifting component and the front and rear sliding component are perpendicular to each other, the transverse movement component is located on the lifting component, and the grabbing component is located at the The first supporting chassis is connected to the first moving assembly, the first supporting chassis is connected to the front and rear sliding assembly, the front and rear sliding assembly is welded to the lifting assembly, the lifting assembly is detachably connected to the lateral moving assembly, the lateral moving assembly is detachably connected to the grabbing assembly, the first moving assembly drives the first supporting chassis to move, the front and rear sliding assembly drives the lifting assembly to slide forward and backward, the lifting assembly drives the lateral moving assembly to rise or fall, and the lateral moving assembly drives the grabbing assembly to move horizontally left and right, so that the grabbing assembly is located at the grabbing point of the shared bicycle for grabbing, and the grabbing assembly is used to place the grabbed shared bicycle in the shared bicycle transfer device or unload it from it.

[0005] It can be known from the above technical scheme that a shared bicycle collection and transfer system provided by the present invention comprises a shared bicycle collection device and a shared bicycle transfer device. The shared bicycle collection device is used to grab shared bicycles and place them in or unload them from the shared bicycle transfer device. The shared bicycle transfer device is used to accommodate and transfer shared bicycles. The shared bicycle collection device comprises a first supporting chassis, a first moving assembly, a front and rear sliding assembly, a lifting assembly, a transverse movement assembly, and a grabbing assembly. The first moving assembly is located at the bottom of the first supporting chassis, the front and rear sliding assembly is located at the upper part of the first supporting chassis, the lifting assembly is located on the front and rear sliding assembly, and the lifting assembly and the front and rear sliding assembly are perpendicular to each other, the transverse movement assembly is located on the lifting assembly, the grabbing assembly is located on the transverse movement assembly, and the grabbing assembly and the front and rear sliding assembly are parallel to each other, the first supporting chassis is connected to the first moving assembly, the first supporting chassis is connected to the front and rear sliding assembly, the front and rear sliding assembly is welded to the lifting assembly, and the lifting assembly and the transverse movement assembly can be The detachable connection, the transverse movement component and the grabbing component are detachably connected. When in use, the first moving component drives the first supporting chassis to move, the front and rear sliding component drives the lifting component to slide front and rear, the lifting component drives the transverse movement component to rise or fall, and the transverse movement component drives the grabbing component to move horizontally left and right, thereby realizing the all-round movement of the grabbing component to find the most suitable shared bicycle grabbing point for grabbing, so as to collect shared bicycles in various parking states, and the grabbing component is used to place the grabbed shared bicycles in or unload them from the shared bicycle transfer device, the shared bicycle transfer device is used to accommodate and transfer shared bicycles, and at the same time, one shared bicycle collection device can correspond to multiple shared bicycle transfer devices. For example, one of the shared bicycle collection devices only needs to go to the collection site to collect the shared bicycles and place them on multiple shared bicycle transfer devices, and multiple shared bicycle transfer devices can travel back and forth between the collection site and different delivery sites to improve the work efficiency of collecting and transferring shared bicycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a schematic diagram of the structure of a shared bicycle collection device.

[0007] Figure 2 This is a schematic diagram of the structure of a shared bicycle transfer device.

[0008] Figure 3 It is a structural schematic diagram of the front and rear sliding components.

[0009] Figure 4 It is a structural schematic diagram of the lifting component.

[0010] Figure 5 It is a structural schematic diagram of the transverse movement component.

[0011] Figure 6 A schematic diagram of the structure of the grabbing component.

[0012] Figure 7 It is a partial structural schematic diagram of the grabbing member.

[0013] Figure 8 Schematic diagram of the structure of the supporting base plate.

[0014] Fig. 9 A schematic diagram of the structure of the storage component.

[0015] Fig.10 It is a structural schematic diagram of the limiting part.

[0016] Fig.11 This is the first angle axonometric view of the mobile component.

[0017] Fig.12 This is the second angle axonometric view of the mobile component.

[0018] Fig.13 This is a functional module diagram of the operation scheduling module.

[0019] Fig.14 This is a schematic diagram of the functional modules of the collection control module.

[0020] Fig.15 This is a schematic diagram of the functional modules of the transfer control module.

[0021] In the figure: a shared bicycle collection device 10, a first supporting chassis 110, a sliding guide rail 111, a transmission rack 112, a first moving assembly 120, a fourth L-shaped supporting plate 121, a fifth driving motor 122, a Mecanum wheel 123, a front and rear sliding assembly 130, a sliding support portion 131, a sliding block 1311, a U-shaped connecting plate 1312, a sliding driving portion 132, a first L-shaped supporting plate 1321, a first driving motor 1322, a lifting assembly 140, a lifting support frame 141, a lifting portion 142, a bottom rotating support block 1421, an upper rotating support block 1422, a transmission screw 1423, a lifting block 1424, a lifting driving portion 143, a second L-shaped supporting plate 1431, a second driving motor 1432, a transverse movement Component 150, transverse movement portion 151, L-shaped support rod 1511, transverse movement rotation support block 1512, transverse movement screw rod 1513, transverse movement connection block 1514, transverse movement drive portion 152, third L-shaped support plate 1521, third drive motor 1522, pressing portion 153, horizontal pressing block 1531, horizontal cross bar 1532, grabbing component 160, grabbing support frame 161, grabbing portion 162, motor support plate 1621, fourth drive motor 1622, grabbing member 1623, connecting column 16231, connecting box 16232, horizontal claw 16233, vertical claw 16234, rack slide bar 16235, first rotating shaft 16236, connecting plate 16237, transmission support rod 16238, transmission shaft 16239; Shared bicycle transfer device 10, second supporting chassis 210, second moving assembly 220, steering part 221, steering support 2211, H-shaped connecting plate 22111, swing bar 22112, swing drive motor 22113, support rod 22114, T-shaped connecting plate 22115, steering part 2212, steering shaft 22121, U-shaped rotating plate 22122, steering wheel 22123, driving part 222, sixth L-shaped supporting plate 2221, ninth drive motor 2222, drive wheel 2223, storage assembly 230, storage box 231, support bottom plate 2 32. first through slot 2321, second through slot 2322, limiting portion 233, limiting support member 2331, L-shaped lap plate 23311, limiting rack 23312, Z-shaped connecting plate 23313, limiting member 2332, tooth claw bar 23321, seventh drive motor 23322, limiting block 23323, limiting drive member 2333, fifth L-shaped support plate 23331, sixth drive motor 23332, switch portion 234, rotating support block 2341, eighth drive motor 2342, second rotating shaft 2343, support bar 2344, rotating plate 2345; Operation scheduling module 30, data analysis unit 31, task issuing unit 32; Collection control module 40, first task receiving unit 41, first movement control unit 42, visual recognition unit 43, first task transmission unit 44, action control unit 45; The transfer control module 50 , the second task receiving unit 51 , the second movement control unit 52 , the shared bicycle detection unit 53 , the limit action control unit 54 , and the second task transmission unit 55 . DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] Please see Figure 1-12The present invention provides a shared bicycle collection and transfer system, including a shared bicycle collection device 10 and a shared bicycle transfer device 20. The shared bicycle collection device 10 is used to grab shared bicycles and place them in or unload them from the shared bicycle transfer device 20. The shared bicycle transfer device 20 is used to accommodate and transfer shared bicycles. The shared bicycle collection device 10 includes a first supporting chassis 110, a first moving assembly 120, a front and rear sliding assembly 130, a lifting assembly 140, a lateral movement assembly 150, and a grabbing assembly 160. The first moving assembly 120 is located at the first The bottom of a supporting chassis 110, the front and rear sliding components 130 are located on the upper part of the first supporting chassis 110, the lifting component 140 is located on the front and rear sliding components 130, and the lifting component 140 and the front and rear sliding components 130 are perpendicular to each other, the transverse component 150 is located on the lifting component 140, the grabbing component 160 is located on the transverse component 150, and the grabbing component 160 and the front and rear sliding components 130 are parallel to each other, the first supporting chassis 110 is connected to the first moving component 120, the first supporting chassis 110 is connected to the front and rear sliding components 130, and the front and rear sliding components 130 are connected to The lifting assembly 140 is welded, and the lifting assembly 140 and the transverse moving assembly 150 are detachably connected by bolts. The transverse moving assembly 150 and the grabbing assembly 160 are detachably connected by bolts. When in use, the first moving assembly 120 drives the first supporting chassis 110 to move, the front and rear sliding assembly 130 drives the lifting assembly 140 to slide back and forth, the lifting assembly 140 drives the transverse moving assembly 150 to rise or fall, and the transverse moving assembly 150 drives the grabbing assembly 160 to move left and right, thereby realizing the omnidirectional movement of the grabbing assembly 160 to find the most suitable grabbing point for grabbing the shared bicycle to collect it. The shared bicycles in various parking states are collected, and the grabbing component 160 is used to place the grabbed shared bicycles in or unload them from the shared bicycle transfer device 20. At the same time, one shared bicycle collecting device 10 can correspond to multiple shared bicycle transfer devices 20. For example, one of the shared bicycle collecting devices 10 only needs to go to the collection site to collect the shared bicycles and place them on multiple shared bicycle transfer devices 20. Multiple shared bicycle transfer devices 20 can travel back and forth between the collection site and different delivery sites to improve the work efficiency of collecting and transferring shared bicycles.

[0024] In one embodiment, a sliding guide rail 111 and a transmission rack 112 are provided above the first supporting chassis 110. The number of the sliding guide rails 111 is two. The transmission rack 112 is located between the two sliding guide rails 111. The two sliding guide rails 111 and the transmission rack 112 are parallel to each other. The two sliding guide rails 111 and the transmission rack 112 are fixedly connected to the first supporting chassis 110. The front and rear sliding components 130 include a sliding support portion 131 and a sliding drive portion 132. The sliding support portion 131 is located on the sliding guide rail 111. The sliding drive portion 132 is located on the sliding guide rail 111. The bottom of the support part 131, and the sliding drive part 132 is located above the transmission rack 112, the lifting assembly 140 is located at the upper part of the sliding support part 131, the sliding support part 131 is slidably connected to the sliding guide rail 111, the sliding support part 131 and the sliding drive part 132 are detachably connected by bolts, the sliding drive part 132 is connected to the transmission rack 112, the lifting assembly 140 is welded to the sliding support part 131, the sliding drive part 132 rotates on the transmission rack 112, and at the same time the sliding support part 131 drives the lifting assembly 140 to slide back and forth on the sliding guide rail 111.

[0025] In one embodiment, the sliding support portion 131 includes a sliding block 1311 and a U-shaped connecting plate 1312, the sliding drive portion 132 includes a first L-shaped supporting plate 1321 and a first driving motor 13221322, the number of the sliding blocks 1311 is two, and the sliding blocks 1311 are adapted to the sliding guide rails 111, the two sliding blocks 1311 are respectively located on the two sliding guide rails 111, the sliding blocks 1311 are located below the U-shaped connecting plate 1312, and the first L-shaped supporting plate 1321 The first L-shaped support plate 1321 is located at the bottom of the U-shaped connecting plate 1312, and the first L-shaped support plate 1321 is located on one side of the transmission rack 112. The first drive motor 1322 is located on the first L-shaped support plate 1321. The first drive motor 1322 is located above the transmission rack 112. The lifting assembly 140 is located on the U-shaped connecting plate 1312. One end of the U-shaped connecting plate 1312 is welded to one of the sliding blocks 1311, and the other end of the U-shaped connecting plate 1312 is welded to the other sliding block 1311. The first L-shaped One end of the support plate 1321 is detachably connected to the U-shaped connecting plate 1312 by bolts, and the other end of the first L-shaped support plate 1321 is detachably connected to the first drive motor 1322 by bolts. The transmission rack 112 and the output shaft of the first drive motor 1322 are meshed with each other, and the lifting assembly 140 is welded to the U-shaped connecting plate 1312. When the front and rear sliding assembly 130 needs to slide forward, the first drive motor 1322 is forwardly rotated so that the output shaft of the first drive motor 1322 is aligned with the transmission rack 112. 12 mesh with each other, thereby driving the sliding block 1311 to slide forward on the sliding guide rail 111, and at the same time the U-shaped connecting plate 1312 drives the lifting assembly 140 to slide forward. When the front and rear sliding assemblies 130 need to slide backward, the first driving motor 1322 is reversed so that the output shaft of the first driving motor 1322 and the transmission rack 112 mesh with each other, thereby driving the sliding block 1311 to slide backward on the sliding guide rail 111, and at the same time the U-shaped connecting plate 1312 drives the lifting assembly 140 to slide backward.

[0026] In one embodiment, the front end of the U-shaped connecting plate 1312 has a receiving groove, and the lifting assembly 140 includes a lifting support frame 141, a lifting part 142, and a lifting drive part 143. There are two lifting parts 142, and the number of the lifting drive parts 143 is the same as that of the lifting parts 142. The lifting support frame 141 is located in the receiving groove of the U-shaped connecting plate 1312, and the lifting parts 142 and the lifting drive parts 143 are both located on the lifting support frame 141. One of the lifting parts 142 and one of the lifting drive parts 143 are both located on the left side of the lifting support frame 141, and the other lifting part 142 and the other lifting drive part 143 are located on the left side of the lifting support frame 141. The lifting drive unit 143 is located on the right side of the lifting support frame 141, the lifting drive unit 143 is located above the lifting unit 142, the lateral movement assembly 150 is located on the lifting unit 142, the lifting support frame 141 is welded to the U-shaped connecting plate 1312, the lifting unit 142 and the lifting drive unit 143 are both detachably connected to the lifting support frame 141 by bolts, the lifting drive unit 143 is connected to the lifting unit 142, the lateral movement assembly 150 is connected to the lifting unit 142, the lifting drive unit 143 drives the lifting unit 142 to rise or fall on the lifting support frame 141, and the lifting unit 142 drives the lateral movement assembly 150 to rise or fall; Each lifting part 142 includes a bottom rotating support block 1421, an upper rotating support block 1422, a transmission screw 1423, and a lifting block 1424. The lifting support frame 141 is located on the sliding support part 131, and the lifting support frame 141 and the sliding support part 131 are perpendicular to each other. The bottom rotating support block 1421 and the upper rotating support block 1422 are both located on the lifting support frame 141. The bottom rotating support block 1421 is located on the lifting support frame 141 at one end close to the sliding support part 131, and the upper rotating support block 1422 is located on the lifting support frame 141 at one end away from the sliding support part 131, and the bottom rotating support block 1421 and the upper rotating support block 1422 are both connected to the lifting support frame 141. The support frames 141 are perpendicular to each other, the bottom rotating support block 1421 is coaxial with the upper rotating support block 1422, one end of the transmission screw 1423 is rotatably connected to the bottom rotating support block 1421, and the other end of the transmission screw 1423 is rotatably connected to the upper rotating support block 1422, the lifting block 1424 is located on the transmission screw 1423, and the lateral movement assembly 150 is located on the lifting block 1424, the lifting support frame 141 is welded to the sliding support part 131, the bottom rotating support block 1421 and the upper rotating support block 1422 are detachably connected to the lifting support frame 141 by bolts, the lifting block 1424 is threadedly connected to the transmission screw 1423, and the lateral movement assembly 150 is connected to the lifting block 1424; Each lifting drive unit 143 includes a second L-shaped support plate 1431 and a second drive motor 1432. The second L-shaped support plate 1431 is located on the lifting support frame 141, and the second L-shaped support plate 1431 is located above the upper rotating support block 1422. The second drive motor 1432 is located on the second L-shaped support plate 1431. The second L-shaped support plate 1431 and the lifting support frame 141 are detachably connected by bolts. The second drive motor 1432 and the second L-shaped support plate 1431 are detachably connected by bolts. The output shaft of the second drive motor 1432 is meshed with the transmission screw 1423. The second drive motor 1432 drives the transmission screw 1423 to rotate on the bottom rotating support block 1421 and the upper rotating support block 1422, so that the lifting block 1424 drives the transverse movement assembly 150 to rise or fall.

[0027] In one embodiment, the transverse moving assembly 150 includes a transverse moving part 151, a transverse moving driving part 152, and a pressing part 153. The transverse moving part 151 is two, and the transverse moving part 151 and the transverse moving driving part 152 are both located on the lifting block 1424. The pressing part 153 is located on the transverse moving part 151, and the transverse moving driving part 152 is located at one end of the transverse moving part 151. The grabbing assembly 160 is located on the transverse moving part 151, and the transverse moving part 151 and the transverse driving part 152 are both connected to the lifting block 1424. The lowering block 1424 is detachably connected by bolts, the transverse driving part 152 is connected to the transverse moving part 151, the pressing part 153 is detachably connected to the transverse moving part 151 by bolts, the grabbing assembly 160 is detachably connected to the transverse moving part 151 by bolts, the transverse driving part 152 drives the transverse moving part 151 to move horizontally, the pressing part 153 abuts against the transverse moving part 151 to keep the transverse moving part 151 horizontal, and the transverse moving part 151 drives the grabbing assembly 160 to move horizontally; Each transverse moving part 151 includes an L-shaped support rod 1511, a transverse moving rotation support block 1512, a transverse moving screw rod 1513, and a transverse moving connection block 1514. The pressing part 153 includes a horizontal pressing block 1531 and a horizontal cross bar 1532. The L-shaped support rod 1511 is located on the lifting block 1424, the transverse moving rotation support block 1512 is located on the L-shaped support rod 1511, one end of the transverse moving screw rod 1513 is rotatably connected to the transverse moving rotation support block 1512, and the other end of the transverse moving screw rod 1513 is rotatably connected to the horizontal pressing block 1531. The horizontal cross bar 1532 is located on the L-shaped support rod 1511, and the horizontal cross bar 1532 is located above the transverse moving screw rod 1513. 32 is parallel to the transverse screw rod 1513, the transverse connecting block 1514 is located on the transverse screw rod 1513, and the transverse connecting block 1514 is located between the transverse rotation support block 1512 and the horizontal pressing block 1531, the grab assembly 160 is located at the bottom of the transverse connecting block 1514, the L-shaped support rod 1511 is detachably connected to the lifting block 1424 by bolts, the transverse rotation support block 1512 is detachably connected to the L-shaped support rod 1511 by bolts, the horizontal cross bar 1532 is detachably connected to the L-shaped support rod 1511 by bolts, the transverse connecting block 1514 is threadedly connected to the transverse screw rod 1513, and the grab assembly 160 is detachably connected to the transverse rotation block by bolts; The lateral movement driving unit 152 includes a third L-shaped support plate 1521 and a third drive motor 1522. The third L-shaped support plate 1521 is located on the lifting block 1424, and the third L-shaped support plate 1521 is coaxial with the lateral movement rotation support block 1512. The third drive motor 1522 is located on the third L-shaped support plate 1521. The third L-shaped support plate 1521 and the lifting block 1424 are detachably connected by bolts. The third drive motor 1522 and the third L-shaped support plate 1521 are detachably connected by bolts. The output shaft of the third driving motor 1522 is connected to the transverse screw rod 1513. When in use, the third driving motor 1522 drives the transverse screw rod 1513 to rotate on the two transverse rotation support blocks 1512 and the horizontal pressing block 1531. The transverse screw rod 1513 drives the transverse connecting block 1514 to move horizontally left and right. At the same time, the horizontal cross bar 1532 presses against the upper part of the horizontal pressing block 1531 to maintain horizontality, so that the bottom of the horizontal pressing block 1531 presses against the grabbing assembly 160 to maintain horizontality.

[0028] In one embodiment, the grabbing assembly 160 includes a grabbing support frame 161 and a grabbing portion 162. The grabbing portion 162 includes a motor support plate 1621, a fourth drive motor 1622, and a grabbing member 1623. There are two grabbing members 1623. The rear end of the grabbing support frame 161 is detachably connected to the two transverse connecting blocks 1514 by bolts, and the front end of the grabbing support frame 161 is detachably connected to the motor support plate 1621 by bolts. The bottom of the horizontal pressing block 1531 abuts against the upper part of the grabbing support frame 161, and the grabbing support frame 161 and the sliding The supporting part 131 is relatively parallel, the fourth driving motor 1622 is located on the motor supporting plate 1621, the grabbing member 1623 is located at the front end of the grabbing support frame 161, and the grabbing member 1623 is located below the fourth driving motor 1622, the fourth driving motor 1622 and the motor supporting plate 1621 are detachably connected by bolts, the grabbing support frame 161 and the grabbing member 1623 are welded, the grabbing support frame 161 supports the grabbing member 1623 to be located at the grabbing point of the shared bicycle, and the fourth driving motor 1622 drives the grabbing member 1623 to grab the shared bicycle.

[0029] In one embodiment, each grabbing member 1623 includes a connecting column 16231, a connecting box 16232, a horizontal claw 16233, a vertical claw 16234, a rack slide bar 16235, a first rotating shaft 16236, a connecting plate 16237, a transmission support rod 16238, and a transmission shaft 16239. A sliding groove is provided on the upper portion of the connecting column 16231, the vertical section of the horizontal claw 16233 is "L"-shaped, there are two connecting plates 16237, one end of the connecting column 16231 is welded to the front end of the grabbing support frame 161, and the other end of the connecting column 16231 is connected to the rear end of the connecting box 16232. The connecting column 16231 and the connecting box 16232 are both located below the fourth driving motor 1622, the axis of the connecting column 16231 and the output shaft of the fourth driving motor 1622 are perpendicular to each other, the horizontal claw 16233 is located at the front end of the connecting box 16232, the vertical claw 16234 is located at the upper part of the connecting box 16232, and the vertical claw 16234 and the connecting box 16232 are perpendicular to each other, the rack slide bar 16235 is located in the sliding groove of the connecting column 16231, and the front end of the rack slide bar 16235 passes through the rear end of the connecting box 16232 and is rotatably connected to the upper part of the horizontal claw 16233, and the first rotating shaft 16236 is located The two sides of the connecting box 16232, and the first rotating shaft 16236 is located at the rear end of the connecting box 16232, one end of the two connecting plates 16237 are respectively rotatably connected to the first rotating shaft 16236 on both sides of the connecting box 16232, the other ends of the two connecting plates 16237 are respectively rotatably connected to the two sides of the bottom of the horizontal claw 16233, one end of the transmission support rod 16238 is welded to the front end of the grabbing support frame 161, the other end of the transmission support rod 16238 is rotatably connected to the middle part of the transmission shaft 16239, one end of the transmission shaft 16239 is meshed with the output shaft of the fourth driving motor 1622, and the transmission shaft 1 The other end of 6239 is meshed with the rack slide bar 16235, the connecting column 16231 is welded to the grabbing support frame 161, the connecting column 16231, the vertical claw 16234, and the first rotating shaft 16236 are all integrally formed with the connecting box 16232, the fourth driving motor 1622 drives the transmission shaft 16239 to rotate, and the transmission shaft 16239 drives the rack slide bar 16235 to slide back and forth in the sliding groove of the connecting column 16231, and the rack slide bar 16235 pulls the upper part of the horizontal claw 16233 to make the horizontal claw 16233 rotate on the connecting plate 16237 in the direction close to or away from the vertical claw 16234.

[0030] In one embodiment, the first moving component 120 includes a fourth L-shaped support plate 121, a fifth drive motor 122, and a Mecanum wheel 123. The number of the fourth L-shaped support plates 121 is four, and the number of the fifth drive motor 122 and the Mecanum wheel 123 is the same as that of the fourth L-shaped support plates 121. The four fourth L-shaped support plates 121 are respectively located at the four corners of the first support chassis 110, and the four fifth drive motors 122 are respectively located on the four fourth L-shaped support plates 121. The fourth L-shaped support plate 121 is detachably connected to the first support chassis 110 by bolts, and the fourth L-shaped support plate 121 is detachably connected to the fifth drive motor 122 by bolts, and the output shaft of the fifth drive motor 122 is connected to the axis of the Mecanum wheel 123.

[0031] In the present application, Mecanum wheel 123 is the prior art, and Mecanum wheel 123 is a hub + roller structure, wherein the hub is the main support, and a plurality of drum-shaped rollers are obliquely distributed on the wheel rim, and the roller axis forms an angle of 45 degrees with the hub axis. The generatrix envelope of the roller is a cylindrical surface, which ensures that the wheel can roll continuously while allowing lateral slippage. The motion synthesis mechanism of Mecanum wheel 123 is that each roller can rotate independently, and the friction force can be decomposed into lateral and longitudinal components by adjusting the rotation speed and steering of each wheel, and finally synthesized into a resultant force vector in any direction. The typical four-wheel combination (left-handed wheel and right-handed wheel are mirror-symmetrical) is independently driven by a motor, and the vehicle can be controlled to achieve omnidirectional movements such as translation, oblique movement, and rotation. It is a special wheel structure that can achieve omnidirectional movement.

[0032] In one embodiment, the shared bicycle transport device 20 includes a second supporting chassis 210, a second moving assembly 220, and a storage assembly 230. The second moving assembly 220 is located at the bottom of the second supporting chassis 210, and the storage assembly 230 is located at the upper part of the second supporting chassis 210. The second moving assembly 220 and the storage assembly 230 are both connected to the second supporting chassis 210. The second moving assembly 220 drives the second supporting chassis 210 to move, and the storage assembly 230 is used to accommodate and fix the shared bicycle. The storage assembly 230 includes a storage box 231, a support bottom plate 232, and a limiting portion 233. The front end of the storage box 231 is open, there are three support bottom plates 232, and the number of the limiting portions 233 is the same as that of the support bottom plates 232. The storage box 231 is located at the upper part of the second support chassis 210, the support bottom plate 232 is located in the storage box 231, and the limiting portion 233 is located on the support bottom plate 232. The storage box 231 is welded to the second support chassis 210, the support bottom plate 232 and the storage box 231 are detachably connected by bolts, and the limiting portion 233 is connected to the support bottom plate 232. When the shared bicycle is located on the corresponding support bottom plate 232, the limiting portion 233 limits the shared bicycle on the support bottom plate 232, thereby preventing one of the shared bicycles from tipping over and causing a domino effect that causes the entire row of shared bicycles to tip over or even fall.

[0033] In one embodiment, the support bottom plate 232 is provided with a first through slot 2321 and a second through slot 2322, the number of the second through slots 2322 is two, the first through slot 2321 is located between the two second through slots 2322, and the first through slot 2321 and the two second through slots 2322 are parallel to each other, the limiting portion 233 includes a limiting support member 2331, a limiting member 2332, and a limiting driving member 2333, the limiting members 2332 are two groups, four limiting members 2332 are one group, the limiting support member 2331 includes an L-shaped lap plate 23311, a limiting rack 23312, and a limiting driving member 2333. The number of the L-shaped lap plates 23311 and the Z-shaped connecting plate 23313 are all two, and one end of the Z-shaped connecting plate 23313 is provided with a third through slot 233131. The L-shaped lap plates 23311, the Z-shaped connecting plate 23313, and the limit driving member 2333 are all located at the bottom of the supporting bottom plate 232. The two L-shaped lap plates 23311 are respectively located on the two second through slots 2322 on one side away from the first through slot 2321, and the bottoms of the two L-shaped lap plates 23311 face each other. The limit rack 23312 is located at the first through slot 2322. The Z-shaped connecting plate 23313 is in the groove 2321, one end of the Z-shaped connecting plate 23313 is connected to the limiting rack 23312, and the other end of the Z-shaped connecting plate 23313 is mounted on one of the L-shaped lap plates 23311. The two sets of limiting members 2332 are respectively located on the two Z-shaped connecting plates 23313, one end of the limiting member 2332 is connected to the Z-shaped connecting plate 23313, and the other end of the limiting member 2332 passes through the second through groove 2322 and extends out of the support bottom plate 232. One end of the limiting driving member 2333 is detachably connected to the support bottom plate 232 by bolts, and the other end of the limiting driving member 2333 is detachably connected to the support bottom plate 232 by bolts. The end passes through the third through slot 233131 and meshes with the limiting rack 23312, the L-shaped lap plate 23311 is welded to the supporting bottom plate 232, the limiting driving member 2333 drives the limiting rack 23312 to move forward and backward in the first through slot 2321, the limiting rack 23312 drives the Z-shaped connecting plate 23313 to move forward and backward on the L-shaped lap plate 23311, and the Z-shaped connecting plate 23313 drives the limiting member 2332 to move forward and backward in the second through slot 2322, thereby flexibly adjusting the relative position of the limiting member 2332 and the shared bicycle, and realizing limiting more effectively; The limiting driving component 2333 includes a fifth L-shaped support plate 23331 and a sixth driving motor 23332. The fifth L-shaped support plate 23331 is located at the bottom of the supporting base plate 232, and the fifth L-shaped support plate 23331 is located in the third through groove 133131. One end of the fifth L-shaped support plate 23331 is detachably connected to the supporting base plate 232 by bolts, and the other end of the fifth L-shaped support plate 23331 is detachably connected to the sixth driving motor 23332 by bolts. The output shaft of the sixth driving motor 23332 is meshed with the limiting rack 23312, and the sixth driving motor 23332 drives the limiting rack 23312 to move forward and backward in the first through groove 2321.

[0034] In one embodiment, the limiting member 2332 includes a toothed claw strip 23321, a seventh drive motor 23322, and a limiting block 23323. A threaded hole is provided in the middle of the limiting block 23323. There are several toothed claw strips 23321, and the several toothed claw strips 23321 are evenly located on the upper part of the limiting block 23323. Each limiting block 23323 forms a fixed space with the several toothed claw strips 23321 on its upper part. At the same time, the height of the several toothed claw strips 23321 can be stepped. The degree of rotation is increased to further enhance the limiting effect. The bottom of the seventh driving motor 23322 is fixedly connected to the Z-shaped connecting plate 23313. The output shaft of the seventh driving motor 23322 is threadedly connected to the threaded hole of the limiting block 23323. The limiting block 23323 is fixedly connected to the tooth claw strip 23321. The limiting block 23323 rotates on the seventh driving motor 23322 to realize the rise and fall of the tooth claw strip 23321. When in use, the seventh driving motor 23322 rotates forward, and the limiting block 23323 rotates forward. The two sides of the limit block 23323 abut against the second through slot 2322 to ensure that a rotation rate difference is generated between the limit block 23323 and the seventh drive motor 23322. The seventh drive motor 23322 drives the limit block 23323 to descend on the output shaft of the seventh drive motor 23322 so that the claw bar 23321 is completely retracted into the second through slot 2322. At this time, the shared bicycle can be placed on the supporting base plate 232 through the shared bicycle collection device 10. The seventh drive motor 23322 is reversed, and the two sides of the limit block 23323 abut against the second through slot 2322 to ensure that a rotation rate difference is generated between the limit block 23323 and the seventh drive motor 23322. The seventh drive motor 23322 drives the limit block 23323 to rise on the output shaft of the seventh drive motor 23322 so that the claw bar 23321 is completely extended out of the second through slot 2322. At this time, the frame or wheel part of the shared bicycle is stuck in the fixed space to limit the movement of the shared bicycle.

[0035] In one embodiment, the storage assembly 230 also includes a switch portion 234, the switch portion 234 is two, and the two switch portions 234 are respectively located on the left and right sides of the storage box 231. The switch portion 234 includes a rotation support block 2341, an eighth drive motor 2342, a second rotation shaft 2343, a support bar 2344, and a rotation plate 2345. There are two rotation support blocks 2341, and the number of support bars 2344 is the same as the number of rotation support blocks 2341. The rotation support block 2341 is located at the front end of the storage box 231, the eighth drive motor 2342 is located at the upper part of the storage box 231, and one end of the second rotation shaft 2343 is connected to the rotation support Block 2341 is rotatably connected, and the other end of the second rotating shaft 2343 is meshed with the output shaft of the eighth driving motor 2342, one end of the support bar 2344 is fixedly connected to the second rotating shaft 2343, the other end of the support bar 2344 is fixedly connected to the second rotating shaft 2343, and the support bar 2344 is located above the second rotating shaft 2343, so that the eighth driving motor 2342 drives the second rotating shaft 2343 to rotate on the rotating support block 2341, and at the same time, the support bar 2344 supports the rotating plate 2345 to rotate on the rotating support block 2341 toward the direction close to the opening of the storage box 231 or away from the opening of the storage box 231.

[0036] In one embodiment, the second moving assembly 220 includes a steering portion 221 and a driving portion 222. There are two driving portions 222. The steering portion 221 includes a steering support 2211 and a steering member 2212. There are two steering members 2212. The steering support 2211 is located at the rear end of the second supporting chassis 210. The two steering members 2212 are respectively located on the left and right sides of the steering support 2211. The two driving portions 222 are both located at the front end of the second supporting chassis 210. The steering support 2211 is fixedly connected to the second supporting chassis 210. The steering support 2211 is rotatably connected to the steering member 2212. The driving portion 222 is detachably connected to the second supporting chassis 210 by bolts. The driving portion 222 drives the second supporting chassis 210 to move. The steering support 2211 supports and controls the steering direction of the steering member 2212.

[0037] In one embodiment, the steering support 2211 includes an H-shaped connecting plate 22111, a swing bar 22112, a swing drive motor 22113, a support rod 22114, and a T-shaped connecting plate 22115. The H-shaped connecting plate 22111 is located at the rear end of the second supporting chassis 210, the swing drive motor 22113 is located in the middle of the H-shaped connecting plate 22111, one end of the swing bar 22112 is connected to the output shaft of the swing drive motor 22113, and the other end of the swing bar 22112 is rotatably connected to one end of the support rod 22114. Then, the other end of the support rod 22114 is fixedly connected to the upper part of the T-shaped connecting plate 22115, one end of the steering member 2212 is rotatably connected to the H-shaped connecting plate 22111, the other end of the steering member 2212 is rotatably connected to the T-shaped connecting plate 22115, the swing drive motor 22113 drives the swing bar 22112 to swing left and right, and the swing bar 22112 drives the T-shaped connecting plate 22115 to swing left and right through the support rod 22114, so that the steering member 2212 turns on the H-shaped connecting plate 22111 and the T-shaped connecting plate 22115.

[0038] In one embodiment, a U-shaped groove and a first vertical through hole are provided at both left and right ends of the T-shaped connecting plate 22115, and the steering member 2212 includes a steering shaft 22121, a U-shaped rotating plate 22122, and a steering wheel 22123. A second vertical through hole is provided at the open end of the U-shaped rotating plate 22122. One end of the steering shaft 22121 is rotatably connected to the T-shaped connecting plate 22115 by being clamped on the U-shaped groove and the first vertical through hole, and the other end of the steering shaft 22121 is rotatably connected to the open end of the U-shaped rotating plate 22122 by being clamped on the second vertical through hole. The other end of the U-shaped rotating plate 22122 is rotatably connected to the H-shaped connecting plate 22111, and the steering wheel 22123 is located on a side of the U-shaped rotating plate 22122 away from the H-shaped connecting plate 22111, and the steering wheel 22123 is connected to the U-shaped rotating plate 22122.

[0039] In one embodiment, the driving unit 222 includes a sixth L-shaped support plate 2221, a ninth drive motor 2222, and a drive wheel 2223, one end of the sixth L-shaped support plate 2221 is detachably connected to the second support chassis 210, the other end of the sixth L-shaped support plate 2221 is detachably connected to the ninth drive motor 2222, and the output shaft of the ninth drive motor 2222 is connected to the drive wheel 2223.

[0040] In one embodiment, see Figure 13-15The shared bicycle collection and transfer system also includes an operation scheduling module 30, a collection control module 40, and a transfer control module 50. The collection control module 40 is located on the shared bicycle collection device 10, and the transfer control module 50 is located on the shared bicycle transfer device 20. The operation scheduling module 30 is used to issue collection tasks to the collection control module 40 and transfer tasks to the transfer control module 50 according to the change in demand for shared bicycles in different sections and time periods. The collection control module 40 is used to receive the collection task to control the shared bicycle collection device 10 to collect the shared bicycles, and receive the second interactive task generated by the transfer control module 50 to place the shared bicycles in the shared bicycle transfer device 20 or unload them from it, and generate the first interactive task at the same time. The transfer control module 50 is used to receive the transfer task to control the shared bicycle transfer device 20 to transfer, and receive the first interactive task to control the shared bicycle transfer device 20 to limit or release the shared bicycles and generate the second interactive task at the same time. The operation scheduling module 30 includes a data analysis unit 31 and a task issuing unit 32. The data analysis unit 31 is electrically connected to the task issuing unit 32. The data analysis unit 31 is used to generate a collection task and a transfer task according to the change in the demand for shared bicycles in different areas and time periods and transmit the collection task and the transfer task to the task issuing unit 32. The task issuing unit 32 is used to transmit the collection task to the collection control module 40 and the transfer task to the transfer control module 50. The collection control module 40 includes a first task receiving unit 41, a first mobile control unit 42, a visual recognition unit 43, a first task transmission unit 44, and an action control unit 45. The first mobile control unit 42 and the action control unit 45 are all electrically connected to the first task receiving unit 41, the first mobile control unit 42, the visual recognition unit 43, and the first task transmission unit 44 are all electrically connected to the action control unit 45, the first mobile control unit 42 is electrically connected to the fifth drive motor 122, the first drive motor 1322, the second drive motor 1432, the third drive motor 1522, and the fourth drive motor 1622 are all electrically connected to the action control unit 45. The control unit 45 is electrically connected, the first task receiving unit 41 is used to receive the collection task or the second interactive task, the first mobile control unit 42 is used to control the movement of the first mobile component 120, the visual recognition unit 43 is used to identify the shared bicycle and analyze the parking posture of the shared bicycle, the action control unit 45 is used to control the first mobile component 120, the front and rear sliding component 130, the lifting component 140, and the lateral movement component 150, and comprehensively adjust the grabbing component 160 to find the most suitable grabbing point for grabbing and generate the first interactive task, and the first task transmission unit 44 is used to transmit the first interactive task to the transfer control module 50; The transfer control module 50 includes a second task receiving unit 51, a second mobile control unit 52, a shared bicycle detection unit 53, a limit action control unit 54, and a second task transmission unit 55. The second mobile control unit 52 and the limit action control unit 54 are electrically connected to the second task receiving unit 51, the shared bicycle detection unit 53 is electrically connected to the limit action control unit 54, the shared bicycle detection unit 53 is electrically connected to the second task transmission unit 55, the swing drive motor 22113 and the ninth drive motor 2222 are electrically connected to the second mobile control unit 52, and the sixth drive motor 23332 and the seventh drive motor 23333 are electrically connected to the second task receiving unit 51. The machine 23322 and the eighth driving motor 2342 are both electrically connected to the limit action control unit 54. The second task receiving unit 51 is used to receive the transfer task and the first interactive task. The second movement control unit 52 is used to control the movement of the second mobile component 220. The shared bicycle detection unit 53 is used to detect the state of the shared bicycle on the supporting base plate 232 and generate the second interactive task. The limit action control unit 54 is used to control the opening and closing of the switch part 234 to adjust the relative position of the limit member 2332 and the shared bicycle and limit the shared bicycle. The second task transmission unit 55 is used to transmit the second interactive task to the collection control module 40.

[0041] The specific working process of the shared bicycle collection and transportation system is as follows: the operation scheduling module 30 sends a collection task to the collection control module 40. After the first task receiving unit 41 receives the collection task, the first mobile control unit 42 controls the first mobile component 120 to move to the target shared bicycle. The visual recognition unit 43 analyzes the parking posture of the target shared bicycle. The action control unit 45 controls the first mobile component 120, the front and rear sliding component 130, the lifting component 140, and the lateral movement component 150 to fully adjust the grabbing component 160 to find the most suitable grabbing point for the shared bicycle, and generates a first interactive task and transmits it to the second task receiving unit 51 through the first task transmission unit 44. The front and rear sliding components 130, the lifting component 140, and the lateral movement component 150 are required. When the sliding assembly 130 slides forward, the motion control unit 45 controls the first driving motor 1322 to rotate forward, and the output shaft of the first driving motor 1322 meshes with the transmission rack 112, thereby driving the sliding block 1311 to slide forward on the sliding guide rail 111, and at the same time, the U-shaped connecting plate 1312 drives the lifting assembly 140 to slide forward. When the front and rear sliding assembly 130 needs to slide backward, the motion control unit 45 controls the first driving motor 1322 to rotate backward, thereby driving the sliding block 1311 to slide backward on the sliding guide rail 111, and at the same time, the U-shaped connecting plate 1312 drives the lifting assembly 140 to slide backward. When the lifting assembly 140 needs to rise or fall, the motion control unit 45 controls the second driving motor 143 The driving screw rod 1423 is driven to rotate on the bottom rotating support block 1421 and the upper rotating support block 1422, so that the lifting block 1424 drives the lateral movement assembly 150 to rise or fall. When the lateral movement assembly 150 needs to move horizontally, the action control unit 45 controls the third driving motor 1522 to drive the lateral movement screw rod 1513 to rotate on the two lateral movement rotating support blocks 1512 and the horizontal pressing block 1531. The lateral movement screw rod 1513 drives the lateral movement connecting block 1514 to move horizontally. At the same time, the horizontal cross bar 1532 abuts against the upper part of the horizontal pressing block 1531 to keep it horizontal, so that the bottom of the horizontal pressing block 1531 abuts against the grabbing assembly 160 to keep it horizontal. Through the above-mentioned first moving assembly 120 and the front and rear sliding assembly 1 30. The lifting assembly 140 and the transverse movement assembly 150 can adjust in all directions so that the frame or wheel of the shared bicycle can be located between the horizontal claw 16233 and the vertical claw 16234. When grabbing, the action control unit 45 controls the fourth drive motor 1622 to drive the transmission shaft 16239 to rotate forward, and the transmission shaft 16239 drives the rack slide bar 16235 to slide backward in the sliding groove of the connecting column 16231. The rack slide bar 16235 pulls the upper part of the horizontal claw 16233. At this time, the horizontal claw 16233 rotates on the connecting plate 16237 in the direction close to the vertical claw 16234, so that the horizontal claw 16233 and the vertical claw 16234 cooperate with each other to form a clamp on the frame or wheel of the shared bicycle to achieve grabbing; After the shared bicycle collection device 10 grabs the shared bicycle, it moves to the shared bicycle transfer device 20. After the second task receiving unit 51 receives the first interactive task, the limit action control unit 54 controls the eighth drive motor 2342 to rotate forward to drive the second rotating shaft 2343 to rotate on the rotating support block 2341. At the same time, the support bar 2344 supports the rotating plate 2345 to rotate on the rotating support block 2341 in a direction away from the opening of the storage box 231, thereby opening the opening of the storage box 231. The shared bicycle collection device 10 transfers the shared bicycle to the supporting bottom plate 232. The limit action control unit 54 controls the seventh drive motor 23322 to rotate forward, and the two sides of the limit block 23323 are aligned with the storage box 231. The second through slot 2322 abuts to ensure that a rotation rate difference is generated between the limit block 23323 and the seventh drive motor 23322. The seventh drive motor 23322 drives the limit block 23323 to descend on the output shaft of the seventh drive motor 23322 so that the tooth claw bar 23321 is completely retracted into the second through slot 2322. The shared bicycle detection unit 53 detects the state of the shared bicycle on the supporting base plate 232 and generates a second interactive task, which is transmitted to the first task receiving unit 41 through the second task transmission unit 55. When placed, the action control unit 45 controls the fourth drive motor 1622 to drive the transmission shaft 16239 to rotate in the reverse direction, and the transmission shaft 16239 drives the rack slide bar 16235 to connect The column 16231 slides forward in the sliding groove, and the rack slide bar 16235 pulls the upper part of the horizontal claw 16233. At this time, the horizontal claw 16233 rotates on the connecting plate 16237 in the direction away from the vertical claw 16234, so that the horizontal claw 16233 and the vertical claw 16234 jointly release the clamping formed on the frame or wheel of the shared bicycle. Then, the limiting action control unit 54 controls the limiting driving member 2333 to drive the limiting rack 23312 to move forward and backward in the first through groove 2321, and the limiting rack 23312 drives the Z-shaped connecting plate 23313 to move forward and backward on the L-shaped lap plate 23311, and the Z-shaped connecting plate 23313 drives the limiting member 2332 to move forward and backward in the second through groove 2322 The limit block 23323 is movable, thereby flexibly adjusting the relative position of the limit piece 2332 and the shared bicycle. When the limit piece 2332 moves to under the frame or wheel part of the shared bicycle, the limit action control unit 54 controls the seventh drive motor 23322 to reverse, and the two sides of the limit block 23323 are abutted against the second through slot 2322 to ensure that a rotation rate difference is generated between the limit block 23323 and the seventh drive motor 23322. The seventh drive motor 23322 drives the limit block 23323 to rise on the output shaft of the seventh drive motor 23322, so that the claw bar 23321 is completely extended out of the second through slot 2322. At this time, the frame or wheel part of the shared bicycle is stuck in the fixed space to limit the movement of the shared bicycle.

[0042] Furthermore, the shared bicycle collection device 10 can also be used to adjust the frame or wheel of the shared bicycle between the horizontal claw 16233 and the vertical claw 16234 through the above-mentioned first moving component 120, the front and rear sliding component 130, the lifting component 140, and the transverse movement component 150. After being grasped, it is used to adjust shared bicycles in various irregular parking states to ensure the standardized operation of shared bicycles, avoid chaos caused by random parking, and facilitate pedestrians to use.

Claims

1. A shared bicycle collection and transportation system, characterized by: The invention comprises a shared bicycle collection device and a shared bicycle transfer device, wherein the shared bicycle collection device is used to grab shared bicycles and place them in or unload them from the shared bicycle transfer device, and the shared bicycle transfer device is used to accommodate and transfer shared bicycles, and the shared bicycle collection device comprises a first supporting chassis, a first moving component, a front and rear sliding component, a lifting component, a transverse movement component, and a grabbing component, wherein the first moving component is located at the bottom of the first supporting chassis, the front and rear sliding component is located at the upper part of the first supporting chassis, the lifting component is located on the front and rear sliding component, and the lifting component and the front and rear sliding component are perpendicular to each other, the transverse movement component is located on the lifting component, the grabbing component is located on the transverse movement component, and the grabbing component The picking assembly is parallel to the front and rear sliding assembly, the first supporting chassis is connected to the first moving assembly, the first supporting chassis is connected to the front and rear sliding assembly, the front and rear sliding assembly is welded to the lifting assembly, the lifting assembly is detachably connected to the transverse movement assembly, the transverse movement assembly is detachably connected to the grabbing assembly, the first moving assembly drives the first supporting chassis to move, the front and rear sliding assembly drives the lifting assembly to slide forward and backward, the lifting assembly drives the transverse movement assembly to rise or fall, and the transverse movement assembly drives the grabbing assembly to move horizontally left and right, so that the grabbing assembly is located at the grabbing point of the shared bicycle for grabbing, and the grabbing assembly is used to place the grabbed shared bicycle in the shared bicycle transfer device or unload it from it.

2. The shared bicycle collection and transfer system according to claim 1, characterized in that: The sliding support portion includes a sliding block and a U-shaped connecting plate, the sliding drive portion includes a first L-shaped supporting plate and a first driving motor, the number of the sliding blocks is two, and the sliding blocks are adapted to the sliding guide rails, the two sliding blocks are respectively located on the two sliding guide rails, the sliding block is located below the U-shaped connecting plate, the first L-shaped supporting plate is located at the bottom of the U-shaped connecting plate, and the first L-shaped supporting plate is located on one side of the transmission rack, the first driving motor is located on the first L-shaped supporting plate, the first driving motor is located above the transmission rack, the lifting assembly is located on the U-shaped connecting plate, One end of the U-shaped connecting plate is welded to one of the sliding blocks, the other end of the U-shaped connecting plate is welded to the other sliding block, one end of the first L-shaped support plate is detachably connected to the U-shaped connecting plate, the other end of the first L-shaped support plate is detachably connected to the first drive motor, the transmission rack and the output shaft of the first drive motor are meshed with each other, the lifting assembly is welded to the U-shaped connecting plate, and the output shaft of the first drive motor rotates on the transmission rack so that the first drive motor drives the sliding block to slide back and forth on the sliding guide rail, and at the same time the U-shaped connecting plate drives the lifting assembly to slide back and forth.

3. The shared bicycle collection and transfer system according to claim 2, characterized in that: The lifting assembly comprises a lifting support frame, a lifting part, and a lifting drive part. There is at least one lifting part, and the number of the lifting drive parts is the same as that of the lifting parts. The lifting support frame is located above the sliding support part, and the lifting part and the lifting drive part are both located on the lifting support frame. The lifting drive part is located above the lifting part, and the transverse movement assembly is located on the lifting part. The lifting support frame is welded to the sliding support part, and the lifting part and the lifting drive part are both detachably connected to the lifting support frame. The lifting drive part is connected to the lifting part, and the transverse movement assembly is connected to the lifting part. The lifting drive part drives the lifting part to rise or fall on the lifting support frame, and the lifting part drives the transverse movement assembly to rise or fall. The lifting part includes a bottom rotating support block, an upper rotating support block, a transmission screw, and a lifting block. The lifting support frame is located on the sliding support part, and the lifting support frame and the sliding support part are perpendicular to each other. The bottom rotating support block and the upper rotating support block are both located on the lifting support frame. The bottom rotating support block is located on one end of the lifting support frame close to the sliding support part, and the upper rotating support block is located on one end of the lifting support frame away from the sliding support part, and the bottom rotating support block and the upper rotating support block are both perpendicular to the lifting support frame. The support frames are perpendicular to each other, the bottom rotating support block is concentric and coaxial with the upper rotating support block, one end of the transmission screw is rotatably connected to the bottom rotating support block, and the other end of the transmission screw is rotatably connected to the upper rotating support block, the lifting block is located on the transmission screw, and the lateral movement assembly is located on the lifting block, the lifting support frame is welded to the sliding support part, the bottom rotating support block and the upper rotating support block are both detachably connected to the lifting support frame, the lifting block is threadedly connected to the transmission screw, and the lateral movement assembly is connected to the lifting block; The lifting drive unit includes a second L-shaped support plate and a second drive motor. The second L-shaped support plate is located on the lifting support frame. The second L-shaped support plate is located above the upper rotating support block. The second drive motor is located on the second L-shaped support plate. The second L-shaped support plate is detachably connected to the lifting support frame. The second drive motor is detachably connected to the second L-shaped support plate. The output shaft of the second drive motor is meshed with the transmission screw. The second drive motor drives the transmission screw to rotate on the bottom rotating support block and the upper rotating support block, so that the lifting block drives the transverse movement assembly to rise or fall.

4. The shared bicycle collection and transportation system according to claim 3, characterized in that: The transverse movement assembly comprises a transverse movement part, a transverse movement driving part, and a pressing part, wherein there is at least one transverse movement part, the transverse movement part and the transverse movement driving part are both located on the lifting block, the pressing part is located on the transverse movement part, the transverse movement driving part is located at one end of the transverse movement part, the grabbing assembly is located on the transverse movement part, the transverse movement part and the transverse movement driving part are both detachably connected to the lifting block, the transverse movement driving part is connected to the transverse movement part, the pressing part is detachably connected to the transverse movement part, the grabbing assembly is detachably connected to the transverse movement part, the transverse movement driving part drives the transverse movement part to move horizontally left and right, the pressing part abuts against the transverse movement part to keep the transverse movement part horizontal, and the transverse movement part drives the grabbing assembly to move horizontally left and right; The transverse movement part includes an L-shaped support rod, a transverse movement rotation support block, a transverse movement screw rod, and a transverse movement connecting block. The pressing part includes a horizontal pressing block and a horizontal cross bar. The L-shaped support rod is located on the lifting block, and the transverse movement rotation support block is located on the L-shaped support rod. One end of the transverse movement screw rod is rotatably connected to the transverse movement rotation support block, and the other end of the transverse movement screw rod is rotatably connected to the horizontal pressing block. The horizontal cross bar is located on the L-shaped support rod, and the horizontal cross bar is located above the transverse movement screw rod. The transverse screw rods are parallel to each other, the transverse connecting block is located on the transverse screw rod, the grab assembly is located at the bottom of the transverse connecting block, the L-shaped support rod is detachably connected to the lifting block, the transverse rotation support block is detachably connected to the L-shaped support rod, the transverse screw rod is rotatably connected to the transverse rotation support block and the horizontal pressing block, the horizontal cross bar is detachably connected to the L-shaped support rod, the transverse connecting block is threadedly connected to the transverse screw rod, and the grab assembly is detachably connected to the transverse rotation block; The transverse driving part includes a third L-shaped support plate and a third driving motor. The third L-shaped support plate is located on the lifting block, and the third L-shaped support plate is concentric and coaxial with the transverse rotation support block. The third driving motor is located on the third L-shaped support plate. The third L-shaped support plate is detachably connected to the lifting block. The third driving motor is detachably connected to the third L-shaped support plate. The output shaft of the third driving motor is connected to the transverse screw rod. The third driving motor drives the transverse screw rod to rotate between the transverse rotation support block and the horizontal pressing block. The transverse screw rod drives the transverse connecting block to move horizontally left and right. At the same time, the horizontal cross bar resists the horizontal pressing block to keep it horizontal, and the horizontal pressing block resists the grabbing assembly to keep it horizontal.

5. The shared bicycle collection and transportation system according to claim 4, characterized in that: The grabbing assembly includes a grabbing support frame and a grabbing part, the grabbing part includes a motor support plate, a fourth drive motor, and a grabbing piece, there is at least one grabbing piece, the rear end of the grabbing support frame is detachably connected to the transverse moving part, the front end of the grabbing support frame is detachably connected to the motor support plate, and the grabbing support frame is relatively parallel to the sliding support part, the fourth drive motor is located on the motor support plate, the grabbing piece is located at the front end of the grabbing support frame, and the grabbing piece is located below the fourth drive motor, the fourth drive motor is detachably connected to the motor support plate, the grabbing support frame is welded to the grabbing piece, the grabbing support frame supports the grabbing piece to be located at the grabbing point of the shared bicycle, and the fourth drive motor drives the grabbing piece to grab the shared bicycle.

6. The shared bicycle collection and transportation system according to claim 5, characterized in that: The grabbing member includes a connecting column, a connecting box, a horizontal claw, a vertical claw, a rack slide rod, a rotating shaft, a connecting plate, a transmission support rod, and a transmission shaft. A sliding groove is provided at the upper end of the connecting column, the vertical section of the horizontal claw is "L"-shaped, and there is at least one connecting plate. One end of the connecting column is fixedly connected to the front end of the grabbing support frame, and the other end of the connecting column is connected to the rear end of the connecting box. The connecting column and the connecting box are both located below the fourth drive motor, and the axis of the connecting column is perpendicular to the output shaft of the fourth drive motor. The horizontal claw is located at the front end of the connecting box, and the vertical claw is located at the upper part of the connecting box, and the vertical claw and the connecting box are perpendicular to each other. The rack slide rod is located in the sliding groove, and the front end of the rack slide rod passes through the rear end of the connecting box and is rotatably connected to the upper part of the horizontal claw. The rotating shaft is located on both sides of the connecting box side, and the rotating shaft is located at the rear end of the connecting box, one end of the connecting plate is rotatably connected to the rotating shaft, and the other end of the connecting plate is rotatably connected to the bottom of the horizontal claw, one end of the transmission support rod is connected to the front end of the grabbing support frame, the other end of the transmission support rod is rotatably connected to the middle of the transmission shaft, one end of the transmission shaft is meshed with the output shaft of the fourth driving motor, and the other end of the transmission shaft is meshed with the rack slide bar, the connecting column is welded to the grabbing support frame, the connecting column, the vertical claw, and the rotating shaft are all integrally formed with the connecting box, the fourth driving motor drives the transmission shaft to rotate, and the transmission shaft drives the rack slide bar to slide back and forth in the sliding groove, and the rack slide bar pulls the upper part of the horizontal claw to make the horizontal claw rotate on the connecting plate toward or away from the vertical claw.

7. The shared bicycle collection and transfer system according to claim 1, characterized in that: The first moving component includes a fifth L-shaped support plate, a fifth drive motor, and a Mecanum wheel. The number of the fifth L-shaped support plates is four, and the number of the fifth drive motor and the Mecanum wheel is the same as that of the fifth L-shaped support plate. The four fifth L-shaped support plates are respectively located at the four corners of the support chassis, and the four fifth drive motors are respectively located on the four fifth L-shaped support plates. The fifth L-shaped support plate is detachably connected to the support chassis, the fifth L-shaped support plate is detachably connected to the fifth drive motor, and the output shaft of the fifth drive motor is connected to the axis of the Mecanum wheel.

8. The shared bicycle collection and transfer system according to claim 1, characterized in that: The shared bicycle transport device includes a second supporting chassis, a second moving assembly, and a storage assembly. The second moving assembly is located at the bottom of the second supporting chassis, and the storage assembly is located at the upper part of the second supporting chassis. The second moving assembly and the storage assembly are both connected to the second supporting chassis. The second moving assembly drives the second supporting chassis to move, and the storage assembly is used to accommodate and fix the shared bicycle. The storage assembly includes a storage box, a supporting bottom plate, and a limiting portion. The front end of the storage box is open, there is at least one supporting bottom plate, the number of the limiting portions is the same as the supporting bottom plate, the storage box is located on the upper part of the second supporting chassis, the supporting bottom plate is located in the storage box, the limiting portion is located on the supporting bottom plate, the storage box is welded to the second supporting chassis, the supporting bottom plate is detachably connected to the storage box, the limiting portion is connected to the supporting bottom plate, the shared bicycle is located on the supporting bottom plate, and the limiting portion limits the movement of the shared bicycle.

9. The shared bicycle collection and transfer system according to claim 8, characterized in that: The support bottom plate is provided with a first through slot and a second through slot, the number of the second through slots is two, the first through slot is located between the two second through slots, and the first through slot and the two second through slots are parallel to each other, the limiting portion includes a limiting support, a limiting member, and a limiting drive member, the limiting member is in two groups, the limiting support member includes an L-shaped lap plate, a limiting rack, and a Z-shaped connecting plate, the number of the L-shaped lap plate and the Z-shaped connecting plate are both two, a third through slot is provided at one end of the Z-shaped connecting plate, the L-shaped lap plate, the Z-shaped connecting plate, and the limiting drive member are all located at the bottom of the support bottom plate, the two L-shaped lap plates are respectively located on the side of the two second through slots away from the first through slot, and the bottoms of the two L-shaped lap plates face each other, the limiting rack is located at the first through slot The two ends of the two L-shaped lap plates are connected to each other in the Z-shaped connecting plate, and the two ends of the two L-shaped lap plates are connected to each other in the Z-shaped connecting plate. The two sets of the two limiting members are respectively located on the two Z-shaped connecting plates, and one end of the limiting member is connected to the Z-shaped connecting plate, and the other end of the limiting member passes through the second through-slot and extends out of the supporting bottom plate. One end of the limiting driving member is detachably connected to the supporting bottom plate, and the other end of the limiting driving member passes through the third through-slot and meshes with the limiting rack. The L-shaped lap plate is welded to the supporting bottom plate, and the limiting driving member drives the limiting rack to move forward and backward in the first through-slot, and the limiting rack drives the Z-shaped connecting plate to move forward and backward on the L-shaped lap plate, and the Z-shaped connecting plate drives the limiting member to move forward and backward in the second through-slot. The limit drive component includes a fifth L-shaped support plate and a sixth drive motor. The fifth L-shaped support plate is located at the bottom of the support base plate, and the fifth L-shaped support plate is located in the third through groove. One end of the fifth L-shaped support plate is detachably connected to the support base plate, and the other end of the fifth L-shaped support plate is detachably connected to the sixth drive motor. The output shaft of the sixth drive motor is meshed with the limit rack, and the sixth drive motor drives the limit rack to move forward and backward in the first through groove.

10. The shared bicycle collection and transfer system according to claim 9, characterized in that: The limiting member includes a claw bar, a seventh drive motor, and a limiting block. A penetrating threaded hole is provided in the middle of the limiting block. There are several claw bars, which are evenly located on the upper part of the limiting block. The bottom of the seventh drive motor is fixedly connected to the Z-shaped connecting plate. The output shaft of the seventh drive motor is threadedly connected to the threaded hole of the limiting block. The limiting block is fixedly connected to the claw bar. The limiting block rotates on the seventh drive motor to realize the rising and falling of the claw bar. The claw bar contacts the shared bicycle to limit the movement of the shared bicycle.

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