CN108846967B - Unmanned Express Cabinet - Google Patents
Unmanned Express Cabinet Download PDFInfo
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- CN108846967B CN108846967B CN201811094322.1A CN201811094322A CN108846967B CN 108846967 B CN108846967 B CN 108846967B CN 201811094322 A CN201811094322 A CN 201811094322A CN 108846967 B CN108846967 B CN 108846967B
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- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000013500 data storage Methods 0.000 description 17
- 239000000523 sample Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
Abstract
The unmanned express cabinet comprises a cabinet body and a control unit, wherein the cabinet body comprises a front end and a rear end, the front end comprises an access port and a touch screen, and the rear end comprises an executing mechanism and a plurality of layers of article frames; the access port and the touch screen are arranged on the outer wall of the front face of the cabinet body; the actuating mechanism comprises a grabbing mechanism, and the grabbing mechanism is used for taking articles of the article rack. The article is directly placed on the article rack from the access port through the executing mechanism, or the article is taken out and placed on the access port, compared with a traditional multi-door express cabinet, the space utilization rate in the cabinet body is greatly improved, and the problems that a user moves back and forth between a storage grid and a touch screen to operate in a complicated way and bends down to find express when the article is accessed are avoided; the inconvenience caused by too low person height and too high storage grid is avoided; and the actuating mechanism is improved, so that the problem that the irregularly-shaped articles cannot be grabbed is avoided.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an unmanned express cabinet.
Background
With the frequent use of intelligent express delivery cabinet, the problem that intelligent express delivery cabinet exists is increasingly outstanding. According to the current realization mode, the position of each grid of the express delivery cabinet is fixed, no matter whether the express delivery cabinet is stored by an express delivery person or the express delivery cabinet is taken by a receiver, the touch screen is required to be operated firstly, then goods are taken out of or put into the grids of the express delivery cabinet, the express delivery person/receiver needs to walk back and forth between the touch screen and the grids of the express delivery cabinet, the operation is extremely complicated, and when the height of the express delivery person/receiver is lower, the grids of the express delivery cabinet for storing the goods are higher, and particularly, the storage/the placement of the goods are very inconvenient.
Accordingly, the problems of the prior art are to be further improved and developed.
Disclosure of Invention
(one) object of the invention: in order to solve the problems in the prior art, the invention aims to provide the unmanned express cabinet capable of greatly improving the space utilization rate, and a storage person/an object taking person can directly operate between an access port and a touch screen, so that inconvenience caused by too far storage grids and the touch screen and too high storage grids due to too low storage person/object taking person height is prevented.
(II) technical scheme: in order to solve the technical problems, the technical scheme provides the unmanned express cabinet which comprises a cabinet body and a control unit, and is characterized in that the cabinet body comprises a front end and a rear end, the front end comprises an access port and a touch screen, and the rear end comprises an executing mechanism and a plurality of layers of article frames;
the access port and the touch screen are arranged on the outer wall of the front face of the cabinet body;
the actuating mechanism comprises a grabbing mechanism, wherein the grabbing mechanism is used for taking articles of the article rack or placing the articles on the article rack, the grabbing mechanism comprises a vertical movement mechanism, the vertical movement mechanism comprises an upper horizontal portion, a lower horizontal portion and a vertical portion, and two ends of the vertical portion are fixedly connected with one end of the same side of the upper horizontal portion and one end of the same side of the lower horizontal portion respectively.
The key point is that the article rack is arranged on the inner wall of the cabinet body and comprises a raised rib position and an article placing platform, wherein the raised rib position separates the placing platform into a plurality of groove-shaped platforms and strengthens the supporting structure of the article rack; the groove-shaped platforms are spaced platforms provided with grooves.
The key point is that the grabbing mechanism comprises a camera, a measuring device, a tooth-shaped platform and a gear, wherein the camera is arranged above the tooth-shaped platform and is used for shooting codes of objects on the tooth-shaped platform; the measuring device is arranged in the access port and is used for measuring the three-dimensional size of an article on the toothed platform; the tooth-shaped platform consists of a plurality of fixing strips which are arranged at intervals and is used for grabbing articles on the article rack or placing the articles on the article rack; the gear is arranged on the bottom surface of the tooth-shaped platform, and the bottom surface of the tooth-shaped platform is provided with tooth marks meshed with the gear teeth;
the vertical part is penetrated with a screw rod, and the vertical movement mechanism moves up and down in the vertical direction through the rotation of the screw rod.
The key point is that the interval distance of the fixing strips is matched with the convex parts of the groove-shaped platform, and the width of the fixing strips is matched with the concave parts of the groove-shaped platform.
The key point is that the camera is arranged on one surface of the upper horizontal part, which is close to the lower horizontal part, and is far away from one end of the vertical part; the tooth-shaped platform is arranged on one surface of the lower horizontal part, which is close to the upper horizontal part, and is far away from one end of the vertical part.
The key point is that the gear is connected with a fourth motor, and the fourth motor drives the gear to rotate so that the tooth-shaped platform moves back and forth relative to the gear.
The key lies in, snatch the mechanism and still include rotary mechanism, rotary mechanism includes rotary platform and third motor, the third motor with rotary platform connects, control rotary platform's rotation on the horizontal direction.
The key point is that one end of the fixing strip far away from the article rack is fixedly connected with the rotary platform.
The key is that the grabbing mechanism comprises a horizontal movement mechanism, wherein the horizontal movement mechanism is used for completing the movement of the executing mechanism in the horizontal direction and comprises a second lead screw and a second motor, and the second motor is connected with the second lead screw.
The key point is that the grabbing mechanism further comprises a rotating frame, and the rotating frame is used for driving the grabbing mechanism to rotate to a designated position;
the rotary frame comprises a rotary frame and a rotary base, the rotary frame is connected with the rotary base, the screw rod is arranged at the center of the rotary frame, one end, close to the bottom of the cabinet body, of the screw rod is connected with a first motor, and the rotary base is connected with a second motor.
The key point is that the intelligent cabinet temperature control system also comprises a control unit, wherein the control unit is connected with the cabinet body and comprises a data storage module, a processing module and an instruction operation module;
the data storage module is used for storing the size range of the articles stored in the groove type platform and the article storage condition of the groove type platform, and the article storage condition of the groove type platform comprises the following steps: the groove type platform stores the identification code of the article, the size of the article, the storage user information and the designated user information of the article;
the processing module recognizes the identification code on the article picture shot by the camera, calculates the size of the article according to the size of the article shot by the camera, selects the storage position of the article according to the size of the article, stores the storage position of the article and the corresponding identification code in the data storage module, and simultaneously displays corresponding information on the touch screen;
and the instruction operation module generates an action instruction related to the execution structure according to the article storage position and controls the execution structure to store or take out the article.
(III) beneficial effects: according to the unmanned express cabinet, the articles are directly placed on the article rack from the access opening through the executing mechanism, or the articles are taken out and placed on the access opening, compared with a traditional multi-door express cabinet, the space utilization rate in the cabinet body is greatly improved, and the problems that a user moves back and forth between a storage grid and a touch screen to operate in a complicated way and bends down to find express when the articles are stored are avoided; the inconvenience caused by too low person height and too high storage grid is avoided; and the actuating mechanism is improved, so that the problem that the irregularly-shaped articles cannot be grabbed is avoided.
Drawings
FIG. 1 is a front view of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 2 is a top view of the internal structure of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 3 is a left side view of the internal structure of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 4 is a diagram of the internal structure of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 5 is a block diagram of an actuator of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 6 is a diagram of the back of the toothed platform of the rotary mechanism of a preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 7 is a front view of another preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 8 is a top view of the internal structure of another preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 9 is an internal block diagram of another preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 10 is a block diagram of an actuator of another preferred embodiment of the unmanned express cabinet of the present invention;
FIG. 11 is a block diagram of a slot platform of the unmanned express cabinet of the present invention;
100-a cabinet body; 101-an access port; 102-a touch screen; 200-article rack; 201-protruding rib positions; 202-an article placement platform; 203-a trough platform; 300-an actuator; 301-a grabbing mechanism; 302-a horizontal movement mechanism; 303-a rotation mechanism; 304-a vertical movement mechanism; 305-a camera; 306-tooth-shaped platform; 307-gear; 400-rotating a frame; 401-a lead screw; 402-a first motor; 403-a second motor; 404-a second lead screw; 405-a third motor; 406-fourth motor.
Detailed Description
The present invention will be described in further detail with reference to the preferred embodiments, and more details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent that the present invention can be embodied in many other forms than described herein, and that those skilled in the art may make similar generalizations and deductions depending on the actual application without departing from the spirit of the present invention, and therefore should not be construed to limit the scope of the present invention in the context of this particular embodiment.
The drawings are schematic representations of embodiments of the invention, it being noted that the drawings are by way of example only and are not drawn to scale and should not be taken as limiting the true scope of the invention.
The following provides a detailed description of a preferred embodiment of the unmanned express cabinet in connection with the present invention.
An unmanned express delivery cabinet is shown in fig. 1, and comprises a cabinet body, wherein the cabinet body comprises a front end and a rear end, and the cabinet body is a cuboid.
The front end comprises an access port 101 and a touch screen 102, and the rear end comprises an actuator 300 and a plurality of layers of article shelves 200.
The access port 101 and the touch screen 102 are disposed on the front outer wall of the cabinet body 100, and the touch screen 102 is disposed on the bottom surface of the cabinet body 100, which is highly suitable for the operation of the touch screen 102 by the crowd with high body height.
The access port 101 is provided with a program control door, which is used for ensuring the safety of the express cabinet when the access port 101 accesses the piece.
The article rack 200 is disposed on the inner wall of the cabinet body, and the article rack 200 may be disposed on the inner wall of the cabinet body except the access port 101 and the position of the touch screen 102, or may be disposed on the inner walls of the left and right sides, which is not particularly limited herein. The article shelves 200 are provided with a plurality of layers in the vertical direction, and distances from each layer of article shelf 200 to the upper article shelf 200 are different, so that the storage of different articles can be conveniently adapted, and the waste of space is reduced. The number of layers in the vertical direction of the article rack 200 may be any number of layers adapted to the cabinet 100, and is not particularly limited herein.
As shown in fig. 2, the article rack 200 includes a raised rib 201 and an article placement platform 202, the raised rib 201 dividing the placement platform 202 into a plurality of channel-shaped platforms 203 while reinforcing the support structure of the article rack 200. As shown in fig. 11, the groove-shaped platforms 203 are spaced apart platforms provided with grooves.
As shown in fig. 2, 3, 4, 5, and 6, the actuator 300 includes a gripping mechanism for picking up or placing a good to the good rack. The grabbing mechanism comprises a vertical movement mechanism 304, a horizontal movement mechanism 302, a rotation mechanism 303, a camera 305, a measuring device, a toothed platform 306 and a gear 307.
The vertical movement mechanism 304 includes an upper horizontal portion, a lower horizontal portion, and a vertical portion, wherein two ends of the vertical portion are fixedly connected with one ends of the same sides of the upper horizontal portion and the lower horizontal portion, respectively. The upper horizontal section is "L" shaped in cross section, and the camera 305 is disposed at the top of the upper horizontal section, away from the vertical section.
The lead screw 401 is arranged on the vertical portion in a penetrating mode, one end, close to the bottom of the cabinet body 100, of the lead screw 401 is connected with the first motor 402, a fixed bottom plate is arranged at one end, close to the bottom of the cabinet body 100, of the lead screw 401, and the first motor 402 is arranged on the fixed bottom plate. The first motor 402 drives the screw 401 to rotate, and the vertical movement mechanism 304 moves up and down in the vertical direction when the screw 401 rotates.
The horizontal movement mechanism 302 is used for completing the movement of the actuator 300 in the horizontal direction, the horizontal movement mechanism 302 comprises a second lead screw 404 and a second motor 403, and the second lead screw 404 is horizontally arranged and connected with the second motor 403. The second lead screw 404 passes through the fixed bottom plate, the second motor 403 drives the second lead screw 404 to rotate, and the second lead screw 404 rotates to enable the fixed bottom plate to move in the horizontal direction, so that the actuator 300 reciprocates in the horizontal direction.
The rotating mechanism 303 comprises a rotating platform and a third motor 405, the rotating platform is arranged on one surface of the lower horizontal part of the vertical movement mechanism 304, which is close to the upper horizontal part, the third motor 405 is arranged on one surface of the lower horizontal part, which is far away from the upper horizontal part, and is connected with the rotating platform, and the rotation of the third motor 405 controls the rotation of the rotating platform in the horizontal direction.
The camera 305 is disposed on a surface of the upper horizontal portion of the vertical movement mechanism 304, which is close to the lower horizontal portion.
The measuring device is used for measuring the size of an article on the toothed platform, the measuring device can be a plurality of infrared ranging probes, the infrared ranging probes comprise 5 infrared ranging probes, the infrared ranging probes are respectively arranged on the inner wall of the program-controlled door, the two sides of the access opening and the inner wall of the top, one side, opposite to the stored article, of the vertical movement mechanism 304 where the camera is located, and one side, connected with the upper horizontal part, of the vertical movement mechanism 304.
The toothed platform 306 is fixed on the surface of the rotating platform, which is far away from the lower horizontal part of the vertical movement mechanism 304, and is composed of a plurality of fixing strips arranged at intervals, and the toothed platform 306 is used for grabbing the objects on the object rack 200 or placing the objects on the object rack 200. The toothed platform 306 further comprises a weight sensing device for sensing whether an object is placed on the toothed platform 306. The camera 305 is disposed above the toothed platform 306, so as to ensure that the camera 305 can completely shoot the identification code of the article and the article.
The interval distance of the fixing strips is matched with the protruding part of the groove-shaped platform 203, and the difference between the interval of the two fixing strips and the width of the protruding part of the groove-shaped platform 203 is more than 0mm and less than 10mm; the width of the fixing strip is matched with the concave portion of the groove-shaped platform 203, and the difference between the width of the concave portion of the groove-shaped platform 203 and the width of the fixing strip is greater than 0mm and less than 10mm, or may be in other ranges, which is not particularly limited herein.
The surface of the rotating platform, which contacts with the toothed platform 306, is provided with a sliding groove, and one end of the fixing strip, which is far away from the article rack 200, is arranged in the sliding groove.
The length of the toothed platform 306 is greater than that of the rotating platform, and the gear 307 is arranged on the bottom surface of the toothed platform 306 and is at the same horizontal position with the rotating platform. The bottom surface of the fixing strip of the toothed platform 306 is provided with tooth marks meshed with the gear teeth 307, and the gear 307 is contacted with the toothed platform 306 through the tooth marks. The number of gears 307 is preferably two, but may be other number, and is not particularly limited herein, and two gears 307 are taken as an example.
The gear 307 is connected with a fourth motor 406, the fourth motor 406 is disposed between the two gears 307, and the fourth motor 406 drives the gears 307 to rotate, so that the toothed platform 306 moves back and forth relative to the gears 307.
The inner wall of the bottom surface of the access port 101 is provided with a rectangular groove, and the width of the rectangular groove is matched with the width of the toothed platform 306, so that the toothed platform 306 can be placed in the rectangular groove.
The express cabinet further comprises a control unit, wherein the control unit is connected with the cabinet body and comprises a data storage module, a processing module and an instruction operation module.
The data storage module is used for storing the size range of the articles stored in the groove type platform and the article storage condition of the groove type platform, and the article storage condition of the groove type platform comprises the following steps: the groove type platform stores the identification code of the article, the size of the article, the storage user information and the designated user information of the article;
the measuring device may also be the camera 305, the processing module identifies the identification code on the article picture shot by the camera, and may calculate the size of the article according to the size of the article shot by the camera, or calculate the three-dimensional size of the article stored on the slot-type platform according to the measurement data of the infrared ranging probe, and select the storage position of the article according to the size of the article, and store the storage position of the article and the corresponding identification code in the data storage module, and display the corresponding information on the touch screen.
And the instruction operation module generates an action instruction related to the execution structure according to the article storage position and controls the execution structure to store or take out the article.
When the user uses the express cabinet:
when the courier places the article in the courier cabinet, clicking the storage button of the touch screen 102 may also be a code scanning storage button, which is not limited herein. The touch screen 102 may be a two-dimensional code or a bar code, which is not limited herein. The courier uses the smart phone or other intelligent terminals with communication functions to scan the code of the storage part appearing on the touch screen 102, the code scanning is successful, the control unit data module stores the information of the code scanning user of the storage part, the courier can contact the phone or the code of the courier, the specific limitation is not made here, meanwhile, the program control door of the access port 101 is opened, the courier places the storage object on the tooth-shaped platform 306 in the access port 101, and the express bar code of the storage object is placed upwards.
When the weight sensing device on the toothed platform 306 senses the weight of the stored article, the program control door is closed, the control unit sends a shooting command to the camera 305, and the camera 305 shoots the bar code of the stored article and the appearance picture of the article and sends the shot bar code of the stored article and the appearance picture of the article to the control unit.
The control unit sends a measurement command to the measurement device, and the infrared ranging probe measures the size data of the articles stored on the groove type platform and sends the measured size data of the articles to the control unit.
The data storage module of the control unit stores the bar code, the article appearance picture and the information of the scanning storage coding user in the same storage unit, and the processing module of the control unit simultaneously shoots the bar code by the camera 305 for identification, and reads the contact mobile phone of the addressee through the identified bar code; and calculating the size of the article according to the size of the article taking the picture, or calculating the size of the article according to the article size data measured by the infrared ranging probe, and selecting a storage position according to the size of the stored article and the article storage condition of the groove-shaped platform 203. The data storage module stores the corresponding bar codes, the addressee contact mobile phones, the article size data and the article storage positions in the corresponding storage units.
Meanwhile, the touch screen 102 displays information stored by the data storage module, so that a user can conveniently compare the information with actual information.
The instruction operation module generates a corresponding control command according to the storage position selected by the processing module, and controls the execution mechanism to place the storage object in the storage position.
First, the instruction operation module controls the rotation of the second motor 403 according to the vertical position of the storage position selected by the processing module, and the second motor 403 drives the second screw 404 to rotate, so that the toothed platform 306 moves to the vertical position of the storage position.
Second, the instruction operation module controls the rotation of the first motor 402 according to the storage position selected by the processing module, and the first motor 402 drives the screw 401 to rotate, so that the toothed platform 306 moves upwards or downwards to a position slightly higher than the storage position, which may be any height higher than the storage position by more than 0mm and smaller than the distance from the upper article rack 200.
Third, if the storage position is located at the end of the toothed platform 306 near the rotating platform, the instruction operation module controls the third motor 405 to rotate, so that the rotating platform drives the toothed platform 306 to rotate 180 degrees, and the end of the toothed platform 306 away from the rotating platform is adjacent to the article rack 200.
Fourth, the instruction operation module controls the fourth motor 406 to rotate, so that the toothed platform 306 extends towards the groove-shaped platform 203, and when the toothed platform 306 is placed above the groove-shaped platform 203, the fourth motor 406 stops rotating.
Fifth, the instruction operation module controls the first motor 402 to rotate, so that the toothed platform 306 moves downward until the fixing strip is located in the groove of the groove-shaped platform 203, and the stored articles are placed on the groove-shaped platform 203.
Sixth, the instruction operation module controls the fourth motor 406 to rotate, withdraw the toothed platform 306, and then controls the vertical movement mechanism 304, the horizontal movement mechanism 302 and the rotation mechanism 303 to work, so that the toothed platform 306 returns to the access position to wait for the user to access the goods.
When a user takes and stores articles: clicking the pick-up button of the touch screen 102 may also be a code scanning pick-up button, which is not particularly limited herein. The touch screen 102 may be a two-dimensional code or a bar code, which is not limited herein. The user uses the receiver contact mobile phone to scan the pick-up code appearing on the touch screen 102, the code scanning is successful, the control unit processing module reads the number of the scanned mobile phone, and stores and retrieves the corresponding receiver contact mobile phone in the data module, and reads the storage position of the corresponding stored article.
If the receiver is not in contact with the mobile phone, the user can take the stored article by inputting the bar code of the stored article. After the user scans the code of the article, the processing module of the control unit cannot read the contact mobile phone of the addressee matched with the number of the scanned mobile phone, and the touch screen 102 prompts the input of the bar code of the article to be stored. The user inputs the bar code of the stored article to be fetched, the control unit processing module invokes the storage position of the stored article to be fetched, and meanwhile, the data storage module stores the contact number of the person to be fetched in the storage unit of the corresponding stored article, so that the administrator can conveniently inquire the information of the user for fetching the article.
The instruction operation module generates a corresponding control command according to the storage position of the stored object to be taken, and controls the executing mechanism to take out the stored object.
First, the instruction operation module controls the rotation of the second motor 403 according to the vertical position of the storage object to be fetched, and the second motor 403 drives the second screw 404 to rotate, so that the toothed platform 306 moves to the vertical position of the storage object to be fetched.
Second, the instruction operation module controls the rotation of the first motor 402 according to the storage position of the storage object to be taken, and the first motor 402 drives the screw 401 to rotate, so that the toothed platform 306 moves upwards or downwards to a position at the same level as the storage position of the storage object to be taken.
Third, if the storage position of the storage object to be taken is located at one end of the toothed platform 306 near the rotating platform, the instruction operation module controls the third motor 405 to rotate, so that the rotating platform drives the toothed platform 306 to rotate 180 degrees, and one end of the toothed platform 306 away from the rotating platform is adjacent to the object rack 200.
Fourth, the instruction operation module controls the fourth motor 406 to rotate, so that the toothed platform 306 extends towards the groove-shaped platform 203, the fixing strip extends into the groove of the groove-shaped platform 203, and the fourth motor 406 stops rotating.
Fifth, the instruction operation module controls the first motor 402 to rotate, so that the toothed platform 306 moves upwards, and the toothed platform 306 lifts the object to be taken and places the object to be taken on the toothed platform 306.
Sixth, the instruction operation module controls the fourth motor 406 to rotate, withdraw the toothed platform 306, and then controls the vertical movement mechanism 304, the horizontal movement mechanism 302 and the rotation mechanism 303 to work, so that the toothed platform 306 returns to the access position, and the program control door of the access 101 is opened to wait for the user to access goods.
Seventh, the user takes out the deposit that waits to take, when the weight induction system response is to the deposit that waits to take, the control unit control program control door is closed, and the goods is got and is accomplished.
The following provides a detailed description of another preferred embodiment of the unmanned express cabinet in connection with the present invention.
An unmanned express delivery cabinet is shown in fig. 7, and comprises a cabinet body, wherein the cabinet body comprises a front end and a rear end, and the cabinet body is a cylinder.
The front end comprises an access port 101 and a touch screen 102, and the rear end comprises an actuator 300 and a plurality of layers of article shelves 200.
The access port 101 and the touch screen 102 are disposed on the front outer wall of the cabinet body 100, and the touch screen 102 is disposed on the bottom surface of the cabinet body 100, which is highly suitable for the operation of the touch screen 102 by the crowd with high body height.
The access port 101 is disposed below the touch screen 102, and the access port 101 is provided with a program control door, so as to ensure the safety of the express cabinet when the access port 101 accesses the piece.
The article rack 200 is disposed around the cabinet body except on the inner wall of the access port 101 and the touch screen 102. The article shelves 200 are provided with a plurality of layers in the vertical direction, and distances from each layer of article shelf 200 to the upper article shelf 200 are different, so that the storage of different articles can be conveniently adapted, and the waste of space is reduced. The number of layers in the vertical direction of the article rack 200 may be any number of layers adapted to the cabinet 100, and is not particularly limited herein.
As shown in fig. 8, the article rack 200 includes a raised rib 201 and an article placement platform 202, the raised rib 201 dividing the placement platform 202 into a plurality of channel-shaped platforms 203 while reinforcing the support structure of the article rack 200. As shown in fig. 11, the groove-shaped platforms 203 are spaced apart platforms provided with grooves.
As shown in fig. 8, 9, 10, the actuator 300 includes a gripping mechanism for taking or placing goods to the article rack. The grabbing mechanism comprises a vertical movement mechanism 304, a rotating frame 400, a camera 305, a toothed platform 306 and a gear 307.
The vertical movement mechanism 304 includes an upper horizontal portion, a lower horizontal portion, and a vertical portion, wherein two ends of the vertical portion are fixedly connected with one ends of the same sides of the upper horizontal portion and the lower horizontal portion, respectively. The cross section of the upper horizontal part is of a T shape, and the upper transverse part of the T-shaped upper horizontal part is connected with the vertical part.
The lead screw 401 is arranged on the vertical portion in a penetrating mode, one end, close to the bottom of the cabinet body 100, of the lead screw 401 is connected with the first motor 402, the first motor 402 drives the lead screw 401 to rotate, and when the lead screw 401 rotates, the vertical movement mechanism 304 moves up and down in the vertical direction.
The rotary frame 400 is used for driving the grabbing mechanism 301 to rotate to a designated position. The rotating frame 400 includes a rotating frame and a rotating base, and the rotating base is disposed at a bottom end of the rotating frame near the cabinet 100. The rotary base comprises a fixed base, a rotary base, a central shaft and a second motor 403, wherein the fixed base is fixed at the bottom end of the cabinet body, the rotary base is connected with the fixed base through the central shaft, the central shaft is connected with the second motor 403, and the second motor 403 drives the central shaft to rotate, so that the rotary base is controlled to rotate.
The vertical movement mechanism 304 is fixed on the upper surface of the rotating base.
The camera 305 is disposed at a vertical portion of the upper horizontal portion and the upper lateral portion, away from the top end of the vertical portion. The toothed platform 306 is fixed to a face of the lower horizontal portion adjacent to the upper horizontal portion. The toothed platform 306 is composed of a plurality of fixing strips arranged at intervals, and the toothed platform 306 is used for grabbing articles on the article rack 200 or placing the articles on the article rack 200. The toothed platform 306 further comprises a weight sensing device for sensing whether an object is placed on the toothed platform 306. The camera 305 is disposed above the toothed platform 306, so as to ensure that the camera 305 can completely shoot the identification code of the article and the article.
The interval distance of the fixing strips is matched with the protruding part of the groove-shaped platform 203, and the difference between the interval of the two fixing strips and the width of the protruding part of the groove-shaped platform 203 is more than 0mm and less than 10mm; the width of the fixing strip is matched with the concave portion of the groove-shaped platform 203, and the difference between the width of the concave portion of the groove-shaped platform 203 and the width of the fixing strip is greater than 0mm and less than 10mm, or may be in other ranges, which is not particularly limited herein.
The surface of the lower horizontal part, which is contacted with the toothed platform 306, is provided with a sliding groove, and one end of the fixing strip, which is far away from the article rack 200, is arranged in the sliding groove.
The length of the tooth-shaped platform 306 is greater than that of the lower horizontal part, and the gear 307 is arranged on the bottom surface of the tooth-shaped platform 306 and is positioned at the same horizontal position as the lower horizontal part. The bottom surface of the fixing strip of the toothed platform 306 is provided with tooth marks meshed with the gear teeth 307, and the gear 307 is contacted with the toothed platform 306 through the tooth marks. The number of gears 307 is preferably two, but may be other number, and is not particularly limited herein, and two gears 307 are taken as an example.
The gear 307 is connected with a fourth motor 406, the fourth motor 406 is disposed between the two gears 307, and the fourth motor 406 drives the gears 307 to rotate, so that the toothed platform 306 moves back and forth relative to the gears 307.
The express cabinet further comprises a control unit, wherein the control unit is connected with the cabinet body and comprises a data storage module, a processing module and an instruction operation module.
The data storage module is used for storing the size range of the articles stored in the groove type platform and the article storage condition of the groove type platform, and the article storage condition of the groove type platform comprises the following steps: the groove type platform stores the identification code of the article, the size of the article, the storage user information and the designated user information of the article;
the processing module recognizes the identification code on the article picture shot by the camera, calculates the size of the article according to the size of the article shot by the camera, selects the storage position of the article according to the size of the article, stores the storage position of the article and the corresponding identification code in the data storage module, and simultaneously displays corresponding information on the touch screen.
And the instruction operation module generates an action instruction related to the execution structure according to the article storage position and controls the execution structure to store or take out the article.
When the user uses the express cabinet:
when the courier places the article in the courier cabinet, clicking the storage button of the touch screen 102 may also be a code scanning storage button, which is not limited herein. The touch screen 102 may be a two-dimensional code or a bar code, which is not limited herein. The courier uses the smart phone or other intelligent terminals with communication functions to scan the code of the storage part appearing on the touch screen 102, the code scanning is successful, the control unit data module stores the information of the code scanning user of the storage part, the courier can contact the phone or the code of the courier, the specific limitation is not made here, meanwhile, the program control door of the access port 101 is opened, the courier places the storage object on the tooth-shaped platform 306 in the access port 101, and the express bar code of the storage object is placed upwards.
When the weight sensing device on the toothed platform 306 senses the weight of the stored article, the control unit sends a shooting command to the camera 305, and the camera 305 shoots the bar code of the stored article and the appearance picture of the article and sends the shot bar code of the stored article and the appearance picture of the article to the control unit. The data storage module of the control unit stores the bar code and the information of the article appearance picture and the scanning storage code user in the same storage unit, and the processing module of the control unit simultaneously identifies the bar code shot by the camera 305, reads the contact mobile phone of the receiver through the identified bar code, calculates the size of the article according to the size of the article shot with the shot picture, and selects the storage position according to the size of the article stored and the storage condition of the article stored in the slot type platform 203. The data storage module stores the corresponding bar codes, the addressee contact mobile phones, the article size data and the article storage positions in the corresponding storage units.
Meanwhile, the touch screen 102 displays information stored by the data storage module, so that a user can conveniently compare the information with actual information.
The instruction operation module generates a corresponding control command according to the storage position selected by the processing module, and controls the execution mechanism to place the storage object in the storage position.
First, the instruction operation module controls the rotation of the second motor 403 according to the vertical position of the storage position selected by the processing module, and the second motor 403 drives the central shaft to rotate, and controls the rotation base to rotate, so that the toothed platform 306 moves to the vertical position of the storage object to be taken.
Second, the instruction operation module controls the rotation of the first motor 402 according to the storage position selected by the processing module, and the first motor 402 drives the screw 401 to rotate, so that the toothed platform 306 moves upwards or downwards to a position slightly higher than the storage position, which may be any height higher than the storage position by more than 0mm and smaller than the distance from the upper article rack 200.
Third, the instruction operation module controls the fourth motor 406 to rotate, so that the toothed platform 306 extends towards the groove-shaped platform 203, and when the toothed platform 306 is placed above the groove-shaped platform 203, the fourth motor 406 stops rotating.
Fourth, the instruction operation module controls the first motor 402 to rotate, so that the toothed platform 306 moves down until the fixing strip is located in the groove of the groove-shaped platform 203, and the stored articles are placed on the groove-shaped platform 203.
Fifth, the instruction operation module controls the fourth motor 406 to rotate, withdraw the toothed platform 306, and then controls the vertical movement mechanism 304 and the rotating frame 400 to work, so that the toothed platform 306 returns to the access position to wait for the user to access the goods.
When a user takes and stores articles: clicking the pick-up button of the touch screen 102 may also be a code scanning pick-up button, which is not particularly limited herein. The touch screen 102 may be a two-dimensional code or a bar code, which is not limited herein. The user uses the receiver contact mobile phone to scan the pick-up code appearing on the touch screen 102, the code scanning is successful, the control unit processing module reads the number of the scanned mobile phone, and stores and retrieves the corresponding receiver contact mobile phone in the data module, and reads the storage position of the corresponding stored article.
If the receiver is not in contact with the mobile phone, the user can take the stored article by inputting the bar code of the stored article. After the user scans the code of the article, the processing module of the control unit cannot read the contact mobile phone of the addressee matched with the number of the scanned mobile phone, and the touch screen 102 prompts the input of the bar code of the article to be stored. The user inputs the bar code of the stored article to be fetched, the control unit processing module invokes the storage position of the stored article to be fetched, and meanwhile, the data storage module stores the contact number of the person to be fetched in the storage unit of the corresponding stored article, so that the administrator can conveniently inquire the information of the user for fetching the article.
The instruction operation module generates a corresponding control command according to the storage position of the stored object to be taken, and controls the executing mechanism to take out the stored object.
First, the instruction operation module controls the rotation of the second motor 403 according to the vertical position of the storage position selected by the processing module, and the second motor 403 drives the central shaft to rotate, and controls the rotation base to rotate, so that the toothed platform 306 moves to the vertical position of the storage object to be taken.
Second, the instruction operation module controls the rotation of the first motor 402 according to the storage position of the storage object to be taken, and the first motor 402 drives the screw 401 to rotate, so that the toothed platform 306 moves upwards or downwards to a position at the same level as the storage position of the storage object to be taken.
Third, the instruction operation module controls the fourth motor 406 to rotate, so that the toothed platform 306 extends towards the groove-shaped platform 203, the fixing strip extends into the groove of the groove-shaped platform 203, and the fourth motor 406 stops rotating.
Fourth, the instruction operation module controls the first motor 402 to rotate, so that the toothed platform 306 moves upwards, and the toothed platform 306 lifts the object to be taken and places the object to be taken on the toothed platform 306.
Fifth, the instruction operation module controls the fourth motor 406 to rotate, withdraw the toothed platform 306, and then controls the vertical movement mechanism 304 and the rotating frame 400 to work, so that the toothed platform 306 returns to the access position, and the program-controlled door of the access 101 is opened to wait for the user to access the goods.
Sixth, the user takes out and waits to take the deposit thing, when weight induction system response is to waiting to take the deposit thing, the control unit control program control door is closed, and the goods is got and is accomplished.
The unmanned express cabinet has the advantages that the articles are directly placed on the article rack from the access opening through the executing mechanism, or the articles are taken out and placed on the access opening, so that the problems that a user moves back and forth between the storage grid and the touch screen to perform complex operation and the user bends down to find express during the article access are avoided; the inconvenience caused by too low person height and too high storage grid is avoided; and the actuating mechanism is improved, so that the problem that the irregularly-shaped articles cannot be grabbed is avoided.
The foregoing is a description of a preferred embodiment of the invention to assist those skilled in the art in more fully understanding the invention. However, these examples are merely illustrative, and the present invention is not to be construed as being limited to the descriptions of these examples. It should be understood that, to those skilled in the art to which the present invention pertains, several simple deductions and changes can be made without departing from the inventive concept, and these should be considered as falling within the scope of the present invention.
Claims (3)
1. The unmanned express cabinet comprises a cabinet body and a control unit, and is characterized in that the cabinet body comprises a front end and a rear end, the front end comprises an access port and a touch screen, and the rear end comprises an executing mechanism and a plurality of layers of article frames;
the access port and the touch screen are arranged on the outer wall of the front face of the cabinet body;
the article rack comprises raised rib positions and an article placing platform, wherein the raised rib positions divide the placing platform into a plurality of groove-shaped platforms and strengthen a supporting structure of the article rack; the groove-shaped platforms are spaced platforms provided with grooves;
the automatic gripping device comprises an actuating mechanism, a gripping mechanism, a horizontal movement mechanism, a rotation mechanism, a camera, a measuring device, a toothed platform and a gear, wherein the gripping mechanism is used for taking an article of the article rack or placing the article on the article rack; the vertical part is penetrated with a screw rod, one end of the screw rod, which is close to the bottom of the cabinet body, is connected with a first motor, one end of the screw rod, which is close to the bottom of the cabinet body, is provided with a fixed bottom plate, the first motor is arranged on the fixed bottom plate, and the vertical movement mechanism moves up and down in the vertical direction through the rotation of the screw rod;
the horizontal movement mechanism is used for completing the movement of the execution mechanism in the horizontal direction and comprises a second lead screw and a second motor, the second lead screw is horizontally arranged and connected with the second motor, the second lead screw penetrates through the fixed bottom plate, the second motor drives the second lead screw to rotate, and the second lead screw rotates to enable the fixed bottom plate to move in the horizontal direction, so that the execution mechanism does reciprocating movement in the horizontal direction;
the rotating mechanism comprises a rotating platform and a third motor, the rotating platform is arranged on one surface of the lower horizontal part of the vertical movement mechanism, which is close to the upper horizontal part, the third motor is arranged on one surface of the lower horizontal part, which is far away from the upper horizontal part, and is connected with the rotating platform, and the rotation of the third motor controls the rotation of the rotating platform in the horizontal direction;
the measuring device is arranged in the access port and is used for measuring the three-dimensional size of an article on the tooth-shaped platform;
the tooth-shaped platform is fixed on one surface of the rotating platform, which is far away from the lower horizontal part of the vertical movement mechanism, and consists of a plurality of fixing strips which are arranged at intervals; the tooth-shaped platform also comprises a weight sensing device which is used for sensing whether an article is placed on the tooth-shaped platform or not; the camera is arranged above the toothed platform, so that the camera can be used for completely shooting the identification code of the article and the article; the interval distance of the fixing strips is matched with the convex parts of the groove-shaped platform, and the width of the fixing strips is matched with the concave parts of the groove-shaped platform;
a sliding groove is formed in one surface, contacted with the toothed platform, of the rotating platform, and one end, away from the article rack, of the fixing strip is arranged in the sliding groove;
the length of the tooth-shaped platform is longer than that of the rotary platform, the gear is arranged on the bottom surface of the tooth-shaped platform and is in the same horizontal position with the rotary platform, tooth marks meshed with the gear are arranged on the bottom surface of a fixing strip of the tooth-shaped platform, and the gear is contacted with the tooth-shaped platform through the tooth marks;
the gear is connected with a fourth motor arranged between the two gears, and the fourth motor drives the gears to rotate so that the toothed platform moves back and forth relative to the gears.
2. The unmanned express cabinet of claim 1, wherein the article rack is disposed on an inner wall of the cabinet body.
3. The unmanned express cabinet of claim 1, wherein an end of the fixing bar remote from the item rack is fixedly connected with the rotating platform.
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| CN201811094322.1A CN108846967B (en) | 2018-09-19 | 2018-09-19 | Unmanned Express Cabinet |
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| CN201811094322.1A CN108846967B (en) | 2018-09-19 | 2018-09-19 | Unmanned Express Cabinet |
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| CN108846967B true CN108846967B (en) | 2024-02-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110301787B (en) * | 2019-07-26 | 2023-07-28 | 西安工业大学 | Multifunctional showcase |
| CN110910580B (en) * | 2019-11-11 | 2020-12-18 | 重庆特斯联智慧科技股份有限公司 | Article storage system identified by artificial intelligence |
| CN111627166A (en) * | 2020-05-18 | 2020-09-04 | 深圳市丰巢科技有限公司 | Intelligent cabinet dispatching method and device, server and storage medium |
| CN113112650B (en) * | 2021-04-14 | 2022-10-25 | 广东欧比特科技有限公司 | Bluetooth intelligent lock system and use method thereof |
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