CN105600253A - Self-service express sending and taking device - Google Patents
Self-service express sending and taking device Download PDFInfo
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- CN105600253A CN105600253A CN201610074440.0A CN201610074440A CN105600253A CN 105600253 A CN105600253 A CN 105600253A CN 201610074440 A CN201610074440 A CN 201610074440A CN 105600253 A CN105600253 A CN 105600253A
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- Prior art keywords
- arm
- shelf
- goods
- sales counter
- self
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a self-service express sending and taking device. The self-service express sending and taking device comprises an external express storing and taking cabinet, a small mechanical arm, a rectangular coordinate mechanical arms, a conveying device, storage racks and a control system, wherein the external express storing and taking cabinet is used for inputting information and is provided with the control system, the small mechanical arm is capable of stretching and shrinking, the rectangular coordinate mechanical arms are capable of sliding in directions X, Y and Z and revolving in the direction Z. Packages are clamped and conveyed from the storage racks by virtue of the control of the control system and the cooperation movement of the rectangular coordinate mechanical arms, the small mechanical arm and the conveying device, thereby completing the fetching process or the reverse storing process of the packages. According to the self-service express sending and taking device, by combining multi-storage rack classification-type storage with the different rectangular coordinate mechanical arms for storing and taking the expresses, the taking efficiency is greatly improved, the labor cost is lowered, and the storing and the taking of large-inventory expresses are realized; furthermore, by virtue of the cooperation of the control system, the error rates of storing and taking of the expresses are greatly decreased, and the expresses can be conveniently and rapidly taken.
Description
Technical field
The present invention relates to logistics field of express delivery, relate in particular to a kind of self-service express delivery and post and get device.
Background technology
The rise day by day of express delivery industry, posting of express delivery got and need to have been gone by a large amount of manpowers, present most of express deliveryThe process of getting of posting gone to have distributed by courier, need a large amount of manpower and materials, in pickup process, also canCan occur a lot of wrong situations, be that to distribute the efficiency of express delivery object also relatively low by people, owing to having simultaneouslyTime express delivery more, can not be very fast find corresponding express delivery parcel, increased the time of pickup.
Application notification number is the artificial intelligence that CN204416544U utility model patent discloses a kind of express delivery terminalAccess machine. Single shelf are wherein set and single manipulator is used in conjunction with, use manipulator from shelf, to take bag awayWrap up in, then transport sales counter to, realized intellectual access part. The artificial intelligence access machine of this express delivery terminal can not be realized greatlyAmount stock pickup, also has certain restriction to the size of express delivery parcel.
Summary of the invention
In order to solve the defect of above-mentioned prior art, the present invention proposes a kind of new self-service express delivery and posts and get device, canTo realize the access of express delivery goods of various kinds in enormous quantities, greatly improve express delivery access efficiency.
Concrete technical scheme is:
A kind of self-service express delivery is posted and is got device, comprising: external access part sales counter 1, gadget hand 6, rectangular co-ordinateManipulator 7, conveyer 8, shelf 4 and control system, described control system is passed through right angle coordinate manipulator7, gadget hand 6 transmits parcel to realize goods bag with the gripping from shelf 4 that is used in conjunction with of conveyer 8Wrap up in 5 taking-up process or oppositely deposit process in.
Preferably, described external access part sales counter 1 is placed in the space outerpace that is easy to pickup, gadget hand 6,Right angle coordinate manipulator 7, conveyer 8, shelf 4 and control system are all arranged in bulk storage plant, outerPortion's access part sales counter 1 is provided with message input device 2 above and deposits access section 3, and message input device 2 is established aboveHave input keyboard and display screen, keyboard adopts digital 9 keyboards.
Preferably, described external access part sales counter 1 back side is provided with sales counter cargo storage mouth 9, and goods parcel 5 is logicalToo small manipulator 6 is transported to sales counter cargo storage mouth 9, and external access part sales counter 1 bottom is provided with deposits access section 3,The goods parcel 5 at sales counter cargo storage mouth 9 places arrives deposits access section 3 places, and access section 3 is deposited in control system controlOpen, realize and take out goods parcel 5, the message input device 2 on described external access part sales counter 1 is provided with receiptsSilver small change mouth, inside is provided with gravity measure device, barcode scanning device and label sticking machine.
Preferably, described gadget hand 6 is placed near external access part sales counter 1 place, and gadget hand 6 is settledPosition need to ensure can take the goods parcel 5 in conveyer 8 at gadget hand 6 away by motion, and canGoods parcel 5 is put into the sales counter cargo storage mouth 9 of external access part sales counter 1, conveyer 8 runs throughLay district at whole shelf 4, conveyer 8 one sides are shelf 4, and shelf 4 are both sides to be set deposit goods bagWrap up in 5, both sides are all placed with goods parcel 5, and shelf 4 are divided into multiple field, and the arrangement of shelf 4 belongs to arrange to be settled,Between two shelf 4, Existential Space is owing to installing right angle coordinate manipulator 7, and space size can ensure rectangular co-ordinateManipulator 7 carries out after multifreedom motion reaches the limit of position not interfering, and coordinates the right angle of different size to sitMark manipulator 7, realizes the access quickly and easily of the goods parcel 5 of all size.
Preferably, described gadget hand 6 can capture the goods parcel 5 on conveyer 8 to deliver to external accessIn the sales counter cargo storage mouth 9 at part sales counter 1 back side, gadget hand 6 is by gadget hand fixed station 13, verticalArm 14, horizontal arm 15, telescopic arm 16, clamping hand A17 and positioning shooting head A18 form jointly,Gadget hand fixed station 13 lower ends adopt fixing mode to be fixed in ground or fixture, and upper end is provided with circlePlatform, vertical arm 14 lower ends are provided with round platform and coordinate with it installation, and gadget hand fixed station 13 is joined with vertical arm 14Close rear inside the rotating mechanism of realizing vertical arm 14 lower end round platforms rotations is installed, vertically arm 14 is at rotating mechanismEffect under can realize along the rotation of lower end round platform axis, type of drive adopt motor drive.
Preferably, described vertical arm 14 upper ends are provided with horizontal arm 15, and vertically arm 14 keeps with horizontal arm 15At right angle setting also ensures steadily of centre of gravity in the time of work, and horizontal arm 15 is hollow legn, telescopic arm 16 by with levelArm 15 internal cavities cooperations are arranged in horizontal arm 15, and telescopic arm 16 can be along stretching in horizontal arm 15 cavitysThe common axis telescopic slide of contracting arm 16 and horizontal arm 15 meets the distance of job requirement, the type of drive of slipAdopt hydraulic-driven, telescopic arm 16 front ends are tongue end plates, and the clamping hand A17 coordinating with it adopts grooveDraw-in groove form symmetry is arranged on telescopic arm 16 front end tongue end plates, and telescopic arm 16 front ends are provided with positioning shootingA18, two symmetrical clamping hand A17 can be simultaneously to two Slideslips or simultaneously to central slide,Two clamping hand A17 coordinate can make opening and closing campaign, by positioning shooting head A18 position location feedback,Realize the crawl of goods parcel 5.
Preferably, described conveyer 8 is made up of with fixed mount 12 conveyer belt 10, cylinder 11, transmits dressPut 8 two ends and be provided with fixed mount 12, cylinder 11 is placed on fixed mount 12, and cylinder 11 can be at fixed mount 12Above freely rotate, conveyer belt 10 is installed on two ends cylinder 11, the rotation of cylinder 11 drives conveyer belt 10 to slide,Goods parcel 5 can be along with conveyer belt 10 slides along with conveyer belt 10 moves, for by the goods on shelf 4Parcel 5 captures the right angle coordinate manipulator 7 of delivering to conveyer 8 and can realize and make X, Y, tri-directions of ZSlip and z axis direction revolution, thereby capture goods parcel 5 and the both sides goods of each position on shelf 4Goods parcel 5 on frame 4, described right angle coordinate manipulator 7 is by the slide mechanism of X, Y, tri-directions of ZForm with z axis direction slew gear.
Preferably, described directions X slide mechanism by X to line slideway 19, screw mandrel A20, stepper motorA21 and X form to sliding stand 22, X to line slideway 19 by fixing mode be placed in ground orIn fixture, X between two shelf 4, ensures rectangular co-ordinate machine to line slideway 19 installation positionsTool hand 7 can be realized and capturing the goods parcel 5 in both racks 4, and X is to line slideway 19 centersLeading screw A20 is installed, and side is provided with stepper motor A21, and there is transmission mechanism side inside, and X is to slipPlatform 22 bottoms are provided with leading screw A20 matching mechanism, and X passes through ball screw assembly, to sliding stand 22 with leading screw A20Be installed together, and coordinated and be arranged on X on line slideway 19 by groove, stepper motor A21 rotates bandMovable wire thick stick A20 rotates, and X slides to line slideway 19 at X to sliding stand 22.
Preferably, described Z direction slide mechanism is by Z-direction line slideway 24, Z-direction sliding stand 25, stepping electricityMachine C30 and leading screw B33 composition, X is provided with round platform to sliding stand 22 upper ends, Z-direction line slideway 24 lower endsBe provided with round platform and coordinate installation with X to sliding stand 22 upper end round platforms, install and ensure that two round platforms are on same axis,Z-direction line slideway 24 is Z direction after installing, and is vertical configuration, Z-direction line slideway with X to line slideway 1924 centers are provided with leading screw B33, and upside is provided with stepper motor C30, and upper interior has transmission mechanism,Z-direction sliding stand 25 inside are provided with leading screw B33 matching mechanism, and Z-direction sliding stand 25 passes through ball with leading screw B33Lead screw pair is installed together, and the vertical side of Z-direction sliding stand 25 is coordinated and is arranged on Z-direction line slideway by grooveOn 24, stepper motor C30 rotates and drives leading screw leading screw B33 to rotate, and Z-direction sliding stand 25 is led at Z-direction straight lineRail 24 slides.
Preferably, described Y-direction slide mechanism is by Y-direction travelling arm 26, clamping hand B29, stepper motorD32, positioning shooting head B28 and gear 31 form, and Y-direction travelling arm 26 is coordinated and is arranged on Z-direction cunning by grooveIn moving platform 25 horizontal side, Y-direction travelling arm 26 is provided with tooth bar 27, by being arranged on Z-direction sliding stand 25Stepper motor D32 and gear 31 assemblage zone carry-over bars 27 can horizontally slip, Y-direction travelling arm 26 front endsBe tongue end plate, the clamping hand B29 coordinating with it adopts groove draw-in groove form symmetry to be arranged on travelling arm 26On front end tongue end plate, Y-direction travelling arm 26 front ends are provided with positioning shooting head B28, by positioning shooting headThe position of B28 positioning capturing goods parcel 5, two symmetrical clamping hand B29 can be simultaneously to two SlideslipsOr simultaneously to central slide, two clamping hand B29 coordinate can make opening and closing campaign, described z axisDirection slew gear drives and is positioned at X to slip to the stepper motor B23 on sliding stand 22 by being arranged on XThe rotating mechanism motion of platform 22 inside.
Beneficial effect of the present invention: the self-service express delivery of one of the present invention is posted and got device and can reduce human cost, depositsConvenient and swift while getting express delivery goods, and the appearance of mistake while also having reduced express delivery access, classify by warehouse-typeGoods is laid mode, can realize the access of the express delivery goods of various kinds in enormous quantities, has greatly improved express delivery and has depositedGet efficiency.
Brief description of the drawings
This description comprises the following drawings, shown in content respectively:
Fig. 1 is that the front integral layout structural representation of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 2 is that the back side integral layout structural representation of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 3 is that the left side structural representation of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 4 is that the right side structural representation of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 5 is that the plan structure schematic diagram of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 6 is that the main TV structure schematic diagram of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 7 is that operating mechanism's schematic diagram of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 8 is that the rear schematic diagram of operating mechanism's motion of getting device is posted in a kind of self-service express delivery of the present invention;
Fig. 9 is that the Facad structure signal of getting the right angle coordinate manipulator in device is posted in a kind of self-service express delivery of the present inventionFigure;
Figure 10 is that the structure signal of getting the right angle coordinate manipulator in device is posted in a kind of self-service express delivery of the present inventionFigure;
In figure, be labeled as:
1, external access part sales counter; 2, message input device; 3, deposit access section; 4, shelf; 5, goodsParcel; 6, gadget hand; 7, right angle coordinate manipulator; 8, conveyer; 9, sales counter cargo storage mouth;10, conveyer belt; 11, cylinder; 12, fixed mount; 13, gadget hand fixed station; 14, vertical arm; 15,Horizontal arm; 16, telescopic arm; 17, clamping hand A; 18, positioning shooting head A; 19, X is to line slideway;20, screw mandrel A; 21, stepper motor A; 22, X is to sliding stand; 23, stepper motor B; 24, Z-direction is straightLine guide rail; 25, Z-direction sliding stand; 26, Y-direction travelling arm; 27, tooth bar; 28, positioning shooting head B; 29,Clamping hand B; 30, stepper motor C; 31, gear; 32, stepper motor D; 33, leading screw B.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is done further in detailThin explanation, object be help those skilled in the art to design of the present invention, technical scheme have more complete,Accurate and deep understanding, and contribute to its enforcement.
As shown in Figures 1 and 2, a kind of self-service express delivery is posted and is got device by external access part sales counter 1, gadget hand6, right angle coordinate manipulator 7, conveyer 8, shelf 4 and control system form jointly. Control system is logicalCross the gripping transmission from shelf 4 that is used in conjunction with of right angle coordinate manipulator 7, gadget hand 6 and conveyer 8Parcel is to realize the taking-up process of goods parcel 5 or oppositely to deposit process in.
Wherein, external access part sales counter 1 is placed in the space outerpace that is easy to pickup, and inside is a bulk storage plant,Gadget hand 6, right angle coordinate manipulator 7, conveyer 8, shelf 4 and control system are at bulk storage plantIn. External access part sales counter 1 is provided with message input device 2 above and deposits access section 3, message input device 2Be provided with input keyboard and display screen above, keyboard preferences adopts digital 9 keyboards, is easy to user's input, improvesOperating efficiency. User can be sent to pickup digital code on oneself mobile device in information according to control systemIn keyboard in input unit 2, input. External access part sales counter 1 back side is provided with sales counter cargo storage mouth 9, goodsThing parcel 5 is transported to sales counter cargo storage mouth 9 by gadget hand 6; Corresponding with it, external access part sales counter1 bottom is provided with deposits access section 3, and the goods parcel 5 at sales counter cargo storage mouth 9 places arrives deposits access section 3 places,Control system control is deposited access section 3 and is opened, and realizes and takes out goods parcel 5. As depositing goods parcel 5 needs in,Message input device 2 on external access part sales counter 1 is provided with cash register small change mouth and coordinates with inner cash register small change systemCan realize the change making function of collecting money, inside is provided with gravity measure device, barcode scanning device and label sticking machine, has realizedThe process that initially deposits in of goods parcel 5.
With reference to shown in Fig. 3 to Fig. 6, gadget hand 6 is placed near external access part sales counter 1 place, gadgetHand 6 installation positions need to ensure to take the goods bag in conveyer 8 at gadget hand 6 away by a series of motionsWrap up in 5, and can the goods parcel 5 sales counter goods of putting into external access part sales counter 1 be deposited by a series of motionsPut in mouth 9. Conveyer 8 is applied in whole shelf 4 and lays district, and conveyer 8 one sides are shelf 4, goodsFrame 4, as supermarket pendulum thing shelf, has a lot of groups of shelf 4, and shelf 4 are both sides to be set deposit goods parcel5, both sides are all placed with goods parcel 5, and shelf 4 are divided into multiple field, have greatly increased depositing of goods parcel 5Amount, has also saved space. The simultaneously arrangement of shelf 4 belongs to arrange to be settled, between two shelf 4 Existential Space byIn right angle coordinate manipulator 7 is installed, space size can ensure that right angle coordinate manipulator 7 carries out multiple degrees of freedom fortuneMoving do not interfere after reaching the limit of position. Goods parcel 5 is placed on different shelf according to size specification differenceOn 4, the goods parcel 5 of different size specification shapes is classified, like this 5 points of variety classes goods parcelsClass is clear and definite. Coordinate the right angle coordinate manipulator 7 of different size, can effectively realize the goods bag of all sizeWrap up in 5 access quickly and easily. Shelf 4 need to ensure by rectangular co-ordinate machine with conveyer 8 installation sitesA series of motions of tool hand 7 are taken off after goods parcel 5, then goods can be wrapped up to 5 by a series of motionsPlace on conveyer 8 and carry out further work.
As shown in Figure 7, for the goods parcel 5 on conveyer 8 is captured and delivers to external access part sales counter 1Gadget hand 6 in the sales counter cargo storage mouth 9 at the back side, gadget hand 6 is by gadget hand fixed station 13, perpendicularStraight-arm 14, horizontal arm 15, telescopic arm 16, clamping hand A17 and positioning shooting head A18 form jointly.Gadget hand fixed station 13 lower ends adopt fixing mode to be fixed in ground or fixture, and upper end is provided with circlePlatform, vertical arm 14 lower ends are provided with round platform and coordinate with it installation. Gadget hand fixed station 13 is joined with vertical arm 14Close rear inside the rotating mechanism of realizing vertical arm 14 lower end round platforms rotations is installed, vertically arm 14 is at rotating mechanismEffect under can realize along the rotation of lower end round platform axis, type of drive preferentially adopt motor drive. Vertically arm14 upper ends are provided with horizontal arm 15, and vertically arm 14 keeps at right angle setting with horizontal arm 15, install and ensure in workSteadily of centre of gravity while work. Horizontal arm 15 is hollow legn, and telescopic arm 16 is by coordinating with horizontal arm 15 internal cavitiesBe arranged in horizontal arm 15, telescopic arm 16 can be along telescopic arm 16 and horizontal arm in horizontal arm 15 cavitys15 common axis telescopic slide meet the distance of job requirement, and the type of drive of slip preferentially adopts hydraulic pressure to driveMoving. Telescopic arm 16 front ends are tongue end plates, coordinate with it, and clamping hand A17 adopts groove draw-in groove formSymmetry is arranged on telescopic arm 16 front end tongue end plates, and telescopic arm 16 front ends are provided with positioning shooting head A18,By the position of positioning shooting head A18 positioning capturing goods parcel 5, two symmetrical clamping hand A17 canWith simultaneously, to two Slideslips or simultaneously to central slide, two clamping hand A17 coordinate can make opening and closingMotion, by positioning shooting head A18 position location feedback, has realized the crawl of goods parcel 5.
As shown in Figure 8, conveyer 8 is made up of with fixed mount 12 conveyer belt 10, cylinder 11, conveyer8 two ends are provided with fixed mount 12, and cylinder 11 is placed on fixed mount 12, and cylinder 11 can be on fixed mount 12Freely rotate, conveyer belt 10 is installed on two ends cylinder 11, the rotation of cylinder 11, drives conveyer belt 10 to slide,Goods parcel 5 can be along with conveyer belt 10 slides along with conveyer belt 10 moves.
As shown in Figures 9 and 10, for the goods parcel 5 on shelf 4 is captured to the right angle of delivering to conveyer 8Coordinate manipulator 7, right angle coordinate manipulator 7 can be realized the slip that makes X, Y, tri-directions of Z, canCapture the goods parcel 5 of each position on shelf 4, and right angle coordinate manipulator 7 can be realized z axis sideTo revolution, to realize the goods parcel 5 capturing on both sides shelf 4. Right angle coordinate manipulator 7 also by X, Y,The slide mechanism of tri-directions of Z and z axis direction slew gear composition.
Directions X slide mechanism by X to line slideway 19, screw mandrel A20, stepper motor A21 and X to slipPlatform 22 forms. X is placed in ground or fixture by fixing mode to line slideway 19, X toLine slideway 19 installation positions, between two shelf 4, need to ensure that right angle coordinate manipulator 7 is in processAfter a series of motions, can wrap up 5 convenient and swift crawls to the goods in both racks 4. X is to line slideway19 centers are provided with leading screw A20, and side is provided with stepper motor A21, and there is transmission mechanism side inside,Arrive the rotational motion of leading screw A20 for transmitting stepper motor A21. X is provided with leading screw to sliding stand 22 bottomsA20 matching mechanism, X is installed together by ball screw assembly, with leading screw A20 to sliding stand 22, and logicalCross groove cooperation and be arranged on X on line slideway 19, stepper motor A21 rotates and drives leading screw A20 to rotate, XSlide to line slideway 19 at X to sliding stand 22, i.e. directions X motion realizes.
Z direction slide mechanism is by Z-direction line slideway 24, Z-direction sliding stand 25, stepper motor C30 and leading screwB33 composition. X is provided with round platform to sliding stand 22 upper ends, Z-direction line slideway 24 lower ends be provided with round platform and X toSliding stand 22 upper end round platforms coordinate to be installed, and installs and ensures that two round platforms are on same axis. Z-direction line slideway 24After installation, be Z direction, be vertical configuration with X to line slideway 19. Z-direction line slideway 24 center peacesLeading screw B33 is housed, and upside is provided with stepper motor C30, and upper interior has transmission mechanism, for transmitting steppingMotor C30 arrives the rotational motion of leading screw B33. Z-direction sliding stand 25 inside are provided with leading screw B33 matching mechanism,Z-direction sliding stand 25 is installed together by ball screw assembly, with leading screw B33, and Z-direction sliding stand 25 is perpendicularFront is coordinated and is arranged on Z-direction line slideway 24 by groove, and stepper motor C30 rotates and drives leading screw leading screwB33 rotates, and Z-direction sliding stand 25 slides at Z-direction line slideway 24, i.e. Z direction motion realizes.
Y-direction slide mechanism is by Y-direction travelling arm 26, clamping hand B29, stepper motor D32, positioning shootingB28 and gear 31 form, and Y-direction travelling arm 26 is coordinated and is arranged on Z-direction sliding stand 25 horizontal side by grooveUpper, Y-direction travelling arm 26 is provided with tooth bar 27, by being arranged on the stepper motor D32 on Z-direction sliding stand 25Can horizontally slip with gear 31 assemblage zone carry-over bars 27. Y-direction travelling arm 26 front ends are tongue end plates, withCooperation, clamping hand B29 adopts groove draw-in groove form symmetry to be arranged on travelling arm 26 front end tongue end platesUpper, Y-direction travelling arm 26 front ends are provided with positioning shooting head B28, by positioning shooting head B28 positioning capturingThe position of goods parcel 5, two symmetrical clamping hand B29 can be simultaneously to two Slideslips or simultaneously toCentral slide, two clamping hand B29 coordinate can make opening and closing campaign, has realized the motion of Y-direction. ZAxis direction slew gear drives and is positioned at X to the stepper motor B23 on sliding stand 22 by being arranged on XTo the rotating mechanism motion of sliding stand 22 inside, realize the revolution of z axis direction.
The operation principle of getting device is posted in a kind of self-service express delivery of the present invention: pickup process; User receives certainly a kind ofThe control system that helps express delivery to post to get device is to the pickup code mailing on own mobile device, and user goes to pickupPoint, the message input device 2 on external access part sales counter 1 is inputted pickup code, and control system obtains userCode command, the right angle coordinate manipulator 7 of controlling 4 of shelf arrives goods and wraps up 5 programmed positions, thenDetermine that by the positioning shooting head B28 on Y-direction travelling arm 26 goods wraps up 5 accurate locations and goods parcel5 accurate size, controls the opening and closing size that clamps hand B29, to realize the effective crawl to goods parcel 5;Right angle coordinate manipulator 7 wraps up B by a series of motions by goods again and is transported on conveyer 8, controls systemSystem is controlled transmission device 8 and is moved, in the time that goods parcel 5 arrives ad-hoc location, and control system control gadget hand6 work, gadget hand 6 also effectively captures goods parcel 5 by positioning shooting head A18. GadgetHand 6 wraps up goods in the 5 sales counter cargo storage mouths 9 of delivering in external access part sales counter 1, control system controlSystem is deposited access section 3 and is opened, and user takes out goods parcel 5, wherein, and gadget hand 6 and right angle coordinate manipulator7 motion process is with reference to Fig. 7 to Fig. 8.
While depositing part, user arrives before external access part sales counter 1, and in message input device 2, to deposit part specific in inputInstruction, control system control is opened and is deposited access section 3, and sales counter goods put into by packaged goods parcel 5 by userDeposit in mouth 9, it is heavy that sales counter cargo storage mouth 9 inside are provided with meter, barcode scanning, and label sticking machine, to depositing part inCarry out, after a series of processing, calculating price, then show price by message input device 2, user is by outsideMessage input device 2 on access part sales counter 1 is provided with cash register small change mouth and coordinates passable with inner cash register small change systemRealize payment small change. Goods in gadget hand 6 positioning clamping sales counter cargo storage mouths 9 parcel 5 afterwards, willGoods parcel 5 is put into conveyer 8, afterwards right angle coordinate manipulator 7 according to control system control again from passingSend gripping goods parcel 5 in device 8, by a series of motion, goods parcel 5 distributes according to control systemGood position deposits on specific shelf 4.
Below by reference to the accompanying drawings the present invention is exemplarily described. Obviously, specific implementation of the present invention is not subject toState the restriction of mode. As long as the various unsubstantialities that adopted method design of the present invention and technical scheme to carry outImprovement; Or without improvement, above-mentioned design of the present invention and technical scheme are directly applied to other occasion,All within protection scope of the present invention.
Claims (10)
1. self-service express delivery is posted and is got a device, it is characterized in that: comprising: external access part sales counter (1), gadgetHand (6), right angle coordinate manipulator (7), conveyer (8), shelf (4) and control system, described inControl system coordinates with conveyer (8) by right angle coordinate manipulator (7), gadget hand (6)Use gripping from shelf (4) to transmit parcel to realize the taking-up process of goods parcel (5) or oppositely to depositEnter process.
2. self-service express delivery is posted and is got device according to claim 1, it is characterized in that: described external access part sales counter(1) be placed in the space outerpace that is easy to pickup, gadget hand (6), right angle coordinate manipulator (7), biographySend device (8), shelf (4) and control system to be all arranged in bulk storage plant, external access part sales counter(1) be provided with message input device (2) above and deposit access section (3), message input device (2) aboveBe provided with input keyboard and display screen, keyboard adopts numeral (9) keyboard.
3. self-service express delivery is posted and is got device according to claim 2, it is characterized in that: described external access part sales counter(1) back side is provided with sales counter cargo storage mouth (9), and goods parcel (5) is transported to by gadget hand (6)Sales counter cargo storage mouth (9), external access part sales counter (1) bottom is provided with deposits access section (3), and sales counter goods is depositedPut the goods parcel (5) of mouthful (9) locating and arrive and deposit access section (3) and locate, access section is deposited in control system control(3) open, realize and take out goods parcel (5), the information on described external access part sales counter (1) is defeatedEnter device (2) and be provided with cash register small change mouth, inside is provided with gravity measure device, barcode scanning device and label sticking machine.
4. post and get device according to self-service express delivery described in claim 1-3 any one, it is characterized in that: described little machineTool hand (6) is placed near external access part sales counter (1) and locates, and gadget hand (6) installation position needsEnsure can take the goods parcel (5) in conveyer (8) at gadget hand (6) away by motion,And goods can be wrapped up to (5) and put into the sales counter cargo storage mouth (9) of external access part sales counter (1),Conveyer (8) is applied in whole shelf (4) and lays district, and conveyer (8) one sides are shelf (4),Shelf (4) are both sides to be set deposit goods parcel (5), and both sides are all placed with goods parcel (5), shelf (4)Be divided into multiple field, the arrangement of shelf (4) belong to arrange settle, between two shelf (4) Existential Space byIn right angle coordinate manipulator (7) is installed, space size can ensure that right angle coordinate manipulator (7) carries out manyAfter free degree motion arrives extreme position, do not interfere, coordinate the right angle coordinate manipulator of different size(7), realize the access quickly and easily of the goods parcel (5) of all size.
5. self-service express delivery is posted and is got device according to claim 4, it is characterized in that: described gadget hand (6) energyGoods parcel (5) on conveyer (8) is captured to the cabinet of delivering to external access part sales counter (1) back sideIn platform cargo storage mouth (9), gadget hand (6) by gadget hand fixed station (13), vertically arm (14),Horizontal arm (15), telescopic arm (16), clamping hand A (17) and positioning shooting head A (18) are altogetherWith composition, gadget hand fixed station (13) lower end adopts fixing mode to be fixed on ground or fixtureUpper, upper end is provided with round platform, and vertical arm (14) lower end is provided with round platform and coordinates with it installation, and gadget hand is solidDetermining platform (13) coordinates afterwards inside to be provided with to realize vertical arm (14) lower end round platform and turns with vertical arm (14)Moving rotating mechanism, vertically arm (14) can be realized along lower end round platform axis under the effect of rotating mechanismRotation, type of drive adopt motor drive.
6. self-service express delivery is posted and is got device according to claim 5, it is characterized in that: on described vertical arm (14)End is provided with horizontal arm (15), and vertically arm (14) keeps at right angle setting and ensures with horizontal arm (15)Steadily of centre of gravity when work, horizontal arm (15) is hollow legn, telescopic arm (16) by with horizontal arm (15)Internal cavity cooperation is arranged in horizontal arm (15), and telescopic arm (16) can be in horizontal arm (15) chamberIn body, meet the distance of job requirement along the common axis telescopic slide of telescopic arm (16) and horizontal arm (15)From, the type of drive of slip adopts hydraulic-driven, and telescopic arm (16) front end is tongue end plate, joins with itThe clamping hand A (17) closing adopts groove draw-in groove form symmetry to be arranged on telescopic arm (16) front end tongueOn end plate, telescopic arm (16) front end is provided with positioning shooting head A (18), two symmetrical clamping handsA (17) can be simultaneously to two Slideslips or simultaneously to central slide, two clamping hand A (17)Cooperation can be made opening and closing campaign, by positioning shooting head A (18) position location feedback, realizes goodsThe crawl of parcel (5).
7. post and get device according to self-service express delivery described in claim 1-3 or 5-6 any one, it is characterized in that: instituteState conveyer (8) and formed with fixed mount (12) by conveyer belt (10), cylinder (11), transmit dressPut (8) two ends and be provided with fixed mount (12), it is upper that cylinder (11) is placed in fixed mount (12), cylinder (11)Can above freely rotate at fixed mount (12) upper conveyer belt (10), the cylinder installed of two ends cylinder (11)(11) rotation drives conveyer belt (10) to slide, and goods parcel (5) can be along with conveyer belt (10)Slide along with conveyer belt (10) motion, for the goods parcel (5) on shelf (4) is captured and delivered toThe right angle coordinate manipulator (7) of conveyer (8) can be realized the slip that makes X, Y, tri-directions of ZWith the revolution of z axis direction, thereby capture above goods parcel (5) and the both sides of each position of shelf (4)Goods parcel (5) on shelf (4), described right angle coordinate manipulator (7) is by X, Y, tri-sides of ZTo slide mechanism and z axis direction slew gear composition.
8. self-service express delivery is posted and is got device according to claim 7, it is characterized in that: described directions X slide mechanismBy X to line slideway (19), screw mandrel A (20), stepper motor A (21) with X to sliding stand (22)Composition, X is placed in ground or fixture by fixing mode to line slideway (19), XBetween two shelf (4), ensure right angle coordinate manipulator (7) to line slideway (19) installation positionCan the goods parcel (5) in both racks (4) be realized and being captured, X be in line slideway (19)Heart position is provided with leading screw A (20), and side is provided with stepper motor A (21), and there is transmission side insideMechanism, X is provided with leading screw A (20) matching mechanism to sliding stand (22) bottom, and X is to sliding stand (22)Be installed together by ball screw assembly, with leading screw A (20), and coordinate and be arranged on X to directly by grooveLine guide rail (19) is upper, and stepper motor A (21) rotates and drives leading screw A (20) to rotate, and X is to slipPlatform (22) slides to line slideway (19) at X.
9. self-service express delivery is posted and is got device according to claim 7, it is characterized in that: described Z direction slide mechanismBy Z-direction line slideway (24), Z-direction sliding stand (25), stepper motor C (30) and leading screw B (33)Composition, X is provided with round platform to sliding stand (22) upper end, and Z-direction line slideway (24) lower end is provided with round platformCoordinate installation with X to sliding stand (22) upper end round platform, install and ensure that two round platforms are on same axis, ZAfter line slideway (24) is installed, be Z direction, be vertical configuration, Z-direction with X to line slideway (19)Line slideway (24) center is provided with leading screw B (33), and upside is provided with stepper motor C (30),Upper interior has transmission mechanism, and Z-direction sliding stand (25) inside is provided with leading screw B (33) matching mechanism, ZBe installed together by ball screw assembly, with leading screw B (33) to sliding stand (25), and Z-direction is slidedPlatform (25) vertically side is coordinated and is arranged on Z-direction line slideway (24) above by groove, stepper motor C (30)Rotate and drive leading screw leading screw B (33) to rotate, Z-direction sliding stand (25) is in Z-direction line slideway (24)Slide.
10. self-service express delivery is posted and is got device according to claim 7, it is characterized in that: described Y-direction slide mechanismBy Y-direction travelling arm (26), clamping hand B (29), stepper motor D (32), positioning shooting head B(28) with gear (31) composition, Y-direction travelling arm (26) is coordinated and is arranged on Z-direction sliding stand by groove(25) in horizontal side, Y-direction travelling arm (26) is provided with tooth bar (27), slides by being arranged on Z-directionStepper motor D (32) on platform (25) can left and right with gear (31) assemblage zone carry-over bar (27)Slide, Y-direction travelling arm (26) front end is tongue end plate, and the clamping hand B (29) coordinating with it adoptsBe arranged on travelling arm (26) front end tongue end plate Y-direction travelling arm (26) by groove draw-in groove form symmetryFront end is provided with positioning shooting head B (28), wraps up by positioning shooting head B (28) positioning capturing goods(5) position, symmetrical two clamping hand B (29) can be simultaneously to two Slideslips or simultaneously toCentral slide, two clamping hand B (29) coordinate can make opening and closing campaign, described z axis directionSlew gear by be arranged on X to the stepper motor B (23) on sliding stand (22) drive be positioned at X toThe rotating mechanism motion that sliding stand (22) is inner.
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| CN201610074440.0A CN105600253B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service express delivery, which is posted, takes device |
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| CN201610074440.0A CN105600253B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service express delivery, which is posted, takes device |
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| CN107978094A (en) * | 2017-11-22 | 2018-05-01 | 皖西学院 | A kind of efficiently quick express delivery intelligent access device |
| CN107814122A (en) * | 2017-11-24 | 2018-03-20 | 醴陵市绿源商贸有限公司 | A kind of intelligent storage method and circular Intelligent storage device |
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| CN108190346A (en) * | 2017-12-29 | 2018-06-22 | 上海电力学院 | A kind of automatic shelf |
| CN108190347A (en) * | 2018-01-23 | 2018-06-22 | 金陵科技学院 | A kind of logistics end Automatic Warehouse of high storage performance |
| CN108171893A (en) * | 2018-03-19 | 2018-06-15 | 厦门大学嘉庚学院 | A kind of intelligent internet of things system and its method of work of campus express delivery dispatching |
| CN108402866A (en) * | 2018-04-19 | 2018-08-17 | 吉林大学 | A kind of express delivery bulk-breaking based on three axis mobile platforms and ask for terminal system and method |
| CN108529118A (en) * | 2018-05-24 | 2018-09-14 | 贵州恒晋助力智能技术有限公司 | One kind is multi-direction to move freely cargo access device |
| CN108529118B (en) * | 2018-05-24 | 2024-01-26 | 贵州恒晋助力智能技术有限公司 | Multidirectional free-moving goods storing and taking device |
| CN109018807A (en) * | 2018-08-29 | 2018-12-18 | 递易（上海）智能科技有限公司 | High efficiency, low cost express delivery wall |
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| CN109051765A (en) * | 2018-09-07 | 2018-12-21 | 环球炉业（惠州）有限公司 | A kind of automated food processing furnace system |
| CN109625920A (en) * | 2018-11-28 | 2019-04-16 | 上海熙香艺享电子商务有限公司 | A kind of transport of cutlery box and save system |
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| CN110142217A (en) * | 2019-04-28 | 2019-08-20 | 扬州市职业大学(扬州市广播电视大学) | A kind of express delivery based on Internet of Things distributes system |
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| CN110329689B (en) * | 2019-04-28 | 2020-10-27 | 池州海琳服装有限公司 | Intelligent file access arrangement |
| CN110386394A (en) * | 2019-08-09 | 2019-10-29 | 佛山井松智能科技有限公司 | A kind of intelligent transportation system of automatic stereowarehouse |
| CN110451154A (en) * | 2019-08-16 | 2019-11-15 | 北京铁道工程机电技术研究所股份有限公司 | A kind of work hand account access arrangement |
| CN110526179A (en) * | 2019-08-23 | 2019-12-03 | 王龙辰 | A kind of eminence express delivery device for taking suitable for different height logistic rack |
| CN110606319A (en) * | 2019-10-19 | 2019-12-24 | 广东赛斐迩物流科技有限公司 | Automatic storage container |
| CN111392310A (en) * | 2020-04-23 | 2020-07-10 | 陕西商储物流有限公司 | Intelligent logistics storage system |
| CN111674805A (en) * | 2020-06-12 | 2020-09-18 | 南京鑫鼎纤维材料有限公司 | Intelligent spindle yarn loading and storing frame robot |
| WO2022116252A1 (en) * | 2020-12-03 | 2022-06-09 | 苏州艾隆科技股份有限公司 | Medicine storehouse |
| CN112849886A (en) * | 2021-01-08 | 2021-05-28 | 扬州工业职业技术学院 | Automatic express taking and placing system for post house |
| CN113911613B (en) * | 2021-10-20 | 2023-03-14 | 成都航空职业技术学院 | Express temporary storage system |
| CN113911613A (en) * | 2021-10-20 | 2022-01-11 | 成都航空职业技术学院 | Express temporary storage system |
| CN113859842A (en) * | 2021-11-09 | 2021-12-31 | 国网江苏省电力有限公司南通供电分公司 | Automatic warehouse goods classification system |
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| CN105600253B (en) | 2018-05-29 |
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