CN209946998U - Cargo transfer device and robot docking system - Google Patents

Abstract

The application provides a goods transfer device and robot butt joint system relates to the vending machine field, installs on the goods cabinet door, and the goods cupboard door-open is equipped with the goods and forwards the mouth, includes: a cargo transfer door pivotally mounted at a cargo transfer opening of the cargo cabinet door; two ends of the screw rod are arranged on the goods cabinet door, and the nut is sleeved on the screw rod and connected with the goods transfer door; the first guide piece is connected with the nut and can reciprocate along the second guide piece; as the lead screw rotates, the nut reciprocates along the lead screw and synchronously drives the cargo transfer door to pivot, and the first guide synchronously reciprocates along the second guide. This application is through the screw nut transmission drive goods that has certain transmission rigidity and precision and is forwardded the door, solves to a certain extent among the prior art because goods are forwardded the door and can't effectively seal the goods sometimes and are forwardded the mouth or sometimes the goods are forwardded the process and oppress the goods and are forwardded the rotatory dislocation of door and lead to the defect occasionally.

Description

Cargo transfer device and robot docking system

Technical Field

The application relates to the field of vending machines, in particular to a cargo transfer device and a robot docking system.

Background

With the development of automation technology, the appearance of service robots also provides convenience for the work and life of people. Vending machines that interface directly with robots have also emerged.

However, in the vending machine of the prior art, when the vending machine is docked with the robot, the goods transfer door may not effectively close the goods transfer opening or the goods transfer door may be forced to rotate and dislocate during the goods transfer process, which may easily cause the situation that people are accidentally injured by clamping and the situation that the vending machine is not docked with the robot.

SUMMERY OF THE UTILITY MODEL

In view of this, the present application provides a cargo transfer device and a robot docking system, which aims to solve the problem in the prior art that a cargo transfer door sometimes cannot effectively close a cargo transfer opening or sometimes a cargo transfer process forces the cargo transfer door to rotate and be misaligned.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

The utility model provides a first aspect, this application provides a goods transfer device installs on the goods cupboard door, the goods cupboard door is opened and is equipped with the goods and forwards the mouth, includes:

a cargo transfer door pivotally mounted to a cargo transfer opening of the cargo cabinet door;

the two ends of the screw rod are mounted on the cargo cabinet door, and the nut is sleeved on the screw rod and connected with the cargo transfer door; and

the first guide piece is connected with the nut and can reciprocate along the second guide piece;

as the lead screw rotates, the nut reciprocates along the lead screw and synchronously drives the cargo transfer door to pivot, and the first guide synchronously reciprocates along the second guide.

Preferably, the second guide member is formed with a guide groove, or the second guide member and an inner wall of the cargo cabinet door together form a guide groove, and the first guide member is a rolling member installed between two inner sidewalls of the guide groove in such a manner as to be capable of rolling along the guide groove.

Preferably, the second guide is a guide rail, and the first guide is a slider attached to the guide rail so as to be slidable along the guide rail.

Preferably, the first guide is a rolling member and is at least two in number, and the second guide is a plate member and corresponds in number to the first guide; the rolling member is capable of rolling along the plate member.

Preferably, the nut is provided with a rod member, the cargo transfer door is provided with a slot hole, and the rod member penetrates through the slot hole and can slide in the slot hole; or

The goods transfer device further comprises a connecting rod, the first end of the connecting rod is hinged to the nut, and the second end of the connecting rod is hinged to the goods transfer door.

Preferably, the cargo cabinet door includes a closing part and a locking part connected to each other, the closing part being capable of closing the cargo transfer opening;

the goods transfer door is arranged on the goods receiving side, and guide parts extending towards the goods receiving side are formed at two ends of the goods transfer door in the direction perpendicular to the goods transfer direction.

Preferably, the cargo transfer device further comprises a driving motor for driving the lead screw to rotate.

Preferably, the cargo transfer device further comprises a limit switch electrically connected with the driving motor, the position of the cargo transfer door when the closing part closes the cargo transfer opening is defined as an initial position, and the position of the cargo transfer door when the cargo transfer door rotates to enable the cargo transfer door to transfer cargo is defined as a working position;

the limit switches are respectively arranged at the initial position and the working position, and when the goods transfer door triggers the limit switches, the driving motor stops running.

Preferably, one of the locking portion and the cargo cabinet door is provided with a locking plate, the other of the locking portion and the cargo cabinet door is provided with an electric control lock, and when the closing portion closes the cargo transfer opening, the electric control lock can be matched with the locking plate, so that the cargo transfer door is locked.

In a second aspect, the application further provides a robot docking system, which comprises a robot, the cargo transfer device and a vending machine provided with the cargo transfer device;

when the goods transfer door is rotated to be opened, the robot is in butt joint with the goods transfer door to take or deliver goods.

This application is through the screw nut transmission drive goods that has certain transmission rigidity and precision and is forwardded the door, solves to a certain extent among the prior art because goods are forwardded the door and can't effectively seal the goods sometimes and are forwardded the mouth or sometimes the goods are forwardded the process and oppress the goods and are forwardded the rotatory dislocation of door and lead to the defect occasionally.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 shows a schematic view of a cargo transfer device;

FIG. 2 shows a schematic view of a container door;

figure 3 shows a schematic of the vending machine interfacing with the robot.

Reference numerals:

100-a cargo transfer device;

110-cargo transfer doors; 111-a closure; 112-a locking portion; 113-a guide; 114-locking plate; 120-cargo cabinet door; 121-cargo transfer ports; 130-a lead screw; 131-a nut; 132-a connecting rod; 140-a first guide; 150-a second guide; 160-first limit switch; 170-a second limit switch; 180-a drive motor; 190-an electrically controlled lock;

200-a vending machine; 300-robot.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

FIG. 1 shows a schematic view of a cargo transfer device; FIG. 2 shows a schematic view of a container door; figure 3 shows a schematic of the vending machine interfacing with the robot.

Referring to fig. 1 to 3, the cargo transfer device according to the present embodiment includes: goods pass on door, goods cabinet door, lead screw, nut, first guide, second guide, first limit switch, second limit switch, connecting rod, driving motor, automatically controlled tool to lock. The connection relationship and action between the above components will be described in detail below.

As shown in fig. 1 and 2, the cargo transfer door 110 is pivotally mounted to the cargo transfer opening 121 of the cargo cabinet door 120. The cargo transfer door 110 comprises a closing part 111 and a locking part 112 connected with each other, the closing part 111 can close a cargo transfer opening 121, one of the locking part 112 and the container door 120 is provided with a locking piece 114, the other of the locking part 112 and the container door 120 is provided with an electrically controlled lock 190, the electrically controlled lock 190 can cooperate with the locking piece 114 to lock the locking part 112 to the container door 120 when the closing part 111 closes the cargo transfer opening 121, and the position of the cargo transfer door 110 is defined as an initial position.

In this embodiment, the side of the cargo transfer door 110 that contacts the cargo is the cargo receiving side, and the two ends of the cargo transfer door 110 in the direction perpendicular to the cargo transfer direction are formed with guide portions that extend toward the cargo receiving side.

The cargo transfer opening 121 may be rectangular, and the length direction thereof may be a vertical direction, and the width direction thereof may be a horizontal direction. Thus, the cargo transfer door may be a rectangular plate member, the width of which may be slightly less than the width of the cargo transfer opening 121, so that the plate member is free to pivot when installed in the cargo transfer opening 121, and the length of which is greater than the length of the cargo transfer opening 121.

Further, one of the wide sides of the plate member is aligned with one of the wide sides of the cargo transfer opening 121, the pivot shaft is vertically installed at both long sides of the plate member, and then is vertically installed at both long sides of the cargo transfer opening 121, when the plate member is pivoted to a direction close to the vertical direction, a portion of the plate member closing the cargo transfer opening 121 is a closing portion 111, and a portion of the plate member exceeding the cargo transfer opening 121 is a locking portion 112.

On the basis of the above description, in order to make the cargo transfer door 110 have a better closing effect on the cargo transfer opening 121 and at the same time make the cargo transfer door 110 be convenient to assemble with other components, as shown in fig. 1 and 2, the closing portion 111 in this embodiment may be a rectangular parallelepiped member, and a locking portion 112 is formed on a first side of the rectangular parallelepiped member in an extending manner, the pivot shafts are mounted on two second sides of the rectangular parallelepiped member, and a third side of the rectangular parallelepiped member away from the locking portion 112 is aligned with the upper wide side of the cargo transfer opening 121.

As shown in fig. 1 and 2, in this embodiment, the locking portion 112 may be always located inside the cargo door 120, and in this case, the locking portion 112 can shorten the distance between the basket of the vending machine 200 described below and the cargo transfer door 110 when rotated to the operating position, thereby increasing the reliability when the cargo falls into the cargo transfer door 110.

Based on the above description, in the embodiment, the cargo receiving side is the side where the first side surface of the rectangular parallelepiped member is located, and the guiding portion 113 forms a certain angle with the plane where the first side surface is located, so that the guiding portion 113 may be perpendicular to the plane to facilitate the assembly of the cargo transfer door 110 and to prevent the cargo from being separated from the cargo transfer door 110. In this embodiment, the guide portions 113 may be two plate members, which are respectively provided at both ends of the cargo transfer door 110 in the width direction of the cargo transfer port 121 and extend toward the cargo receiving side.

In the present embodiment, the cargo transfer direction is the longitudinal direction from the inside of the cargo door 120 to the first side surface of the outside of the cargo door 120 when the cargo transfer door 110 is located at the operating position.

Further, in order to allow the cargo transfer door 110 to pivot freely, based on the above-described features, in the present embodiment, as shown in fig. 1, both ends of the guide portion 113, the side portion of the closing portion 111 away from the locking portion 112, and the end of the locking portion 112 may be rounded, so as to facilitate smooth pivoting of the cargo transfer door 110.

In addition, as shown in fig. 1, in this embodiment, the locking portion 112 may be provided with a locking plate 114, and the locking plate 114 may have a locking hole, that is, when the cargo transferring door 110 is located at the initial position, the locking plate 114 is located between the locking portion 112 and the container door 120, the electric control lock disposed on the container door 120 may be an electric control mortise lock, and when the cargo transferring door 110 is located at the initial position, a locking tongue of the electric control mortise lock may penetrate through the locking hole of the locking plate 114, so as to lock the cargo transferring door 110, thereby preventing people from being accidentally pinched.

However, not limited thereto:

first, although the shape of the cargo transfer opening 121 in the present embodiment is rectangular, the shape of the cargo transfer opening 121 is not particularly limited as long as the cargo transfer door 110 with a matched shape can be pivotally mounted on the cargo transfer opening 121 and can close the cargo transfer opening 121, the cargo transfer opening 121 may have other geometric figures or a combination thereof, and the cargo transfer door 110 with a matched shape is understood as having the same shape of the closing portion 111 as the cargo transfer opening 121 in a direction perpendicular to the cargo transfer opening 121.

Second, although the closing portion 111 and the locking portion 112 are in the same plane in the present embodiment, the present invention is not limited thereto, that is, when the cargo transfer door 110 is in the operating position, the cargo receiving side formed by the closing portion 111 and the locking portion 112 may have a stepped shape.

Third, based on the second mentioned above, although the locking portion 112 in the present embodiment is always located inside the cargo door 120, it may be located outside the cargo door 120, in which case, the distance to be traveled when the robot 300 is butted against the cargo transfer opening 121, which will be described below, is shortened, the speed of butting is increased to some extent, and the efficiency of butting is improved; further, the side (i.e., the third side) of the closing portion away from the locking portion 112 in the present embodiment may be aligned with the lower width of the cargo transfer opening 121.

Fourthly, the electric control mortise lock in the embodiment can also be arranged on the locking part 112, and the locking piece 114 is arranged on the goods door; the types of the electric control lock 190 and the locking plate 114 are not limited thereto, as long as the cargo transfer door 110 at the initial position can be locked to the container door 120, the types of the electric control lock 190 and the locking plate 114 are not particularly limited, for example, the electric control lock 190 may also be an electromagnet, and the locking plate 114 may also be an iron sheet or other magnetic material sheet, and the iron sheet or other magnetic material sheet is attracted by the electrification of the electromagnet, so as to lock the cargo transfer door 110.

From the second and third descriptions above, the relationship between the stepped form of the two closing portions and the process of the cargo transfer door 110 reaching the working position and the manner of mounting the cargo transfer door 110 will be described below.

In the first case, when the cargo transfer door 110 is installed in such a manner that the locking portion 112 is located inside the cargo cabinet door 120 and the side portion of the closing portion 111 far from the locking portion 112 is aligned with the upper wide side of the cargo transfer opening 121, the initial position of the cargo transfer door 110 is the position, and at this time, the locking portion 112 is located below the closing portion 111, and the process of the cargo transfer door 110 reaching the working position is that the locking portion 112 is lifted upward at an angle to a position higher than the closing portion 111. In this case, if the closing portion 111 and the locking portion 112 are formed in a stepped shape, the plane of the locking portion 112 is higher than the plane of the closing portion 111, in consideration of not preventing the cargo from sliding down along the cargo transfer door 110.

In the second case, when the cargo transfer door 110 is installed in such a manner that the locking portion 112 is located inside the cargo door 120 and the side of the closing portion 111 remote from the locking portion 112 is aligned with the lower broad side of the cargo transfer opening 121, the locking portion 112 may be extended from the other first side opposite to the first side of the rectangular parallelepiped member in the present embodiment, so that the structure of the cargo transfer door 110 at this time is such that the two opposite third sides are removed as compared with the above-mentioned structure, and the two second sides directly serve as the guide portions 113 at the position of the closing portion 111, and the width of the guide portions 113 at the position of the locking portion 112 may be at most the distance between the locking portion 112 and the cargo door 120 when the cargo transfer door 110 is at the initial position.

The initial position of the cargo transfer door 110 is the position when the side of the closing part 111 away from the locking part 112 is aligned with the lower broadside of the cargo transfer opening 121, at this time, the locking part 112 is located above the closing part 111, and the process of the cargo transfer door 110 reaching the working position is that the locking part 112 is lowered downward by a certain angle to a position higher than the closing part 111. In this case, if the closing portion 111 and the locking portion 112 are formed in a stepped shape, the plane of the locking portion 112 is higher than the plane of the closing portion 111, in consideration of not preventing the cargo from sliding down along the cargo transfer door 110.

In the third case, when the cargo transfer door 110 is installed in such a manner that the locking portion 112 is located outside the cargo cabinet door 120 and the side portion of the closing portion 111 far from the locking portion 112 is aligned with the upper wide side of the cargo transfer opening 121, the initial position of the cargo transfer door 110 is the position, and at this time, the closing portion 111 is located above the locking portion 112, and the process of the cargo transfer door 110 reaching the operating position is that the locking portion 112 is angled upward to a position lower than the closing portion 111. In this case, if the closing portion 111 and the locking portion 112 are stepped, the plane of the locking portion 112 is lower than the plane of the closing portion 111, in consideration of not preventing the cargo from sliding down along the cargo transfer door 110.

In the fourth case, when the cargo transfer door 110 is installed in such a manner that the locking portion 112 is located outside the cargo cabinet door 120 and the side portion of the closing portion 111 away from the locking portion 112 is aligned with the lower width of the cargo transfer opening 121, the initial position of the cargo transfer door 110 is the position, and the cargo transfer door 110 has the same structure as that of the second case, in which the locking portion 112 is located above the closing portion 111, and the cargo transfer door 110 reaches the operating position by lowering the locking portion 112 downward by an angle to a position lower than the closing portion 111. In this case, if the closing portion 111 and the locking portion 112 are stepped, the plane of the locking portion 112 is lower than the plane of the closing portion 111, in consideration of not preventing the cargo from sliding down along the cargo transfer door 110.

In this embodiment, the accurate arrival of the cargo transfer door 110 at the working position and the return to the initial position are controlled by limit switches. In this embodiment, the limit switches may include a first limit switch 160 and a second limit switch 170 corresponding to two positions of the cargo transfer door 110. As shown in fig. 1, the first limit switch 160 may be disposed on one long side of the cargo transfer opening 121, and the second limit switch 170 may be disposed on a lower wide side of the cargo transfer opening 121 (i.e., the position of the locking portion 112 when the cargo transfer door 110 is located at the initial position in this embodiment). The first limit switch 160 and the second limit switch 170 may be photoelectric switches, and both of them are electrically connected to a driving motor 180, and when the goods transfer door 110 triggers both of the limit switches, the driving motor 180 stops rotating, so that the goods transfer door 110 reaches a designated position.

In addition, in the other three cases, the positions of the first limit switch 160 and the second limit switch 170 are installed according to the operating position and the initial position of the cargo transfer door 110, and thus, the detailed description thereof is omitted.

In this embodiment, the cargo transfer door 110 is driven to pivot by a lead screw 130 and a nut 131. Both ends of the screw 130 may be disposed inside the cargo cabinet door 120 through a bearing, for example, and connected to an output shaft of the driving motor 180 through a coupling, so that the driving motor 180 can drive the screw 130 to rotate, and the nut 131 can move along the screw 130.

The container door 120 arrangement in this embodiment further comprises a first guide 140 and a second guide 150 arranged to the nut 131. As shown in fig. 1, the second guiding element 150 in this embodiment is a right-angle section, which forms a guiding groove together with the inner wall of the cargo cabinet door 120, the first guiding element 140 is a rolling member, the rolling member adopted in this embodiment is a roller, and the roller is installed between two inner side walls of the guiding groove in a manner of rolling along the guiding groove, so that the roller and the nut 131 move linearly as a whole, and the roller rolls smoothly in the guiding groove to limit the nut 131 to rotate together with the screw 130.

As shown in fig. 1, in the present embodiment, the nut 131 and the roller may be connected by mounting the roller on a plate member, and then mounting the plate member on the nut 131 by a screw connection. In addition, the connection between the nut 131 and the cargo transfer door 110 may be through the plate member, and in this embodiment, the plate member and the cargo transfer door 110 are connected through the link 132, a first end of the link 132 may be hinged to the plate member, and a second end of the link 132 may be hinged to the guide portion 113 of the cargo transfer door 110. By means of the connecting rod 132, a reliable transmission can still be achieved when the distance between the nut 131 and the goods transfer door 110 is large. Thus, as the lead screw 130 rotates, the nut 131 reciprocates along the lead screw 130 and drives the cargo transfer door 110 to pivot.

However, not limited thereto:

first, as for the types of the first guide 140 and the second guide 150, the second guide 150 may be a guide rail, the first guide 140 may be a slider, and the slider may be attached to the guide rail so as to be slidable along the guide rail;

alternatively, the first guide 140 is a rolling member, such as a roller, and the number thereof is at least two, and the second guide 150 is a plate member and the number thereof corresponds to the number of rollers capable of rolling along the plate member, and at least two rollers among the rollers are provided to rotate in opposite directions. In this embodiment, the rotation directions of the two rollers are opposite, and it can be understood that, when viewed from a side of the roller away from the nut 131 to a side close to the nut 131 along the axial direction of the roller, the rotation direction of one roller is clockwise, and the rotation direction of the other roller is counterclockwise; when the number of the rollers is two, at this time, the two plate members may be the inner side walls of the container door 120.

Second, the nut 131 and the container door 120 may be connected in such a manner that a horizontally extending rod member is attached to the nut 131, a groove is formed in the guide portion 113 of the cargo transfer door 110, and the rod member is inserted into the groove and can slide in the groove, and this connection is suitable for a case where the distance between the nut 131 and the cargo transfer door 110 is small.

In view of the above-described features, the operation of the cargo door 120 apparatus will be described below.

The following description will be given taking as an example the case shown in fig. 1, in which the cargo transfer door 110 is installed in the first instance, the electrically controlled latch 190 is an electrically controlled mortise lock, the first guide 140 and the second guide 150 are a roller and a right-angle section, respectively, the nut 131 is connected to the roller through a plate member and is hinged to the first end of the connecting rod 132, and the second end of the connecting rod 132 is hinged to the guide portion 113 of the cargo transfer door 110.

The working process is as follows: the bolt of the electrically controlled mortise lock is retracted from the lock hole of the lock plate 114, the driving motor 180 rotates forward, the nut 131 moves upward along the lead screw 130, the driving link 132 drives the locking portion 112 of the cargo transfer door 110 to pivot upward by a predetermined angle, and when the locking portion is higher than a predetermined position (e.g., the position in fig. 1) of the closing portion 111, the first limit switch 160 is triggered, the driving motor 180 stops rotating, and the cargo transfer door 110 reaches the working position.

Resetting: the driving motor 180 rotates reversely, the nut 131 moves downwards along the screw 130, the driving link 132 drives the locking part 112 of the cargo transfer door 110 to pivot downwards until the second limit switch 170 is triggered, the starting motor stops rotating, the cargo transfer door 110 reaches the initial position, and the cargo transfer opening 121 is closed.

The present embodiment further provides a docking system for a robot 300, which includes the robot 300, the cargo transferring device 100, and the vending machine 200 provided with the cargo transferring device 100. According to the above-described features, the operation of the docking system of the robot 300 will be described below.

When the goods transfer door 110 is in the working position, the hatch door of the robot 300 is opened to dock with the goods transfer door 110, the goods slide from the goods passage of the vending machine 200 into the basket, the basket transfers the goods to the goods transfer door 110, the goods pass through the opened goods transfer door 110 and slide into the cabin of the robot 300, then the robot 300 is separated from the goods transfer door 110, and the goods transfer door 110 is reset to the initial position. Due to the fact that the screw 130 and the nut 131 are used for transmission, accuracy is high, the goods transfer door 110 can accurately reach the working position, reliability of butt joint with the robot 300 is guaranteed, meanwhile, transmission rigidity of the screw 130 and the nut 131 is high, the goods transfer door 110 cannot be unstable when falling onto the goods transfer door 110, and stability in the butt joint process is improved.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all changes that can be made in the details of the description and drawings, or directly/indirectly implemented in other related technical fields, are intended to be embraced therein without departing from the spirit of the present application.

Claims (10)

1. The utility model provides a goods transfer device installs on the goods cabinet door, the goods door is opened and is equipped with the goods and transfers mouthful, its characterized in that, goods transfer device includes:

a cargo transfer door pivotally mounted to a cargo transfer opening of the cargo cabinet door;

the two ends of the screw rod are mounted on the cargo cabinet door, and the nut is sleeved on the screw rod and connected with the cargo transfer door; and

the first guide piece is connected with the nut and can reciprocate along the second guide piece;

as the lead screw rotates, the nut reciprocates along the lead screw and synchronously drives the cargo transfer door to pivot, and the first guide synchronously reciprocates along the second guide.

2. The cargo transfer device of claim 1, wherein the second guide member is formed with a guide groove, or the second guide member and an inner wall of the cargo cabinet door together form a guide groove, and the first guide member is a rolling member installed between two inner side walls of the guide groove in such a manner as to be rollable along the guide groove.

3. The cargo transfer device of claim 1, wherein the second guide member is a guide rail, and the first guide member is a slider mounted to the guide rail so as to be slidable along the guide rail.

4. The cargo transfer device of claim 1, wherein the first guides are rolling members and are at least two in number, and the second guides are plate members and are corresponding in number to the first guides; the rolling member is capable of rolling along the plate member.

5. The cargo transfer device of claim 1 wherein said nut is provided with a rod member and said cargo transfer door is provided with a slot, said rod member extending through and slidable within said slot; or

The goods transfer device further comprises a connecting rod, the first end of the connecting rod is hinged to the nut, and the second end of the connecting rod is hinged to the goods transfer door.

6. The cargo transfer device according to any of claims 1 to 5, wherein said cargo cabinet door comprises a closing portion and a locking portion connected to each other, said closing portion being capable of closing said cargo transfer opening;

the goods transfer door is arranged on the goods receiving side, and guide parts extending towards the goods receiving side are formed at two ends of the goods transfer door in the direction perpendicular to the goods transfer direction.

7. The cargo transfer device of claim 6, further comprising a drive motor for driving rotation of the lead screw.

8. The cargo transfer device of claim 7, further comprising a limit switch electrically connected to the drive motor, wherein a position of the cargo transfer door when the closing portion closes the cargo transfer opening is defined as an initial position, and a position of the cargo transfer door rotated to enable the cargo transfer door to transfer cargo is defined as a working position;

the limit switches are respectively arranged at the initial position and the working position, and when the goods transfer door triggers the limit switches, the driving motor stops running.

9. The cargo transfer device according to claim 7 or 8, wherein one of the locking portion and the cargo cabinet door is provided with a locking plate, and the other of the locking portion and the cargo cabinet door is provided with an electrically controlled lock capable of cooperating with the locking plate when the closing portion closes the cargo transfer opening, so that the cargo transfer door is locked.

10. A robotic docking system comprising a robot and a goods transfer device as claimed in any one of claims 1 to 9 and a vending machine provided with the goods transfer device;

when the goods transfer door is rotated to be opened, the robot is in butt joint with the goods transfer door to take or deliver goods.

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