Conveying mechanism and vehicle

Abstract

The invention discloses a conveying mechanism and a vehicle. The conveying mechanism comprises a bearing assembly, a vertical driving mechanism, a locking assembly and a horizontal driving mechanism. The bearing assembly is used for bearing goods; the vertical driving mechanism is used for driving the bearing assembly to move to a preset height in the vertical direction; the locking assembly is arranged between the bearing assembly and the vertical driving mechanism and is configured to be switched from the locking state to the unlocking state when the bearing assembly is located at the preset height. In the locking state, the locking assembly is used for locking the bearing assembly and the vertical driving mechanism; in the unlocking state, the locking assembly allows the bearing assembly to slide relative to the vertical driving mechanism; the horizontal driving mechanism is used for driving the bearing assembly to move in the horizontal direction when the locking assembly is unlocked. According to the conveying mechanism, goods can be connected and transferred in the vertical direction and the horizontal direction, an additional transfer device does not need to be arranged, and the compactness of the conveying mechanism is improved while the goods carrying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics transportation, and particularly to a conveying mechanism and a vehicle. Background Art

[0002] In the related art, an additional transfer device needs to be provided for transferring materials between a horizontal transportation path and a vertical transportation path. For example, a manipulator is used to transfer materials from a vertical transportation path to a horizontal conveying path. However, this not only increases the complexity of the entire conveying system structure, but also the handling speed of the transfer device affects the conveying efficiency of the conveying system. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, an object of the present invention is to provide a conveying mechanism in which goods can be transferred in a connection manner between the vertical and horizontal directions, without the need to provide an additional transfer device, improving the efficiency of goods handling while enhancing the compactness of the conveying mechanism.

[0004] The present invention also provides a vehicle.

[0005] According to a first aspect embodiment of the present invention, a conveying mechanism is provided. The conveying mechanism includes a supporting component, a vertical driving mechanism, a locking component, and a horizontal driving mechanism. The supporting component is used for supporting goods; the vertical driving mechanism is used for driving the supporting component to move in the up and down direction to a preset height; the locking component is disposed between the supporting component and the vertical driving mechanism and is configured to switch from a locked state to an unlocked state when the supporting component is at the preset height; in the locked state, the locking component is used for locking the supporting component and the vertical driving mechanism; in the unlocked state, the locking component allows the supporting component to slide relative to the vertical driving mechanism; the horizontal driving mechanism is used for driving the supporting component to move in the horizontal direction when the locking component is unlocked.

[0006] In some embodiments, a first horizontal guide rail is further included; the supporting component is provided with a first guiding member, and the first guiding member is configured to be used for slidingly cooperating with the first horizontal guide rail for guiding when at the preset height.

[0007] In some embodiments, the supporting component includes a supporting body and a transition member; the transition member is provided with a transition horizontal guide rail; the first guiding member is installed at the bottom of the supporting body, and the first guiding member is used for slidingly cooperating with the transition horizontal guide rail for guiding; the transition horizontal guide rail is configured to be aligned with the first horizontal guide rail in the up and down direction when at the preset height so that the supporting body can move from the transition horizontal guide rail to the first horizontal guide rail.

[0008] In some embodiments, a support bracket is fixedly connected to the output end of the vertical driving mechanism; the transition member is movably mounted on the support bracket of the vertical driving mechanism in the horizontal direction, so that the transition member is used to be driven by the horizontal driving mechanism to abut against the first horizontal guide rail, so that the transition horizontal guide rail and the first horizontal guide rail are spliced into a continuous horizontal track.

[0009] In some embodiments, the locking assembly includes a first locking assembly and a second locking assembly; the first locking assembly is disposed between the support bracket of the vertical driving mechanism and the transition member; the second locking assembly is disposed between the transition member and the supporting body and is configured to be unlocked when the transition horizontal guide rail and the first horizontal guide rail are spliced into a continuous horizontal track.

[0010] In some embodiments, the first locking assembly includes a first locking pin and a first locking hole, one of which is disposed on the support bracket of the vertical driving mechanism, and the other is disposed on the transition member. The second locking pin can be inserted into the second locking hole to lock the support bracket of the vertical driving mechanism and the supporting body;

[0011] The second locking assembly includes a second locking pin and a second locking hole, one of which is disposed on the transition member, and the other is disposed on the supporting body. The second locking pin can be inserted into the second locking hole to lock the transition member and the supporting body.

[0012] In some embodiments, both the first horizontal guide rail and the transition member are two arranged in parallel; a spacing holder is provided between the two transition members.

[0013] In some embodiments, the two transition members and the spacing holder are integrally provided.

[0014] In some embodiments, a card slot is provided on the supporting assembly, and the card slot penetrates the upper surface and / or the lower surface of the supporting assembly; a clamping block is fixedly connected to the output end of the horizontal driving mechanism; when the supporting assembly moves to the preset height, the clamping block is clamped in the card slot so that the horizontal driving mechanism can drive the supporting assembly to move in the horizontal direction through the clamping block.

[0015] An embodiment of the second aspect of the present invention provides a vehicle, which includes a carriage and the conveying mechanism of the first aspect embodiment of the present invention. The conveying mechanism is disposed in the carriage.

[0016] Combined with the technical solutions, it can be seen that the embodiments provided by the present invention have the following advantages:

[0017] (1) The vertical driving mechanism can lift the goods and the supporting component to a preset height. After the locking component is unlocked, the horizontal driving mechanism drives the goods and the supporting component to move to the target position. Through the coordination of the vertical driving, horizontal driving and locking components, the goods can be transferred in the vertical and horizontal directions in a connected manner, without the need to set up additional transfer devices, improving the efficiency of goods handling and the compactness of the conveying mechanism at the same time;

[0018] (2) The locking component locks the supporting component and the vertical driving mechanism during the process of the vertical driving mechanism lifting the goods, reducing the risk of the goods shaking or falling, and improving the stability of the goods lifting and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a schematic diagram of the overall structure of the conveying mechanism according to an embodiment of the present invention. In the figure, the vertical driving mechanism 1 can move from position 2a to position 2b;

[0021] Figure 2 It is according to Figure 1 An enlarged view at A;

[0022] Figure 3 It is a schematic diagram of a partial structure of the conveying mechanism according to an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the supporting body according to an embodiment of the present invention;

[0024] Figure 5 It is according to Figure 4 The partial enlarged view of;

[0025] Figure 6 It is according to Figure 3 The partial enlarged view of;

[0026] Figure 7 It is a schematic diagram of the structure of the supporting body according to an embodiment of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the conveying mechanism according to an embodiment of the present invention;

[0028] Figures 9 - 10 It is a schematic diagram of the structure of the transition piece according to an embodiment of the present invention;

[0029] Figure 11 It is a schematic diagram of the overall structure of the conveying mechanism according to an embodiment of the present invention;

[0030] Figure 12 It is according to Figure 11 An enlarged view at B;

[0031] Figure 13 It is a schematic diagram of the overall structure of the conveying mechanism according to an embodiment of the present invention;

[0032] Figure 14 It is according to Figure 13 An enlarged view at C;

[0033] Figure 15 It is a partial structural schematic diagram of the conveying mechanism when the first locking mechanism is unlocked and the second locking mechanism is locked;

[0034] Figure 16 It is according to Figure 15 A partial enlarged view;

[0035] Figure 17 It is a schematic diagram of the overall structure of the conveying mechanism according to an embodiment of the present invention;

[0036] Figure 18 It is a partial structural schematic diagram of the conveying mechanism when both the first locking mechanism and the second locking mechanism are unlocked;

[0037] Figure 19 It is according to Figure 18 A partial enlarged view;

[0038] Figure 20 It is a schematic diagram of the overall structure of the conveying mechanism according to an embodiment of the present invention;

[0039] Figure 21 It is a partial enlarged view of the conveying mechanism according to an embodiment of the present invention;

[0040] Figures 22 - 24 It is a schematic diagram of the overall structure of the vehicle according to an embodiment of the present invention.

[0041] Reference numerals:

[0042] Vehicle 1000, shelf 2000;

[0043] Conveying mechanism 100, carriage 200, bottom plate 210, automatic door 220, environment perception module 300;

[0044] Support assembly 1, first guide member 11, support body 12, card slot 121, transition member 13, transition horizontal guide rail 131, second horizontal guide rail 132, second locking pin installation part 133, spacing retainer 14;

[0045] Vertical driving mechanism 2, supporting bracket 21, second guiding member 211, vertical driving motor 22;

[0046] Locking assembly 3, first locking assembly 31, first locking pin 311, first locking hole 312, first locking pin driving motor 313, second locking assembly 32, second locking pin 321, second locking hole 322, second locking pin driving motor 323;

[0047] Horizontal driving mechanism 4, adapter 41, clamping block 411, horizontal driving motor 42, transmission chain 43;

[0048] First horizontal guide rail 5, first horizontal guide rail bracket 51;

[0049] Auxiliary supporting mechanism 6, supporting column 61, supporting motor 62, supporting transmission rod 63, supporting transmission gear 64, supporting transmission rack 65;

[0050] First horizontal guide rail lifting mechanism 7, first horizontal guide rail lifting motor 71, first horizontal guide rail lifting transmission rod 72, first horizontal guide rail lifting column 73. Detailed implementation manners

[0051] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as a limitation of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, features defined with "first", "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0053] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0054] Reference is made below to Figures 1 - 24 describe a conveying mechanism 100 and a vehicle 1000 according to an embodiment of the present invention.

[0055] Embodiment 1

[0056] As Figures 1 - 3 shown, an embodiment of the first aspect of the present invention provides a conveying mechanism 100, and the conveying mechanism 100 includes a supporting component 1, a vertical driving mechanism 2, a locking component 3, and a horizontal driving mechanism 4.

[0057] The supporting component 1 can support goods.

[0058] The vertical driving mechanism 2 can drive the supporting component 1 to move in the up and down direction to a preset height.

[0059] The locking component 3 is arranged between the supporting component 1 and the vertical driving mechanism 2, and the locking component 3 can switch from a locked state to an unlocked state when the supporting component 1 is at the preset height. In the locked state, the locking component 3 can lock the supporting component 1 and the vertical driving mechanism 2, thereby fixing the relative positions of the supporting component 1 and the vertical driving mechanism 2; in the unlocked state, the locking component 3 allows the supporting component 1 to slide relative to the vertical driving mechanism 2.

[0060] The horizontal driving mechanism 4 can drive the supporting component 1 to move in the horizontal direction when the locking component 3 is unlocked.

[0061] In a specific application scenario, the supporting component 1 supports goods, and the vertical driving mechanism 2 drives the supporting component 1 to move in the up and down direction to lift the goods to a preset height. During this process, the locking component 3 fixes the supporting component 1 and the vertical driving mechanism 2 when the vertical driving mechanism 2 lifts the supporting component 1 to prevent the goods from shaking or falling during lifting; when the supporting component 1 reaches the preset height, the locking component 3 is unlocked, and the horizontal driving mechanism 4 is activated to drive the supporting component 1 to be horizontally transferred into the carriage 200 to place the goods.

[0062] In a specific example, the conveying mechanism 100 is provided with a position switch, which is used to detect the position of the supporting component 1 and generate a position signal when the supporting component 1 is at a preset height. The locking component 3 responds to the signal sent by the position switch to switch between a locked state and an unlocked state.

[0063] In Figure 1 , the vertical driving mechanism 2 is connected to the supporting component 1 at position 2a, and at this time, the supporting component 1 is not yet at the preset height position; when the vertical driving mechanism 2 is at position 2b, the supporting component 1 is at the preset height.

[0064] Combined with the technical solution, it can be seen that the embodiments provided by the present invention have the following advantages:

[0065] (1) The vertical driving mechanism 2 can lift the goods and the supporting component 1 to a preset height. After the locking component 3 is unlocked, the horizontal driving mechanism 4 drives the goods and the supporting component 1 to move to the target position. Through the coordination of the vertical driving, horizontal driving and the locking component 3, the goods can be transferred in the vertical and horizontal directions without setting additional transfer devices, improving the efficiency of goods handling and the compactness of the conveying mechanism 100 at the same time;

[0066] (2) The locking component 3 locks the supporting component 1 and the vertical driving mechanism 2 during the process of the vertical driving mechanism 2 lifting the goods, reducing the risk of the goods shaking or falling and improving the stability of the goods lifting and transportation.

[0067] Embodiment Two

[0068] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 7 As shown, further, the conveying mechanism 100 further includes a first horizontal guide rail 5. The supporting component 1 is provided with a first guiding member 11, and the first guiding member 11 is used for sliding cooperation with the first horizontal guide rail 5 to achieve guiding when at the preset height. The supporting component 1 moves horizontally under the push of the horizontal driving mechanism 4 in coordination with the sliding between the first guiding member 11 and the first horizontal guide rail 5, which is beneficial to improving the stability and reliability of the movement.

[0069] Combined with the above embodiments, it can be known that the first horizontal guide rail 5 is located in the horizontal plane at the preset height, and the first horizontal guide rail 5 can be a curved guide rail or a straight guide rail. One end of the first horizontal guide rail 5 extends towards the projection of the supporting component 1 in the horizontal plane at the preset height to improve the smoothness of the transfer of the supporting component 1 from the vertical movement path to the horizontal movement path.

[0070] In some preferred embodiments, the position switch can be arranged on the first horizontal guide rail 5.

[0071] In some preferred embodiments, the first horizontal guide rail 5 may be specifically configured as a guide groove structure, and the first guide member 11 may be configured as a pulley structure. The pulley can roll and cooperate in the guide groove, thereby reducing the friction force of the relative movement between the first guide member 11 and the first horizontal guide rail 5.

[0072] Embodiment III

[0073] This embodiment is basically the same as Embodiment II, except for the specific structure of the supporting component 1.

[0074] Combined with Figure 3 、 Figure 4 、 Figure 9 、 Figure 10 and Figure 11 As shown in

[0075] Combined with Figure 13 and Figure 14As shown, further, a support bracket 21 is fixedly connected to the output end of the vertical driving mechanism 2. The transition member 13 is movably mounted on the support bracket 21 in the horizontal direction, so that the transition member 13 is driven by the horizontal driving mechanism 4 to abut against the first horizontal guide rail 5, so that the transition horizontal guide rail 131 and the first horizontal guide rail 5 are spliced into a continuous horizontal track. The transition member 13 can be movably mounted on the support bracket 21 in the horizontal direction, so that the transition member 13 can move in the horizontal direction under the action of the horizontal driving mechanism 4. When the supporting assembly 1 reaches the preset height and the locking assembly 3 is unlocked, the horizontal driving mechanism 4 pushes the transition member 13 towards the first horizontal guide rail 5 until the end face of the transition horizontal guide rail 131 abuts against the first horizontal guide rail 5, forming a continuous horizontal track. Thus, the first guiding member 11 (such as a pulley) can roll or slide continuously on the continuous track, reducing the frictional resistance and mechanical loss, while reducing the jamming caused by the interruption of the track, and extending the service life of the mechanism; at the same time, further improving the stability of the supporting body 12 (and the goods) during the horizontal movement process and enhancing the transportation reliability.

[0076] In a specific example, both the first horizontal guide rail 5 and the transition horizontal guide rail 131 extend in the front-rear direction.

[0077] Combined with Figure 2 , Figure 9 and Figure 10 As shown, in some preferred embodiments, a second guiding structure is provided between the support bracket 21 and the transition member 13; the second guiding structure includes a second horizontal guide rail 132 and a second guiding member 211, the second horizontal guide rail 132 is provided on the transition member 13 and the second guiding member 211 is provided on the support bracket 21. The second horizontal guide rail 132 has the same extending direction as the first horizontal guide rail 5 and is spaced apart in the up-down direction.

[0078] Here, the second guiding member 211 can adopt a roller structure rotatably mounted on the support bracket.

[0079] Combined with the above embodiments, it can be seen that the support bracket 21 rises and falls with the vertical driving mechanism, driving the transition member 13 and the supporting body 12 to rise and fall synchronously. When the supporting assembly 1 reaches the preset height, the locking assembly 3 is unlocked, and the horizontal driving mechanism 4 pushes the supporting assembly 1 to move along the second guiding structure. After the transition horizontal guide rail 131 abuts against and is spliced with the first horizontal guide rail 5, the first horizontal guide rail 5 restricts the movement of the transition member 13, and the supporting body 12 slides on the continuous track (the continuous track formed by the transition horizontal guide rail 131 and the first horizontal guide rail 5) through the first guiding member 11 to complete the horizontal transfer.

[0080] Embodiment Four

[0081] This embodiment is basically the same as Embodiment Three, the difference lies in: the specific structure of the locking assembly 3.

[0082] Such asFigure 3 As shown, further, the locking assembly 3 includes a first locking assembly 31 and a second locking assembly 32. The first locking assembly 31 is disposed between the support bracket 21 and the transition member 13; the second locking assembly 32 is disposed between the transition member 13 and the supporting body 12 and is configured to be unlocked when the transition horizontal guide rail 131 and the first horizontal guide rail 5 are spliced into a continuous horizontal track.

[0083] As Figure 3 and Figure 11 shown, first, the vertical driving mechanism 2 lifts the supporting assembly 1 to a preset height. During the lifting process to the preset height, both the first locking assembly 31 and the second locking assembly 32 are in a locked state; combining Figure 12 , Figure 15 and Figure 16 shown, after being lifted to the preset height, the first locking assembly 31 is unlocked, and the horizontal driving mechanism 4 drives the supporting assembly 1 to move horizontally. The transition member 13 is driven by the horizontal driving mechanism 4 to be spliced with the first horizontal guide rail 5; combining Figure 17 , Figure 18 and Figure 19 shown, when the transition horizontal guide rail 131 of the transition member 13 and the first horizontal guide rail 5 are spliced, the end faces of the transition horizontal guide rail 131 and the first horizontal guide rail 5 are in abutment, and the first horizontal guide rail 5 forms a displacement limit for the transition member 13 in the horizontal direction, and the second locking assembly 32 is unlocked. Combining Figure 17 and Figure 20 shown, the horizontal driving mechanism 4 then drives the supporting body 12 to move horizontally along the first horizontal guide rail 5.

[0084] In a specific embodiment, the conveying mechanism 100 is provided with a position switch for detecting the position of the supporting assembly 1 and generating a position signal when the supporting assembly 1 is at the preset height, and the locking assembly 3 responds to the signal sent by the position switch to switch from the locked state to the unlocked state.

[0085] The position switch includes a first position switch and a second position switch. The first position switch can be disposed on the first horizontal guide rail 5 or the vertical driving mechanism 2. The first position switch is used to detect the height position of the supporting assembly 1 and is used to send a first position signal when the supporting assembly 1 is at the preset height. The first locking assembly 31 responds to the first position signal of the first position switch to switch from the locked state to the unlocked state. The second position switch can be disposed on the end face of the first horizontal guide rail 5 or the vertical driving mechanism 2. The second position switch is used to detect the position of the transition member 13 and is used to send a second position signal when the transition guide rail on the transition member 13 is spliced with the first horizontal guide rail 5. The second locking assembly 32 responds to the second position signal of the second position switch to switch from the locked state to the unlocked state.

[0086] Embodiment Five

[0087] This embodiment is basically the same as the fourth embodiment, except that:

[0088] Combined with Figure 5 、 Figure 6 、 Figure 10 and Figure 16 As shown, further, the first locking component 31 includes a first locking pin 311 and a first locking hole 312, one of which is provided on the vertical driving mechanism 2 and the other is provided on the transition member 13; the second locking component 32 includes a second locking pin 321 and a second locking hole 322, one of which is provided on the transition member 13 and the other is provided on the supporting body 12, and the second locking pin 321 is used to insert into the second locking hole 322 to connect the transition member 13 and the supporting body 12.

[0089] Specifically, the first locking pin 311 is arranged on the support bracket 21 of the vertical driving mechanism 2, and the first locking hole 312 is formed on the transition member 13. The first locking pin 311 can be inserted into the first locking hole 312. That is, in the locked state, the first locking pin 311 penetrates through the first locking hole 312 to fix the support bracket 21 and the transition member 13. In the unlocked state, the first locking pin 311 withdraws from the first locking hole 312, and the transition member 13 can move relative to the support bracket.

[0090] As Figure 9 and Figure 10 shown, the second locking pin 321 is arranged on the second locking pin mounting portion 133 of the transition member 13, the second locking hole 322 is formed on the supporting body 12, and the second locking pin 321 can be inserted into the second locking hole 322. That is, in the locked state, the first locking pin 311 penetrates through the first locking hole 312 to fix the support bracket 21 and the transition member 13. In the unlocked state, the first locking pin 311 withdraws from the first locking hole 312, and the transition member 13 can move relative to the support bracket.

[0091] As Figure 16 shown, the first locking component 31 further includes a first locking pin driving motor 313. The first locking pin driving motor 313 is communicatively connected with the first position switch to respond to the first position signal of the first position switch. The first locking pin driving motor 313 can drive the first locking pin 311 to insert into or withdraw from the first locking hole 312.

[0092] As Figure 6 shown, the second locking component 32 further includes a second locking pin driving motor 323. The second locking pin driving motor 323 is communicatively connected with the second position switch to respond to the second position signal of the second position switch. The second locking pin driving motor 323 can drive the second locking pin 321 to insert into or withdraw from the second locking hole 322.

[0093] Embodiment Five

[0094] Refer to Figure 8 、 Figure 9and Figure 10 Further, both the first horizontal guide rail 5 and the transition member 13 are provided in two parallel sets; a spacing holder 14 is provided between the two transition members 13. Each transition member 13 is provided with a transition horizontal guide rail 131. By providing the spacing holder 14 between the two transition members 13, it is beneficial to improve the parallelism of the two transition horizontal guide rails 131 and enhance the track continuity after the splicing of the transition horizontal guide rail 131 and the first horizontal guide rail 5.

[0095] Exemplarily, the first horizontal guide rail 5 includes two arranged in parallel in the left - right direction, and the transition member 13 includes two arranged in parallel in the left - right direction. Each of the first horizontal guide rails 5 has two guide grooves provided on the opposite side surfaces in the left - right direction. Each transition horizontal guide rail 131 has two guide grooves provided on the opposite side surfaces of the transition member 13 in the left - right direction.

[0096] Further, the two transition members 13 and the spacing holder 14 are integrally provided.

[0097] Further, in the height direction, the spacing holder 14 is arranged between the transition horizontal guide rail 131 and the second horizontal guide rail 132.

[0098] Embodiment Six

[0099] Combined with Figure 7 and Figure 12 As shown, in some embodiments, a clamping groove 121 is provided on the supporting component 1, and the clamping groove 121 penetrates the upper surface and / or the lower surface of the supporting component 1; a clamping block 411 is fixedly connected to the output end of the horizontal driving mechanism 4; when the supporting component 1 moves to a preset height, the clamping block 411 is clamped in the clamping groove 121 so that the horizontal driving mechanism 4 can drive the supporting component 1 to move horizontally through the clamping block 411. Here, the clamping groove 121 forms the power input interface of the supporting component 1, restricting the movement freedom of the clamping block 411 in the horizontal plane; the clamping block 411 is connected to the output end of the horizontal driving mechanism 4 and serves as a power output plug, converting the driving force into a thrust on the side wall of the clamping groove 121.

[0100] The initial position of the clamping block 411 is on one side in the up - down direction of the clamping groove 121 and is aligned with the clamping groove 121. Thus, when the supporting component 1 moves to the preset height, the clamping block 411 automatically snaps into the clamping groove 121.

[0101] Embodiment Seven

[0102] As Figures 22 - 24 shown, in the second - aspect embodiment of the present invention, a vehicle 1000 is provided. The vehicle 1000 includes a carriage 200 and the conveying mechanism 100 of the first - aspect embodiment of the present invention. The environment perception module includes a camera and a lidar provided on the vehicle body, and the vehicle - body perception module can detect the environment outside the vehicle 1000; the conveying mechanism 100 is arranged in the carriage 200.

[0103] By setting the above-mentioned conveying mechanism 100, the vertical driving mechanism 2 can lift the goods and the supporting component 1 to a preset height. After the locking component 3 is unlocked, the horizontal driving mechanism 4 drives the goods and the supporting component 1 to move into the carriage 200. Through the coordination of the vertical driving, horizontal driving and the locking component 3, the goods can be seamlessly transferred in the vertical and horizontal directions without setting up a structure for transfer, improving the efficiency of goods handling and the compactness of the conveying mechanism 100 at the same time; the locking component 3 locks the supporting component 1 and the vertical driving mechanism 2 during the process of the vertical driving mechanism 2 lifting the goods, reducing the risk of the goods shaking or falling and improving the stability of the goods lifting and transportation.

[0104] Specifically, the environment perception module 300 includes multiple lidars and cameras. The environment perception module 300 can be applied in autonomous driving and unmanned logistics delivery vehicles to perceive the surrounding environment during the autonomous driving process. Among them, a main lidar is provided at the top of the front of the vehicle body, blind area lidars are symmetrically provided on both the left and right sides of the front of the vehicle head, a forward lidar and at least two forward cameras for shooting at different distances are also provided directly in front of the vehicle head; two side cameras are also provided on the vehicle head, and the side cameras are symmetrically arranged on both sides of the vehicle head. Two rear cameras are provided at the rear of the vehicle body for shooting the rear of the vehicle 1000.

[0105] The carriage 200 of the vehicle 1000 can be configured with an automatic door 220, which automatically opens when loading or unloading goods is required.

[0106] Specifically, the method of loading goods by the vehicle 1000 is as follows: The vehicle 1000 drives to the target position, and automatically identifies the goods to be loaded through the polygonatum perception module. After identifying the goods, the automatic door 220 of the carriage 200 of the vehicle 1000 automatically opens, and the supporting component 1 loads the goods into the carriage 200. Then, the automatic door 220 of the carriage 200 of the vehicle 1000 closes, and the vehicle 1000 drives to the target delivery position for unloading the goods.

[0107] Manual operation buttons and emergency stop buttons can be set on the side or other positions of the carriage 200 of the vehicle 1000. When the vehicle 1000 has an abnormality, the vehicle 1000 can be maintained and debugged manually through the buttons.

[0108] During unmanned delivery, the goods need to be placed on a customized shelf 2000. The shelf 2000 is supported on the ground or the upper surface of the bottom plate 210 of the carriage 200 through support feet to form an avoidance space, so that the supporting component 1 can directly lift the shelf 2000 through the avoidance space without manual handling.

[0109] The following is based on Figures 1 - 24 to describe a specific embodiment.

[0110] The vehicle 1000 includes an autonomous driving module, an environment perception module 300, a carriage 200, and a conveying mechanism 100 disposed in the carriage 200. The environment perception module 300 is communicatively connected to the autonomous driving module to feed back environmental information to the autonomous driving module.

[0111] The carriage 200 has a bottom plate 210, and the upper surface of the bottom plate 210 constitutes a supporting plane for supporting the shelf 2000.

[0112] The shelf 2000 is supported on the supporting plane of the carriage 200 by supporting feet so that the bottom surface of the shelf 2000 can be spaced apart from the bottom plate 210 in the height direction to form an avoidance space.

[0113] The conveying mechanism 100 includes a supporting component 1, a vertical driving mechanism 2, a locking component 3, a horizontal driving mechanism 4, a position switch, a first horizontal guide rail 5, an auxiliary supporting mechanism 6, and a first horizontal guide rail lifting mechanism 7.

[0114] The vertical driving mechanism 2 includes a supporting bracket 21 and a vertical driving motor 22. The vertical driving motor 22 is used to drive the supporting bracket 21 to move in the up and down direction. The supporting bracket 21 of the vertical driving mechanism 2 is connected to a transition member 13 of the supporting component 1 to drive the entire supporting component 1 to move in the up and down direction, so as to move the supporting component 1 to a preset height.

[0115] The supporting component 1 includes a supporting body 12, a transition member 13, and a first guiding member 11. A transition horizontal guide rail 131 is provided on the transition member 13. The first guiding member 11 is installed at the bottom of the supporting body 12. The first guiding member 11 is used for sliding cooperation with the transition horizontal guide rail 131 to achieve guiding. The transition horizontal guide rail 131 is aligned with the first horizontal guide rail 5 in the up and down direction at a preset height so that the supporting body 12 can move from the transition horizontal guide rail 131 to the first horizontal guide rail 5. That is to say, the supporting body 12 moves horizontally under the drive of the horizontal driving mechanism 4 through the sliding cooperation of the first guiding member 11 and the transition horizontal guide rail 131, and the supporting body 12 can move from the transition horizontal guide rail 131 to the first horizontal guide rail 5. Since the transition horizontal guide rail 131 and the first horizontal guide rail 5 are in the up and down direction, that is, both the transition horizontal guide rail 131 and the first horizontal guide rail 5 are located in the same horizontal plane at the preset height.

[0116] The supporting body 12 here is specifically configured as a fork arm.

[0117] The transition piece 13 is movably mounted on the support bracket 21 in the horizontal direction, so that the transition piece 13 is used to be driven by the horizontal drive mechanism 4 to abut against the first horizontal guide rail 5 so that the transition horizontal guide rail 131 and the first horizontal guide rail 5 are spliced into a continuous horizontal track. The transition piece 13 is mounted on the support bracket 21 through a movable connection in the horizontal direction, so that the transition piece 13 can move in the horizontal direction under the action of the horizontal drive mechanism 4. When the support assembly 1 reaches the preset height and the locking assembly 3 is unlocked, the horizontal drive mechanism 4 pushes the transition piece 13 to move in the direction of the first horizontal guide rail 5 until the transition horizontal guide rail 131 abuts against the end surface of the first horizontal guide rail 5 to form a continuous horizontal track.

[0118] Thus, the first guide member 11 (such as a pulley) can roll or slide continuously on the continuous track, reducing the height difference of the supporting body 12 moving from the transition horizontal guide rail 131 to the first horizontal guide rail 5, further improving the stability and reliability of the horizontal movement of the supporting body 12, thereby facilitating smoother transportation of goods.

[0119] The first horizontal guide rails 5 include two parallelly arranged in the left-right direction, and the transition piece 13 includes two parallelly arranged in the left-right direction. Each of the first horizontal guide rails 5 has two guide grooves arranged on two opposite sides in the left-right direction. Each transition horizontal guide rail 131 has two guide grooves arranged on two opposite sides in the left-right direction of the transition piece 13.

[0120] like Figure 20 As shown, the first horizontal guide rail 5 is extended in the front-to-back direction, and the bottoms of the two first horizontal guide rails 5 are connected to the driving end of the first horizontal guide rail lifting mechanism 7 through the first horizontal guide rail bracket 51. The bottom plate 210 is provided with an embedding groove for embedding the first horizontal guide rail lifting mechanism 7. The first horizontal guide rail lifting mechanism 7 drives the first horizontal guide rail bracket 51 to drive the two first horizontal guide rails 5 to rise and fall, and then drives the supporting assembly 1 to rise and fall, so as to place the shelf 2000 more stably on the supporting plane of the carriage 200. When the foot of the shelf 2000 contacts the bottom plate 210 of the cargo compartment of the vehicle 1000, the first horizontal guide rail lifting mechanism 7 drives the first horizontal guide rail 5 to descend, and the supporting body 12 (fork arm) moves in the front-to-back direction in the avoidance space to slide out of the carriage 200 to fork and pick up the next shelf 2000.

[0121] The first horizontal guide rail lifting mechanism 7 comprises a first horizontal guide rail lifting motor 71, a first horizontal guide rail lifting transmission rod 72 and a first horizontal guide rail lifting column 73. The first horizontal guide rail lifting motor 71 drives the first horizontal guide rail lifting transmission rod 72 to rotate to drive the first horizontal guide rail lifting column 73 to rise and fall.

[0122] The vertical driving mechanism 2 includes a vertically driving lead screw extending in the up and down direction. A vertical driving motor 22 is used to drive the vertically driving lead screw to rotate. The support bracket 21 of the vertical driving mechanism 2 is connected to the vertically driving lead screw through a nut.

[0123] As Figure 8 shown, the auxiliary support mechanism 6 includes a support column 61, a support motor 62, a support transmission rod 63, a support transmission gear 64, and a support transmission rack 65.

[0124] As Figure 8 shown, the support column 61 is an installation support structure for the vertical driving mechanism 2. Specifically, the support column 61 has an installation cavity inside. The two end portions of the vertically driving lead screw are respectively rotatably connected to the end walls at the upper and lower ends of the installation cavity. That is, the upper end of the vertically driving lead screw is rotatably installed on the upper end wall of the installation cavity through a bearing, and the upper end of the vertically driving lead screw passes through the upper end portion of the installation cavity and is in transmission connection with the vertical driving motor 22. The lower end of the vertically driving lead screw is rotatably installed on the lower end wall of the installation cavity through a bearing. The vertical driving motor 22 is fixed on the outer peripheral surface of the support column 61. A guiding groove penetrating in the up and down direction is also provided on the outer peripheral surface of the support column 61. The guiding groove communicates with the installation cavity and the outside of the support column 61 and is used to avoid the nut on the support bracket 21. The nut and the support bracket 21 are connected through a guiding block, and the guiding block is matched with the guiding groove for guiding cooperation.

[0125] As Figure 8 shown, a support transmission rack 65 is provided on the outer surface of the support column 61. The support transmission rack 65 is parallel to the extending direction of the support column 61. The driving shaft of the support motor 62 is coaxially connected to the support transmission rod 63. A support transmission gear 64 is sleeved on the outer peripheral surface of the support transmission rod 63. The support transmission gear 64 is in meshing transmission with the support transmission rack 65. Thus, the support column 61 can be lifted and lowered integrally under the drive of the support motor and drive the vertical driving mechanism 2 to be lifted and lowered integrally.

[0126] The support column 61 can be lifted and lowered to abut its bottom end against the ground. When the carrying assembly 1 transports heavy goods up and down, since the carried object is relatively rearward, there is a problem of causing the entire vehicle 1000 to lift its head. The support column 61 can reduce the downward force arm during the lifting and lowering of the fork arm when it supports the ground, and can avoid the phenomenon of the vehicle 1000 lifting its head. In addition, an elastic cushion block is provided at the bottom of the support column 61, which can play a dual role of buffering and protection when it supports the ground.

[0127] The lifting position of the support column 61 can be determined by a third position switch.

[0128] As Figure 8As shown, the support column 61 includes a first column section and a second column section that are sequentially arranged and fixedly connected in the vertical direction. An installation cavity is defined inside the first column section and the second column section. The first column section is slidably connected to the carriage 200 in the vertical direction, and a support drive rack 65 is fixed to the outer surface of the second column section.

[0129] Driven by the motor, it first slides to the outside of the cargo compartment and then descends to the lowest position. According to the position where the shelf 2000 is placed, the vehicle 1000 automatically uses the fork arms to pick up the shelf 2000. After the fork arms hold the shelf 2000, they first rise to a high position, then horizontally slide to the inner side position of the cargo compartment, and then descend to a certain position to place the shelf 2000 on the floor of the cargo compartment. Then, the vehicle 1000 identifies the next shelf 2000, and the fork arms cycle to pick up the next shelf 2000. After the cargo compartment of the vehicle 1000 is filled with the shelves 2000, the automatic door 220 of the cargo compartment of the vehicle 1000 closes, and the vehicle 1000 automatically drives to the target delivery position for unloading the shelf 2000. The unloading process of the shelf 2000 is the reverse process of loading.

[0130] The horizontal drive mechanism 4 includes a horizontal drive motor 42, a drive chain 43, an adapter 41, and a block 411 provided on the adapter 41. The adapter 41 is connected to the end of the drive chain 43, and the horizontal drive motor 42 is used to drive the end of the drive chain 43 to move horizontally, specifically in the front-back direction. When the block 411 is engaged in the card slot 121 of the support body 12, the horizontal drive motor 4 can drive the end of the drive chain 43. The drive chain 43 can drive the adapter 41 to move together, and the adapter 41 can drive the support body 12 to move horizontally along the two first horizontal guide rails 5. The position where the support member 12 moves is determined by the fourth position sensor. The drive chain 43 can also be replaced by a toothed belt or other drive forms, and the main purpose is to achieve transmission.

[0131] It should also be emphasized that the business volume of the current express logistics industry is growing rapidly every year and is an important part of the modern service industry. The entire link of the express logistics industry involves multiple different links, and the main links are as follows:

[0132] Link 1: Sent from the warehouse of the express company to the sorting center, usually the transportation tool is a heavy truck;

[0133] Link 2: Sent from the sorting center to the station, usually the transportation tool is a light truck;

[0134] Link 3: Sent from the station to the community post station, usually the transportation tools are micro trucks, mini vans or express delivery tricycles;

[0135] Link 4: The post station delivers the package to the user.

[0136] To improve the efficiency of parcel loading and transfer from Link 1 to Link 3, each logistics and express company will use specific carriers to load different parcels. Usually, carriers filled with express parcels are transported into the cargo compartments of different types of transport vehicles by operators with the help of forklift-like tools or manually, which has risks such as low efficiency, high labor intensity, and safety hazards. With the continuous maturity of autonomous driving technology, it has gradually been tried for commercial implementation in different fields. This includes driverless trucks and driverless delivery vehicles, etc. However, the current driverless trucks and driverless delivery vehicles only achieve the function of driverless driving and fail to achieve unmanned loading and unloading functions for the carriers, and cannot be seamlessly connected with future unmanned warehouses and unmanned stations, etc., to meet the requirements of high efficiency, low cost, and safety in modern logistics and express delivery.

[0137] In summary, the vehicle 1000 in this example can efficiently and safely achieve automated loading, unloading, and delivery of the shelf 2000, and can also be seamlessly connected with unmanned factories, unmanned stations, and unmanned stations, and the cost is lower.

[0138] Other components and operations of the vehicle 1000 according to the embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail here. In the description of the present invention, the "first feature" and "second feature" may include one or more of such features. Among them, the up-down direction, left-right direction, and front-back direction are based on the up-down direction, left-right direction, and front-back direction shown in the figure.

[0139] In the description of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature.

[0140] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0141] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A conveying mechanism, characterized in that, Comprising: A supporting component (1) for supporting goods; A vertical driving mechanism (2) for driving the supporting component (1) to move up and down to a preset height; A locking component (3) provided between the supporting component (1) and the vertical driving mechanism (2) and configured to switch from a locked state to an unlocked state when the supporting component (1) is at the preset height; In the locked state, the locking component (3) is used to lock the supporting component (1) and the vertical driving mechanism (2); in the unlocked state, the locking component (3) allows the supporting component (1) to slide relative to the vertical driving mechanism (2); A horizontal driving mechanism (4) for driving the supporting component (1) to move horizontally when the locking component (3) is unlocked.

2. The conveying mechanism according to claim 1, characterized in that, It further includes a first horizontal guide rail (5); The supporting component (1) is provided with a first guiding member (11), and the first guiding member (11) is configured to slidably cooperate with the first horizontal guide rail (5) for guiding when at the preset height.

3. The conveying mechanism according to claim 2, wherein The supporting component (1) includes a supporting body (12) and a transition member (13); The transition member (13) is provided with a transition horizontal guide rail (131); The first guiding member (11) is installed at the bottom of the supporting body (12), and the first guiding member (11) is used for slidably cooperating with the transition horizontal guide rail (131) for guiding; The transition horizontal guide rail (131) is configured to be aligned with the first horizontal guide rail (5) in the up and down direction at the preset height so that the supporting body (12) can move from the transition horizontal guide rail (131) to the first horizontal guide rail (5).

4. The conveying mechanism according to claim 3, wherein The output end of the vertical driving mechanism (2) is fixedly connected with a supporting bracket (21); The transition member (13) is movably installed on the supporting bracket (21) in the horizontal direction, so that the transition member (13) is used to be driven by the horizontal driving mechanism (4) to abut against the first horizontal guide rail (5) to splice the transition horizontal guide rail (131) and the first horizontal guide rail (5) into a continuous horizontal track.

5. The conveying mechanism according to claim 3 or 4, characterized in that, The locking component (3) includes a first locking component (31) and a second locking component (32); The first locking component (31) is provided between the vertical driving mechanism (2) and the transition member (13); The second locking component (32) is provided between the transition member (13) and the supporting body (12) and is configured to be unlocked when the transition horizontal guide rail (131) and the first horizontal guide rail (5) are spliced into a continuous horizontal track.

6. The conveying mechanism according to claim 5, wherein The first locking component (31) includes a first locking pin (311) and a first locking hole (312), one of which is provided on the supporting bracket (21) of the vertical driving mechanism (2), and the other is provided on the transition member (13), and the first locking pin (311) can be inserted into the first locking hole (312) to lock the supporting bracket (21) and the transition member (13); The second locking component (32) includes a second locking pin (321) and a second locking hole (322), one of which is provided on the transition member (13), and the other is provided on the supporting body (12). The second locking pin (321) can be inserted into the second locking hole (322) to lock the transition member (13) and the supporting body (12).

7. The conveying mechanism according to claim 3, wherein There are two parallel first horizontal guide rails (5) and the transition members (13). A spacing retainer (14) is provided between the two transition members (13).

8. The conveying mechanism according to claim 7, wherein The two transition members (13) and the spacing retainer (14) are integrally provided.

9. The conveying mechanism according to claim 1, characterized in that A card slot (121) is provided on the supporting component (1), and the card slot (121) penetrates the upper surface and / or the lower surface of the supporting component (1). A clamping block (411) is fixedly connected to the output end of the horizontal driving mechanism (4). When the supporting component (1) moves to the preset height, the clamping block (411) is clamped in the card slot (121) so that the horizontal driving mechanism (4) can drive the supporting component (1) to move horizontally through the clamping block (411).

10. A vehicle, characterized in that, Comprising: A vehicle body having a carriage (200); An environment perception module (300), including a camera and a lidar provided on the vehicle body, for the environment outside the vehicle; The conveying mechanism according to any one of claims 1-9 is provided in the carriage (200).

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