CN108402866A - A kind of express delivery bulk-breaking based on three axis mobile platforms and ask for terminal system and method - Google Patents
A kind of express delivery bulk-breaking based on three axis mobile platforms and ask for terminal system and method Download PDFInfo
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00
- A47G29/12—Mail or newspaper receptacles, e.g. letter-boxes; Openings in doors or the like for delivering mail or newspapers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00
- A47G29/12—Mail or newspaper receptacles, e.g. letter-boxes; Openings in doors or the like for delivering mail or newspapers
- A47G29/122—Parts, details, or accessories, e.g. signalling devices, lamps, devices for leaving messages
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00
- A47G29/12—Mail or newspaper receptacles, e.g. letter-boxes; Openings in doors or the like for delivering mail or newspapers
- A47G29/122—Parts, details, or accessories, e.g. signalling devices, lamps, devices for leaving messages
- A47G29/1225—Signalling devices
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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Abstract
A kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system and method are asked for, belongs to wisdom physical distribution terminal technical field, including enter part platform, three axis mobile platforms, express delivery cabinet, pickup terminal, camera identification module and SIM system information management module；Method is as follows：Step 1: package, which enters system and device by entering part mouth, is temporarily stored into article carrying platform, the single package of promotion robot gripping；Step 2: the bar code information acquired according to camera identification module, package dimensions information system distribute cabinet to current package, three axis mobile platform intelligence bulk-breakings storage automatically；Step 3: system is notified in the form of short message from pickup, system searches, compares pickup code, three axis mobile platform pickup outbounds automatically when pickup, and pickup result feeds back to SIM system information management module and is further processed.Convenient and efficient, good reliability of the invention, substantially increases the rate of Express Logistics terminal, practicability is stronger.
Description
Technical Field
The invention belongs to the technical field of intelligent logistics terminals, and particularly relates to an express delivery.
Background
With the rapid development of electronic commerce and information network technology, the intelligent solution for express logistics 'last kilometer' distribution in the prior art is most common to intelligent express self-taking cabinets.
According to data issued by a Chinese logistics information center, about 17 thousand express cabinet outlets exist in the whole country in 2017, the daily delivery amount is 550 thousands of single, accounts for 6.8%, and about 35 thousands of outlets exist in the whole country in 2020, which accounts for about 30% of the delivery amount. According to the report analysis, when the express is concentrated to the campus, the first express company is unwilling to enter the campus and likes to be spread at the gate; after entering the school, the second express company is easy to cause environmental mess; third student is unwilling to go out to get the express delivery because of the asymmetry of the time of giving lessons, and the use of getting the cabinet certainly can realize the express delivery mode of an unmanned handing-over, and the express delivery person only need to deliver the express delivery to getting the cabinet certainly, and in the stipulated time span, the addressee arrives and gets the cabinet certainly and collect the express delivery according to the time arrangement of oneself to realize whole express delivery process.
However, in the prior art, the courier will deliver the packages to the corresponding cabinet grids according to the package information and the size, when the number of the express packages is large, the express delivery is inconvenient for the courier, a large amount of time cost is consumed, and inconvenience is brought to the person taking the packages due to the difference of the heights of the cabinet grids of the self-taking cabinet, so that the popularization and the use of the self-taking cabinet can be influenced. Therefore, there is a need in the art for a new solution to solve this problem.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the express delivery express.
The utility model provides an express delivery divides piece and terminal system of getting certainly based on triaxial mobile platform which characterized by: the express delivery system comprises a delivery platform, a three-axis mobile platform, an express delivery storage cabinet, a delivery terminal, a camera identification module and a system information management module, wherein the delivery platform comprises a delivery inlet, an express delivery transport channel and a carrying platform, the delivery inlet is arranged at one end of the express delivery transport channel, and the carrying platform is arranged at the other end of the express delivery transport channel;
the three-axis moving platform comprises a three-axis mechanism and a pushing manipulator; the three-axis mechanism comprises an X-axis speed reducing motor, a Y-axis stepping motor, a Z-axis stepping motor, an X-axis synchronous guide wheel, an X-axis slide bar guide rail, an X-axis driving screw, a Y-axis synchronous guide wheel, a Y-axis slide bar guide rail, a Y-axis driving screw, a Z-axis slide bar guide rail, a Z-axis synchronous belt and an object bearing plate; the object bearing plate is fixedly arranged at the upper part of the X-axis slide bar guide rail, and an X-axis speed reducing motor and an X-axis synchronous guide wheel are arranged on the X-axis driving screw rod; the Z-axis slide bar guide rail is connected with the X-axis slide bar guide rail in a nested manner, and the Z-axis stepping motor is connected with the Z-axis synchronous belt; the Y-axis slide bar guide rail is connected with the Z-axis slide bar guide rail in a nested manner, one end of the Y-axis drive screw is provided with a Y-axis stepping motor, and two Y-axis synchronous guide wheels are arranged on the Y-axis drive screw;
the manipulator comprises a rhombic telescopic structure, a multi-degree-of-freedom mechanical arm, an air suction pipe opening, a mechanical arm clamping jaw, a gear and an air suction device, wherein the rhombic telescopic structure is a parallelogram hinged structure, one end of the rhombic telescopic structure is connected with an object bearing plate, and the other end of the rhombic telescopic structure is connected with the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom mechanical arm is connected with the mechanical arm clamping jaw, one side of each of two clamping jaws of the mechanical arm clamping jaw is provided with a gear, the two gears are meshed, and the air suction pipe orifice is arranged in the middle of one side of the mechanical arm clamping jaw gear;
the express delivery storage cabinet comprises a right storage cabinet and a left storage cabinet, the right storage cabinet and the left storage cabinet are provided with three-axis mechanism moving areas, and one end of each three-axis mechanism moving area is provided with a delivery outlet;
the pickup terminal comprises a display screen, a data receiving module and a data transmission module;
the camera identification module comprises an optical camera and a bar code analysis module;
the system information management module comprises a logistics management background module, a data receiving module, a data transmission module and a processor.
The air suction device comprises a ducted fan and an air suction channel.
An express delivery piece separating and self-taking method based on a three-axis mobile platform is characterized by comprising the following steps: the express delivery express distribution and pickup terminal system based on the triaxial mobile platform as claimed in claim 1, comprising the following steps, and the following steps are performed in sequence,
step one, parcel warehousing
An operator sends parcels into an express transportation channel from an inlet according to the rule that the face where the bar codes are located faces upwards, the express transportation channel is automatically started by receiving gravity, the parcels are sequentially transmitted to a carrying platform for temporary storage, a system information management module sends a warehousing command, and a three-axis mobile platform is started; the initial position of the pushing manipulator is positioned at the initial end of the loading platform, the gear on the pushing manipulator is meshed through the circuit equipment to control the opening angle of a clamping jaw of the manipulator, and the pushing manipulator is pushed to clamp a single package in the horizontal direction; starting the air suction device, detecting that the pushing manipulator successfully clamps the packages, and continuously executing a package warehousing command; the air suction device detects that the pushing manipulator fails to clamp the parcels, the system repeats the clamping action until the parcel clamping is successful, and continues to execute the parcel warehousing command;
step two, intelligently dividing
A. The optical camera shoots a bar code image and a package appearance image on the package in real time, the shot bar code image is input into a bar code identification module for bar code identification, and the shot appearance image is uploaded to a system information management module for package appearance size information identification and input;
B. the bar code identification module cuts, corrects, grays and binarizes a rectangular region of the bar code image, reads bar code content information and uploads data to a logistics management background module; the system information management module distributes express cabinet grids according to the collected parcel size information, the initial position of the three-axis mobile platform is taken as a reference original point, and the system automatically matches a warehousing path according to the cabinet grid number and sets the path asThe directions of an x axis, a y axis and a z axis are defined positive directions, and the warehousing command is sent to the three-axis mobile platform;
C. according to the position coordinates of the cabinet lattice given in the warehousing commandFirstly, starting a Y-axis stepping motor and driving a Y-axis synchronous guide wheel to drive a Y-axis driving screw to rotate, enabling an object bearing plate to obtain transverse displacement, advancing for Y unit distances, determining the position of a Y axis, and stopping the Y-axis stepping motor; starting a Z-axis stepping motor and driving a Z-axis synchronous belt to transmit, enabling an object bearing plate to obtain vertical displacement, ascending by Z unit distances, determining the position of a Z axis, and stopping the Z-axis stepping motor; the X-axis speed reducing motor is started and drives the X-axis driving screw to rotate, the object bearing plate obtains transverse displacement and moves forward by X unit distance, the object bearing plate accurately reaches an inlet of a specified cabinet grid, the diamond telescopic structure extends, the manipulator is pushed to push a package into the cabinet grid, the ducted fan stops running, the suction force disappears, the mechanical arm clamping jaw is loosened, the package warehousing is successful, and the warehousing information is fed back to the system information management module;
step three, informing self-taking
A. The system information management module sends the pickup code to pickup person mobile equipment in an information form;
B. when the pickup person triggers a pickup request operation of the pickup terminal, the pickup terminal uploads a pickup code input by the pickup person to a system information management module through a data transmission module, and the system automatically searches and compares the pickup code in a logistics management background module; if the comparison fails, the pick-up terminal screen automatically displays that the pick-up code is wrong, and waits for the input of the next pick-up code; if the comparison is successful, namely the request passes, the system information management module automatically sends a delivery command to the three-axis mobile platform;
C. clamping and packing the mechanical arm clamping jaw, operating the ducted fan and generating suction; compressing the rhombic telescopic structure, and transferring the package from the cabinet lattice to an object bearing plate; the system information management module automatically matches the delivery path to be set asStarting an X-axis speed reducing motor and driving an X-axis driving screw to rotate, enabling the object bearing plate to obtain transverse displacement, moving for X' unit distance, and stopping the X-axis speed reducing motor; starting a Z-axis stepping motor and driving a Z-axis synchronous belt to transmit, enabling an object bearing plate to obtain vertical displacement, descending Z' unit distance, and stopping the Z-axis stepping motor; the Y-axis stepping motor is started and drives the Y-axis synchronous guide wheel to drive the Y-axis driving screw to rotate, and the object bearing plate obtains transverse displacement and moves forward for Y' unit distance; pushing the mechanical arm to push the packages into the package outlet, stopping the ducted fan, eliminating the suction force, loosening the clamping jaw of the mechanical arm, and enabling the packages to fall into the package taking platform from the package outlet; resetting the three-axis mobile platform; returning the express delivery cabinet delivery signal to the system information management module, and updating the database;
D. after the picking is finished, the picking person finds that the package is damaged or wrong, returns a picking terminal reject picking request, and returns corresponding package information to the system by the system information management module for waiting processing; the pickup person does not make a refute pickup request, the system information management module automatically defaults that the parcel has no deviation, and the logistics management system automatically empties the related logistics and storage information of the parcel.
Through the design scheme, the invention can bring the following beneficial effects: the utility model provides an express delivery divides piece and terminal system and method of getting oneself based on triaxial mobile platform, convenient and fast, good reliability, and fully considered the express delivery person will be delivered to the cabinet of getting oneself according to parcel information and size by oneself, it is inconvenient for the express delivery person when express delivery figure is more, consume a large amount of time cost, and the condition that the height difference of the cabinet check of getting oneself has also brought inconvenience for the person of getting, the speed at express delivery commodity circulation terminal has been improved greatly, convenient and fast and good reliability, high practicability, be of value to promote the information-based level of commodity circulation enterprise, and low cost, and errors are reduced.
The method comprises the steps of determining the current storage position of a parcel according to bar code information and parcel size information acquired by a camera identification module, warehousing the parcel in a standard mode through a three-axis mobile platform, and updating state information of parcels to be taken out in a logistics management system, use state information of each case of the express storage cabinet and the like in real time; the system automatically searches and compares the pickup codes in the logistics management system, if the pickup codes are successfully compared, the request is passed, and the system automatically sends a pickup command to the three-axis mobile platform and takes out the packages corresponding to the package specifications; through the system information management module, information linkage among the parcel entering platform, the three-axis mobile platform, the express storage cabinet and the parcel taking terminal is realized.
The invention brings further beneficial effects that:
1. the invention provides an express delivery piece-dividing and self-taking terminal system and method based on a triaxial mobile platform, which can be used as the optimization of an express delivery company for a solution of 'last kilometer' distribution, and can also be used as intelligent terminal equipment for sorting and classifying and integrating access into a whole in other industries; the express delivery piece can be accurately put in and taken out of a warehouse through a simple three-axis mobile platform, and self-service equipment for delivering and extracting the express delivery piece in public places is achieved.
2. The invention fully considers that the express delivery is inconvenient for the couriers when the number of the express deliveries is large, a large amount of time cost is consumed, when the express deliverers are concentrated to the campus, the couriers can send the parcels into the system device without entering the campus, the three-axis mobile platform replaces manual work to realize the sorting and notice self-taking of the couriers, the tidiness and the order in the campus are maintained, the time cost of the couriers is saved, and the delivery efficiency is also improved.
3. The invention fully considers the situation that the same pickup person receives numerous pickup notices from different express companies during the double eleven and double twelve shopping times, so that the bar code readers can identify the bar codes of different express companies, the parcels from different express companies are uniformly distributed and put in storage according to the rule of parcel size, and the problem that the pickup person consumes a great amount of time and energy in searching for the addresses of express delivery outlets and express delivery courier stations is avoided.
4. The invention fully considers the inconvenience brought to the pickup persons with different physical sizes due to different heights of the self-pickup cabinet lattices and different quality of the express delivery, and the pickup persons uniformly pick up the packages at the delivery outlet, so that the pickup self-service is more convenient and rapid.
Drawings
The invention is further described with reference to the following figures and detailed description:
fig. 1 is a schematic block diagram of a flow of an express delivery and pickup terminal system method based on a three-axis mobile platform.
Fig. 2 is a schematic diagram of an express delivery and pickup terminal system based on a three-axis mobile platform.
Fig. 3 is a schematic diagram i of a three-axis mechanism of an express delivery express distribution and self-taking terminal system based on a three-axis mobile platform.
Fig. 4 is a schematic diagram ii of a three-axis mechanism of an express delivery express distribution and self-taking terminal system based on a three-axis mobile platform.
Fig. 5 is a schematic structural diagram of an express delivery distributing and self-taking terminal system pushing manipulator based on a three-axis mobile platform.
Fig. 6 is a schematic diagram of a regional division structure of an express delivery and self-service terminal system based on a triaxial mobile platform.
In the figure, 1-piece entering platform, 2-three-axis moving platform, 3-express storage cabinet, 4-piece taking terminal, 5-camera identification module, 6-system information management module, 7-Y-axis synchronous guide wheel, 8-Y-axis driving screw, 9-Y-axis slide bar guide rail, 10-X-axis synchronous guide wheel, 11-X-axis slide bar guide rail, 12-Z-axis synchronous belt, 13-Z-axis slide bar guide rail, 14-object bearing plate, 15-X-axis speed reducing motor, 16-Y-axis stepping motor, 17-Z-axis stepping motor, 18-diamond telescopic structure, 19-multi-degree-of-freedom mechanical arm, 20-air suction pipe orifice, 21-mechanical arm clamping jaw, 22-express transportation channel, 23-object carrying platform, 24-right-side storage cabinet, 25-three-axis mechanism moving area, 26-left storage cabinet, 27-workpiece inlet, 28-X-axis driving screw, 29-workpiece outlet and 30-gear.
Detailed Description
An express delivery and self-pickup terminal system based on a three-axis mobile platform is shown in figures 2 and 6 and comprises an express delivery platform 1, a three-axis mobile platform 2, an express delivery storage cabinet 3, a pickup terminal 4, a camera identification module 5 and a system information management module 6,
the parcel putting platform 1 comprises a parcel putting port 27, an express delivery transportation channel 22, a carrying platform 23 and the like; the three-axis moving platform 2 consists of a three-axis mechanism and a pushing manipulator; the express delivery storage cabinet 3 consists of a right storage cabinet 24 and a left storage cabinet 25, the right storage cabinet 24 and the left storage cabinet 26 are provided with three-axis mechanism moving areas 25, and one end of each three-axis mechanism moving area 25 is provided with a delivery port 29; the pickup terminal 4 comprises a display screen, a data receiving module and a data transmission module; the camera identification module 5 consists of an optical camera and a bar code analysis module; the system information management module 6 comprises a logistics management background module, a data receiving module, a data transmission module and a processor.
As shown in fig. 3 and 4, the three-axis mechanism includes a control assembly, a mechanical assembly, a material bearing plate 14 and other structures, the control assembly is composed of an X-axis speed reduction motor 15, a Y-axis stepping motor 16, a Z-axis stepping motor 17 and other structures, the mechanical assembly includes an X-axis synchronous guide wheel 10, an X-axis slide bar guide rail 11, an X-axis driving screw 28, a Y-axis synchronous guide wheel 7, a Y-axis slide bar guide rail 9, a Y-axis driving screw 8, a Z-axis slide bar guide rail 13 and a Z-axis synchronous belt 12; the object bearing plate 14 is fixed on the X-axis mechanical assembly; the X-axis mechanical assembly is nested with the Z-axis slide bar guide rail 13 through a connecting piece, one end of an X-axis driving screw 28 is provided with an X-axis speed reducing motor 15, and the X-axis speed reducing motor 15 is arranged to drive the object bearing plate 14 to transversely displace along the X-axis direction; the Y-axis mechanical assembly is nested with the Z-axis slide bar guide rail 13 through a connecting piece, two ends of the Y-axis mechanical assembly are respectively provided with a Y-axis synchronous guide wheel 7, one end of a Y-axis driving screw 8 is provided with a Y-axis stepping motor 16, and the Y-axis stepping motor 16 is arranged to drive the longitudinal displacement of the object bearing plate 14 along the longitudinal direction, namely the Y-axis direction; a Z-axis stepping motor 17 is arranged at the bottom end of the Z-axis slide bar guide rail 13, and the Z-axis stepping motor 17 is arranged to drive the object bearing plate 14 to vertically move along the vertical direction, namely the Z-axis direction; considering that the integral three-axis mobile platform has large displacement in the longitudinal direction, namely the Y-axis direction and the vertical direction, namely the Z-axis direction, the stepping motor is adopted for driving, and the angular displacement is controlled by controlling the number of pulses, so that the purpose of accurately positioning the object bearing plate 14 in the longitudinal direction and the vertical direction is achieved, and the operation of only realizing short distance of package in and out of a warehouse in the transverse direction, namely the X-axis direction, is only realized, so that the design is simplified and the space is saved by adopting the speed reducing motor in the transverse direction, namely the X-axis direction; the three-axis mobile platform 2 is used for providing cabinet position coordinates according to the warehousing commandFirstly, a Y-axis stepping motor 16 is started and drives a Y-axis synchronous guide wheel 7 to drive a Y-axis driving screw 8 to rotate, and an object bearing plate 14 obtains transverse displacement and advances by Y unit distances;
when the Y-axis stepping motor 16 stops, the Z-axis stepping motor 17 is started and drives the Z-axis synchronous belt 12 to transmit, and the object bearing plate 14 obtains vertical displacement and rises by Z unit distances; when the Z-axis stepping motor 17 stops, the X-axis speed reducing motor 15 is started and drives the X-axis driving screw 28 to rotate, and the object bearing plate 14 obtains transverse displacement and advances by X unit distances; when the object bearing plate 14 accurately reaches the entrance of the specified cabinet lattice, the diamond-shaped telescopic structure 18 extends, the manipulator is pushed to push the package into the cabinet lattice, the ducted fan stops running, the suction force disappears, the mechanical arm clamping jaw 21 is loosened, and the package is successfully put into the warehouse; resetting the three-axis mobile platform 2;
the pushing manipulator shown in fig. 5 comprises a diamond-shaped telescopic structure 18, a multi-degree-of-freedom manipulator 19, an air suction pipe orifice 20, a manipulator clamping jaw 21, a gear 30, an air suction device and other structures; wherein,
the rhombic telescopic structure 18 is hinged by adopting a parallelogram principle, one end of the rhombic telescopic structure is fixed with the object bearing plate 14, and the other end of the rhombic telescopic structure is fixed with the tail end of the multi-degree-of-freedom mechanical arm 19, so that variable displacement is provided for pushing the mechanical arm; the multi-degree-of-freedom mechanical arm 19 is used for adjusting the position of the swing part; the air suction device comprises a ducted fan and an air suction channel, and the pushing manipulator is tightly attached to the package by utilizing the pressure difference between the air suction pipe opening 20 and the package encapsulation, so that the pushing manipulator is not easy to fall off.
An express delivery,
step one, warehousing the parcels, sending the parcels into the system device from the parcel inlet 27 by a courier according to the rule that the face where the bar codes are positioned faces upwards, automatically starting the express delivery transportation channel 22,
the parcels are sequentially delivered to a loading platform 23 for temporary storage; the system information management module 6 sends a warehousing command, and the three-axis mobile platform 2 is started; the initial position of the pushing manipulator is located at the initial end of the loading platform 23, and after a warehousing command is received, the opening and closing degree of the mechanical arm clamping jaw 21 is changed by controlling the meshing of the gear 30 on the pushing manipulator through circuit equipment, and the pushing manipulator clamps a single package in the horizontal direction; simultaneously starting the air suction device; detecting whether the pushing manipulator clamps the parcels or not, if not, repeating the clamping action, otherwise, continuously executing the parcel warehousing command;
step two, intelligently dividing the parts, and comprising the following steps:
1. the optical camera shoots a bar code image and an appearance image on the package in real time, the shot bar code image is input into a bar code identification module for bar code identification, and the appearance image is uploaded to a system information management module 6 for package appearance size information acquisition;
2. the bar code identification module cuts, corrects, grays, binarizes and the like rectangular regions of the bar code image, reads bar code content information and uploads data to the logistics management background module; the system information management module 6 automatically distributes proper cabinet grids according to the acquired package size information, takes the initial position of the three-axis mobile platform 2 as a reference original point, and automatically matches a warehousing path according to the cabinet grid number, and sets the path asThe directions of an x axis, a y axis and a z axis are defined positive directions, and the warehousing command is sent to the three-axis mobile platform;
3. according to the position coordinates of the cabinet lattice given in the warehousing commandFirstly, a Y-axis stepping motor 16 is started and drives a Y-axis synchronous guide wheel 7 to drive a Y-axis driving screw 8 to rotate, and an object bearing plate 14 obtains transverse displacement and advances by Y unit distances; when the Y-axis stepping motor 16 is stopped,
the Z-axis stepping motor 17 is started and drives the Z-axis synchronous belt 12 to transmit, and the object bearing plate 14 obtains vertical displacement and rises by Z unit distances; when the Z-axis stepping motor 17 stops, the X-axis speed reducing motor 15 is started and drives the X-axis driving screw 28 to rotate, and the object bearing plate 14 obtains transverse displacement and advances by X unit distances; when the object bearing plate 14 accurately reaches the entrance of the specified cabinet lattice, the diamond-shaped telescopic structure 18 extends, the manipulator is pushed to push the package into the cabinet lattice, the ducted fan stops running, the suction force disappears, the mechanical arm clamping jaw 21 is loosened, and the package is successfully put into the warehouse;
step three, informing self-taking
1. The system information management module 6 sends the pickup code to pickup person mobile equipment in a short message form;
2. when the pickup person triggers the pickup request operation of the pickup terminal 4, the pickup terminal 4 uploads a pickup code input by the pickup person to the system information management module 6 through the data transmission module, and the system automatically searches and compares the pickup code in the logistics management background module; if the comparison fails, the screen of the pickup terminal 4 automatically displays that the pickup code is wrong, and waits for the input of the next pickup code; if the comparison is successful, namely the request passes, the system automatically sends a delivery command to the three-axis mobile platform 2;
3. the mechanical arm clamping jaw 21 clamps the package, the ducted fan starts to operate, and suction is generated; the diamond-shaped telescopic structure 18 is compressed, and the package is transferred to the object bearing plate 14 from the cabinet lattice; the system automatically matches the delivery path toFirstly, starting an X-axis speed reducing motor 15 and driving an X-axis driving screw 28 to rotate, so that the object bearing plate 14 obtains transverse displacement and moves X' unit distance; when the X-axis speed reducing motor 15 stops, the Z-axis stepping motor 17 is started and drives the Z-axis synchronous belt 12 to transmit, the object bearing plate 14 obtains vertical displacement, and descends by Z' unit distances; when the Z-axis stepping motor 17 stops, the Y-axis stepping motor 16 is started and drives the Y-axis synchronous guide wheel 7 to drive the Y-axis driving screw rod 8 to rotate, and the object bearing plate 14 obtains transverse displacement and advances for Y' unit distance; pushing the mechanical arm to push the package into the package outlet, stopping the ducted fan, removing the suction force, loosening the mechanical arm clamping jaw 21, and enabling the package to fall into the package taking platform from the package outlet; resetting the three-axis mobile platform 2; the express cabinet delivery signal returns to the system information management module 6, and the database is updated;
4. if the pickup person returns to the pickup terminal 4 to reject the pickup request within a period of time after the pickup is finished, the problems of package damage, errors and the like exist, and the system information management module 6 returns the related package information to the system for waiting processing; otherwise, the system automatically defaults that the parcel has no deviation, and the logistics management background module automatically empties the related logistics and storage information of the parcel.
Claims (3)
1. The utility model provides an express delivery divides piece and terminal system of getting certainly based on triaxial mobile platform which characterized by: the express delivery system comprises a delivery platform (1), a three-axis mobile platform (2), an express delivery storage cabinet (3), a delivery terminal (4), a camera identification module (5) and a system information management module (6), wherein the delivery platform comprises a delivery port (27), an express delivery transport channel (22) and an object carrying platform (23), the delivery port (27) is arranged at one end of the express delivery transport channel (22), and the object carrying platform (23) is arranged at the other end of the express delivery transport channel (22);
the three-axis moving platform (2) comprises a three-axis mechanism and a pushing manipulator; the three-axis mechanism comprises an X-axis speed reducing motor (15), a Y-axis stepping motor (16), a Z-axis stepping motor (17), an X-axis synchronous guide wheel (10), an X-axis slide bar guide rail (11), an X-axis driving screw rod (28), a Y-axis synchronous guide wheel (7), a Y-axis slide bar guide rail (9), a Y-axis driving screw rod (8), a Z-axis slide bar guide rail (13), a Z-axis synchronous belt (12) and a bearing plate (14); the object bearing plate (14) is fixedly arranged at the upper part of the X-axis slide bar guide rail (11), and an X-axis speed reducing motor (15) and an X-axis synchronous guide wheel (10) are arranged on the X-axis driving screw rod (28); the Z-axis slide bar guide rail (13) is connected with the X-axis slide bar guide rail (11) in a nested manner, and the Z-axis stepping motor (17) is connected with the Z-axis synchronous belt (12); the Y-axis slide bar guide rail (9) is connected with the Z-axis slide bar guide rail (13) in a nested manner, one end of the Y-axis drive screw (8) is provided with a Y-axis stepping motor (16), and two Y-axis synchronous guide wheels (7) are arranged on the Y-axis drive screw (8);
the manipulator comprises a rhombic telescopic structure (18), a multi-degree-of-freedom manipulator (19), an air suction pipe opening (20), a manipulator clamping jaw (21), a gear (30) and an air suction device, wherein the rhombic telescopic structure (18) is a parallelogram hinged structure, one end of the rhombic telescopic structure is connected with an object bearing plate (14), and the other end of the rhombic telescopic structure is connected with the multi-degree-of-freedom manipulator (19); the multi-degree-of-freedom mechanical arm (19) is connected with a mechanical arm clamping jaw (21), one side of each of two clamping jaws of the mechanical arm clamping jaw (21) is provided with a gear (30), the two gears are meshed with each other, and the air suction pipe opening (20) is arranged in the middle of one side of the gear of the mechanical arm clamping jaw (21);
the express delivery storage cabinet (3) comprises a right storage cabinet (24) and a left storage cabinet (26), the right storage cabinet (24) and the left storage cabinet (26) are provided with three-axis mechanism moving areas (25), and one end of each three-axis mechanism moving area (25) is provided with a delivery port (29);
the pickup terminal (4) comprises a display screen, a data receiving module and a data transmission module;
the camera identification module (5) comprises an optical camera and a bar code analysis module;
the system information management module (6) comprises a logistics management background module, a data receiving module, a data transmission module and a processor.
2. The express delivery express distribution and pickup terminal system based on the triaxial mobile platform as claimed in claim 1, wherein: the air suction device comprises a ducted fan and an air suction channel.
3. An express delivery piece separating and self-taking method based on a three-axis mobile platform is characterized by comprising the following steps: the express delivery express distribution and pickup terminal system based on the triaxial mobile platform as claimed in claim 1, comprising the following steps, and the following steps are performed in sequence,
step one, parcel warehousing
An operator sends parcels into an express delivery transportation channel (22) from a parcel inlet (27) according to the upward placing rule of the bar code, the express delivery transportation channel (22) is automatically started by receiving gravity, the parcels are sequentially transmitted to a carrying platform (23) for temporary storage, a system information management module (6) sends a warehousing command, and a three-axis mobile platform (2) is started; the initial position of the pushing manipulator is positioned at the starting end of the loading platform (23), a gear (30) on the pushing manipulator is meshed through circuit equipment to control the opening angle of a clamping jaw (21) of the manipulator, and the pushing manipulator is pushed to clamp a single parcel in the horizontal direction; starting the air suction device, detecting that the pushing manipulator successfully clamps the packages, and continuously executing a package warehousing command; the air suction device detects that the pushing manipulator fails to clamp the parcels, the system repeats the clamping action until the parcel clamping is successful, and continues to execute the parcel warehousing command;
step two, intelligently dividing
A. The optical camera shoots a bar code image and a package appearance image on the package in real time, the shot bar code image is input into a bar code identification module for bar code identification, and the shot appearance image is uploaded to a system information management module (6) for package appearance size information identification and input;
B. the bar code identification module cuts, corrects, grays and binarizes a rectangular region of the bar code image, reads bar code content information and uploads data to a logistics management background module; the system information management module (6) distributes the express cabinet grids according to the collected parcel size information, and the system takes the initial position of the three-axis mobile platform (2) as a reference origin point according to the informationAutomatically matching the warehousing path according to the cabinet grid number, setting asThe directions of an x axis, a y axis and a z axis are defined positive directions, and the warehousing command is sent to the three-axis mobile platform;
C. according to the position coordinates of the cabinet lattice given in the warehousing command
Firstly, a Y-axis stepping motor (16) is started and drives a Y-axis synchronous guide wheel (7) to drive a Y-axis driving screw rod (8) to rotate, an object bearing plate (14) obtains transverse displacement, the object bearing plate advances for Y unit distances, the position of the Y axis is determined, and the Y-axis stepping motor (16) stops; the Z-axis stepping motor (17) is started and drives the Z-axis synchronous belt (12) to transmit, the object bearing plate (14) obtains vertical displacement, the Z unit distance is raised, the Z-axis position is determined, and the Z-axis stepping motor (17) stops; an X-axis speed reducing motor (15) is started and drives an X-axis driving screw rod (28) to rotate, an object bearing plate (14) obtains transverse displacement and moves forward for X unit distances, the object bearing plate (14) accurately reaches an entrance of a specified cabinet grid, a diamond telescopic structure (18) extends, a manipulator is pushed to push a package into the cabinet grid, a ducted fan stops running, suction force disappears, a mechanical arm clamping jaw (21) is loosened, the package warehousing is successful, and warehousing information is fed back to a system information management module (6);
step three, informing self-taking
A. The system information management module (6) sends the pickup code to pickup person mobile equipment in an information form;
B. when the pickup person triggers the pickup request operation of the pickup terminal (4), the pickup terminal (4) uploads a pickup code input by the pickup person to the system information management module (6) through the data transmission module, and the system automatically searches and compares the pickup code in the logistics management background module; if the comparison fails, the screen of the pickup terminal (4) automatically displays that the pickup code is wrong, and waits for the input of the next pickup code; if the comparison is successful, namely the request passes, the system information management module (6) automatically sends a delivery command to the three-axis mobile platform (2);
C. mechanical arm clamping jaw (21) clampTaking the package, operating the ducted fan and generating suction; the rhombus telescopic structure (18) is compressed, and the package is transferred to the object bearing plate (14) from the cabinet grid; the system information management module (6) automatically matches the delivery path and sets the delivery path asThe X-axis speed reducing motor (15) is started and drives the X-axis driving screw (28) to rotate, the object bearing plate (14) obtains transverse displacement, the X' unit distance is moved, and the X-axis speed reducing motor (15) stops; the Z-axis stepping motor (17) is started and drives the Z-axis synchronous belt (12) to transmit, the object bearing plate (14) obtains vertical displacement, the Z' -unit distance is reduced, and the Z-axis stepping motor (17) stops; a Y-axis stepping motor (16) is started and drives a Y-axis synchronous guide wheel (7) to drive a Y-axis driving screw rod (8) to rotate, and an object bearing plate (14) obtains transverse displacement and advances for Y' unit distances; pushing the mechanical arm to push the package into the package outlet, stopping the ducted fan from running, eliminating the suction force, loosening a mechanical arm clamping jaw (21), and enabling the package to fall into the package taking platform from the package outlet; resetting the three-axis mobile platform (2); the express delivery cabinet delivery signal is returned to the system information management module (6), and the database is updated;
D. after the picking up is finished, the picking up person finds that the package is damaged or wrong, returns to the picking up terminal (4) to reject the picking up request, and the system information management module (6) returns the corresponding package information to the system for waiting processing; the pickup person does not make a refute pickup request, the system information management module (6) automatically defaults that the parcel has no deviation, and the logistics management system automatically empties the related logistics and storage information of the parcel.
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Application publication date: 20180817 |