CN218433605U - Automatic cabinet entering robot applied to logistics distribution points - Google Patents

Abstract

The utility model belongs to the commodity circulation field discloses an automatic cabinet-entering robot of being applied to commodity circulation collection and distribution point, can realize putting in storage at the intelligence of commodity circulation collection and distribution point, swift and go into the case accurately, thereby when making the greatly reduced cost of commodity circulation company, customer's satisfaction has also been improved, including the arm base that connects gradually, arm shoulder seat, big armed lever, arm toggle seat, forearm pole and manipulator, arm shoulder seat can rotate at the horizontal plane for the arm base, big armed lever can rotate at vertical face for arm shoulder seat, arm toggle seat can rotate at vertical face for big armed lever, forearm pole can for arm toggle seat at vertical face pivoting rotation, arm wrist seat can rotate at the horizontal plane for the forearm pole, thereby make the manipulator can realize the six degrees of freedom in space accurately snatch the express delivery.

Description

Automatic cabinet entering robot applied to logistics distribution points

Technical Field

The utility model belongs to the commodity circulation field, concretely relates to be applied to automatic cabinet-entering robot of commodity circulation collection and distribution point.

Background

In the commodity circulation transportation, commodity circulation collection and distribution is the indispensable setting, generally is provided with the express delivery by the volumetric express delivery containing box regular spread of multiple specification and accomodates the cabinet wall at commodity circulation collection and distribution point for accomodate the express delivery temporarily.

At present, advanced logistics technology is adopted in three links of sorting and sealing, express delivery and sorting and sealing of a transfer station in an internal flow of the industry, and the cabinet entering operation of an express storage link of a logistics distribution point is manual case entering or conveyor belt type conveying and matching manual case entering.

Therefore, the traditional technology has low automation level and rough operation flow, not only wastes a large amount of human resources, but also has the risk that the demand of a customer order cannot be met in the period of a traffic blowout, so that a logistics company is difficult to consider both the cost and the customer satisfaction.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a be applied to automatic cabinet robot of going into of commodity circulation collection and distribution point can realize putting in storage at the intelligence of commodity circulation collection and distribution point, and swift and the vanning is accurate to when making the commodity circulation company greatly reduced cost, also improved customer's satisfaction.

In order to achieve the above purpose, the utility model provides a following technical scheme does:

be applied to automatic cabinet-entering robot of commodity circulation collection and distribution point for realize the intelligence income case of express delivery, the cabinet wall is accomodate in the express delivery has a plurality of position identification codes with the predetermined distance interval, a serial communication port, include: a predetermined vehicle body including a loading box having an upper end opened and wheels disposed below the loading box; and a cabinet entering mechanism which is positioned near the loading box and comprises a lifting unit which is detachably arranged on a preset vehicle body, and an RFID active tag and a mechanical arm unit which are both arranged on the lifting unit, wherein the lifting unit is used for driving the mechanical arm unit to lift or descend relative to the preset vehicle body, the RFID active tag is used for carrying out communication interaction with a position identification code so as to determine the position information contained in the position identification code closest to the cabinet entering mechanism, the mechanical arm unit comprises a mechanical arm base, and a large arm component, a small arm component and a mechanical arm component which are sequentially connected and arranged on the mechanical arm base, the large arm component comprises an arm shoulder seat driving motor, a worm gear mechanism, an arm shoulder seat, a large arm driving motor and a large arm rod, the arm shoulder seat driving motor is arranged on the mechanical arm base, and the lower end of the arm shoulder seat is arranged on the output shaft of the arm shoulder seat driving motor through the worm gear mechanism, the big arm driving motor is arranged at the upper end of the arm shoulder seat, one end of the big arm rod is arranged on the output shaft of the big arm driving motor, one end of the big arm rod is positioned at the upper end of the arm shoulder seat, the output shaft of the arm shoulder seat driving motor and the output shaft of the big arm driving motor are both horizontally arranged, the output shaft of the worm gear mechanism is vertically arranged, the small arm component comprises an arm elbow seat driving motor, an arm elbow seat, a small arm driving motor and a small arm rod, the arm elbow seat driving motor is arranged at the other end of the big arm rod, the end part of the arm elbow seat is arranged on the output shaft of the arm elbow seat driving motor, the small arm driving motor is arranged on the arm elbow seat, one end of the small arm rod is arranged on the output shaft of the small arm driving motor, one end of the small arm rod is positioned on the arm elbow seat, the output shaft of the arm elbow seat driving motor is horizontally arranged, the output shaft of the small arm driving motor is perpendicular to the output shaft of the arm elbow seat driving motor, the manipulator subassembly includes arm wrist driving motor, the arm wrist seat, bevel gear is right and the manipulator, arm wrist driving motor installs on the other end of forearm pole, the one end setting of arm wrist seat is at the other end of forearm pole, arm wrist driving motor's output shaft is coaxial with the forearm pole, just two gear axis mutually perpendicular are installed respectively on arm wrist driving motor's output shaft and arm wrist seat to two bevel gears of bevel gear pair, the other end at the arm wrist seat is installed to the manipulator, the manipulator is used for snatching or releasing the express delivery.

Preferably, the manipulator includes that the shovel indicates and the fastening indicates, and the manipulator subassembly still includes opening and shutting driving motor, two-way drive lead screw and two mechanical finger connecting blocks, and opening and shutting driving motor installs the gear axis parallel at the other end of arm wrist seat and output shaft bevel gear on the arm wrist seat, and two-way drive lead screw installs on opening and shutting driving motor's output shaft, and the shovel indicates and the fastening indicates through two mechanical finger connecting blocks symmetry and movably setting on two-way drive lead screw respectively.

Furthermore, the shovel finger is provided with a shovel part in a shovel shape, the fastening finger is provided with a fastening part in a multi-stage ladder shape, the fastening part and the shovel part are arranged oppositely, and when the opening and closing driving motor rotates, the fastening part and the shovel part move oppositely or back to back.

Still further, the manipulator subassembly still includes the pressure sensor who sets up on the portion of shoveling, and pressure sensor and the drive motor signal connection that opens and shuts.

Further, the scooping fingers and the fastening fingers are both made of rigid material, and the fastening portion is coated with a thermoplastic synthetic resin polypropylene material.

Preferably, manipulator assembly still includes the binarization camera of setting on the arm wrist seat, and all express delivery cabinet casees of cabinet wall are accomodate in the express delivery have a plurality of different volumes, go into cabinet mechanism and still include 4G communication module.

Preferably, the lifting unit comprises a lifting base, a lifting driving motor, a spur gear pair, two lifting driving shafts, a scissor type lifting mechanism and a lifting plate, wherein the lifting base is detachably arranged on a preset vehicle body, the lifting driving motor is a motor with double output shafts in the same direction, two spur gears of the spur gear pair are respectively arranged on two output shafts of the lifting driving motor, the two lifting driving shafts are respectively arranged on the two spur gears through key connection, the two lifting driving shafts are used for driving the scissor type lifting mechanism from the lower end, the lifting plate is arranged at the upper end of the scissor type lifting mechanism, and the mechanical arm base is arranged on the lifting plate.

Compared with the prior art, the beneficial effects of the utility model are that:

1. because the utility model discloses an arm shoulder seat passes through worm gear mechanism and installs on arm shoulder seat driving motor's output shaft, big arm driving motor installs on arm shoulder seat, big armed lever sets up on big arm driving motor's output shaft, arm shoulder seat driving motor's output shaft and big arm driving motor's output shaft average level set up, the vertical setting of output shaft of worm gear mechanism, arm elbow seat driving motor installs on big armed lever, arm elbow seat installs on arm elbow seat driving motor's output shaft, forearm driving motor installs on arm elbow seat, forearm pole setting is on forearm driving motor's output shaft and forearm pole is located arm elbow seat, arm elbow seat driving motor's output shaft level sets up, forearm driving motor's output shaft is perpendicular with arm elbow seat driving motor's output shaft, arm drive motor installs on forearm pole, the one end of arm seat sets up on forearm pole, arm drive motor's output shaft and forearm pole are coaxial, two bevel gears of bevel gear pair install respectively on arm drive motor's output shaft and arm seat and two gear axis mutually perpendicular, the arm can rotate the arm for the horizontal plane and realize that the accurate arm of arm is rotated for the horizontal plane and the arm is convenient for the arm that the vertical arm is rotated in the arm base and the arm is convenient for big arm of arm, thereby the arm is convenient for the arm that the arm is quick-to the arm that the arm rotates the arm that the accurate commodity circulation of the vertical arm of the arm is realized the arm is quick-to the arm that the arm is quick-to the utility model is put up, thereby the arm is convenient arm that the arm is put up of the utility model, thereby the arm is quick-to the arm that the utility model, thereby the arm is put up of the utility model, thereby the arm is put up.

2. Because the utility model discloses a manipulator is including shovel get indicate and fastening indicate, manipulator assembly is still including opening and shutting driving motor, two-way drive lead screw and two mechanical finger connecting blocks, the bevel gear axis that driving motor installed on the other end of arm wrist seat and output shaft and arm wrist seat is parallel, two-way drive lead screw installs on opening and shutting driving motor's output shaft, shovel get indicate and fastening indicate respectively through two mechanical finger connecting block symmetries and movably setting on two-way drive lead screw, when manipulator snatchs the express delivery to loading the incasement, the shovel is got to be used for the shovel to lean on to the terminal surface of express delivery packing, the fastening indicates to be used for cooperating the shovel to get to press from both sides tightly snatching the express delivery, therefore, the utility model discloses can simply realize snatching the stability of express delivery.

3. Because the utility model discloses a shovel is got and is indicated to have the shovel portion of getting that is shovel shape, and the fastening indicates to have the fastening portion that is multistage stairstepping, and fastening portion and shovel portion of getting set up in opposite directions, and when the driving motor that opens and shuts rotated, fastening portion and shovel portion of getting or back of the body motion mutually, when the manipulator snatchs the express delivery of equidimension not, the structure of multistage ladder makes only need control to connect the manipulator to snatch the length difference on the express delivery in fastening portion, and the manipulator just can realize corresponding better to the shape of the express delivery of multiple different width simultaneously, consequently, the utility model discloses can realize simultaneously snatching the stability of the express delivery of multiple different width, improve the utility model discloses an adaptability.

4. Because the utility model discloses a manipulator assembly is still including setting up the pressure sensor in the portion of getting of shovel, pressure sensor with open and shut driving motor signal connection, when pressure sensor detected the express delivery of centre gripping and produced the value of reaction pressure to the manipulator and surpassed the centre gripping threshold value, pressure sensor sent and stops the centre gripping signal, open and shut driving motor and stop according to stopping the centre gripping signal, consequently, the utility model discloses a manipulator can stop when reaching predetermined clamping-force to the express delivery and continue the centre gripping to avoid causing the damage to express delivery itself because of the clamping-force is too big.

5. Because the utility model discloses a shovel is got and is pointed and fastening and indicate to be the rigidity material to the cladding has flexible thermoplasticity synthetic resin polypropylene material in the fastening portion, consequently, the utility model discloses an in-process that the manipulator snatchs the express delivery is keeping the flexonics all the time with the surface of express delivery to further improved the not damaged effect of snatching the in-process.

6. Because the utility model discloses a manipulator assembly is still including setting up the binarization camera on the wrist seat of arm, all express delivery cabinet casees of cabinet wall are accomodate in the express delivery have a plurality of different volumes, go into cabinet mechanism and still include 4G communication module, the manipulator is before snatching the express delivery, carry out the volume size of express delivery through binarization camera earlier and distinguish on the pixel level, the express delivery volume information that obtains is discerned with the volume again communicates with RFID active label to the position identification code and alternately obtains the express delivery and accomodate cabinet wall position locating information and merge and become unpacking request information to reach remote control terminal with signal form through 4G communication module, remote control terminal is controlled again the utility model discloses a corresponding volumetric express delivery cabinet case of nearby is opened, consequently, the utility model discloses can accomodate the cabinet case of nearby with the concrete position correspondence of cabinet wall and open according to the volume of express delivery and locate to improve the efficiency that the express delivery was gone into the case greatly.

Drawings

Fig. 1 is a schematic view of an automatic cabinet entering robot applied to a logistics distribution point according to an embodiment of the present invention;

fig. 2 is a schematic view of a predetermined vehicle body of an embodiment of the present invention;

fig. 3 is a schematic view of a lifting unit according to an embodiment of the present invention;

fig. 4 is a schematic view of a robot arm unit according to an embodiment of the present invention;

fig. 5 is a schematic view of a robot assembly according to an embodiment of the present invention;

fig. 6 is a schematic view of the mechanical finger connecting block and the bidirectional driving screw according to the embodiment of the present invention; and

fig. 7 is a schematic step view of an intelligent express delivery locker entry method according to an embodiment of the present invention.

In the figure: 100. an automatic cabinet entering robot applied to logistics distribution points, 10, a preset vehicle body, 11, a loading box, 12, wheels, 13, a connecting plate, 20, a cabinet entering mechanism, 210, a lifting unit, 211, a lifting base plate, 212, a spur gear pair, 213, a scissor type lifting mechanism, 214, a lifting plate, 220, a mechanical arm unit, 221, a mechanical arm base, 222, a big arm component, 2221, an arm shoulder seat driving motor, 2222, an arm shoulder seat, 2223, a big arm driving motor, 2224, a big arm rod, 223, a small arm component, 2231, an arm elbow seat, 2232, a small arm driving motor, 2233, a small arm rod, 224, a mechanical arm component, 2241, an arm wrist seat, 2242, a bidirectional driving lead screw, 2243, a mechanical finger connecting block, 2244, a mechanical hand, 22441, a shovel finger, 22441a express delivery part, 22442, a fastening finger, 22442a, a binaryzation camera head, S100 and an intelligent cabinet entering method.

Detailed Description

In order to make the utility model realize that technical means, creation characteristics, achievement purpose and efficiency are easily understood and known, following embodiment combines the accompanying drawing to be right the utility model discloses an automatic income cabinet robot and income cabinet method of being applied to commodity circulation collection and distribution point do specifically describe, need explain that the description to these embodiments is used for helping understanding the utility model discloses, nevertheless does not constitute the restriction of the utility model.

The automatic cabinet entering robot applied to logistics distribution points in the embodiment is used for being matched with a remote control terminal to achieve intelligent box entering of express delivery containing cabinet walls (not shown in the drawing) with boxes for packaging, the express delivery containing cabinet walls extend along the straight line direction, and multilayer cabinet structures arranged along the height direction are provided, each layer of structure is provided with a plurality of express delivery cabinet boxes uniformly arranged along the extending length direction of the express delivery containing cabinet walls, all express delivery cabinet boxes of the express delivery containing cabinet walls are provided with a plurality of different volumes, the bottom end of each express delivery containing cabinet wall is provided with a plurality of position identification codes spaced along the extending length direction of the express delivery containing cabinet walls at preset distances, each position identification code comprises identification information of all express delivery cabinet boxes in a preset area close to the position of the position identification code from the position, plane distance and vertical distance information, identification information of all express delivery cabinet boxes is stored in the remote control terminal, and whether the corresponding express delivery cabinet boxes are occupied and information of volume size is stored.

As shown in fig. 1, the automatic cabinet entry robot 100 applied to the logistics distribution point includes a predetermined vehicle body 10 and a cabinet entry mechanism 20.

As shown in fig. 2, the predetermined vehicle body 10 includes a loading box 11 with an open upper end, wheels 12 arranged below the loading box 11, and a connecting plate 13 mounted on one side of the bottom of the loading box 11, the loading box 11 is used for loading a plurality of box-packed express items to be loaded into the express item receiving cabinet wall, and the connecting plate 13 is used for mechanically connecting with the cabinet loading mechanism 20.

The cabinet entry mechanism 20 is located near the loading compartment 11, and the cabinet entry mechanism 20 includes an RFID active tag (not shown in the drawings), a 4G communication module (not shown in the drawings), a lifting unit 210, and a robot arm unit 220.

The RFID active tag is disposed on the lifting unit 210 and used for performing communication interaction with the position identification code, so as to determine corresponding area position information included in the position identification code closest to the cabinet entering mechanism 20, the 4G communication module is used for performing communication interaction with the remote control terminal, and the RFID active tag is in signal connection with the 4G communication module.

As shown in fig. 1 and 3, a lifting unit 210 is detachably provided on a predetermined vehicle body 10, and the lifting unit 210 is used to drive a robot arm unit 220 to be lifted or lowered with respect to the predetermined vehicle body 10.

The lifting unit includes a lifting base 211, a lifting driving motor (not shown in the drawings), a spur gear pair 212, two lifting driving shafts (not shown in the drawings), a scissor lift mechanism 213, and a lifting plate 214.

The lifting base 211 is detachably disposed on the predetermined vehicle body 10, specifically, the lifting base 211 is connected to the connection plate 13 by a screw, and in this embodiment, the RFID active tag and the 4G communication module are disposed on the lifting base 211.

The lifting driving motor is installed on the lifting base 211, the lifting driving motor is a motor with double output shafts in the same direction, two spur gears of a spur gear pair 212 are respectively installed on two output shafts of the lifting driving motor, two lifting driving shafts are respectively installed on the two spur gears through key connection, the two lifting driving shafts are used for driving the scissor type lifting mechanism 213 from the lower end, so that the scissor type lifting mechanism 213 can be unfolded or folded along the vertical direction relative to the lifting base 211, and the lifting plate 214 is arranged at the upper end of the scissor type lifting mechanism 213, so that the lifting base 211 is lifted or descended.

As shown in fig. 1 and 4, the robot arm unit 220 is disposed on the elevation unit 210, and includes a robot arm base 221, and a large arm assembly 222, a small arm assembly 223, and a robot arm assembly 224 that are mounted on the robot arm base 221 and connected in sequence.

The robot base 221 is mounted on the lift plate 214.

The boom assembly 222 includes a boom shoulder seat drive motor 2221, a worm gear mechanism (not shown in the drawings), a boom shoulder seat 2222, a boom drive motor 2223, and a boom lever 2224.

The arm shoulder seat driving motor 2221 is installed on the robot arm base 221, and an output shaft of the arm shoulder seat driving motor 2221 is horizontally arranged.

The worm gear mechanism has a horizontally arranged input shaft and a vertically arranged output shaft, the output shaft of the arm shoulder seat driving motor 2221 is connected with the input shaft of the worm gear mechanism, and the output shaft of the worm gear mechanism is connected with the lower end of the arm shoulder seat 2222.

The lower end of the arm shoulder seat 2222 is mounted on the output shaft of the arm shoulder seat drive motor 2221 via a worm gear mechanism, and the arm shoulder seat 2222 is disposed obliquely with respect to the horizontal plane.

Big arm driving motor 2223 is installed in the upper end of arm shoulder seat 2222, and big arm driving motor 2223's output shaft level sets up, big arm lever 2224's one end sets up on big arm driving motor 2223's output shaft and big arm lever 2224's one end is located the upper end of arm shoulder seat 2222, when big arm driving motor 2223 is rotatory, the contained angle that big arm lever 2224 and arm shoulder seat 2222 formed increases or reduces, in this embodiment, big arm driving motor 2223's quantity is 2, be located the corresponding both sides of the upper end of arm shoulder seat 2222 respectively, be used for driving big arm lever 2224 jointly and rotate.

The arm assembly 223 includes an arm and elbow mount drive motor (not shown in the drawings), an arm and elbow mount 2231, an arm drive motor 2232, and an arm lever 2233.

An arm elbow rest drive motor is installed on the other end of the large arm bar 2224, the end of the arm elbow rest 2231 is installed on the output shaft of the arm elbow rest drive motor, and the output shaft of the arm elbow rest drive motor is horizontally disposed.

The forearm driving motor 2232 is mounted on the arm and elbow rest 2231, one end of the forearm rod 2233 is disposed on the output shaft of the forearm driving motor 2232 and one end of the forearm rod is disposed on the arm and elbow rest 2231, and the output shaft of the forearm driving motor 2232 is perpendicular to the output shaft of the arm and elbow rest driving motor, and when the forearm driving motor 2232 rotates, the angle of the included angle formed by the forearm rod 2233 and the arm and elbow rest 2231 increases or decreases.

As shown in fig. 4 and 5, the manipulator assembly 224 includes a wrist driving motor (not shown in the drawings), a wrist base 2241, an opening and closing driving motor (not shown in the drawings), a bidirectional driving lead screw 2242, a mechanical finger connecting block 2243, a bevel gear pair (not shown in the drawings), a manipulator 2244, a pressure sensor (not shown in the drawings), and a binarizing camera 2245.

The arm wrist driving motor is installed at the other end of the small arm rod 2233, one end of the arm wrist seat 2241 is arranged at the other end of the small arm rod 2233, and the output shaft of the arm wrist driving motor is coaxial with the small arm rod 2233.

Two bevel gears of bevel gear pair are respectively installed on arm wrist driving motor's output shaft and arm wrist seat 2241 and two gear axis mutually perpendicular, and when arm wrist driving motor was rotatory, arm wrist seat 2241 used forearm pole 2233's the other end as the centre of a circle to rotate, and the rotation plane of forearm pole 2233's axis perpendicular to arm wrist seat 2241.

As shown in fig. 5 and 6, the opening and closing drive motor is mounted at the other end of the arm wrist block 2241 and an output shaft of the opening and closing drive motor is parallel to a gear axis of a bevel gear on the arm wrist block 2241.

The bidirectional drive screw 2242 is mounted on an output shaft of the opening and closing drive motor, the number of the finger connecting blocks 2243 is 2, the threaded portions in two directions of the bidirectional drive screw 2242 are respectively movably provided, and the end portion of the finger connecting block 2243 is located outside the other end of the arm wrist block 2241.

Manipulator 2244 is installed at the other end of arm wrist seat 2241, and manipulator 2244 is used for snatching or releasing the express delivery, and manipulator 2244 includes shovel finger 22441 and fastening finger 22442, and shovel finger 22441 and fastening finger 22442 are respectively through two mechanical finger connecting blocks 2243 symmetry and movably setting on two-way drive lead screw 2242.

The scooping finger 22441 has a scooping portion 22441a in a scooping shape, the fastening finger 22442 has a fastening portion 22442a in a multistage step shape, the fastening portion 22441a and the scooping portion 22442a are disposed in opposition to each other, and when the opening/closing drive motor rotates, the fastening portion 22441a and the scooping portion 22442a move in opposition or opposition to each other.

Pressure sensor sets up on shovel portion 22441a to pressure sensor and the driving motor signal connection that opens and shuts, when the pressure value that receives on pressure sensor surpassed preset centre gripping threshold value, pressure sensor sent and stops the centre gripping signal, and the driving motor that opens and shuts stops according to stopping the centre gripping signal.

Both the scooping finger 22441 and the fastening finger 22442 are made of a rigid material, and the fastening portion 22442a is coated with a flexible thermoplastic synthetic resin polypropylene material, so that when the manipulator 2244 grabs an express item, the manipulator 2244 is in flexible contact with the express item.

Binaryzation camera 2245 sets up on arm wrist seat 2241 for carry out the size on the pixel level to the express delivery of equidimension not and discern, and remote control terminal is according to the identification result of binaryzation camera 2245 to the express delivery size, control manipulator 2244 to the cover distance of snatching of express delivery, thereby can make the shovel get to indicate 22441 and fasten and form the corresponding centre gripping distance of express delivery size between the finger 22442.

As shown in fig. 7, an intelligent express delivery locker method S100 implemented by the above automatic locker entering robot 100 applied to logistics distribution points in cooperation with a remote control terminal includes the following steps:

step S1: obtain the express delivery of a plurality of different volume specifications, and concentrate in loading case 11.

Step S2: the cabinet entrance mechanism 20 is mechanically connected to the predetermined vehicle body 10.

Specifically, the cabinet entrance mechanism 20 is screwed with the predetermined vehicle body 10.

And step S3: the automatic cabinet entering robot 100 applied to the logistics distribution point is controlled through the remote control terminal to travel nearby an express storage cabinet wall along a preset path.

Specifically, the preset path is a straight path parallel to the plane where the express storage cabinet wall is located, and the preset path is stored in the remote control terminal and can be set manually.

And step S4: remote control terminal control manipulator 2244 is in loading 11 location arbitrary express deliveries of case to as waiting to go into cabinet express delivery.

Step S5: the express delivery volume information of the express to be put into the cabinet is acquired through the binarization camera 2245.

Specifically, the size of treating the cabinet express delivery of entering through binary camera 2245 on the pixel aspect is discerned to obtain the express delivery volume information of treating the cabinet express delivery of entering.

Step S6: when the cabinet entering mechanism 20 passes through a position identification code, the cabinet entering mechanism acquires the cabinet wall position information contained in the position identification code through the 4G communication module.

Specifically, cabinet wall position information includes all express delivery cabinet casees in the predetermined area near this position of this position identification code and apart from this position's identification information, plane distance and vertical distance information, and the remote control terminal internal storage has all express delivery cabinet case's identification information, whether the express delivery cabinet case that corresponds is occupied and the information of volume size.

Step S7: the cabinet entering mechanism 20 transmits the opening request information combined by the express volume information and the cabinet wall position information to the remote control terminal through the RFID active tag and the 4G communication module, and the remote control terminal controls the opening of an express cabinet box near the cabinet entering mechanism 20 and corresponding to the volume of the express to be put into the cabinet and serves as the cabinet to be accommodated.

Specifically, the position of the currently identified position identification code is used as an initial position of a region request, and a partial region of an express storage cabinet wall contained in the currently identified position identification code is used as a box opening request region;

the remote control terminal opens the priority order to the express delivery cabinet case of the nearby of income cabinet mechanism 20 and is: in the area requesting for opening the box, the opening priorities of the cabinets to be accommodated, which are away from the area request initial position in sequence along the extension length of the express storage cabinet wall, are reduced in sequence.

If any cabinet box to be accommodated does not meet the cabinet entering requirement, the remote control terminal controls the cabinet entering mechanism 20 to continue to drive to the next position identification code.

Step S8: remote control terminal control goes into cabinet mechanism 20 and goes to the neighborhood that waits to hold cabinet case to the cabinet is gone into to the intelligence that waits to hold cabinet case to the cabinet express delivery is gone into to manipulator 2244, and remote control terminal is controlled manipulator 2244 and is closed the chamber door of express delivery cabinet case through shovel finger 22441 at manipulator 244 release in the scheduled time after waiting to go into cabinet express delivery.

Step S9: and repeating the steps S4-S8 until the cabinet entering mechanism 20 passes through all the position identification codes of the express storage cabinet wall.

The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention, and various modifications and changes can be made by those skilled in the art without inventive work within the scope of the appended claims,

for example, in the above method, the circulation end condition is that the cabinet entry mechanism 20 passes through all the position identification codes of the express storage cabinet walls, but in practical application, the circulation end condition may be that all the express items in the loading box 11 are completely entered into the cabinet.

Claims (7)

1. Be applied to automatic cabinet-entering robot of commodity circulation collection and distribution point for the realization is accomodate the intelligent income case of the express delivery of cabinet wall to the express delivery, cabinet wall is accomodate in the express delivery has a plurality of position identification code with the predetermined distance interval, its characterized in that includes:

a predetermined vehicle body including a loading box having an upper end opened and wheels provided below the loading box; and

a cabinet entering mechanism which is positioned near the loading box,

the cabinet entering mechanism comprises a lifting unit detachably arranged on the preset vehicle body, an RFID active tag and a mechanical arm unit which are both arranged on the lifting unit,

the lifting unit is used for driving the mechanical arm unit to lift or lower relative to the preset vehicle body,

the RFID active tag is used for carrying out communication interaction with the position identification code so as to determine the position information contained in the position identification code closest to the cabinet entering mechanism,

the mechanical arm unit comprises a mechanical arm base, a large arm component, a small arm component and a mechanical arm component which are arranged on the mechanical arm base and connected in sequence,

the big arm component comprises an arm shoulder seat driving motor, a worm gear mechanism, an arm shoulder seat, a big arm driving motor and a big arm rod,

the arm shoulder seat driving motor is arranged on the mechanical arm base, the lower end of the arm shoulder seat is arranged on an output shaft of the arm shoulder seat driving motor through the worm gear mechanism, the large arm driving motor is arranged at the upper end of the arm shoulder seat, one end of the large arm rod is arranged on the output shaft of the large arm driving motor, and one end of the large arm rod is positioned at the upper end of the arm shoulder seat,

the output shaft of the arm shoulder seat driving motor and the output shaft of the big arm driving motor are both horizontally arranged, the output shaft of the worm gear mechanism is vertically arranged,

the small arm component comprises an arm elbow seat driving motor, an arm elbow seat, a small arm driving motor and a small arm rod,

the arm toggle seat driving motor is installed on the other end of the large arm rod, the end part of the arm toggle seat is installed on the output shaft of the arm toggle seat driving motor, the small arm driving motor is installed on the arm toggle seat, one end of the small arm rod is arranged on the output shaft of the small arm driving motor and one end of the small arm rod is positioned on the arm toggle seat,

the output shaft of the arm elbow seat driving motor is horizontally arranged, the output shaft of the small arm driving motor is vertical to the output shaft of the arm elbow seat driving motor,

the manipulator component comprises a wrist driving motor, a wrist seat, a bevel gear pair and a manipulator,

the arm wrist driving motor is arranged at the other end of the small arm rod, one end of the arm wrist seat is arranged at the other end of the small arm rod, the output shaft of the arm wrist driving motor is coaxial with the small arm rod,

two bevel gears of the bevel gear pair are respectively arranged on an output shaft of the arm wrist driving motor and the arm wrist seat, the axes of the two bevel gears are mutually vertical,

the manipulator is installed at the other end of the arm wrist seat and is used for grabbing or releasing the express.

2. The automatic cabinet-entering robot applied to the logistics distribution point as claimed in claim 1, wherein:

wherein the manipulator comprises a shoveling finger and a fastening finger,

the manipulator assembly also comprises an opening and closing driving motor, a bidirectional driving lead screw and two mechanical finger connecting blocks,

the opening and closing driving motor is arranged at the other end of the arm wrist seat, an output shaft of the opening and closing driving motor is parallel to the gear axis of a bevel gear on the arm wrist seat,

the bidirectional driving screw rod is arranged on an output shaft of the opening and closing driving motor,

the shoveling fingers and the fastening fingers are symmetrically and movably arranged on the bidirectional driving screw rod through the two mechanical finger connecting blocks respectively.

3. The automatic cabinet-entering robot applied to the logistics distribution point as claimed in claim 2, wherein:

wherein the shoveling finger is provided with a shoveling part in a shovel shape, the fastening finger is provided with a fastening part in a multi-stage ladder shape,

the fastening part and the scooping part are arranged oppositely,

when the opening and closing driving motor rotates, the fastening part and the shoveling part move in the opposite direction or in the opposite direction.

4. The automatic cabinet-entering robot applied to the logistics distribution point as claimed in claim 3, wherein:

the manipulator assembly further comprises a pressure sensor arranged on the shoveling part, and the pressure sensor is in signal connection with the opening and closing driving motor.

5. The robot applied to the logistics distribution point and automatically enter the cabinet according to claim 3, wherein:

wherein the shoveling fingers and the fastening fingers are both made of rigid materials, and the fastening part is coated with thermoplastic synthetic resin polypropylene materials.

6. The robot applied to the logistics distribution point and automatically enter the cabinet according to claim 1, wherein:

wherein the express receiving cabinet wall is composed of a plurality of express cabinets,

the manipulator assembly also comprises a binaryzation camera arranged on the arm wrist seat, all the express cabinet boxes of the express containing cabinet wall have a plurality of different volumes,

the cabinet entering mechanism further comprises a 4G communication module.

7. The robot applied to the logistics distribution point and automatically enter the cabinet according to claim 1, wherein:

wherein the lifting unit comprises a lifting base, a lifting driving motor, a straight gear pair, two lifting driving shafts, a scissor type lifting mechanism and a lifting plate,

the lifting base is detachably arranged on the preset vehicle body, the lifting driving motor is a motor with double output shafts in the same direction, two straight gears of the straight gear pair are respectively arranged on two output shafts of the lifting driving motor, two lifting driving shafts are respectively arranged on the two straight gears through key connection, the two lifting driving shafts are used for driving the scissor type lifting mechanism from the lower end,

the lifter plate is arranged at the upper end of the scissor-type lifting mechanism, and the mechanical arm base is arranged on the lifter plate.

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