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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- CN108402866A CN108402866A CN201810353356.1A CN201810353356A CN108402866A CN 108402866 A CN108402866 A CN 108402866A CN 201810353356 A CN201810353356 A CN 201810353356A CN 108402866 A CN108402866 A CN 108402866A
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000007726 management method Methods 0.000 claims abstract description 54
- 238000003860 storage Methods 0.000 claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 15
- 229910003460 diamond Inorganic materials 0.000 claims description 14
- 239000010432 diamond Substances 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000002791 soaking Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
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 wisdom physical distribution terminal technical fields, especially relate to a kind of express delivery based on three axis mobile platforms
Bulk-breaking and ask for terminal system and method.
Background technology
With the fast development of e-commerce and information network technique, the prior art is in the middle for Express Logistics " last
The intelligent solution of kilometer " dispatching, it is most commonly seen to ask for cabinet with intelligent express delivery.
From the point of view of data according to China Logistics Information Center's publication, in the end of the year 2017, there are about 170,000 express delivery cabinet sites, days in the whole nation
Delivery amount 5,500,000 is single, accounting 6.8%, it is contemplated that arrives the year two thousand twenty, the whole nation will have site about 350,000, will account for 30% left side of delivery amount
It is imitated by new model and new technology to promote the operation of traditional industries since Chinese tradition logistic industry efficiency is not very high on the right side
Rate is most important investment logic and strategy.It analyzes according to relevant report, when this scene is arrived school in concentration, the first express delivery is public
Department is unwilling, into campus, to like setting up a stall on doorway；Second express company be easy to cause the filthy of environment after entering school；The
Three students outgoing pickup because the asymmetry of class period is unwilling, and a kind of unmanned handing-over may be implemented in the use for asking for cabinet
Express delivery means of distribution, express delivery need to only be delivered to and ask in cabinet by courier, within the stipulated time, addressee according to oneself
Arrangement of time collects express delivery to cabinet is asked for, to realize entire express delivery delivery process.
But in the prior art, courier will voluntarily be delivered to according to package information and size in corresponding cabinet lattice, work as express delivery
It is for courier and inconvenient when number is more, cost is taken a substantial amount of time, and ask for the height difference of cabinet cabinet lattice
Inconvenience is brought to pickup people, thus may influence to ask for the popularization and use of cabinet.Therefore there is an urgent need for one in the prior art
Novel technical solution is planted to solve the problems, such as this.
Invention content
The technical problem to be solved by the present invention is to：A kind of express delivery bulk-breaking based on three axis mobile platforms is provided and asks for end
End system and method, convenient and efficient, good reliability, and fully considered that courier will voluntarily throw according to package information and size
It is delivered to and asks in cabinet, it is for courier and inconvenient when express delivery number is more, cost is taken a substantial amount of time, and ask for
The height difference of cabinet cabinet lattice also brings inconvenient situation to pickup people, substantially increases the rate of Express Logistics terminal, practical
Property is stronger.
A kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system is asked for, it is characterized in that：Including entering part platform, three
Axis mobile platform, express delivery cabinet, pickup terminal, camera identification module and SIM system information management module, it is described enter part it is flat
Platform include into part mouth, express transportation channel and article carrying platform, it is described enter part mouth be arranged in the one end in express transportation channel, it is described
The other end in express transportation channel is provided with article carrying platform；
The three axis mobile platform includes three axis mechanisms and promotion robot；Three axis mechanism includes X-axis deceleration electricity
Machine, y-axis stepper motor, Z axis stepper motor, X-axis synchronize guide wheel, X-axis slide bar guide rail, X-axis driving screw rod, Y-axis and synchronize guide wheel, Y
Axis slide bar guide rail, Y-axis drive screw rod, Z axis slide bar guide rail, Z axis synchronous belt and hold object plate；The object plate that holds is fixed at X
The top of axis slide bar guide rail, the X-axis drive and are provided with X-axis decelerating motor guide wheel synchronous with X-axis on screw rod；The Z axis slide bar
Guide rail and X-axis slide bar guide rail nested encryptions, Z axis stepper motor band connection synchronous with Z axis；The Y-axis slide bar guide rail and Z axis
One end of slide bar guide rail nested encryptions, the Y-axis driving screw rod is provided with y-axis stepper motor, and it is two that the Y-axis, which synchronizes guide wheel,
A, setting is on Y-axis driving screw rod；
The manipulator include diamond shape stretching structure, multi-degree-of-freemechanical mechanical arm, aspiration nozzle, mechanical arm clamping jaw, gear with
And soaking gas equipment, the diamond shape stretching structure are parallelogram articulated structure, one end connect with object plate is held, the other end and mostly oneself
It is connected by degree mechanical arm；The multi-degree-of-freemechanical mechanical arm is connect with mechanical arm clamping jaw, and two clamping jaw sides of mechanical arm clamping jaw are equal
There are one gears for setting, and two gears are meshed, and the interposition in mechanical arm clamping jaw gear side is arranged in the aspiration nozzle
It sets；
The express delivery cabinet includes right side cabinet and left side cabinet, and right side cabinet is set with left side cabinet
Three axis mechanism zone of action are equipped with, one end of three axis mechanism zone of action is provided with out part mouth；
The pickup terminal includes display screen, data reception module and data transmission module；
The camera identification module includes optical camera and bar code analysis module；
The SIM system information management module include logistics management background module, data reception module, data transmission module with
And processor.
The soaking gas equipment includes ducted fan and aspiration channel.
A kind of express delivery bulk-breaking based on three axis mobile platforms and method is asked for, it is characterized in that：Using described in claim 1
A kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system is asked for, included the following steps, and following steps sequentially carry out,
Step 1: package storage
Operating personnel are led to according to the rule put upwardly where bar code, by package by entering part mouth feeding express transportation
Road, express transportation channel receive gravity and start automatically, and package is transmitted to article carrying platform successively keeps in, SIM system information management module
Library command is transmitted into, three axis mobile platforms start；Promotion robot initial position is located at article carrying platform initiating terminal, is set by circuit
Gear conjugate control mechanical arm clamping jaw subtended angle on standby promotion robot, the single package of promotion robot horizontal direction gripping；Gas
It inhales device to start, detection promotion robot gripping is wrapped up successfully, is continued to execute and is wrapped up into library command；Soaking gas equipment detects promotion machine
Tool hand gripping package failure, system repeat gripping act to package grip successfully, continue to execute and wrap up into library command；
Step 2: intelligent bulk-breaking
A, the bar code image and package appearance images that optical camera captured in real-time superscribes, and the bar shaped that will be taken
Code image input bar code recognition module carries out bar code recognition, and the appearance images taken are uploaded to SIM system information management module
Carry out package apparent size information identification typing；
B, bar code recognition module carries out rectangular area cutting, correction, gray processing processing and two-value to bar code image
Change is handled, and reads bar code content information and data are uploaded to logistics management background module；SIM system information management module foundation
The package dimensions information distribution express delivery cabinet cabinet lattice acquired, using three axis mobile platform initial positions as reference origin, system foundation
Cabinet lattice number Auto-matching is put in storage path, is set asThe positive direction of the direction as definition of x-axis, y-axis, z-axis, enters
Library command is sent to three axis mobile platforms；
C, according to the cabinet lattice position coordinates entered given in library commandY-axis stepper motor starts and drives first
Dynamic Y-axis synchronizes guide wheel and drives Y-axis driving screw rod rotation, holds object plate and obtains lateral displacement, y unit distance of advance, and Y-axis position is true
Fixed, y-axis stepper motor stops；Z axis stepper motor starts and drives Z axis toothed belt transmission, holds object plate and obtains vertical direction displacement,
Rise Z unit distance, Z axis location determination, Z axis stepper motor stops；X-axis decelerating motor starts and driving X-axis drives screw rod
Rotation holds object plate and obtains lateral displacement, and X unit distance of advance holds object plate and accurately reach regulation cabinet lattice inlet, and diamond shape is flexible
Package is pushed into cabinet lattice by structural stretch, promotion robot, and ducted fan shuts down, and suction disappears, and mechanical arm clamping jaw unclamps, packet
Kucheng's work(is entrained into, and storage information is fed back into SIM system information management module；
Step 3: notice is asked for
A, pickup code is sent to message form in pickup people's mobile device by SIM system information management module；
B, when operation is asked in the pickup that pickup people triggers pickup terminal, pickup terminal is via data transmission module by pickup
The pickup code of people's input is uploaded to SIM system information management module, and system searches, compares taking in logistics management background module automatically
Part code；Failure is compared, then pickup terminal screen is shown " pickup code mistake " automatically, waits for the input of pickup code next time；It compares
Success i.e. request passes through, then SIM system information management module automatically sends out part order to three axis mobile platforms；
C, mechanical arm clamping jaw gripping package, ducted fan operating, suction generate；Diamond shape stretching structure compresses, and wraps up by cabinet
Lattice, which are transferred to, to be held on object plate；SIM system information management module Auto-matching outbound path, is set asX-axis is slowed down electric
Machine starts and driving X-axis driving screw rod rotation, holds object plate and obtains lateral displacement, a unit distances of mobile x ', X-axis decelerating motor stops
Only；Z axis stepper motor start and drive Z axis toothed belt transmission, hold object plate obtain vertical direction displacement, decline a units of z ' away from
From Z axis stepper motor stops；Y-axis stepper motor starts and driving Y-axis synchronizes guide wheel and drives Y-axis driving screw rod rotation, holds object plate
Obtain lateral displacement, a unit distances of advance y '；Package is pushed into out part mouth by promotion robot, and ducted fan shuts down, and is inhaled
Power disappears, and mechanical arm clamping jaw unclamps, and package falls into pickup platform by going out part mouth；Three axis mobile platforms reset；Express delivery cabinet goes out part letter
Number return to SIM system information management module, database update；
D, after pickup, pickup people has found to be enclosed with damage or mistake, returns to pickup terminal and rejects pickup request, by being
It is pending that information management module of uniting will correspond to package information return system etc.；Pickup people, which does not do, rejects pickup request, system information
Management module gives tacit consent to this package zero deflection automatically, and logistic management system will empty the package correlation logistics and storage letter automatically
Breath.
By above-mentioned design scheme, the present invention can bring following advantageous effect：It is a kind of based on the fast of three axis mobile platforms
It passs bulk-breaking and asks for terminal system and method, convenient and efficient, good reliability, and fully considered that courier will be voluntarily according to packet
It wraps up in information and size is delivered to and asks in cabinet, it is for courier and inconvenient when express delivery number is more, it expends a large amount of
Time cost, and the height difference for asking for cabinet cabinet lattice also brings inconvenient situation to pickup people, substantially increases Express Logistics
The rate of terminal, convenient and efficient and highly reliable, practicability is stronger, is beneficial to promote the level of IT application of loglstics enterprise, reduce
Cost reduces mistake.
Bar code information that the present invention is acquired according to camera identification module, package dimensions information determine that current package is deposited
Storage space is set, and will wrap up specification storage by three axis mobile platforms, package waits for that pickup state is believed in real-time update logistic management system
Breath and each cabinet lattice use state information of the express delivery cabinet etc.；Relevant information input system to be wrapped and package storage, pass through
Pickup code is sent in pickup people's mobile device by SIM system information management module in the form of short message, and system searches automatically, comparison material
Pickup code in Workflow Management System compares and successfully asks to pass through, and system automatically sends out part order to three axis mobile platforms, and
Corresponding package specification offers for sale；By SIM system information management module, realize into part platform, three axis mobile platforms, express delivery cabinet
Information linkage between pickup terminal.
The further advantageous effect that the present invention is brought is：
1, the present invention provides a kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system and method is asked for, it can
Optimization using the solution dispensed as express company for " last one kilometer ", also can be used as other industries for sort return
Class, collection are accessed in integrated intelligent terminal equipment；Precisely being put in storage, go out for quick despatch is realized by simple three axis mobile platform
Library reaches in public, for delivering and extracting the self-service equipment of quick despatch.
2, the present invention has fully considered for courier and inconvenient when express delivery number is more, a large amount of by expending
Time cost, concentration arrive school this scene when, courier need not enter in the school can will package be sent into system and device, three axis
Mobile platform replaces artificial realization quick despatch sorting to be asked for notice, and maintains clean and tidy and order in the school, that is, has saved fast
The time cost for the person of passing also improves and sends part efficiency.
3, during the present invention has fully considered for double 11, double ten second-class shopping Carnivals, same position pickup people, which will receive, to come
It is notified from numerous pickups of different express companies, therefore bar code reader can recognize that the bar code of different express companies, come from
The unified rule according to package size is divided into library by the package of different express companies, when avoiding pickup people will expend a large amount of
Between and energy this problem on the address for finding express delivery site, express delivery post house.
4, the present invention has fully considered the height difference for asking for cabinet cabinet lattice under normal circumstances, the quality difference of quick despatch to not
With the inconvenience that the pickup people of physique brings, pickup people is unified in out part mouth and obtains package so that pickup Self-Service is more convenient,
Fast.
Description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated：
Fig. 1 is a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention and asks for the flow signal of termination system method
Block diagram.
Fig. 2 is a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention and asks for terminal system schematic diagram.
Fig. 3 is a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention and asks for three axis mechanism schematic diagram of terminal system
Ⅰ。
Fig. 4 is a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention and asks for three axis mechanism schematic diagram of terminal system
Ⅱ。
Fig. 5 is a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention and asks for terminal system promotion robot structure
Schematic diagram.
Fig. 6 is that a kind of express delivery bulk-breaking based on three axis mobile platforms of the invention shows with terminal system region division structure is asked for
It is intended to.
1- enters part platform, tri- axis mobile platforms of 2-, 3- express deliveries cabinet, 4- pickups terminal, 5- cameras identification mould in figure
Block, 6- SIM system information managements module, 7-Y axis synchronize guide wheel, 8-Y axis driving screw rod, 9-Y axis slide bars guide rail, 10-X axis and synchronize and lead
Wheel, 11-X axis slide bars guide rail, 12-Z axis synchronous belt, 13-Z axis slide bars guide rail, 14- hold object plate, 15-X axis decelerating motor, 16-Y axis
Stepper motor, 17-Z shaft step motors, 18- diamond shapes stretching structure, 19- multi-degree-of-freemechanical mechanical arms, 20- aspirations nozzle, 21- machineries
Arm clamping jaw, 22- express transportations channel, 23- article carrying platforms, the right sides 24- cabinet, the tri- axis mechanism zone of action 25-, the left sides 26-
Cabinet, 27- enter part mouth, 28-X axis driving screw rod, 29- and go out part mouth, 30- gears.
Specific implementation mode
A kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system is asked for, as shown in Figure 2 and Figure 6, including enters part
Platform 1, three axis mobile platforms 2, express delivery cabinet 3, pickup terminal 4, camera identification module 5 and SIM system information management module
6,
Wherein, enter part platform 1 and formed by entering part mouth 27, express transportation channel 22, article carrying platform 23 etc.；Three axis mobile platforms
2 are made of three axis mechanisms, promotion robot；Express delivery cabinet 3 is made of right side cabinet 24, left side cabinet 25, and right side
Cabinet 24 is provided with three axis mechanism zone of action 25 with left side cabinet 26, and one end of three axis mechanism zone of action 25 is provided with
Go out part mouth 29；Pickup terminal 4 includes display screen, data reception module and data transmission module；Camera identification module 5 is by light
Learn camera and bar code analysis module composition；SIM system information management module 6 includes logistics management background module, data reception
Block, data transmission module and processor.
Three axis mechanisms as shown in Figure 3 and Figure 4, including control assembly, mechanical component, hold the structures such as object plate 14, control group
Part is made of X-axis decelerating motor 15, y-axis stepper motor 16 and Z axis stepper motor 17 etc., and mechanical component includes that X-axis synchronizes guide wheel
10, X-axis slide bar guide rail 11, X-axis driving screw rod 28, Y-axis synchronize guide wheel 7, Y-axis slide bar guide rail 9, Y-axis driving screw rod 8, Z axis slide bar
Guide rail 13 and Z axis synchronous belt 12；Object plate 14 is held to be fixed on X-axis mechanical component；X-axis mechanical component is slided by connector and Z axis
Rod guide 13 is nested, is equipped with X-axis decelerating motor 15 in 28 one end of X-axis driving screw rod, X-axis decelerating motor 15 is set as transversely
I.e. the lateral displacement of object plate 14 is held in X-direction driving；Y-axis mechanical component is nested with Z axis slide bar guide rail 13 by connector, both ends
It is respectively arranged with Y-axis and synchronizes guide wheel 7, y-axis stepper motor 16 is installed in 8 one end of Y-axis driving screw rod, y-axis stepper motor 16 is set
It is set to i.e. Y direction driving along longitudinal direction and holds the length travel of object plate 14；Z axis stepping electricity is installed in 13 bottom end of Z axis slide bar guide rail
Machine 17, Z axis stepper motor 17 are set as vertically the vertical displacement that object plate 14 is held in i.e. Z-direction driving；In view of entirety
Three axis mobile platforms will have significantly displacement in longitudinal direction i.e. Y direction and vertical direction, that is, Z-direction, using stepper motor
Driving controls its angular displacement by controlling pulse number, holds 14 longitudinal direction of object plate and vertical direction to reach and can accurately determine
The purpose of position, and the operation for wrapping up out storage relatively short distance is only realized in transverse direction i.e. X-direction, therefore be laterally that X-direction is adopted
It is used for simplifying design with decelerating motor, saves space；Three axis mobile platforms 2 are according to the cabinet lattice position coordinates entered given in library commandY-axis stepper motor 16 starts first and driving Y-axis synchronizes guide wheel 7 and Y-axis driving screw rod 8 is driven to rotate, and holds object plate
14 obtain lateral displacement, y unit distance of advance；
When y-axis stepper motor 16 stops, Z axis stepper motor 17 starts and Z axis synchronous belt 12 is driven to be driven, and holds object plate 14 and obtains
Vertical direction displacement is obtained, z unit distance is risen；When Z axis stepper motor 17 stops, X-axis decelerating motor 15 starts and driving X-axis
It drives screw rod 28 to rotate, holds object plate 14 and obtain lateral displacement, x unit distance of advance；Regulation cabinet is accurately reached when holding object plate 14
Lattice inlet, diamond shape stretching structure 18 extend, and package is pushed into cabinet lattice by promotion robot, and ducted fan shuts down, and suction disappears
It loses, mechanical arm clamping jaw 21 unclamps, and package is put in storage successfully；Three axis mobile platforms 2 reset；
Promotion robot as shown in Figure 5, including diamond shape stretching structure 18, multi-degree-of-freemechanical mechanical arm 19, aspiration nozzle 20,
The structures such as mechanical arm clamping jaw 21, gear 30 and soaking gas equipment；Wherein,
Diamond shape stretching structure 18 is hinged using parallelogram principle, one end and holds the fixation of object plate 14, the other end with mostly from
It is fixed by 19 end of degree mechanical arm, variable displacement is provided for promotion robot；Multi-degree-of-freemechanical mechanical arm 19 is for aligning goods of furniture for display rather than for use side
Position；Soaking gas equipment includes ducted fan and aspiration channel, using the pressure difference generated between aspiration nozzle 20 and wrapping and encapsulating,
Promotion robot is set to be fitted closely with package, it is unlikely to fall off.
A kind of express delivery bulk-breaking based on three axis mobile platforms and method is asked for, as shown in Figure 1, include the following steps, and with
Lower step sequentially carries out,
Step 1: package storage, courier will wrap up by entering part mouth 27 according to the rule put upwardly where bar code
Feeding system and device, 22 self-starting of express transportation channel,
Package is sent to article carrying platform 23 successively to keep in；SIM system information management module 6 transmits into library command, and the movement of three axis is flat
Platform 2 starts；Promotion robot initial position is located at 23 initiating terminal of article carrying platform, after receiving library command, passes through circuit arrangement
Gear 30 on control promotion robot engages to change the opening and closing degree of the mechanical arm clamping jaw 21, promotion robot level side
To the single package of gripping；Soaking gas equipment starts simultaneously；Whether detection promotion robot grips package, dynamic if repeating to grip without if
Make, is wrapped up into library command conversely, continuing to execute；
Step 2: intelligent bulk-breaking, steps are as follows：
1, the bar code image and appearance images that optical camera captured in real-time superscribes, the bar code image taken are defeated
Enter bar code recognition module and carry out bar code recognition, appearance images are uploaded to SIM system information management module 6 and carry out package appearance ruler
Very little information collection；
2, bar code recognition module handles, at binaryzation bar code image progress rectangular area cutting, correction, gray processing
Reason etc. reads bar code content information and data is uploaded to logistics management background module；SIM system information management module 6 is according to institute
The package dimensions information of acquisition is distributed automatically suitable for cabinet lattice, using three axis mobile platforms, 2 initial position as reference origin, system foundation
Cabinet lattice number Auto-matching is put in storage path, is set asThe positive direction of the direction as definition of x-axis, y-axis, z-axis, enters
Library command is sent to three axis mobile platforms；
3, according to the cabinet lattice position coordinates entered given in library commandFirst y-axis stepper motor 16 start and
Driving Y-axis to synchronize guide wheel 7 drives Y-axis driving screw rod 8 to rotate, and holds object plate 14 and obtains lateral displacement, y unit distance of advance；Work as Y
Shaft step motor 16 stops,
Z axis stepper motor 17 starts and Z axis synchronous belt 12 is driven to be driven, and holds object plate 14 and obtains vertical direction displacement, rises z
A unit distance；When Z axis stepper motor 17 stops, X-axis decelerating motor 15 starts and driving X-axis driving screw rod 28 rotates, and holds object
Plate 14 obtains lateral displacement, x unit distance of advance；Regulation cabinet lattice inlet, the flexible knot of diamond shape are accurately reached when holding object plate 14
Structure 18 extends, and package is pushed into cabinet lattice by promotion robot, and ducted fan shuts down, and suction disappears, and mechanical arm clamping jaw 21 unclamps,
Package is put in storage successfully；
Step 3: notice is asked for
1, pickup code is sent in pickup people's mobile device by SIM system information management module 6 in the form of short message；
2, when operation is asked in the pickup that pickup people triggers pickup terminal 4, pickup terminal 4 will take via data transmission module
The pickup code of part people input is uploaded to SIM system information management module 6, and system is searched, compared in logistics management background module automatically
Pickup code；If comparing failure, 4 screen of pickup terminal is shown " pickup code mistake " automatically, waits for the input of pickup code next time；
If comparing successfully, i.e. request passes through, and system automatically sends out part order to three axis mobile platforms 2；
3, the gripping of mechanical arm clamping jaw 21 package, ducted fan start running, and suction generates；Diamond shape stretching structure 18 compresses,
Package is transferred to by cabinet lattice to be held on object plate 14；System Auto-matching outbound path, is set asX-axis is slowed down first
Motor 15 starts and driving X-axis driving screw rod 28 rotates, and holds object plate 14 and obtains lateral displacement, a unit distances of mobile x '；Work as X-axis
Decelerating motor 15 stops, and Z axis stepper motor 17 starts and Z axis synchronous belt 12 is driven to be driven, and holds object plate 14 and obtains vertical direction position
It moves, declines a unit distances of z '；When Z axis stepper motor 17 stops, y-axis stepper motor 16 starts and driving Y-axis synchronizes 7 band of guide wheel
Dynamic Y-axis driving screw rod 8 rotates, and holds object plate 14 and obtains lateral displacement, a unit distances of advance y '；Package is pushed by promotion robot
Go out part mouth, ducted fan shuts down, and suction disappears, and mechanical arm clamping jaw 21 unclamps, and package falls into pickup platform by going out part mouth；Three
Axis mobile platform 2 resets；Express delivery cabinet goes out part signal and returns to SIM system information management module 6, database update；
4, it is finished in a period of time from pickup, if pickup people returns to pickup terminal 4 and rejects pickup request, that is, there is package to damage
It is the problems such as bad, mistake, by SIM system information management module 6 that related package information return system etc. is pending；Conversely, then system will
Automatically give tacit consent to this package zero deflection, logistics management background module will empty the package correlation logistics and storage information automatically.
Claims (3)
1. a kind of express delivery bulk-breaking based on three axis mobile platforms and terminal system is asked for, it is characterized in that：Including enter part platform (1),
Three axis mobile platforms (2), express delivery cabinet (3), pickup terminal (4), camera identification module (5) and SIM system information management mould
Block (6), it is described enter part platform include into part mouth (27), express transportation channel (22) and article carrying platform (23), it is described enter part mouth
(27) it is arranged in one end of express transportation channel (22), the other end of the express transportation channel (22) is provided with article carrying platform
(23)；
The three axis mobile platform (2) includes three axis mechanisms and promotion robot；Three axis mechanism includes X-axis decelerating motor
(15), y-axis stepper motor (16), Z axis stepper motor (17), X-axis synchronize guide wheel (10), X-axis slide bar guide rail (11), X-axis driving
Screw rod (28), Y-axis synchronize guide wheel (7), Y-axis slide bar guide rail (9), Y-axis driving screw rod (8), Z axis slide bar guide rail (13), Z axis and synchronize
With (12) and hold object plate (14)；The top held object plate (14) and be fixed at X-axis slide bar guide rail (11), the X-axis are driven
It is provided with X-axis decelerating motor (15) guide wheel (10) synchronous with X-axis on dynamic screw rod (28)；The Z axis slide bar guide rail (13) slides with X-axis
Rod guide (11) nested encryptions, the Z axis stepper motor (17) connect with Z axis synchronous belt (12)；The Y-axis slide bar guide rail (9)
One end of Z axis slide bar guide rail (13) nested encryptions, the Y-axis driving screw rod (8) is provided with y-axis stepper motor (16), the Y
It is two that axis, which synchronizes guide wheel (7), and setting is on Y-axis driving screw rod (8)；
The manipulator includes diamond shape stretching structure (18), multi-degree-of-freemechanical mechanical arm (19), aspiration nozzle (20), mechanical arm clamping jaw
(21), gear (30) and soaking gas equipment, the diamond shape stretching structure (18) are parallelogram articulated structure, one end and hold object
Plate (14) connects, and the other end is connect with multi-degree-of-freemechanical mechanical arm (19)；The multi-degree-of-freemechanical mechanical arm (19) and mechanical arm clamping jaw
(21) it connects, two clamping jaw sides of mechanical arm clamping jaw (21) are respectively provided with that there are one gears (30), and two gears are meshed, institute
Aspiration nozzle (20) is stated to be arranged in the centre position of mechanical arm clamping jaw (21) gear side；
The express delivery cabinet (3) includes right side cabinet (24) and left side cabinet (26), and right side cabinet (24) with
Left side cabinet (26) is provided with three axis mechanism zone of action (25), and one end of three axis mechanism zone of action (25) is provided with out part
Mouth (29)；
The pickup terminal (4) includes display screen, data reception module and data transmission module；
The camera identification module (5) includes optical camera and bar code analysis module；
The SIM system information management module (6) include logistics management background module, data reception module, data transmission module and
Processor.
2. a kind of express delivery bulk-breaking based on three axis mobile platforms according to claim 1 and asking for terminal system, feature
It is：The soaking gas equipment includes ducted fan and aspiration channel.
3. a kind of express delivery bulk-breaking based on three axis mobile platforms and method is asked for, it is characterized in that：Using described in claim 1 one
It plants the express delivery bulk-breaking based on three axis mobile platforms and asks for terminal system, include the following steps, and following steps sequentially carry out,
Step 1: package storage
Operating personnel are sent into express transportation channel according to the rule put upwardly where bar code, by package by entering part mouth (27)
(22), express transportation channel (22) receive gravity and start automatically, will package temporary, the system letter that is transmitted to article carrying platform (23) successively
Breath management module (6) transmits into library command, and three axis mobile platforms (2) start；Promotion robot initial position is located at article carrying platform
(23) initiating terminal is pushed by gear (30) conjugate control mechanical arm clamping jaw (21) subtended angle on circuit arrangement promotion robot
The single package of manipulator horizontal direction gripping；Soaking gas equipment starts, and detection promotion robot gripping is wrapped up successfully, and packet is continued to execute
Entrain into library command；Soaking gas equipment detect promotion robot gripping package failure, system repeat gripping act to package grip successfully,
It continues to execute and wraps up into library command；
Step 2: intelligent bulk-breaking
A, the bar code image and package appearance images that optical camera captured in real-time superscribes, and the bar code figure that will be taken
As input bar code recognition module progress bar code recognition, the appearance images taken are uploaded to SIM system information management module (6)
Carry out package apparent size information identification typing；
B, bar code recognition module carries out at rectangular area cutting, correction, gray processing processing and binaryzation bar code image
Reason reads bar code content information and data is uploaded to logistics management background module；SIM system information management module (6) is according to institute
The package dimensions information of acquisition distributes express delivery cabinet cabinet lattice, using three axis mobile platform (2) initial positions as reference origin, system foundation
Cabinet lattice number Auto-matching is put in storage path, is set asThe positive direction of the direction as definition of x-axis, y-axis, z-axis, enters
Library command is sent to three axis mobile platforms；
C, according to the cabinet lattice position coordinates entered given in library command
Y-axis stepper motor (16) starts first and driving Y-axis synchronizes guide wheel (7) and Y-axis driving screw rod (8) is driven to rotate, and holds object plate
(14) lateral displacement, y unit distance of advance, Y-axis location determination, y-axis stepper motor (16) stopping are obtained；Z axis stepper motor
(17) start and Z axis synchronous belt (12) is driven to be driven, hold object plate (14) and obtain vertical direction displacement, rise Z unit distance, Z
Shaft position determines that Z axis stepper motor (17) stops；X-axis decelerating motor (15) starts and driving X-axis driving screw rod (28) rotates,
It holds object plate (14) and obtains lateral displacement, X unit distance of advance holds object plate (14) and accurately reach regulation cabinet lattice inlet, diamond shape
Stretching structure (18) extends, and package is pushed into cabinet lattice by promotion robot, and ducted fan shuts down, and suction disappears, mechanical arm folder
Pawl (21) unclamps, and package is put in storage successfully, and storage information is fed back to SIM system information management module (6)；
Step 3: notice is asked for
A, pickup code is sent to message form in pickup people's mobile device by SIM system information management module (6)；
B, when operation is asked in the pickup that pickup people triggers pickup terminal (4), pickup terminal (4) will take via data transmission module
The pickup code of part people input is uploaded to SIM system information management module (6), and system is searched, compared in logistics management background module automatically
Pickup code；Compare failure, then pickup terminal (4) screen show " pickup code mistake " automatically, waiting pickup code next time it is defeated
Enter；It compares and successfully asks to pass through, then SIM system information management module (6) automatically sends out part order to three axis mobile platforms (2)；
C, mechanical arm clamping jaw (21) gripping package, ducted fan operating, suction generate；Diamond shape stretching structure (18) compresses, package
It is transferred to and is held on object plate (14) by cabinet lattice；SIM system information management module (6) Auto-matching outbound path, is set asX-axis decelerating motor (15) starts and driving X-axis driving screw rod (28) rotates, and holds object plate (14) and obtains laterally
Displacement, a unit distances of mobile x ', X-axis decelerating motor (15) stop；Z axis stepper motor (17) starts and drives Z axis synchronous belt
(12) it is driven, holds object plate (14) and obtain vertical direction displacement, decline a unit distances of z ', Z axis stepper motor (17) stops；Y-axis
Stepper motor (16) starts and driving Y-axis synchronizes guide wheel (7) and Y-axis driving screw rod (8) is driven to rotate, and holds object plate (14) and obtains laterally
Displacement, a unit distances of advance y '；Package is pushed into out part mouth by promotion robot, and ducted fan shuts down, and suction disappears, machine
Tool arm clamping jaw (21) unclamps, and package falls into pickup platform by going out part mouth；Three axis mobile platforms (2) reset；Express delivery cabinet goes out part signal
Back to SIM system information management module (6), database update；
D, after pickup, pickup people has found to be enclosed with damage or mistake, returns to pickup terminal (4) and rejects pickup request, by being
It is pending that information management module (6) of uniting will correspond to package information return system etc.；Pickup people, which does not do, rejects pickup request, system letter
Breath management module (6) gives tacit consent to this package zero deflection automatically, and logistic management system will empty the package correlation logistics and deposits automatically
Store up information.
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| CN111489111A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Logistics object management device, logistics object extraction method thereof and electronic equipment |
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Application publication date: 20180817 |