WO2018058280A1 - 一种多单元旋转式储物快递智能分拣及提取系统及方法 - Google Patents

一种多单元旋转式储物快递智能分拣及提取系统及方法 Download PDF

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Publication number
WO2018058280A1
WO2018058280A1 PCT/CN2016/100275 CN2016100275W WO2018058280A1 WO 2018058280 A1 WO2018058280 A1 WO 2018058280A1 CN 2016100275 W CN2016100275 W CN 2016100275W WO 2018058280 A1 WO2018058280 A1 WO 2018058280A1
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WO
WIPO (PCT)
Prior art keywords
unit
storage
package
parcel
shelf
Prior art date
Application number
PCT/CN2016/100275
Other languages
English (en)
French (fr)
Inventor
李晖
陈俊安
李鹤
赵帆
杨雪峰
邱鸿成
闻邦椿
Original Assignee
东北大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 东北大学 filed Critical 东北大学
Priority to PCT/CN2016/100275 priority Critical patent/WO2018058280A1/zh
Priority to CN201680009378.5A priority patent/CN107454863B/zh
Priority to US16/337,330 priority patent/US10913094B2/en
Publication of WO2018058280A1 publication Critical patent/WO2018058280A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/045—Storage devices mechanical in a circular arrangement, e.g. towers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only

Definitions

  • the invention belongs to the technical field of logistics equipment, and particularly relates to a multi-unit rotary storage express intelligent sorting and extracting system and method.
  • China's logistics and transportation industry Due to the rapid development of China's economy and the rapid spread of e-commerce and online shopping, China's logistics and transportation industry has developed by leaps and bounds in recent years; however, China's current logistics and transportation industry still focuses on manual sorting and manual distribution, automation Low level, and has a series of problems such as low sorting efficiency, high time cost and large labor demand;
  • the present invention provides a multi-unit rotary storage express intelligent sorting and extracting system and method. Compared with the existing large-scale logistics distribution system, the present invention has more flexibility and a smaller footprint. Features, more to meet the requirements of the modern express delivery industry for parcel delivery and customer demand for express parcels.
  • a multi-unit rotary storage express intelligent sorting and extracting system comprises an input unit, a sorting unit, a rotating storage unit and an output unit, wherein an output port of the input unit is connected to an input port of the sorting unit, The plurality of output ports of the sorting unit are respectively connected to different storage units of the rotating storage unit, and the different storage units of the rotating storage unit are connected to the output unit Multiple input ports;
  • the rotating storage unit comprises: an outer annular guide rail, a rotating bracket, an inner layer annular track, a rotating bracket driving motor, a speed reducer, a transmission shaft and a plurality of rotating storage unit subunits;
  • the outer annular guide rail, the rotating bracket and the inner layer annular track are sequentially disposed on the ground from the outside to the inside, and the inner edge of the lower end of the rotating storage unit subunit is connected with the inner circular track, and the rotating storage unit is rotated.
  • the outer edge of the lower end of the subunit is connected with the outer annular guide rail, and the middle position of the lower end of the rotary storage unit subunit is fixedly connected with the upper end of the rotating bracket;
  • the rotating bracket driving motor is arranged on the ground, and the output shaft is connected with a speed reducer, and the speed reducer is driven The shaft drives the rotating bracket to rotate;
  • the rotating storage unit subunit includes: a rotating storage subunit shelf portion, and a rotating storage subunit base portion;
  • the rotating storage subunit shelf part comprises a small parcel storage shelf, a medium parcel storage shelf, a large parcel storage shelf and a universal ball bearing; the small parcel storage shelf, the medium parcel storage shelf And a large package storage shelf is stacked in a vertical direction, and each layer of the shelf and the shelf and the bottom plate are connected by a universal ball bearing;
  • the rotating storage subunit base portion comprises: a courier baffle, a friction wheel drive device and a bottom plate; the express baffle is fixed at an upper end of the bottom plate and is located inside the shelf portion of the rotary storage subunit; the friction The wheel drive is fixed to the upper end of the bottom plate and is in contact with the shelf portion of the rotary storage subunit.
  • the friction wheel driving device comprises: a friction wheel driving motor, a coupling, a bevel gear transmission speed reducer, a sliding coupling sleeve, a friction wheel, an axial positioning ring, a plane bearing, a friction wheel position adjusting servo hydraulic cylinder, a first fixing frame, a second fixing frame, a fixed shaft and a transmission shaft;
  • the friction wheel drive motor is connected to the bevel gear transmission reducer through a coupling, the bevel gear transmission reducer is fixed on one side of the first fixed frame, the first fixed frame is fixedly disposed on the upper end of the bottom plate, and the bevel gear transmission reducer
  • the transmission shaft is connected by a sliding coupling sleeve, and the transmission shaft is connected to the friction wheel position adjustment servo hydraulic cylinder through a plane bearing, and the friction wheel position adjustment servo hydraulic cylinder is fixedly disposed on one side of the second fixing frame;
  • the fixed shaft end is fixed at one end On the other side of the first fixing frame, the other end of the fixed shaft is fixed to the other side of the second fixing frame;
  • the driving shaft and the fixed shaft are respectively provided with a friction wheel, and the friction wheel passes through the axial positioning ring on the transmission shaft and the fixed shaft.
  • the friction wheel on the drive shaft is positioned circumferentially with the drive shaft by a key link.
  • the output unit comprises: an output unit robot arm, a screw conveyor belt and a client pick-up unit, the output unit robot arm is connected to the multi-layer inlet of the spiral conveyor belt, and the outlet of the spiral conveyor belt is connected to the client pick-up unit;
  • the output unit mechanical arm comprises: a first bracket, a ball screw drive motor, a ball screw, a nut, a connecting rod, a push plate telescopic hydraulic cylinder, a push plate, a column with a ball, a lifting plate, a second bracket,
  • the support base and the lift plate telescopic hydraulic cylinder wherein the ball screw drive motor is fixedly disposed at the upper end of the first bracket, and the output shaft of the ball screw drive motor is connected to one end of the ball screw through the transmission device, and the other end of the ball screw is fixedly connected a second bracket, the second bracket is fixedly disposed on the spiral conveyor belt
  • one end of the connecting rod is connected to the ball screw through a nut, and the other end of the connecting rod is connected to the supporting seat, and the push plate telescopic hydraulic cylinder and the lifting plate telescopic hydraulic cylinder are fixedly arranged on the upper end of the support base, and the push plate telescopic hydraulic cylinder
  • the end of the piston rod is provided with
  • the small package storage shelf, the medium-sized package storage shelf and the large package storage shelf, and the gap between the inner two sides and between the large package storage shelf and the inner side of the bottom plate are provided with the lifting plate.
  • the express baffle is located at the exit direction of the sorting unit.
  • the input unit is provided with a vision sensor, a belt drive motor, a pressure sensor, a photoelectric sensor, and a conveyor belt.
  • the number of the ball screws is two, the number of the nuts is four, the number of the links is four, and the two ball screws are arranged in parallel.
  • the intelligent sorting and extraction method using the multi-unit rotary storage express intelligent sorting and extraction system includes the following steps:
  • Step 1 Start the system
  • Step 2 When a courier parcel is placed in the input unit, the photo sensor is photographed to obtain a side view and a top view of the courier package, and the image edge detection algorithm is used to obtain the size of the courier package, and the express parcel type is determined;
  • the weight of the express parcel is obtained by using a segmentation algorithm to extract the barcode in the image obtained by the photograph, thereby obtaining the information of the sending and receiving parts of the express parcel, and when passing the photoelectric sensor, obtaining the starting time of the express parcel entering the sorting unit;
  • Step 3 According to the type of the express parcel, that is, the small parcel, the medium parcel and the large parcel, determine the sorting unit output port corresponding to the parcel, according to the start time of the parcel unit entering the sorting unit and the corresponding output port and the entrance Distance, when the parcel reaches the output port, when the parcel reaches the output port, the sorting unit outputs the parcel to the rotating storage unit;
  • Step 4 When determining the express package type, the rotary storage unit rotates the rotary storage unit subunit to which the package belongs to the position of the sorting unit, and rotates the free storage space of the shelf to which the package belongs to the sorting unit output port; Shelves, namely small parcel storage shelves, medium-sized parcel storage shelves and large parcel storage shelves;
  • Step 5 When there is a request for picking up, rotate the sub-unit of the rotating storage unit of the package to the position of the output unit, and rotate the storage space of the shelf where the package is located to the entrance of the output unit, lift the package through the lifting plate, and push the board through the push plate. The package is pushed to the inlet of the spiral conveyor belt, and the spiral conveyor belt transfers the package to the client pick-up unit to complete the express parcel sorting and extraction process.
  • the rotary storage unit rotates the shelf to which the package belongs to the position of the sorting unit, and rotates the free storage space of the shelf to the output port of the sorting unit, as follows:
  • Step 4-1 the system controls the rotating bracket driving motor to drive the rotating bracket to rotate according to the type of the express parcel, and then Rotating the storage unit subunit to rotate, rotating the rotating storage unit subunit to which the package belongs to the position of the sorting unit;
  • Step 4-2. Adjust the friction wheel position to adjust the piston rod extension length of the servo hydraulic cylinder, and adjust the position of the friction wheel to the upper and lower edges of the shelf to which the package belongs;
  • Step 4-3 The system controls the rotation of the output shaft of the friction wheel drive motor to drive the friction wheel to rotate, thereby driving the free storage space of the shelf to the output port of the sorting unit to stop rotating.
  • the sub-unit of the rotating storage unit of the package When there is a delivery request, the sub-unit of the rotating storage unit of the package is rotated to the position of the output unit, and the storage space of the shelf where the package is located is rotated to the entrance of the output unit, and the package is lifted by the lifting plate, and pushed The board pushes the package out to the inlet of the spiral conveyor belt, and the spiral conveyor belt transfers the package to the customer delivery unit.
  • Step 5-1 When there is a request for picking up, control the rotating bracket driving motor to drive the rotating bracket to rotate, thereby driving the rotating storage unit subunit to rotate, and rotating the rotating storage unit subunit of the package to the position of the output unit;
  • Step 5-2 the system adjusts the friction wheel position to adjust the extension length of the piston rod of the servo hydraulic cylinder, and adjusts the position of the friction wheel to the upper and lower edges of the shelf to which the package belongs;
  • Step 5-3 the system controls the rotation of the output shaft of the friction wheel drive motor to drive the friction wheel to rotate, thereby driving the storage space of the shelf where the package is located to the output unit inlet;
  • Step 5-4 the system controls the output shaft of the ball screw drive motor to rotate, and drives the ball screw to rotate, thereby driving the lifting plate on the support base to reach the gap at the lower end of the shelf to which the package belongs;
  • Step 5-5 the system controls the lifting rod of the telescopic hydraulic cylinder of the lifting plate to extend, and then drives the lifting plate into the gap at the lower end of the shelf;
  • Step 5-6 the system controls the output shaft of the ball screw drive motor to rotate, and drives the ball screw to rotate, thereby driving the lifting plate on the support base to rise, thereby lifting the package;
  • Step 5-7 the system controls the push rod of the push plate telescopic hydraulic cylinder to extend, and then drives the push plate to move forward, and pushes the parcel from the lift plate to the inlet of the spiral conveyor belt;
  • Steps 5-8 the spiral conveyor belt transfers the package to the client picking unit.
  • the invention provides a multi-unit rotary storage express intelligent sorting and extracting system and method, and the hierarchical design of the rotary storage unit of the invention classifies and stores different sizes of packages, thereby effectively improving the utilization rate of the storage space.
  • the storage design of the plurality of subunits makes the arrangement of the storage unit of the system more flexible, and the number of storage subunits can be set according to the space requirement of the space and the storage capacity of the express delivery; the overall unit combination design of the invention makes the system The installation, layout and maintenance are more convenient.
  • the system realizes automatic sorting and storage when working, which effectively reduces the participation of people and reduces the labor cost.
  • the invention also provides a self-service pick-up and delivery mechanism for the customer, which is fast. The accurate feature solves the problem that manual selection is time-consuming and laborious, and there is a certain risk of mistaking.
  • the express sorting and storage method proposed by the present invention can simultaneously sort and store large quantities of express parcels, and has high storage efficiency.
  • FIG. 1 is a schematic diagram of the overall structure of a multi-unit rotary storage express intelligent sorting and extracting system according to an embodiment of the present invention, wherein
  • Figure (a) is a perspective view of the system
  • Figure (b) is a plan view of the system, wherein 1 represents an input unit, 2 represents a sorting unit, 3 represents a rotating storage unit, and 4 represents an output unit;
  • 1-1 represents a visual sensor
  • 1-2 represents a conveyor driving motor
  • 1-3 represents a pressure sensor
  • 1-4 represents a photoelectric sensor
  • 1-5 represents Conveyor belt
  • FIG. 3 is a schematic structural diagram of a sorting unit according to an embodiment of the present invention, wherein
  • Figure (a) is a perspective view of the sorting unit
  • Figure (b) is a top view of the sorting unit, where 2-1 means small parcel slide, 2-2 means medium parcel slide, 2-3 means transverse rubber roller, 2-4 means large parcel slide, 2-5 Indicates the main conveyor belt;
  • Figure (c) is a side view of the sorting unit, wherein 2-6 denotes a push cylinder, 2-7 denotes a lateral rubber stick drive motor, 2-8 denotes a belt drive motor, and 2-9 denotes a slope bracket;
  • FIG. 4 is a schematic structural view of a rotary storage unit according to an embodiment of the present invention, wherein
  • Figure (a) is a top view of the rotary storage unit, wherein 3-1 represents the outer annular guide rail, 3-2 represents the rotating bracket, 3-3 represents the inner layer annular track, 3-4 represents the rotating bracket drive motor, 3-5 Representing a speed reducer, 3-6 means a drive shaft, and 3-7 means a rotary storage unit subunit;
  • Figure (b) is a schematic structural view of a rotating storage unit subunit, wherein 3-7-1 represents a rotating storage subunit shelf portion, and 3-7-2 represents a rotating storage subunit base portion;
  • Figure (c) is a schematic view showing the structure of the shelf portion of the rotating storage subunit, wherein 3-7-1-1 indicates a small package storage shelf, 3-7-1-2 indicates a medium package storage shelf, 3-7-1 -3 indicates a large parcel storage shelf, 3-7-1-4 indicates a universal ball bearing;
  • Figure (d) is a schematic structural view of the base portion of the rotary storage subunit, wherein 3-7-2-1 indicates a courier baffle, 3-7-2-2 indicates a friction wheel drive device, and 3-7-2-3 indicates Bottom plate
  • Figure (e) is a schematic view of the structure of the friction wheel drive device, wherein 3-7-2-2-1 indicates the friction wheel drive motor, 3-7-2-2-2 indicates the coupling, 3-7-2-2 -3 indicates a bevel gear transmission reducer, 3-7-2-2-4 indicates a sliding coupling sleeve, 3-7-2-2-5 indicates a friction wheel, and 3-7-2-2-6 indicates an axial direction.
  • Positioning ring, 3-7-2-2-7 means plane bearing, 3-7-2-2-8 means friction wheel position adjustment servo hydraulic cylinder, 3-7-2-2-9 means first fixed frame, 3 -7-2-2-10 denotes a second fixing frame, 3-7-2-2-11 denotes a fixed shaft, and 3-7-2-2-12 denotes a transmission shaft;
  • FIG. 5 is a schematic structural diagram of an output unit according to an embodiment of the present invention, where
  • Figure (a) is a perspective view of the structure of the output unit, wherein 4-1 represents the output unit robot arm, and 4-2 represents the screw conveyor Band, 4-3 indicates the client picking unit;
  • Figure (b) is a schematic view of the structure of the output unit arm, wherein 4-1-1 represents the first bracket, 4-1-2 represents the ball screw drive motor, 4-1-3 represents the ball screw, 4-1- 4 indicates a nut, 4-1-5 indicates a connecting rod, 4-1-6 indicates a push plate telescopic hydraulic cylinder, 4-1-4 indicates a second bracket, and 4-1-11 indicates a support seat;
  • Figure (c) is another perspective view of the output unit robot arm, wherein 4-1-7 indicates the push plate, 4-1-8 indicates the column with the ball, 4-1-9 indicates the lift plate, 4-1-10 Indicates the second bracket, 4-1-12 represents the lift plate telescopic hydraulic cylinder;
  • FIG. 6 is a flow chart of a multi-unit rotary storage express intelligent sorting and extracting method according to an embodiment of the present invention.
  • the multi-unit rotary storage express intelligent sorting and extracting system includes an input unit 1, a sorting unit 2, and a rotating storage unit. 3 and the output unit 4, wherein the output port of the input unit 1 is connected to the input port of the sorting unit 2, and the plurality of output ports of the sorting unit 2 are respectively connected to different storage units of the rotary storage unit 3, and the storage is rotated.
  • the different storage units of the unit 3 are connected to the input ports of the output unit 4;
  • the input unit 1 is provided with a visual sensor 1-1, a conveyor driving motor 1-2, a pressure sensor 1-3, a photoelectric sensor 1-4, and a conveyor belt 1-5;
  • Vision sensor 1-1 uses Omron FZ4-L350 vision sensor;
  • conveyor belt drive motor 1-2 uses Y160L-415Kw three-phase asynchronous motor,
  • pressure sensor 1-3 uses Transcell BSH-20kg load cell;
  • the input unit 1 is located at the forefront of the system, and uses the visual sensor 1-1 to perform size discrimination and barcode information input on the delivered express; after obtaining the quality information of the express through the pressure sensor 1-3, the express package is completed. Information collection;
  • the sorting unit 2 includes a small parcel slide 2-1, a medium-sized parcel slide 2-2, and a lateral rubber roller 2-3.
  • the sorting unit 2 the express delivery after inputting the information through the input unit enters the main conveyor, and the horizontal rubber stick driving motor is started by the system control, and the time information of the belt speed and the courier entering the main conveyor belt is known to be started.
  • the rotating storage unit 3 includes: an outer annular guide 3-1 , a rotating bracket 3-2 , an inner circular track 3-3 , and a rotation.
  • the outer annular guide rail 3-1, the rotating bracket 3-2 and the inner layer annular rail 3-3 are arranged on the ground from the outside to the inside, and the inner edge of the lower end of the rotary storage unit subunit 3-7 is The inner annular track 3-3 is connected, and the outer edge of the lower end of the rotating storage unit subunit 3-7 is connected with the outer annular guide 3-1, and the middle position of the lower end of the storage unit subunit 3-7 and the rotating bracket 3- 2
  • the upper end is fixedly connected; the rotating bracket driving motor 3-4 is arranged on the ground, the output
  • the rotating storage unit subunit 3-7 includes: a rotating storage subunit shelf portion 3-7-1 and a rotating storage subunit base. Part 3-7-2;
  • the middle and upper three layers of the rotating storage unit sub-unit respectively store three types of express, large, medium and small, and each shelf can be independently rotated by the friction wheel, so that each layer can be stored separately.
  • Courier package all the rotating storage unit subunits are driven by the rotating bracket driving motor, and the rotating bracket driving motor drives the rotating bracket to rotate to drive the storage subunit to move along the circular guide rail to meet the delivery of the courier at the position of the sorting unit.
  • the rotating storage subunit shelf part 3-7-1 includes a small package storage shelf 3-7-1-1, medium package storage. Shelf 3-7-1-2, large parcel storage shelf 3-7-1-3 and universal ball bearing 3-7-1-4; said small parcel storage shelf 3-7-1-1, The medium-sized parcel storage shelf 3-7-1-2 and the large parcel storage shelf 3-7-1-3 are stacked in the vertical direction, and the multi-layer ball bearings 3-7 are passed between the shelves and the shelves and the bottom plate.
  • small parcel storage shelf 3-7-1-1, medium parcel storage shelf 3-7-1-2 and large parcel storage shelf 3-7-1-3 A gap is used between the inner two sides and between the large package storage shelf and the inner side of the bottom plate for use with the lifting plate 4-1-9.
  • the rotating storage subunit base portion 3-7-2 includes: express baffle 3-7-2-1, friction wheel drive device 3-7- 2-2 and the bottom plate 3-7-2-3;
  • the express baffle 3-7-2-1 is fixed on the upper end of the bottom plate 3-7-2-3, and is located in the shelf portion 3-7 of the rotary storage subunit -1 inside;
  • the friction wheel driving device 3-7-2-2 is fixed to the upper end of the bottom plate 3-7-2-3, and is in contact with the rotating storage subunit shelf portion 3-7-1;
  • the express baffle 3-7-2-1 is located in the exit direction of the sorting unit 2, that is, on the inner side of the storage unit, so that the express delivery from the chute can stay in the corresponding storage space;
  • the friction wheel drive device 3-7-2-2 includes: a friction wheel drive motor 3-7-2-2-1 (Y180L-422Kw three-phase asynchronous Motor), coupling 3-7-2-2-2, bevel gear transmission reducer 3-7-2-2-3, sliding coupling sleeve 3-7-2-2-4, friction wheel 3- 7-2-2-5, axial positioning ring 3-7-2-2-6, plain bearing 3-7-2-2-7, friction wheel position adjustment servo hydraulic cylinder 3-7-2-2-8 , first fixed frame 3-7-2-2-9, second fixed frame 3-7-2-2-10, fixed shaft 3-7-2-2-11 and drive shaft 3-7-2-2 -12; wherein the friction wheel drive motor 3-7-2-2-1 is connected to the bevel gear transmission reducer 3-7-2-2-3 through the coupling 3-7-2-2-2,
  • the bevel gear transmission reducer 3-7-2-2-3 is fixed on one side of the first fixing frame 3-7-2-2-9, and the first fixing frame 3-7-2-2-9 is fixedly arranged on the bottom plate 3-7-2
  • the transmission shaft 3-7-2-2-12 and the fixed shaft 3-7-2-2-11 are each provided with a friction wheel 3-7 -2-2-5, friction wheel 3-7-2-2-5 through axial positioning ring 3-7-2-2-6 on drive shaft 3-7-2-2-12 and fixed shaft 3-7 -2-2-11 is fixed axially, and the friction wheel 3-7-2-2-5 on the drive shaft 3-7-2-2-12 is connected with the drive shaft 3-7-2-2-12 Weekly positioning.
  • the friction wheel driving device 3-7-2-2 is driven by the motor to rotate the friction wheel, and the position of the friction wheel is adjusted under the action of the servo hydraulic cylinder, so that the friction wheel is only one layer of the shelf at a time.
  • the upper and lower edges are in close contact, and the other friction wheels are unable to transmit torque due to being located in the middle of the other layers of the shelf, thereby achieving the purpose of independently rotating each shelf;
  • the output unit 4 includes: an output unit robot arm 4-1, a screw conveyor belt 4-2, and a client pick-up unit 4-3, and an output unit robot arm 4 -1 is connected to the multi-layer inlet of the spiral conveyor belt 4-2 (in the embodiment of the invention, the spiral conveyor belt 4-2 has three input ports, and the three input ports respectively correspond to the three-layer storage space of the rotating storage unit sub-unit) , the outlet of the spiral conveyor belt 4-2 is connected to the client picking unit 4-3;
  • the output unit 4 uses the screw drive and the linkage mechanism to translate the mechanical arm up and down to the height of the express parcel to be extracted, and then the piston rod of the telescopic hydraulic cylinder is extended to drive the lifting plate into the storage shelf of the courier.
  • the threaded drive and the linkage mechanism drive the arm to rise a certain distance to lift the express parcel, and then push the push rod of the telescopic hydraulic cylinder piston rod to push the push plate, respectively, to specify the express on the three-tier storage shelf.
  • the spiral conveyor belt 4-2 is a three-layer spiral belt conveyor, which will be quickly delivered to the client pick-up unit 4-3;
  • the client picking unit 4-3 first reads the pick-up code input by the customer or scans the pick-up barcode of the customer, processes the identified information, determines the storage location of the express to be extracted, and controls The system communicates, rotates the rotating storage unit subunit of the package to the position of the output unit, and rotates the storage space of the shelf where the package is located to the entrance of the output unit, lifts the package through the lifting plate, and pushes the package to the spiral conveying through the push plate. With an inlet, the spiral conveyor belt transfers the package to the client pick-up unit to complete the extraction of the express delivery;
  • the output unit robot arm 4-1 includes: a first bracket 4-1-1, a ball screw drive motor 4-1-1. 2 (Y180L-422Kw three-phase asynchronous motor), ball screw 4-1-3, nut 4-1-4, connecting rod 4-1-5, push plate telescopic hydraulic cylinder 4-1-6, push plate 4- 1-7, column 4-1-8 with balls, lifting plate 4-1-9, second bracket 4-1-1, support seat 4-1-11, and lifting plate telescopic hydraulic cylinder 4-1-12,
  • the number of the ball screws 4-1-3 is two
  • the number of the nuts 4-1-4 is four
  • the number of the links 4-1-5 is four
  • the ball screws 4-1-3 are arranged in parallel; the ball screw drive motor 4-1-2 is fixedly disposed at the upper end of the first bracket 4-1-1, and the output shaft of the ball screw drive motor 4-1-2 is driven.
  • the device is connected to one end of the ball screw 4-1-3, the other end of the ball screw 4-1-3 is fixedly connected to the second bracket 4-1-10, and the second bracket 4-1-10 is fixedly disposed on the spiral conveyor belt 4
  • the hydraulic cylinder 4-1-12 is fixedly disposed at the upper end of the support seat 4-1-11, and the end of the piston rod of the push plate telescopic hydraulic cylinder 4-1-6 is provided with a push plate 4-1-7, and the lift plate telescopic hydraulic cylinder 4
  • the end of the piston rod of -1-12 is provided with a lifting plate 4-1-9, and the upper end of the lifting plate 4-1-9 is provided with a column 4-1-8 with balls.
  • the Siemens SIMATIC S7-200 programmable controller control system is used to control the operation of each unit, the output end of the visual sensor 1-1, the output end of the pressure sensor 1-3, and the output end of the photosensor 1-4.
  • the output end of the client picking unit 4-3 is connected to the input end of the programmable controller, and the output end of the programmable controller is respectively connected to each motor contactor and each control valve block of the hydraulic system;
  • an intelligent sorting and extracting method is performed by using a multi-unit rotary storage express intelligent sorting and extracting system.
  • the method flow chart is shown in FIG. 6 and includes the following steps:
  • Step 1 Start the system
  • Step 2 When a courier parcel is placed in the input unit, the photo sensor is photographed to obtain a side view and a top view of the courier package, and the image edge detection algorithm is used to obtain the size of the courier package, and the express parcel type is determined;
  • the weight of the express parcel is obtained by using a segmentation algorithm to extract the barcode in the image obtained by the photograph, thereby obtaining the information of the sending and receiving parts of the express parcel, and when passing the photoelectric sensor, obtaining the starting time of the express parcel entering the sorting unit;
  • the unloader puts the parcel into the input unit, and the input unit obtains the volume quality and the strip of the courier.
  • the shape code information is communicated with the control system, and when the sorting unit is about to enter, the photoelectric sensor obtains the time information of the courier entering the unit, and prepares for the subsequent sorting work;
  • Step 3 According to the type of the express parcel, that is, the small parcel, the medium parcel and the large parcel, determine the sorting unit output port corresponding to the parcel, according to the start time of the parcel unit entering the sorting unit and the corresponding output port and the entrance Distance, when the parcel reaches the output port, when the parcel reaches the output port, the sorting unit outputs the parcel to the rotating storage unit;
  • control system judges the information and classifies the express delivery, and at the same time, the system controls the start of the conveyor belt driving motor and the lateral rubber roller driving motor, and the time information of the belt speed and the courier entering the sorting module is known to be started.
  • the sorting hydraulic cylinder of the corresponding sorting position realizes the sorting of the express;
  • Step 4 When determining the express package type, the rotary storage unit rotates the rotary storage unit subunit to which the package belongs to the position of the sorting unit, and rotates the free storage space of the shelf to which the package belongs to the sorting unit output port; Shelves, namely small parcel storage shelves, medium-sized parcel storage shelves and large parcel storage shelves;
  • Step 4-1 The system controls the rotating bracket driving motor to drive the rotating bracket to rotate according to the type of the express package, and then drives the rotating storage unit subunit to rotate, and rotates the rotating storage unit subunit to which the package belongs to the position of the sorting unit;
  • Step 4-2. Adjust the friction wheel position to adjust the piston rod extension length of the servo hydraulic cylinder, and adjust the position of the friction wheel to the upper and lower edges of the shelf to which the package belongs;
  • Step 4-3 The system controls the rotation of the output shaft of the friction wheel drive motor to drive the friction wheel to rotate, thereby driving the free storage space of the shelf to the output port of the sorting unit to stop rotating.
  • Step 5 When there is a request for picking up, rotate the sub-unit of the rotating storage unit of the package to the position of the output unit, and rotate the storage space of the shelf where the package is located to the entrance of the output unit, lift the package through the lifting plate, and push the board through the push plate. The package is pushed to the inlet of the spiral conveyor belt, and the spiral conveyor belt transfers the package to the delivery unit of the client to complete the process of sorting and extracting the parcel.
  • the specific steps are as follows:
  • Step 5-1 When there is a request for picking up, control the rotating bracket driving motor to drive the rotating bracket to rotate, thereby driving the rotating storage unit subunit to rotate, and rotating the rotating storage unit subunit of the package to the position of the output unit;
  • control system sends a mail or short message containing the barcode of the delivery code or the delivery information to the customer, and notifies the customer to take the pickup;
  • the customer inputs the delivery code or provides the barcode at the client delivery unit, and the unit immediately communicates with the control system;
  • the control system analyzes the received information and finds the stored information of the courier to be extracted;
  • Step 5-2 the system adjusts the friction wheel position to adjust the extension length of the piston rod of the servo hydraulic cylinder, and adjusts the position of the friction wheel to the upper and lower edges of the shelf to which the package belongs;
  • Step 5-3 the system controls the rotation of the output shaft of the friction wheel drive motor to drive the friction wheel to rotate, thereby driving the storage space of the shelf where the package is located to the output unit inlet;
  • Step 5-4 the system controls the output shaft of the ball screw drive motor to rotate, and drives the ball screw to rotate, thereby driving the support.
  • the lifting plate on the seat reaches the gap at the lower end of the shelf to which the package belongs;
  • Step 5-5 the system controls the lifting rod of the telescopic hydraulic cylinder of the lifting plate to extend, and then drives the lifting plate into the gap at the lower end of the shelf;
  • Step 5-6 the system controls the output shaft of the ball screw drive motor to rotate, and drives the ball screw to rotate, thereby driving the lifting plate on the support base to rise, thereby lifting the package;
  • Step 5-7 the system controls the push rod of the push plate telescopic hydraulic cylinder to extend, and then drives the push plate to move forward, and pushes the parcel from the lift plate to the inlet of the spiral conveyor belt;
  • Steps 5-8 the spiral conveyor belt transfers the package to the client picking unit.
  • control system controls the resetting of the mechanical extraction arm to prepare for the subsequent express extraction work; the control system controls the screw conveyor drive motor to start, and will quickly deliver the delivery to the delivery port of the client delivery unit to complete a delivery process.

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Abstract

一种多单元旋转式储物快递智能分拣及提取系统，包括输入单元（1）、分拣单元（2）、旋转储物单元（3）和输出单元（4），该旋转式储物单元（3）的分层设计，对不同大小的包裹分类存储，有效提高了存储空间的利用率，同时，多个子单元（3-7）的储物设计使系统储物单元的布置更加灵活，可根据场地空间要求以及对快递的收纳能力自行设置存储子单元的个数；该整体的单元组合式的设计使系统的安装、布局以及维护更加方便，该系统工作时实现自动化快递的分选和储存，降低了人的参与程度，降低了劳动成本；还包括一种多单元旋转式储物快递智能分拣及提取方法；还提供客户自助提货取货的机构，其快速准确的特点解决了人工挑选费时费力并且存在一定误取风险的问题。

Description

一种多单元旋转式储物快递智能分拣及提取系统及方法 技术领域
本发明属于物流装备技术领域，具体涉及一种多单元旋转式储物快递智能分拣及提取系统及方法。
背景技术
由于我国经济的高速发展以及电子商务和网络购物的迅速普及，我国的物流运输行业在最近几年内得到了突飞猛进的发展；然而我国目前的物流运输行业仍以手工分拣和人力配送为主，自动化程度低，并且有着分拣效率低、时间成本高和劳动力需求量大等一系列问题；
近年来，伴随着我国劳动年龄人口总数的下降，我国的劳动力资源正在逐渐紧缩，日后物流运输业的劳动力资源的成本也会逐渐增加，如何提高物流运输行业的自动化程度已经成为行业内一个亟待解决的问题；
同时，国务院印发的《中国制造2025》为智能化物流装备产业的发展带来新机遇，未来几年，符合新“智造时代”需求的智能化物流技术装备必将受到重视，在国家政策的支持下智能化的物流装备也将迎来一个新的发展高峰，其市场前景十分广阔；
虽然国际上现有的快递包裹分拣系统已经相对成熟，但其规模较大，一般应用于中转货运站的快递包裹集中分选，而对于国内市场，随着快递自提点的逐渐兴起，人们对快递包裹的分拣及提取系统的需求越来越迫切。
而随着快递运输业自动化技术的发展，现如今已有一些关于快递分拣储存以及自动提取的系统，如CN105844812A公开的一种快递智能寄取系统及其使用方法以及湖南大学提出的CN105809834A一种自助快递柜及其快件投递、邮寄方法，只是对现有自助快递的存储和提取过程进行了一定的创新而并未涉及快递的分选过程，并且公开的两种系统的缺点在于：对于任意包裹均分配等大的存储空间将造成储物空间的浪费。同时，其并列式的快递存取柜仓及其机械手的设置决定了其快递存入效率将依赖于机械手的运行速度，且一次运行只能存入一个包裹，存储效率受到限制。
发明内容
针对现有技术的不足，本发明提出一种多单元旋转式储物快递智能分拣及提取系统及方法，相比于现有大型物流集散系统，本发明有着更加灵活，占地面积更小等特点，更加满足现代快递行业对于包裹配送与客户对于快递包裹自提的要求。
一种多单元旋转式储物快递智能分拣及提取系统，包括输入单元、分拣单元、旋转储物单元和输出单元，其中，所述的输入单元的输出口连接分拣单元的输入口，分拣单元的多个输出口分别连接旋转储物单元的不同存储单元，旋转储物单元的不同存储单元连接输出单元 的多个输入口；
所述的旋转储物单元，包括：外层环形导轨、转动支架、内层环形轨道、转动支架驱动电机、减速器、传动轴和多个旋转储物单元子单元；
其中，所述的外层环形导轨、转动支架和内层环形轨道由外向内依次设置于地面上，所述的旋转储物单元子单元下端内侧边缘与内层环形轨道相连接，旋转储物单元子单元下端外侧边缘与外层环形导轨相连接，旋转储物单元子单元下端中间位置与转动支架上端固定连接；转动支架驱动电机设置于地面上，其输出轴连接有减速器，减速器通过传动轴带动转动支架转动；
所述的旋转储物单元子单元，包括：旋转储物子单元货架部分、旋转储物子单元底座部分；
其中，所述的旋转储物子单元货架部分包括小型包裹储物货架、中型包裹储物货架、大型包裹储物货架和万向球轴承；所述的小型包裹储物货架、中型包裹储物货架和大型包裹储物货架沿竖直方向叠加罗列，且各层货架及货架与底板之间通过万向球轴承连接；
所述的旋转储物子单元底座部分，包括：快递挡板、摩擦轮驱动装置和底板；所述的快递挡板固定于底板上端，且位于旋转储物子单元货架部分内侧；所述的摩擦轮驱动装置固定于底板上端，且与旋转储物子单元货架部分相接触。
所述的摩擦轮驱动装置，包括：摩擦轮驱动电机、联轴器、锥齿轮传动减速器、滑动联轴套筒、摩擦轮、轴向定位环、平面轴承、摩擦轮位置调整伺服液压缸、第一固定架、第二固定架、固定轴和传动轴；
其中，所述的摩擦轮驱动电机通过联轴器连接锥齿轮传动减速器，锥齿轮传动减速器固定于第一固定架的一侧，第一固定架固定设置于底板上端，锥齿轮传动减速器通过滑动联轴套筒连接传动轴，传动轴通过平面轴承连接摩擦轮位置调整伺服液压缸，摩擦轮位置调整伺服液压缸固定设置于第二固定架的一侧；所述的固定轴一端固定于第一固定架的另一侧，固定轴另一端固定于第二固定架的另一侧；传动轴和固定轴均套有摩擦轮，摩擦轮通过轴向定位环在传动轴和固定轴上轴向固定，传动轴上的摩擦轮通过键链接与传动轴周向定位。
所述的输出单元，包括：输出单元机械臂、螺旋输送带和客户端提货单元，输出单元机械臂连接螺旋输送带的多层入口，螺旋输送带的出口连接客户端提货单元；
所述的输出单元机械臂，包括：第一支架、滚珠丝杠驱动电机、滚珠丝杠、螺母、连杆、推板伸缩液压缸、推板、带滚珠的立柱、抬板、第二支架、支撑座和抬板伸缩液压缸，其中，滚珠丝杠驱动电机固定设置于第一支架上端，滚珠丝杠驱动电机的输出轴通过传动装置连接滚珠丝杠的一端，滚珠丝杠的另一端固定连接第二支架，第二支架固定设置于螺旋输送带的 入口处；所述的连杆一端通过螺母连接滚珠丝杠，连杆另一端连接支撑座，所述的推板伸缩液压缸和抬板伸缩液压缸固定设置于支撑座上端，推板伸缩液压缸的活塞杆端部设置有推板，抬板伸缩液压缸的活塞杆端部设有抬板，抬板上端设置有带滚珠的立柱。
所述的小型包裹储物货架、中型包裹储物货架和大型包裹储物货架，内侧两两之间以及大型包裹储物货架与底板内侧之间均设置有与抬板配合使用的间隙。
所述的快递挡板，位于分拣单元的出口方向。
所述的输入单元，设置有视觉传感器、传送带驱动电机、压力传感器、光电传感器和传送带。
所述的滚珠丝杠的个数为两个，螺母的个数为四个，连杆的个数为四个，且两个滚珠丝杠平行设置。
采用多单元旋转式储物快递智能分拣及提取系统进行的智能分拣及提取方法，包括以下步骤：
步骤1、启动系统；
步骤2、当有快递包裹放入输入单元时，通过视觉传感器对其进行拍照获取快递包裹的侧视图和俯视图，并采用图像边缘检测算法获取快递包裹的尺寸，确定快递包裹类型；通过压力传感器获取快递包裹的重量，采用分割算法提取拍照获取的图像中的条形码，进而获得快递包裹的收发件信息，当经过光电传感器时，获得快递包裹进入分拣单元的起始时间；
步骤3、根据快递包裹所属类型，即小型包裹、中型包裹和大型包裹，确定该包裹所对应的分拣单元输出口，根据快递包裹进入分拣单元的起始时间和对应输出口与入口之间的距离，获得包裹达到输出口的时间点，当包裹到达输出口时，分拣单元将包裹输出至旋转储物单元；
步骤4、当确定快递包裹类型时，旋转储物单元将包裹所属的旋转储物单元子单元旋转至分拣单元位置处，并旋转包裹所属货架的空闲存储空间至分拣单元输出口；所述的货架，即为小型包裹储物货架、中型包裹储物货架和大型包裹储物货架；
步骤5、当有提货请求时，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，完成快递包裹分拣及提取过程。
步骤4所述的当确定快递包裹类型时，旋转储物单元将包裹所属的货架旋转至分拣单元位置处，并旋转该货架的空闲存储空间至所属分拣单元输出口，具体步骤如下：
步骤4-1、系统根据快递包裹类型，控制转动支架驱动电机带动转动支架旋转，进而带 动旋转储物单元子单元旋转，将包裹所属的旋转储物单元子单元旋转至分拣单元位置处；
步骤4-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置至包裹所属货架的上下边缘；
步骤4-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动货架的空闲存储空间至所属分拣单元输出口，停止转动。
步骤5所述的当有提货请求时，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，具体步骤如下：
步骤5-1、当有提货请求时，控制转动支架驱动电机带动转动支架旋转，进而带动旋转储物单元子单元旋转，将包裹所在旋转储物单元子单元旋转至输出单元位置处；
步骤5-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置至包裹所属货架的上下边缘；
步骤5-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动包裹所在货架的存储空间至输出单元入口；
步骤5-4、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑座上的抬板到达至包裹所属货架下端的空隙处；
步骤5-5、系统控制抬板伸缩液压缸活塞杆伸出，进而带动抬板伸入货架下端的空隙内；
步骤5-6、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑座上的抬板上升，从而将包裹抬起；
步骤5-7、系统控制推板伸缩液压缸活塞杆伸出，进而带动推板向前移动，将包裹从抬板上推出至螺旋输送带入口；
步骤5-8、螺旋输送带将包裹传输至客户端提货单元。
本发明优点：
本发明提出一种多单元旋转式储物快递智能分拣及提取系统及方法，本发明的旋转式储物单元的分层设计，对不同大小的包裹分类存储，有效提高了存储空间的利用率，同时多个子单元的储物设计使系统储物单元的布置更加灵活，可根据场地空间要求以及对快递的收纳能力自行设置存储子单元的个数；本发明整体的单元组合式的设计使系统的安装、布局以及维护更加方便，该系统工作时实现自动化快递的分选和储存，有效地降低了人的参与程度，降低了劳动力成本；本发明还提供客户自助提货取货的机构，其快速准确的特点解决了人工挑选费时费力并且存在一定误取风险的问题；本发明提出的快递分拣及存储方法可对大批量的快递包裹同时进行分选及储存，存储效率高。
附图说明
图1为本发明一种实施方式的多单元旋转式储物快递智能分拣及提取系统整体结构示意图，其中，
图(a)为系统立体示意图；
图(b)为系统俯视图，其中，1表示输入单元、2表示分拣单元、3表示旋转储物单元、4表示输出单元；
图2为本发明一种实施方式的输入单元结构示意图，其中，1-1表示视觉传感器、1-2表示传送带驱动电机、1-3表示压力传感器、1-4表示光电传感器、1-5表示传送带；
图3为本发明一种实施方式的分拣单元结构示意图，其中，
图(a)为分拣单元立体示意图；
图(b)为分拣单元俯视图，其中，2-1表示小型包裹滑道、2-2表示中型包裹滑道、2-3表示横向橡胶辊子、2-4表示大型包裹滑道、2-5表示主传送带；
图(c)为分拣单元侧视图，其中，2-6表示推举液压缸、2-7表示横向橡胶棍子驱动电机、2-8表示传送带驱动电机、2-9表示斜坡支架；
图4为本发明一种实施方式的旋转储物单元结构示意图，其中，
图(a)为旋转储物单元俯视图，其中，3-1表示外层环形导轨、3-2表示转动支架、3-3表示内层环形轨道、3-4表示转动支架驱动电机、3-5表示减速器、3-6表示传动轴、3-7表示旋转储物单元子单元；
图(b)为旋转储物单元子单元结构示意图，其中，3-7-1表示旋转储物子单元货架部分、3-7-2表示旋转储物子单元底座部分；
图(c)为旋转储物子单元货架部分结构示意图，其中，3-7-1-1表示小型包裹储物货架、3-7-1-2表示中型包裹储物货架、3-7-1-3表示大型包裹储物货架、3-7-1-4表示万向球轴承；
图(d)为旋转储物子单元底座部分结构示意图，其中，3-7-2-1表示快递挡板、3-7-2-2表示摩擦轮驱动装置、3-7-2-3表示底板；
图(e)为摩擦轮驱动装置结构示意图，其中，3-7-2-2-1表示摩擦轮驱动电机、3-7-2-2-2表示联轴器、3-7-2-2-3表示锥齿轮传动减速器、3-7-2-2-4表示滑动联轴套筒、3-7-2-2-5表示摩擦轮、3-7-2-2-6表示轴向定位环、3-7-2-2-7表示平面轴承、3-7-2-2-8表示摩擦轮位置调整伺服液压缸、3-7-2-2-9表示第一固定架、3-7-2-2-10表示第二固定架、3-7-2-2-11表示固定轴、3-7-2-2-12表示传动轴；
图5为本发明一种实施方式的输出单元结构示意图，其中，
图(a)为输出单元结构立体示意图，其中，4-1表示输出单元机械臂、4-2表示螺旋输送 带、4-3表示客户端提货单元；
图(b)为输出单元机械臂结构示意图，其中，4-1-1表示第一支架、4-1-2表示滚珠丝杠驱动电机、4-1-3表示滚珠丝杠、4-1-4表示螺母、4-1-5表示连杆、4-1-6表示推板伸缩液压缸、4-1-10表示第二支架、4-1-11表示支撑座；
图(c)为输出单元机械臂另一角度示意图，其中，4-1-7表示推板、4-1-8表示带滚珠的立柱、4-1-9表示抬板、4-1-10表示第二支架、4-1-12表示抬板伸缩液压缸；
图6为本发明一种实施方式的多单元旋转式储物快递智能分拣及提取方法流程图。
具体实施方式
下面结合附图对本发明一种实施例做进一步说明。
本发明实施例中，如图1中图(a)和图(b)所示，多单元旋转式储物快递智能分拣及提取系统，包括输入单元1、分拣单元2、旋转储物单元3和输出单元4，其中，所述的输入单元1的输出口连接分拣单元2的输入口，分拣单元2的多个输出口分别连接旋转储物单元3的不同存储单元，旋转储物单元3的不同存储单元连接输出单元4的输入口；
本发明实施例中，如图2所示，输入单元1，设置有视觉传感器1-1、传送带驱动电机1-2、压力传感器1-3、光电传感器1-4和传送带1-5；其中，视觉传感器1-1采用Omron FZ4-L350视觉传感器；传送带驱动电机1-2采用Y160L-415Kw三相异步电动机，压力传感器1-3采用Transcell BSH-20kg称重传感器；所述光电传感器1-4采用Banner VS2KRP5VQ对射式光电传感器；
本发明实施例中，输入单元1：位于系统最前端，利用视觉传感器1-1对送入的快递进行尺寸判别和条形码信息录入；通过压力传感器1-3获取快递的质量信息后，完成快递包裹的信息采集；
本发明实施例中，如图3中图(a)至图(c)所示，分拣单元2包括小型包裹滑道2-1、中型包裹滑道2-2、横向橡胶辊子2-3、大型包裹滑道2-4、主传送带2-5、推举液压缸2-6、横向橡胶棍子驱动电机2-7、传送带驱动电机2-8(Y160L-415Kw三相异步电动机)和斜坡支架2-9；其中，斜坡支架2-9上设置有主传送带2-5，斜坡支架2-9的低端设置有传送带驱动电机2-8，在斜坡支架2-9的高端设置有小型包裹滑道2-1，斜坡支架2-9的中间不同高度位置处分别设置有中型包裹滑道2-2和大型包裹滑道2-4，斜坡支架2-9上分别设置有两个横向橡胶辊子2-3，该两个横向橡胶辊子2-3所在位置分别与中型包裹滑道2-2和大型包裹滑道2-4对齐，即通过横向橡胶辊子的转动将包裹推出至中型包裹滑道2-2或大型包裹滑道2-4中；在横向橡胶辊子2-3与斜坡支架2-9之间设置有推举液压缸2-6和横向橡胶棍子驱动电机2-7，其中，推举液压缸2-6用于将横向橡胶辊子2-3推起穿过主传送带2-5中间的缝隙，横向橡胶棍子驱动电机2-7用于带 动横向橡胶辊子2-3横向转动；
本发明实施例中，分拣单元2：经由输入单元录入信息后的快递进入到主传送带上，由系统控制启动横向橡胶棍子驱动电机，由于带速和快递进入主传送带的时间信息已知，启动相应分选位置的推举液压缸；大型快递包裹通过第一级横向橡胶辊子提供侧向速度，经大型包裹滑道进入大型包裹储物货架；中型快递包裹通过第二级横向橡胶辊子提供侧向速度，经中型包裹滑道进入中型包裹储物货架；而小型快递包裹直接输送到主传送带的尽头，经小型包裹滑道进入小型包裹储物货架，实现快递的分拣。
本发明实施例中，如图4中图(a)所示，所述的旋转储物单元3包括：外层环形导轨3-1、转动支架3-2、内层环形轨道3-3、转动支架驱动电机3-4、减速器3-5、传动轴3-6和多个旋转储物单元子单元3-7；所述的转动支架驱动电机3-4采用TYCX280M-490Kw稀土永磁同步电动机；所述的外层环形导轨3-1、转动支架3-2和内层环形轨道3-3由外向内依次设置于地面上，所述的旋转储物单元子单元3-7下端内侧边缘与内层环形轨道3-3相连接，旋转储物单元子单元3-7下端外侧边缘与外层环形导轨3-1相连接，旋转储物单元子单元3-7下端中间位置与转动支架3-2上端固定连接；转动支架驱动电机3-4设置于地面上，其输出轴连接有减速器3-5，减速器3-5通过传动轴3-6带动转动支架3-2转动；
本发明实施例中，如图4中图(b)所示，所述的旋转储物单元子单元3-7包括：旋转储物子单元货架部分3-7-1和旋转储物子单元底座部分3-7-2；
本发明实施例中，所述的旋转储物单元子单元下中上三层分别存储大中小三种类型的快递，每层货架可在摩擦轮的驱动下独立转动，使每层可分别存储不同的快递包裹；所有的旋转储物单元子单元由转动支架驱动电机驱动，转动支架驱动电机驱动转动支架转动带动储物子单元沿环形导轨移动，以满足在分拣单元位置处实现快递的存储和在快递输出单元位置处实现快递的投放的功能；当一个储物单元的货架放满后，可以将下一个储物子单元移动至快递分拣单元位置处；当货物存储完毕，有提货请求时，还可以将快递所在的储物子单元移动至快递输出单元位置处。
本发明实施例中，如图4中图(c)所示，所述的旋转储物子单元货架部分3-7-1包括小型包裹储物货架3-7-1-1、中型包裹储物货架3-7-1-2、大型包裹储物货架3-7-1-3和万向球轴承3-7-1-4；所述的小型包裹储物货架3-7-1-1、中型包裹储物货架3-7-1-2和大型包裹储物货架3-7-1-3沿竖直方向叠加罗列，且各层货架及货架与底板之间通过万向球轴承3-7-1-4连接，使其可以自由转动；小型包裹储物货架3-7-1-1、中型包裹储物货架3-7-1-2和大型包裹储物货架3-7-1-3，内侧两两之间以及大型包裹储物货架与底板内侧之间均设置有与抬板4-1-9配合使用的间隙。
本发明实施例中，如图4中图(d)所示，旋转储物子单元底座部分3-7-2包括：快递挡板3-7-2-1、摩擦轮驱动装置3-7-2-2和底板3-7-2-3；所述的快递挡板3-7-2-1固定于底板3-7-2-3上端，且位于旋转储物子单元货架部分3-7-1内侧；所述的摩擦轮驱动装置3-7-2-2固定于底板3-7-2-3上端，且与旋转储物子单元货架部分3-7-1相接触；所述的快递挡板3-7-2-1，位于分拣单元2的出口方向，即位于储物单元内侧，保证从滑道冲入的快递能够停留在相应的存储空间内；
本发明实施例中，如图4中图(e)所示，摩擦轮驱动装置3-7-2-2包括：摩擦轮驱动电机3-7-2-2-1(Y180L-422Kw三相异步电动机)、联轴器3-7-2-2-2、锥齿轮传动减速器3-7-2-2-3、滑动联轴套筒3-7-2-2-4、摩擦轮3-7-2-2-5、轴向定位环3-7-2-2-6、平面轴承3-7-2-2-7、摩擦轮位置调整伺服液压缸3-7-2-2-8、第一固定架3-7-2-2-9、第二固定架3-7-2-2-10、固定轴3-7-2-2-11和传动轴3-7-2-2-12；其中，所述的摩擦轮驱动电机3-7-2-2-1通过联轴器3-7-2-2-2连接锥齿轮传动减速器3-7-2-2-3，锥齿轮传动减速器3-7-2-2-3固定于第一固定架3-7-2-2-9的一侧，第一固定架3-7-2-2-9固定设置于底板3-7-2-3上端，锥齿轮传动减速器3-7-2-2-3通过滑动联轴套筒3-7-2-2-4连接传动轴3-7-2-2-12，传动轴3-7-2-2-12通过平面轴承3-7-2-2-7连接摩擦轮位置调整伺服液压缸3-7-2-2-8，摩擦轮位置调整伺服液压缸3-7-2-2-8固定设置于第二固定架3-7-2-2-10的一侧；所述的固定轴3-7-2-2-11一端固定于第一固定架3-7-2-2-9的另一侧，固定轴3-7-2-2-11另一端固定于第二固定架3-7-2-2-10的另一侧；传动轴3-7-2-2-12和固定轴3-7-2-2-11均套有摩擦轮3-7-2-2-5，摩擦轮3-7-2-2-5通过轴向定位环3-7-2-2-6在传动轴3-7-2-2-12和固定轴3-7-2-2-11上轴向固定，传动轴3-7-2-2-12上的摩擦轮3-7-2-2-5通过键链接与传动轴3-7-2-2-12周向定位。
本发明实施例中，摩擦轮驱动装置3-7-2-2由电机驱动使摩擦轮转动，并且在伺服液压缸的作用下调节摩擦轮的位置，使摩擦轮每次只与一层货架的上下边缘紧接触，而其他摩擦轮由于位于其他层货架中部而无法传递扭矩，从而达到使每层货架可以独立转动的目的；
本发明实施例中，如图5中图(a)所示，输出单元4包括：输出单元机械臂4-1、螺旋输送带4-2和客户端提货单元4-3，输出单元机械臂4-1连接螺旋输送带4-2的多层入口(本发明实施例中，螺旋输送带4-2有三个输入口，三个输入口分别对应旋转储物单元子单元的三层储物空间)，螺旋输送带4-2的出口连接客户端提货单元4-3；
本发明实施例中，输出单元4利用螺纹传动以及连杆机构使机械臂上下平移至所要提取的快递包裹储存高度，再经抬板伸缩液压缸活塞杆伸出带动抬板伸入快递所在存储货架下方空隙中，经螺纹传动及连杆机构带动机械臂上升一定距离将快递包裹抬起，再经推板伸缩液压缸活塞杆伸出带动推板，可分别对三层储物货架上的指定快递从存储区域内推出；
本发明实施例中，螺旋输送带4-2为三层螺旋皮带输送机，将被推出的快递送至客户端提货单元4-3；
本发明实施例中，客户端提货单元4-3：首先读取客户输入的取货码或扫描客户的取货条码，将识别的信息进行处理，判断所要提取的快递所在存储位置，并与控制系统进行通讯，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，完成对该快递的提取；
本发明实施例中，如图5中图(b)和图(c)所示，输出单元机械臂4-1，包括：第一支架4-1-1、滚珠丝杠驱动电机4-1-2(Y180L-422Kw三相异步电动机)、滚珠丝杠4-1-3、螺母4-1-4、连杆4-1-5、推板伸缩液压缸4-1-6、推板4-1-7、带滚珠的立柱4-1-8、抬板4-1-9、第二支架4-1-10、支撑座4-1-11和抬板伸缩液压缸4-1-12，本发明实施例中，滚珠丝杠4-1-3的个数为两个，螺母4-1-4的个数为四个，连杆4-1-5的个数为四个，且两个滚珠丝杠4-1-3平行设置；滚珠丝杠驱动电机4-1-2固定设置于第一支架4-1-1上端，滚珠丝杠驱动电机4-1-2的输出轴通过传动装置连接滚珠丝杠4-1-3的一端，滚珠丝杠4-1-3的另一端固定连接第二支架4-1-10，第二支架4-1-10固定设置于螺旋输送带4-2的入口处；所述的连杆4-1-5一端通过螺母4-1-4连接滚珠丝杠4-1-3，连杆4-1-5另一端连接支撑座4-1-11，所述的推板伸缩液压缸4-1-6和抬板伸缩液压缸4-1-12固定设置于支撑座4-1-11上端，推板伸缩液压缸4-1-6的活塞杆端部设置有推板4-1-7，抬板伸缩液压缸4-1-12的活塞杆端部设有抬板4-1-9，抬板4-1-9上端设置有带滚珠的立柱4-1-8。
本发明实施例中，采用Siemens SIMATIC S7-200可编程控制器控制系统控制各单元动作，视觉传感器1-1的输出端、压力传感器1-3的输出端、光电传感器1-4的输出端和客户端提货单元4-3的输出端连接可编程控制器的输入端，可编程控制器的输出端分别连接各电机接触器和液压系统的各控制阀块；
本发明实施例中，采用多单元旋转式储物快递智能分拣及提取系统进行的智能分拣及提取方法，方法流程图如图6所示，包括以下步骤：
步骤1、启动系统；
步骤2、当有快递包裹放入输入单元时，通过视觉传感器对其进行拍照获取快递包裹的侧视图和俯视图，并采用图像边缘检测算法获取快递包裹的尺寸，确定快递包裹类型；通过压力传感器获取快递包裹的重量，采用分割算法提取拍照获取的图像中的条形码，进而获得快递包裹的收发件信息，当经过光电传感器时，获得快递包裹进入分拣单元的起始时间；
本发明实施例中，由卸货员将包裹放入输入单元中，输入单元获取快递的体积质量及条 形码信息后与控制系统进行通讯，并且在即将进入分拣单元时由光电传感器获取快递进入该单元的时间信息，为后续分选工作做准备；
步骤3、根据快递包裹所属类型，即小型包裹、中型包裹和大型包裹，确定该包裹所对应的分拣单元输出口，根据快递包裹进入分拣单元的起始时间和对应输出口与入口之间的距离，获得包裹达到输出口的时间点，当包裹到达输出口时，分拣单元将包裹输出至旋转储物单元；
本发明实施例中，控制系统对信息进行判断对快递进行分类标识，同时由系统控制启动输送带驱动电机和横向橡胶辊子驱动电机，由于带速和快递进入分选模块的时间信息已知，启动相应分选位置的推举液压缸实现快递的分选；
步骤4、当确定快递包裹类型时，旋转储物单元将包裹所属的旋转储物单元子单元旋转至分拣单元位置处，并旋转包裹所属货架的空闲存储空间至分拣单元输出口；所述的货架，即为小型包裹储物货架、中型包裹储物货架和大型包裹储物货架；
步骤4-1、系统根据快递包裹类型，控制转动支架驱动电机带动转动支架旋转，进而带动旋转储物单元子单元旋转，将包裹所属的旋转储物单元子单元旋转至分拣单元位置处；
步骤4-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置至包裹所属货架的上下边缘；
步骤4-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动货架的空闲存储空间至所属分拣单元输出口，停止转动。
步骤5、当有提货请求时，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，完成快递包裹分拣及提取过程，具体步骤如下：
步骤5-1、当有提货请求时，控制转动支架驱动电机带动转动支架旋转，进而带动旋转储物单元子单元旋转，将包裹所在旋转储物单元子单元旋转至输出单元位置处；
本发明实施例中，控制系统向客户发送包含提货码或提货信息的条码的邮件或短信，通知客户取件；客户在客户端提货单元输入提货码或提供条码，该单元立即与控制系统通讯；控制系统对收到的信息进行分析，找到所要提取的快递的存储信息；
步骤5-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置至包裹所属货架的上下边缘；
步骤5-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动包裹所在货架的存储空间至输出单元入口；
步骤5-4、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑 座上的抬板到达至包裹所属货架下端的空隙处；
步骤5-5、系统控制抬板伸缩液压缸活塞杆伸出，进而带动抬板伸入货架下端的空隙内；
步骤5-6、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑座上的抬板上升，从而将包裹抬起；
步骤5-7、系统控制推板伸缩液压缸活塞杆伸出，进而带动推板向前移动，将包裹从抬板上推出至螺旋输送带入口；
步骤5-8、螺旋输送带将包裹传输至客户端提货单元。
本发明实施例中，控制系统控制快递提取机械臂复位，为后续快递提取工作做准备；控制系统控制螺旋输送机驱动电机启动，将快递送出到客户端提货单元的出货口，完成一次提货过程。
以上对本发明的具体实施例进行了详细描述，但其只是作为范例，本发明并不限制于以上描述的具体实例。对于本领域技术人员而言，任何对本发明进行同等修改和替代也都在本发明的范畴之中。因此，在不脱离本发明的精神和范围下所做的均等变换和修改，都应涵盖在本发明范围内。

Claims (10)

  1. 一种多单元旋转式储物快递智能分拣及提取系统，其特征在于，包括输入单元(1)、分拣单元(2)、旋转储物单元(3)和输出单元(4)，其中，所述的输入单元(1)的输出口连接分拣单元(2)的输入口，分拣单元(2)的多个输出口分别连接旋转储物单元(3)的不同存储单元，旋转储物单元(3)的不同存储单元连接输出单元(4)的多个输入口；
    所述的旋转储物单元(3)，包括：外层环形导轨(3-1)、转动支架(3-2)、内层环形轨道(3-3)、转动支架驱动电机(3-4)、减速器(3-5)、传动轴(3-6)和多个旋转储物单元子单元(3-7)；
    其中，所述的外层环形导轨(3-1)、转动支架(3-2)和内层环形轨道(3-3)由外向内依次设置于地面上，所述的旋转储物单元子单元(3-7)下端内侧边缘与内层环形轨道(3-3)相连接，旋转储物单元子单元(3-7)下端外侧边缘与外层环形导轨(3-1)相连接，旋转储物单元子单元(3-7)下端中间位置与转动支架(3-2)上端固定连接；转动支架驱动电机(3-4)设置于地面上，其输出轴连接有减速器(3-5)，减速器(3-5)通过传动轴(3-6)带动转动支架(3-2)转动；
    所述的旋转储物单元子单元(3-7)，包括：旋转储物子单元货架部分(3-7-1)、旋转储物子单元底座部分(3-7-2)；
    其中，所述的旋转储物子单元货架部分(3-7-1)包括小型包裹储物货架(3-7-1-1)、中型包裹储物货架(3-7-1-2)、大型包裹储物货架(3-7-1-3)和万向球轴承(3-7-1-4)；所述的小型包裹储物货架(3-7-1-1)、中型包裹储物货架(3-7-1-2)和大型包裹储物货架(3-7-1-3)沿竖直方向叠加罗列，且各层货架及货架与底板之间通过万向球轴承(3-7-1-4)连接；
    所述的旋转储物子单元底座部分(3-7-2)，包括：快递挡板(3-7-2-1)、摩擦轮驱动装置(3-7-2-2)和底板(3-7-2-3)；所述的快递挡板(3-7-2-1)固定于底板(3-7-2-3)上端，且位于旋转储物子单元货架部分(3-7-1)内侧；所述的摩擦轮驱动装置(3-7-2-2)固定于底板(3-7-2-3)上端，且与旋转储物子单元货架部分(3-7-1)相接触。
  2. 根据权利要求1所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的摩擦轮驱动装置(3-7-2-2)，包括：摩擦轮驱动电机(3-7-2-2-1)、联轴器(3-7-2-2-2)、锥齿轮传动减速器(3-7-2-2-3)、滑动联轴套筒(3-7-2-2-4)、摩擦轮(3-7-2-2-5)、轴向定位环(3-7-2-2-6)、平面轴承(3-7-2-2-7)、摩擦轮位置调整伺服液压缸(3-7-2-2-8)、第一固定架(3-7-2-2-9)、第二固定架(3-7-2-2-10)、固定轴(3-7-2-2-11)和传动轴(3-7-2-2-12)；
    其中，所述的摩擦轮驱动电机(3-7-2-2-1)通过联轴器(3-7-2-2-2)连接锥齿轮传动减速器(3-7-2-2-3)，锥齿轮传动减速器(3-7-2-2-3)固定于第一固定架(3-7-2-2-9)的一侧， 第一固定架(3-7-2-2-9)固定设置于底板(3-7-2-3)上端，锥齿轮传动减速器(3-7-2-2-3)通过滑动联轴套筒(3-7-2-2-4)连接传动轴(3-7-2-2-12)，传动轴(3-7-2-2-12)通过平面轴承(3-7-2-2-7)连接摩擦轮位置调整伺服液压缸(3-7-2-2-8)，摩擦轮位置调整伺服液压缸(3-7-2-2-8)固定设置于第二固定架(3-7-2-2-10)的一侧；所述的固定轴(3-7-2-2-11)一端固定于第一固定架(3-7-2-2-9)的另一侧，固定轴(3-7-2-2-11)另一端固定于第二固定架(3-7-2-2-10)的另一侧；传动轴(3-7-2-2-12)和固定轴(3-7-2-2-11)均套有摩擦轮(3-7-2-2-5)，摩擦轮(3-7-2-2-5)通过轴向定位环(3-7-2-2-6)在传动轴(3-7-2-2-12)和固定轴(3-7-2-2-11)上轴向固定，传动轴(3-7-2-2-12)上的摩擦轮(3-7-2-2-5)通过键链接与传动轴(3-7-2-2-12)周向定位。
  3. 根据权利要求1所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的输出单元(4)，包括：输出单元机械臂(4-1)、螺旋输送带(4-2)和客户端提货单元(4-3)，输出单元机械臂(4-1)连接螺旋输送带(4-2)的多层入口，螺旋输送带(4-2)的出口连接客户端提货单元(4-3)；
    所述的输出单元机械臂(4-1)，包括：第一支架(4-1-1)、滚珠丝杠驱动电机(4-1-2)、滚珠丝杠(4-1-3)、螺母(4-1-4)、连杆(4-1-5)、推板伸缩液压缸(4-1-6)、推板(4-1-7)、带滚珠的立柱(4-1-8)、抬板(4-1-9)、第二支架(4-1-10)、支撑座(4-1-11)和抬板伸缩液压缸(4-1-12)，其中，滚珠丝杠驱动电机(4-1-2)固定设置于第一支架(4-1-1)上端，滚珠丝杠驱动电机(4-1-2)的输出轴通过传动装置连接滚珠丝杠(4-1-3)的一端，滚珠丝杠(4-1-3)的另一端固定连接第二支架(4-1-10)，第二支架(4-1-10)固定设置于螺旋输送带(4-2)的入口处；所述的连杆(4-1-5)一端通过螺母(4-1-4)连接滚珠丝杠(4-1-3)，连杆(4-1-5)另一端连接支撑座(4-1-11)，所述的推板伸缩液压缸(4-1-6)和抬板伸缩液压缸(4-1-12)固定设置于支撑座(4-1-11)上端，推板伸缩液压缸(4-1-6)的活塞杆端部设置有推板(4-1-7)，抬板伸缩液压缸(4-1-12)的活塞杆端部设有抬板(4-1-9)，抬板(4-1-9)上端设置有带滚珠的立柱(4-1-8)。
  4. 根据权利要求1所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的小型包裹储物货架(3-7-1-1)、中型包裹储物货架(3-7-1-2)和大型包裹储物货架(3-7-1-3)，内侧两两之间以及大型包裹储物货架(3-7-1-3)与底板(3-7-2-3)内侧之间均设置有与抬板(4-1-9)配合使用的间隙。
  5. 根据权利要求1所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的快递挡板(3-7-2-1)，位于分拣单元(2)的出口方向。
  6. 根据权利要求1所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的输入单元(1)，设置有视觉传感器(1-1)、传送带驱动电机(1-2)、压力传感器(1-3)、光电传感器(1-4)和传送带(1-5)。
  7. 根据权利要求3所述的多单元旋转式储物快递智能分拣及提取系统，其特征在于，所述的滚珠丝杠(4-1-3)的个数为两个，螺母(4-1-4)的个数为四个，连杆(4-1-5)的个数为四个，且两个滚珠丝杠(4-1-3)平行设置。
  8. 采用权利要求1所述的多单元旋转式储物快递智能分拣及提取系统进行的智能分拣及提取方法，其特征在于，包括以下步骤：
    步骤1、启动系统；
    步骤2、当有快递包裹放入输入单元时，通过视觉传感器对其进行拍照获取快递包裹的侧视图和俯视图，并采用图像边缘检测算法获取快递包裹的尺寸，确定快递包裹类型；通过压力传感器获取快递包裹的重量，采用分割算法提取拍照获取的图像中的条形码，进而获得快递包裹的收发件信息，当经过光电传感器时，获得快递包裹进入分拣单元的起始时间；
    步骤3、根据快递包裹所属类型，即小型包裹、中型包裹和大型包裹，确定该包裹所对应的分拣单元输出口，根据快递包裹进入分拣单元的起始时间和对应输出口与入口之间的距离，获得包裹达到输出口的时间点，当包裹到达输出口时，分拣单元将包裹输出至旋转储物单元；
    步骤4、当确定快递包裹类型时，旋转储物单元将包裹所属的旋转储物单元子单元旋转至分拣单元位置处，并旋转包裹所属货架的空闲存储空间至分拣单元输出口；所述的货架，即为小型包裹储物货架、中型包裹储物货架和大型包裹储物货架；
    步骤5、当有提货请求时，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，完成快递包裹分拣及提取过程。
  9. 根据权利要求8所述的智能分拣及提取方法，其特征在于，步骤4所述的当确定快递包裹类型时，旋转储物单元将包裹所属的货架旋转至分拣单元位置处，并旋转该货架的空闲存储空间至所属分拣单元输出口，具体步骤如下：
    步骤4-1、系统根据快递包裹类型，控制转动支架驱动电机带动转动支架旋转，进而带动旋转储物单元子单元旋转，将包裹所属的旋转储物单元子单元旋转至分拣单元位置处；
    步骤4-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置 至包裹所属货架的上下边缘；
    步骤4-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动货架的空闲存储空间至所属分拣单元输出口，停止转动。
  10. 根据权利要求8所述的智能分拣及提取方法，其特征在于，步骤5所述的当有提货请求时，将包裹所在旋转储物单元子单元旋转至输出单元位置处，并旋转包裹所在货架的存储空间至输出单元入口，通过抬板将包裹抬起，通过推板将包裹推出至螺旋输送带入口，螺旋输送带将包裹传输至客户端提货单元，具体步骤如下：
    步骤5-1、当有提货请求时，控制转动支架驱动电机带动转动支架旋转，进而带动旋转储物单元子单元旋转，将包裹所在旋转储物单元子单元旋转至输出单元位置处；
    步骤5-2、系统调整摩擦轮位置调整伺服液压缸的活塞杆伸出长度，调整摩擦轮的位置至包裹所属货架的上下边缘；
    步骤5-3、系统控制摩擦轮驱动电机输出轴转动，带动摩擦轮转动，进而带动包裹所在货架的存储空间至输出单元入口；
    步骤5-4、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑座上的抬板到达至包裹所属货架下端的空隙处；
    步骤5-5、系统控制抬板伸缩液压缸活塞杆伸出，进而带动抬板伸入货架下端的空隙内；
    步骤5-6、系统控制滚珠丝杠驱动电机的输出轴旋转，带动滚珠丝杠旋转，进而带动支撑座上的抬板上升，从而将包裹抬起；
    步骤5-7、系统控制推板伸缩液压缸活塞杆伸出，进而带动推板向前移动，将包裹从抬板上推出至螺旋输送带入口；
    步骤5-8、螺旋输送带将包裹传输至客户端提货单元。
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