WO2020020082A1 - 智能储物柜 - Google Patents
智能储物柜 Download PDFInfo
- Publication number
- WO2020020082A1 WO2020020082A1 PCT/CN2019/096879 CN2019096879W WO2020020082A1 WO 2020020082 A1 WO2020020082 A1 WO 2020020082A1 CN 2019096879 W CN2019096879 W CN 2019096879W WO 2020020082 A1 WO2020020082 A1 WO 2020020082A1
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- WIPO (PCT)
- Prior art keywords
- delivery
- driving mechanism
- drive
- support
- control device
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/46—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports
- G07F11/60—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports the storage containers or supports being rectilinearly movable
Definitions
- This application relates to the technical field of lockers, for example, to smart lockers.
- courier companies set up lockers in the residential community for temporary storage of items, and the courier stores the items in the lockers and is taken away by the user.
- the user stores the items to be mailed in a locker and is picked up by a courier.
- a locker and a delivery component are provided in the locker provided by the related technology, and the delivery component is configured to access the slot.
- the delivery component includes a base frame, a support part movably connected to the base frame, and a base located on the base frame and the support part. Between the horizontal drive mechanism of the support portion and the vertical drive mechanism of the support portion, the support portion of the delivery assembly can be moved horizontally relative to the base frame under the drive of the horizontal drive mechanism of the support portion, and relative to the vertical drive mechanism of the support portion.
- the base frame moves vertically to realize the function of the delivery component storing or taking out items into and from the grid; however, the delivery components of the locker provided by the related technology have a complicated structure and high cost.
- the present application provides a smart locker.
- the structure of the delivery component of the smart locker is simplified, and the simplified delivery component can still store items in or out of the grid.
- the smart locker The overall cost can be reduced.
- the present application provides an intelligent storage cabinet.
- the intelligent storage cabinet includes a cabinet body, an access port provided on the surface of the cabinet body, a grid port provided inside the cabinet body, and a delivery device; the delivery device is provided at the access port and Articles are delivered between the grids; a first support and a second support are provided in the interior of the grids; the delivery device includes a delivery component and a delivery drive mechanism connected to the delivery component, and the delivery drive mechanism is configured to drive the delivery component to move;
- the assembly includes a base frame, a support portion, and a support portion driving mechanism connected to the support portion.
- the support portion driving mechanism is configured to drive the support portion to move relative to the base frame in a horizontal direction.
- the support portion has an extended position and a retracted portion that extend beyond the base frame.
- the smart locker also includes a control device, and the delivery drive mechanism and the support drive mechanism are electrically connected to the control device; the control device is configured to control the delivery component to store items in the following way: control the delivery drive mechanism to drive the delivery The component moves to the access port; when the delivery component receives the item, the delivery driving mechanism is controlled to drive the delivery component to move The first position corresponding to the grid, wherein, in a case where the delivery assembly is located at the first position, the interval between the support portion and the first support and the second support corresponds, and the upper surface of the support portion is higher than the first position An upper surface of a support member and an upper surface of the second support member; controlling the support portion driving mechanism to drive the support portion to move from the retracted position to the extended position; controlling the delivery driving mechanism to drive the delivery assembly to move down a first preset distance to support The upper surface of the portion is lower than the upper surface of the first support member and the upper surface of the second support member; and the control portion driving mechanism drives the support portion to store items in the following way: control the
- FIG. 1 is a schematic diagram of an external structure of a smart locker according to an embodiment
- FIG. 2 is a schematic diagram of the internal structure of an intelligent locker in an embodiment
- FIG. 3 is a schematic structural diagram of a delivery assembly when a support portion is located in a retracted position according to an embodiment
- FIG. 4 is a schematic structural diagram of a delivery assembly when a support portion is in an extended position in an embodiment
- FIG. 5 is a structural block diagram of an intelligent locker in an embodiment
- FIG. 6 is a schematic structural diagram of a delivery device according to an embodiment
- FIG. 7 is an enlarged view at VI in FIG. 3.
- Icon 010-smart locker; 100-cabinet; 101-access port; 110-grid; 200-delivery device; 111-first support; 112-second support; 210-delivery component; 220 -Delivery drive mechanism; 211-base frame; 212-support section; 213-support section drive mechanism; 230-control device; 231-memory; 232-correction device; 233-sensor; 221-first bracket; 222-second Support; 223-vertical drive mechanism; 224-horizontal drive mechanism; 214-motor; 215-motor gear; 216-drive gear; 217-rack.
- FIG. 1 is a schematic diagram of an external structure of an intelligent locker in an embodiment
- FIG. 2 is a schematic diagram of an internal structure of an intelligent locker in an embodiment; please refer to FIG. 1 and FIG. 2, this embodiment provides an intelligent locker 010, smart storage cabinet 010 includes cabinet 100, access opening 101, grid opening 110 and delivery device 200.
- the access opening 101 is provided on the surface of the cabinet 100, and the user can store in the cabinet 100 from the access opening 101
- the articles or the articles are taken out from the cabinet 100
- the slot 110 is set to store the items dropped in the cabinet 100
- the delivery device 200 is set to deliver the items between the access port 101 and the slot 110, that is, the delivery device 200 can be used
- the articles stored in the cabinet 100 from the access port 101 are dropped into the slot 110, or the items in the slot 110 are taken out and transported to the slot 101.
- the cabinet 100 of this embodiment is provided with a plurality of grid openings 110, and the delivery device 200 can drop items into and out of each grid opening 110.
- a first support 111 and a second support 112 are disposed at an inner space of the grid 110.
- the two sides of the article placed on the grid 110 may be respectively supported by the first support 111 and The second support 112 supports;
- the delivery device 200 in this embodiment includes a delivery assembly 210 and a delivery drive mechanism 220, the delivery assembly 210 is connected to the delivery drive mechanism 220, and the delivery drive mechanism 220 can drive the delivery assembly 210 to move, for example, horizontally Move and move vertically.
- the delivery assembly 210 includes a support portion for supporting an article, and the support portion has an extended position and a retracted position.
- FIG. 3 is a schematic structural diagram of the delivery assembly when the support portion is in the retracted position in an embodiment;
- FIG. 3 is a schematic structural diagram of the delivery assembly when the support portion is in the retracted position in an embodiment;
- the delivery assembly 210 in this embodiment includes a base frame 211, a support portion 212, and a support portion driving mechanism 213.
- the support portion 212 has an extended position and a retracted position that extend out of the base frame 211. In the retracted position inside the base frame 211, the supporting portion 212 is connected to the supporting portion driving mechanism 213, and the supporting portion driving mechanism 213 is arranged to drive the supporting portion 212 to move relative to the base frame 211 in a horizontal direction, so that the supporting portion 212 can be extended in Switch between the out position and the retracted position.
- the supporting portion 212 is a supporting platform, and the first supporting member 111 and the second supporting member 112 are both supporting plates.
- the support portion 212 may also be a grid support plate or the like, and the first support member 111 and the second support member 112 may also be a grid support plate or a horizontally arranged support post or the like.
- the delivery assembly 210 further includes a left support and a right support.
- the left support and the right support are spaced apart from each other on the base frame 211, and the support portion 212 is located between the left support and the right support.
- FIG. 5 is a block diagram of the structure of an intelligent locker in an embodiment.
- the smart locker 010 in this embodiment further includes a control device 230.
- the delivery driving mechanism 220 and the support driving mechanism 213 are electrically connected to the control device 230.
- the control device 230 is configured to control the delivery component in the following manner.
- control the delivery drive mechanism 220 to drive the delivery assembly 210 to the access port 101; in the case that the delivery assembly 210 receives the item, control the delivery drive mechanism 220 to drive the delivery assembly 210 to move the first corresponding to the to the mouth 110 Position, where, when the delivery assembly 210 is in the first position, the interval between the support portion 212 and the first support 111 and the second support 112 corresponds, and the upper surface of the support portion 212 is higher than the first support The upper surface of the member 111 and the upper surface of the second support 112; the control support driving mechanism 213 drives the support 212 to move from the retracted position to the extended position; the control delivery driving mechanism 220 drives the delivery assembly 210 to move the first pre-down Set the distance so that the upper surface of the support portion 212 is lower than the upper surface of the first support member 111 and the upper surface of the second support member 112; the support portion driving mechanism 213 is controlled to drive the support Portion 212 moves from the extended position to the retracted position.
- the control device 230 controls the delivery driving mechanism 220 to drive the delivery assembly 210 to the position of the access port 101, and controls the support portion 212 to be in the retracted position, so that it can be used in the retracted position.
- the support portion 212 in the return position accepts the items dropped from the access port 101 to the cabinet 100.
- the control device 230 controls the delivery driving mechanism 220 to drive the delivery assembly 210 to move to the corresponding slot 110.
- the delivery driving mechanism 220 is controlled to move the delivery assembly 210 downward by a first predetermined distance, so that the upper surface of the support portion 212 is lower than the upper surface of the first support member 111 and the second On the upper surface of the support member 112, the support portion 212 passes through the first support member 111 and the second support member 112 from top to bottom during the process in which the delivery driving mechanism 220 drives the delivery assembly 210 to move downward.
- the support driving mechanism 213 can be further controlled to drive the support 212 to the retracted position.
- control device 230 is further configured to control the delivery component 210 to take out items in the following manner: the delivery driving mechanism 220 is controlled to drive the delivery component 210 to move to a second position corresponding to the grid 110, wherein the delivery component 210 is located at the first position. In the case of two positions, the interval between the support portion 212 and the first support member 111 and the second support member 112 corresponds, and the upper surface of the support portion 212 is lower than the upper surface of the first support member 111 and the second support member.
- control support driving mechanism 213 drives the support 212 to move from the retracted position to the extended position;
- control delivery driving mechanism 220 drives the delivery assembly 210 to move upward a second preset distance so that the upper surface of the support 212 is higher than The upper surface of the first support 111 and the upper surface of the second support 112;
- control support driving mechanism 213 drives the support 212 to move from the extended position to the retracted position;
- the control delivery driving mechanism 220 drives the delivery assembly 210 to move to the storage position Take the mouth 101.
- the control device 230 can control the delivery driving mechanism 220 to drive the delivery assembly 210 to the second position of the corresponding slot 110, and then control the support portion driving mechanism 213 drives the support portion 212 in the retracted position to move to the extended position, that is, the support portion 212 can extend into the opening 110 and be located below the interval between the first support 111 and the second support 112, and then control the delivery The driving mechanism 220 drives the delivery assembly 210 to move upward by a second preset distance.
- the support portion 212 passes from the bottom to the top through the storage gap between the first support 111 and the second support 112, and When the support portion 212 passes through the storage gap, the support portion 212 receives the items supported by the first support member 111 and the second support member 112, and then controls the support portion driving mechanism 213 to drive the support portion 212 to the retracted position, so that The items in the slot 110 are moved to the inside of the delivery module 210, and then the delivery driving mechanism 220 is controlled to drive the delivery module 210 that has received the items to the access port 101, so that the user can Enough to remove items from the access port 101.
- the smart locker 010 further includes a memory 231, and the memory 231 is electrically connected to the control device 230.
- the memory 231 is set to pre-store the initial position of the slot 110 in the cabinet 100, and the control device 230 further It is set to obtain the initial position of the grid 110, and then calculate the first position and the second position corresponding to the grid 110 according to the initial position of the grid 110, wherein the first position is above the initial position and the second position is located at the initial position.
- the control device 230 can obtain the initial position of the target slot 110 according to the initial position of the slot 110 pre-stored in the memory 231 after determining the target slot 110 for storing or removing items, and then according to the target slot
- the initial position of the mouth 110 calculates a first position and a second position of the target lattice mouth 110.
- the above calculation of the first position and the second position of the target lattice 110 based on the initial position of the target lattice 110 may refer to calculating the first distance and the second position of the first position from the initial position, respectively. The second distance.
- the control device 230 may first control the movement of the delivery component 210 according to the initial position of each grid 110 pre-stored in the memory 231 To the initial position of the target grid 110, and then the first position calculated according to the initial position, driving the delivery assembly 210 to move upward a vertical distance in the vertical direction to move the delivery assembly 210 to the first position, or the first position calculated according to the initial position In two positions, the delivery assembly 210 is driven to move down a second distance in the vertical direction to move the delivery assembly 210 to the second position.
- the delivery module 210 is provided with a sensor 233
- the grid 110 is provided with a detection member (not shown) that cooperates with the sensor 233
- the control device 230 is electrically connected to the sensor 233
- the control device 230 It is also configured to receive a setting signal output by the sensor 233 when the sensor 233 cooperates with the detecting member to determine an initial position of the grid 110, and store the initial position of the grid 110 in the memory 231.
- the smart locker 010 includes a plurality of grid openings 110, and each of the plurality of grid openings 110 is provided with a detection member that cooperates with the sensor 233, and can output a setting signal when the sensor 233 cooperates with any one of the detection members.
- the control device 230 can receive a setting signal output when the sensor 233 cooperates with any detection element to determine the initial position of the grid 110 corresponding to the detection element, and store the initial position of the grid 110 in the memory 231.
- the detection member may be disposed on a side of the first support member 111 near the delivery assembly 210, or may be disposed on a side of the second support member 112 near the delivery assembly 210, or may be disposed on the grid 110.
- a detection member may also be provided on a side of the first support member 111 near the delivery assembly 210 and a side of the second support member 112 near the delivery assembly 210.
- the delivery driving mechanism 220 includes a vertical driving mechanism 223.
- the vertical driving mechanism 223 is configured to drive the delivery assembly 210 to move in a vertical direction.
- the vertical driving mechanism 223 and the control device 230 is electrically connected, and the control device 230 is further configured to drive the vertical driving mechanism 223 to drive the delivery assembly 210 to move in the vertical direction.
- control device 230 controls the delivery component 210 to store items
- the control device 230 controls the vertical driving mechanism 223 to drive the delivery component 210 downward to move the first
- a predetermined distance makes the upper surface of the support portion 212 lower than the upper surface of the first support member 111 and the upper surface of the second support member 112.
- control device 230 controls the delivery component 210 to take out an item
- the control device 230 controls the vertical driving mechanism 223 to drive the delivery component 210 upward to move the second
- the preset distance makes the upper surface of the support portion 212 higher than the upper surfaces of the first support 111 and the second support 112.
- FIG. 6 is a schematic structural diagram of a delivery device according to an embodiment.
- the delivery driving mechanism 220 in this embodiment further includes a horizontal driving mechanism 224.
- the horizontal driving mechanism 224 is electrically connected to the control device 230.
- the control device 230 is further configured to control the horizontal driving mechanism 224 to drive the delivery assembly 210 in the horizontal direction. mobile.
- the delivery driving mechanism 220 of this embodiment further includes a first support 221 and a second support 222, wherein the first support 221 extends in a vertical direction and the second support 222 extends in a horizontal direction, and the delivery assembly 210 is connected with the horizontal driving mechanism 224 and The second bracket 222 is drivingly connected, and the control device 230 is also configured to control the horizontal driving mechanism 224 to drive the delivery assembly 210 to move horizontally along the second bracket 222.
- the second bracket 222 is drivingly connected to the first bracket 221 through the vertical driving mechanism 223.
- the control device 230 is also configured to control the vertical driving mechanism 223 to drive the second bracket 222 to move vertically along the first bracket 221.
- the delivery driving mechanism 220 includes two first brackets 221 and one second bracket 222, wherein the two first brackets 221 are spaced apart, and two ends of the second bracket 222 are respectively arranged ⁇ Two first brackets 221.
- the delivery driving mechanism 220 further includes a third stent and a fourth stent.
- the third stent extends in a horizontal direction and the fourth stent extends in a vertical direction.
- the delivery assembly 210 passes through the vertical driving mechanism 223 and the fourth stent. Transmission connection.
- the control device 230 is also configured to control the vertical driving mechanism 223 to drive the delivery assembly 210 to move vertically along the fourth bracket.
- the fourth bracket is drivingly connected to the third bracket through the horizontal driving mechanism 224.
- the control device 230 is also configured to control the horizontal
- the driving mechanism 224 drives the fourth bracket to move horizontally along the third bracket.
- the delivery driving mechanism 220 includes two third brackets and one fourth bracket. The two third brackets are disposed at intervals, and two ends of the fourth bracket are respectively disposed on the two third brackets.
- control device 230 is further configured to record the current position of the delivery component 210 during the movement of the delivery driving mechanism 210 to drive the delivery component 210; during the process of controlling the delivery driving mechanism 220 to drive the delivery component 210 to the target position, The control device 230 first calculates the horizontal moving distance and the vertical moving distance of the delivery assembly 210 from the current position to the target position, and then controls the vertical driving mechanism 223 to drive the delivery assembly 210 to move the vertical moving distance in the vertical direction and controls the horizontal driving mechanism. 224 drives the delivery assembly 210 to move a horizontal movement distance in a horizontal direction to move the delivery assembly 210 to a target position.
- the target position may be the position of the access port 101, or the first position or the second position corresponding to the grid port 110.
- the control device 230 drives the delivery drive mechanism 220 to drive the delivery assembly 210
- the control device 230 according to the position of the access port 101 And the first position corresponding to the grid 110, calculate the horizontal and vertical movement distances required to move from the access port 101 to the first position corresponding to the grid 110, and then the control device 230 controls the delivery driving mechanism 220 to drive the delivery assembly 210 moves a horizontal movement distance in a horizontal direction and moves a vertical movement distance in a vertical direction, thereby moving the delivery assembly 210 to a first position corresponding to the grid opening 110.
- the delivery module 210 is further provided with a correction device 232, which is electrically connected to the control device 230.
- the control device 230 is further configured to control the correction device 232 to place The articles on the supporting portion 212 are rectified so that the articles are stable relative to the supporting portion 212.
- the control device 230 controls the correction device 232 to correct the articles placed on the support portion 212.
- the above-mentioned correction device 232 may include two push plate components oppositely disposed inside the delivery component 210, and the two push plate components are respectively disposed on both sides in the width direction of the support portion 212.
- the control device 230 controls the two push plate assemblies to push the articles in the direction of the articles, and controls the two push plate assemblies to move the same distance, so that the distance between the articles loaded by the support portion 212 and the two side walls in the width direction of the delivery module 210 is controlled. Similarly, the article is placed on the supporting portion 212 smoothly.
- the correction device 232 may further include two weight sensors respectively provided on the left support plate and the right support plate of the delivery assembly 210.
- the two weight sensors do not detect the weight of the item located on the support portion 212, there is no corresponding
- the weight check signal is output, it indicates that the article is relatively stably loaded on the support portion 212. If one of the two weight sensors can detect the fast-forward weight and output a corresponding detection signal, it means that the article is placed on the support The unit 212 is unstable. At this time, the smart locker 010 can output a warning message that the article is skewed.
- FIG. 7 is an enlarged view at VI in FIG. 3. Please refer to FIG. 7.
- the supporting part driving mechanism 213 includes a motor 214, a motor gear 215, a transmission gear 216, and a rack 217.
- the motor 214 is disposed on the base frame 211, and the motor gear 215 is connected to the output shaft of the motor 214.
- the transmission gear 216 is meshed with the motor gear 215.
- the rack 217 is disposed on the support portion 212, and the rack 217 extends along the moving direction of the support portion 212.
- the transmission gear 216 is meshed with the rack 217.
- the motor 214 drives the motor gear 215 to rotate, the motor gear 215 drives the transmission gear 216 to rotate, and the transmission gear 216 drives the rack 217 to move.
- the support portion 212 can move together with the movement of the rack 217, so that the support portion 212 is retracted. Switch between back position and extended position.
- the support portion driving mechanism 213 can be used to drive the support portion 212 to the extended position, so that the support portion 212 extends into the inside of the slot 110.
- the delivery driving mechanism 220 to drive the delivery assembly 210 to move a first preset distance from top to bottom, so that the support portion 212 is moved from the first position to the upper surface of the support portion 212 lower than the upper surface of the first support 111 and the first The position of the upper surface of the two support members 112, where the support portion 212 places an article on the first support member 111 and the second support member 112 when the support portion 212 passes between the first support member 111 and the second support member 112 Up, and then drive the support portion 212 to the retracted position; in the case of taking out the item from the grid 110, the support portion driving mechanism 213 can be used to drive the support portion 212 to the extended position, so that the support portion 212 extends into the grid 110, and
- the control device can control the delivery driving mechanism to drive the delivery component to move to the access port to receive the item, wherein when the delivery component receives the item, the support portion is located at the retracted position Position, the control device can also control the delivery drive mechanism to drive the delivery component that has received the article to the first position corresponding to the grid, and then control the support drive mechanism to drive the support from the retracted position to the extended position, and then control the delivery drive
- the mechanism drives the delivery assembly to move downward for a first preset distance, and during the downward movement of the delivery assembly, the support part passes from between the first support part and the second support part from top to bottom, and the items placed on the support part are The first support and the second support are received.
- control device can be used to control the delivery driving mechanism to drive the delivery assembly to move from top to bottom to place the items supported on the support section on the first
- the delivery module does not need to be provided with a vertical driving mechanism for the support portion, thereby simplifying the delivery component Configuration, lower costs and machine intelligence lockers.
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Abstract
一种智能储物柜，包括：柜体、设置于所述柜体表面的存取口、设置于柜体内部的格口和递送装置；递送装置设置为在存取口和格口之间递送物品；格口的内部间隔设置有第一支撑件和第二支撑件，递送装置包括递送组件和递送驱动机构（220），递送驱动机构设置为驱动递送组件移动；递送组件包括基架、支撑部和支撑部驱动机构（213），支撑部驱动机构设置为驱动支撑部沿水平方向相对于基架移动，支撑部具有伸出基架的伸出位置和缩回基架的缩回位置；智能储物柜还包括控制装置（230），递送驱动机构（220）、支撑部驱动机构（213）均与控制装置（230）电连接。
Description
本申请要求在2018年07月23日提交中国专利局、申请号为201810815129.6的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
本申请涉及储物柜技术领域，例如涉及智能储物柜。
在快递行业，为了解决快递员送件、取件难的问题，快递公司在居民社区设置储物柜，用于暂时存放物品，快递员将物品存放在储物柜内，由用户自行取走，或者，用户将需要邮寄的物品存放在储物柜中，由快递员取走。
相关技术提供的储物柜中设置有格口和递送组件，递送组件设置为向格口存取物品，递送组件包括基架、与基架活动连接的支撑部，以及位于基架和支撑部之间的支撑部水平驱动机构和支撑部竖直驱动机构，递送组件的支撑部在支撑部水平驱动机构的驱动下能够相对于基架水平运动，在支撑部竖直驱动机构的驱动下能够相对于基架竖直移动，以实现递送组件向格口存入物品或从格口取出物品的功能；但是，相关技术提供的储物柜的递送组件结构复杂，成本较高。
发明内容
本申请提供一种智能储物柜，该智能储物柜的递送组件的结构被简化，且结构简化后的递送组件仍然能够向格口存入物品或从格口取出物品，该智能储物柜整体的成本能够得到降低。
本申请提供一种智能储物柜，该智能储物柜包括柜体、设置于柜体表面的存取口、设置于柜体内部的格口和递送装置；递送装置设置为在存取口和格口之间递送物品；格口的内部间隔设置有第一支撑件和第二支撑件，递送装置包括递送组件和与递送组件连接的递送驱动机构，递送驱动机构设置为驱动递送组件移动；递送组件包括基架、支撑部和与支撑部连接的支撑部驱动机构，支撑部驱动机构设置为驱动支撑部沿水平方向相对于基架移动，支撑部具有伸出基架的伸出位置和缩回基架的缩回位置；智能储物柜还包括控制装置，递送驱动机构和支撑部驱动机构均与控制装置电连接；控制装置设置为按照以下方式控制递送组件存放物品：控制递送驱动机构驱动递送组件移动至存取口；在递送组件接收到物品的情况下，控制递送驱动机构驱动递送组件移动至与格口对 应的第一位置，其中，在递送组件位于第一位置的情况下，支撑部与第一支撑件和第二支撑件之间的间隔相对应，且支撑部的上表面高于第一支撑件的上表面和第二支撑件的上表面；控制支撑部驱动机构驱动支撑部从缩回位置移动至伸出位置；控制递送驱动机构驱动递送组件向下移动第一预设距离使支撑部的上表面低于第一支撑件的上表面和第二支撑件的上表面；控制支撑部驱动机构驱动支撑部从伸出位置移动至缩回位置。
图1为一实施例中智能储物柜的外部结构示意图；
图2为一实施例中智能储物柜的内部结构示意图；
图3为一实施例中递送组件在支撑部位于缩回位置时的结构示意图；
图4为一实施例中递送组件在支撑部位于伸出位置时的结构示意图；
图5为一实施例中智能储物柜的结构组成框图；
图6为一实施例中递送装置的结构示意图；
图7为图3中Ⅵ处的放大图。
图标：010-智能储物柜；100-柜体；101-存取口；110-格口；200-递送装置；111-第一支撑件；112-第二支撑件；210-递送组件；220-递送驱动机构；211-基架；212-支撑部；213-支撑部驱动机构；230-控制装置；231-存储器；232-纠偏装置；233-传感器；221-第一支架；222-第二支架；223-竖直驱动机构；224-水平驱动机构；214-电机；215-电机齿轮；216-传动齿轮；217-齿条。
下面将结合附图，对本申请实施例中的技术方案进行描述。显然，所描述的实施例是本申请的一部分实施例，而不是全部的实施例。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
图1为一实施例中智能储物柜的外部结构示意图；图2为一实施例中智能储物柜的内部结构示意图；请参照图1和图2，本实施例提供一种智能储物柜010，智能储物柜010包括柜体100、存取口101、格口110和递送装置200，存取口101设置于柜体100的表面，用户能够从存取口101向柜体100内存入物品或者从柜体100内取出物品，格口110设置为存放投放于柜体100中的物品， 递送装置200设置为在存取口101和格口110之间递送物品，即可以利用递送装置200将从存取口101存入柜体100的物品投放至格口110，或者将格口110中的物品取出并运送至存取口101。需要说明的是，本实施例的柜体100中设置有多个格口110，且递送装置200能够向每个格口110投放物品和从每个格口110取出物品。
在一实施例中，请参照图2，格口110的内部间隔设置有第一支撑件111和第二支撑件112，放置于格口110的物品的两侧可以分别由第一支撑件111和第二支撑件112支撑；本实施例中的递送装置200包括递送组件210和递送驱动机构220，递送组件210与递送驱动机构220连接，且递送驱动机构220能够驱动递送组件210移动，例如：水平移动和竖直移动。递送组件210包括用于支撑物品的支撑部，支撑部具有伸出位置和缩回位置，图3为一实施例中递送组件在支撑部位于缩回位置时的结构示意图；图4为一实施例中递送组件在支撑部位于伸出位置时的结构示意图；图7为图3中Ⅵ处的放大图。请参照图3、图4和图7，本实施例中的递送组件210包括基架211、支撑部212和支撑部驱动机构213，支撑部212具有伸出基架211的伸出位置和缩回基架211内部的缩回位置，支撑部212与支撑部驱动机构213连接，且支撑部驱动机构213设置为驱动支撑部212沿水平方向相对于基架211移动，从而使支撑部212能在伸出位置和缩回位置之间进行切换。
在一实施例中，支撑部212为支撑平台，第一支撑件111和第二支撑件112均为支撑板。在其它实施例中，支撑部212还可以是格栅支撑板等，第一支撑件111和第二支撑件112还可以是格栅支撑板或者水平设置的支撑柱等。
在一实施例中，递送组件210还包括左支撑件和右支撑件，左支撑件和右支撑件间隔设置于基架211，上述支撑部212位于左支撑件和右支撑件之间。
图5为一实施例中智能储物柜的结构组成框图。请参照图5，本实施例的智能储物柜010还包括控制装置230，上述递送驱动机构220和支撑部驱动机构213均与控制装置230电连接，控制装置230设置为按照以下方式控制递送组件210存放物品：控制递送驱动机构220驱动递送组件210移动至存取口101；在递送组件210接收到物品的情况下，控制递送驱动机构220驱动递送组件210移动与至格口110对应的第一位置，其中，在递送组件210位于第一位置的情况下，支撑部212与第一支撑件111和第二支撑件112之间的间隔相对应，且支撑部212的上表面高于第一支撑件111的上表面和第二支撑件112的上表面；控制支撑部驱动机构213驱动支撑部212从缩回位置移动至伸出位置；控制递送驱动机构220驱动递送组件210向下移动第一预设距离使支撑部212的上表面低于第一支撑件111的上表面和第二支撑件112的上表面；控制支撑部驱动 机构213驱动支撑部212从伸出位置移动至缩回位置。在向该智能储物柜010存放物品的情况下，控制装置230控制递送驱动机构220驱动递送组件210移动至存取口101的位置，并且控制支撑部212位于缩回位置，从而能够利用位于缩回位置的支撑部212承接从存取口101投放至柜体100的物品，在支撑部212承接物品后，控制装置230再控制递送驱动机构220驱动递送组件210移动至相应的格口110的第一位置，然后控制支撑部驱动机构213驱动支撑部212由缩回位置移动至伸出位置，即使得支撑部212伸入格口110的内部，且使支撑部212位于第一支撑件111和第二支撑件112之间的间隔的上方，再控制递送驱动机构220驱动递送组件210向下移动第一预设距离，使支撑部212的上表面低于第一支撑件111的上表面和第二支撑件112的上表面，在递送驱动机构220驱动递送组件210向下移动的过程中，支撑部212从上至下穿过第一支撑件111和第二支撑件112之间的存放间隙，且在支撑部212穿过存放间隙的过程中，将支撑部212支撑的物品放置于第一支撑件111和第二支撑件112，从而实现将物品存放于格口110的内部，当物品被放置于第一支撑件111和第二支撑件112后，可以进一步控制支撑部驱动机构213驱动支撑部212移动至缩回位置。
在一实施例中，控制装置230还设置为按照以下方式控制递送组件210取出物品：控制递送驱动机构220驱动递送组件210移动至格口110对应的第二位置，其中，在递送组件210位于第二位置的情况下，支撑部212与第一支撑件111和第二支撑件112之间的间隔相对应，且支撑部212的上表面低于第一支撑件111的上表面和第二支撑件112的上表面；控制支撑部驱动机构213驱动支撑部212从缩回位置移动至伸出位置；控制递送驱动机构220驱动递送组件210向上移动第二预设距离使支撑部212的上表面高于第一支撑件111的上表面和第二支撑件112的上表面；控制支撑部驱动机构213驱动支撑部212从伸出位置移动至缩回位置；控制递送驱动机构220驱动递送组件210移动至存取口101。在需要取出存放于柜体100的格口110中的物品的情况下，控制装置230能够控制递送驱动机构220驱动递送组件210移动至相应的格口110的第二位置，然后控制支撑部驱动机构213驱动位于缩回位置的支撑部212移动至伸出位置，即支撑部212能够伸入格口110的内部且位于第一支撑件111和第二支撑件112的间隔的下方，然后再控制递送驱动机构220驱动递送组件210向上移动第二预设距离，在递送组件210移动的过程中，支撑部212从下至上穿过第一支撑件111和第二支撑件112之间的存放间隙，且在支撑部212穿过存放间隙的过程中，支撑部212承接第一支撑件111和第二支撑件112支撑的物品，然后控制支撑部驱动机构213驱动支撑部212移动至缩回位置，从而使格口110中的物品移动至递送组件210的内部，再控制递送驱动机构220驱动承 接了物品的递送组件210移动至存取口101，使得用户能够从存取口101取出物品。
请参照图5，在一实施例中，智能储物柜010还包括存储器231，存储器231与控制装置230电连接，存储器231设置为预存柜体100中格口110的初始位置，控制装置230还设置为获取格口110的初始位置，再根据格口110的初始位置计算格口110对应的第一位置和第二位置，其中，第一位置在初始位置的上方，第二位置位于初始位置的下方。在一实施例中，控制装置230能在确定用于存放物品或取出物品的目标格口110后，根据存储器231预存的格口110的初始位置获取目标格口110的初始位置，再根据目标格口110的初始位置计算目标格口110的第一位置和第二位置。在一实施例中，上述根据目标格口110的初始位置计算目标格口110的第一位置和第二位置可以分别指计算第一位置距离初始位置的第一距离和第二位置距离初始位置的第二距离。在控制装置230控制递送组件210移动至目标格口110对应的第一位置或第二位置的过程中，控制装置230可以先根据存储器231预存的每个格口110的初始位置控制递送组件210移动至目标格口110的初始位置，然后再根据初始位置计算的第一位置，驱动递送组件210沿竖直方向向上移动第一距离使递送组件210移动至第一位置，或根据初始位置计算的第二位置，驱动递送组件210沿竖直方向向下移动第二距离使递送组件210移动至第二位置。
请参照图5，在一实施例中，递送组件210设置有传感器233，格口110设置有与上述传感器233配合的检测件(图未示)，控制装置230与传感器233电连接，控制装置230还设置为接收传感器233与检测件配合时传感器233输出的设定信号以确定格口110的初始位置，以及将格口110的初始位置存储至存储器231。在一实施例中，智能储物柜010包括多个格口110，多个格口110均设置有与传感器233配合的检测件，当传感器233与任意一个检测件配合时能够输出设定信号，控制装置230能够接收传感器233与任意一个检测件配合时输出的设定信号以确定该检测件对应的格口110的初始位置，并将该格口110的起始位置存储至存储器231。在一实施例中，上述检测件可以设置于第一支撑件111靠近递送组件210的一侧，还可以设置于第二支撑件112靠近递送组件210的一侧，还可以设置于格口110的后壁，还可以在第一支撑件111靠近递送组件210的一侧和第二支撑件112靠近递送组件210的一侧均设置检测件。
请参照图5和图6，在一实施例中，递送驱动机构220包括竖直驱动机构223，竖直驱动机构223设置为驱动递送组件210沿竖直方向移动，竖直驱动机构223与控制装置230电连接，控制装置230还设置为驱动竖直驱动机构223驱动递送组件210沿竖直方向移动。
在上述控制装置230控制递送组件210存放物品的情况下，当递送组件210位于第一位置且支撑部212位于伸出位置时，控制装置230控制竖直驱动机构223驱动递送组件210向下移动第一预设距离使支撑部212的上表面低于第一支撑件111的上表面和第二支撑件112的上表面。
在上述控制装置230控制递送组件210取出物品的情况下，当递送组件210位于第二位置且支撑部212位于伸出位置时，控制装置230控制竖直驱动机构223驱动递送组件210向上移动第二预设距离使支撑部212的上表面高于第一支撑件111和第二支撑件112的上表面。
图6为一实施例中递送装置的结构示意图。请参照图6，本实施例中的递送驱动机构220还包括水平驱动机构224，水平驱动机构224与控制装置230电连接，控制装置230还设置为控制水平驱动机构224驱动递送组件210沿水平方向移动。本实施例的递送驱动机构220还包括第一支架221和第二支架222，其中，第一支架221沿竖直方向延伸，第二支架222沿水平方向延伸，递送组件210通过水平驱动机构224与第二支架222传动连接，控制装置230还设置为控制水平驱动机构224驱动递送组件210沿第二支架222水平移动，第二支架222通过竖直驱动机构223与第一支架221传动连接，控制装置230还设置为控制竖直驱动机构223驱动第二支架222沿第一支架221竖直移动。如图6所示，在一实施例中，递送驱动机构220包括两个第一支架221和一个第二支架222，其中，两个第一支架221间隔设置，第二支架222的两端分别设置于两个第一支架221。
在其它实施例中，递送驱动机构220还包括第三支架和第四支架，第三支架沿水平方向延伸，第四支架沿竖直方向延伸，递送组件210通过竖直驱动机构223与第四支架传动连接，控制装置230还设置为控制竖直驱动机构223驱动递送组件210沿第四支架竖直移动，第四支架通过水平驱动机构224与第三支架传动连接，控制装置230还设置为控制水平驱动机构224驱动第四支架沿第三支架水平移动。在一实施例中，递送驱动机构220包括两个第三支架和一个第四支架，两个第三支架间隔设置，第四支架的两端分别设置于两个第三支架。
在一实施例中，控制装置230还设置为在递送驱动机构220驱动递送组件210移动的过程中记录递送组件210的当前位置；在控制递送驱动机构220驱动递送组件210移动至目标位置的过程，控制装置230首先计算递送组件210从当前位置移动至目标位置的水平移动距离和竖直移动距离，然后控制竖直驱动机构223驱动递送组件210沿竖直方向移动竖直移动距离并控制水平驱动机构224驱动递送组件210沿水平方向移动水平移动距离以使递送组件210移动至目 标位置，其中，目标位置可以为存取口101的位置，也可以为格口110对应的第一位置或第二位置。例如：当需要驱动递送组件210从存取口101移动至格口110的第一位置时，在控制装置230驱动递送驱动机构220驱动递送组件210移动前，控制装置230根据存取口101的位置以及格口110对应的第一位置，计算从存取口101移动至格口110对应的第一位置所需要的水平移动距离和竖直移动距离，然后控制装置230控制递送驱动机构220驱动递送组件210沿水平方向移动水平移动距离并沿竖直方向移动竖直移动距离，从而将递送组件210移动至格口110对应的第一位置。
在一实施例中，递送组件210还设置有纠偏装置232，纠偏装置232与控制装置230电连接，在物品被放置于支撑部212的情况下，控制装置230还设置为控制纠偏装置232对放置于支撑部212的物品进行纠偏，以使物品相对于支撑部212平稳。比如，当递送组件210移动至存取口101并用位于缩回位置的支撑部212接收物品后，控制装置230控制纠偏装置232对放置于支撑部212的物品进行纠偏。
上述纠偏装置232可以是包括在递送组件210的内部相对设置的两个推板组件，且两个推板组件分别设置于支撑部212宽度方向的两侧，当物品被放置于支撑部212时，控制装置230控制两个推板组件均朝物品的方向推动物品，并且控制两个推板组件移动相同的距离，从而使得支撑部212装载的物品距离递送组件210宽度方向的两个侧壁的间距相同，使物品平稳的放置在支撑部212上。纠偏装置232还可以是包括分别设置为在递送组件210的左支撑板和右支撑板上的两个重量传感器，当两个重量传感器均未检测到位于支撑部212的物品的重量，即没有相应的重量检查信号输出时，说明物品相对稳定的被装载于支撑部212，若两个重量传感器中的一个重量传感器能够检测到快进的重量，并输出相应的检测信号，则说明物品放置在支撑部212不稳定，此时，智能储物柜010能够输出物品偏斜的报警信息。
图7为图3中Ⅵ处的放大图。请参照图7，在一实施例中，支撑部驱动机构213包括电机214、电机齿轮215、传动齿轮216和齿条217，电机214设置于基架211，电机齿轮215与电机214的输出轴连接，传动齿轮216与电机齿轮215啮合连接，齿条217设置于支撑部212，且齿条217沿支撑部212的移动方向延伸，且传动齿轮216与齿条217啮合连接，当电机214运行时，电机214带动电机齿轮215转动，电机齿轮215带动传动齿轮216转动，再由传动齿轮216驱动齿条217移动，支撑部212能够随着齿条217的移动一并移动，从而实现支撑部212在缩回位置和伸出位置的切换。
本申请实施例提供的智能储物柜010在向格口110投放物品的情况下，可 以利用支撑部驱动机构213驱动支撑部212移动至伸出位置，使支撑部212伸入格口110的内部，然后利用递送驱动机构220驱动递送组件210从上至下移动第一预设距离，使支撑部212从第一位置移动至支撑部212的上表面低于第一支撑件111的上表面和第二支撑件112的上表面的位置，其中，在支撑部212从第一支撑件111和第二支撑件112之间穿过时支撑部212将物品放置在第一支撑件111和第二支撑件112上，然后再驱动支撑部212移动至缩回位置；在从格口110取出物品的情况下，可以利用支撑部驱动机构213驱动支撑部212移动至伸出位置，使支撑部212伸入格口110的内部，然后利用递送驱动机构220驱动递送组件210从下至上移动第二预设距离，使支撑部212从第二位置移动至支撑部212的上表面高于第一支撑件111的上表面和第二支撑件112的上表面的位置，其中，在支撑部212从第一支撑件111和第二支撑件112之间穿过时支撑部212承接第一支撑件111和第二支撑件112支撑的物品，然后再驱动支撑部212移动至缩回位置将物品收纳于递送组件210内部。
综上所述，本申请的智能储物柜的有益效果是：
本申请实施例提供的智能储物柜在存放物品的过程中，控制装置能够控制递送驱动机构驱动递送组件移动至存取口接收物品，其中，当递送组件在接收物品时，支撑部位于缩回位置，控制装置还能控制递送驱动机构驱动接收了物品的递送组件移动至格口对应的第一位置，然后控制支撑部驱动机构驱动支撑部由缩回位置移动至伸出位置，再控制递送驱动机构驱动递送组件向下移动第一预设距离，在递送组件向下移动的过程中支撑部从上至下从第一支撑件和第二支撑件之间穿过，放置于支撑部的物品被第一支撑件和第二支撑件承接，这样一来，可以在存放物品的过程中，利用控制装置控制递送驱动机构驱动递送组件从上至下的移动将支撑部上支撑的物品放置于第一支撑件和第二支撑件，递送组件无需设置支撑部竖直驱动机构，从而能够简化递送组件的结构，并降低智能储物柜整机的成本。
Claims (10)
- 一种智能储物柜，包括：柜体、设置于所述柜体表面的存取口、设置于所述柜体内部的格口和递送装置；所述递送装置设置为在所述存取口和所述格口之间递送物品；所述格口的内部间隔设置有第一支撑件和第二支撑件，所述递送装置包括递送组件和与所述递送组件连接的递送驱动机构，所述递送驱动机构设置为驱动所述递送组件移动；所述递送组件包括基架、支撑部和与所述支撑部连接的支撑部驱动机构，所述支撑部驱动机构设置为驱动所述支撑部沿水平方向相对于所述基架移动，所述支撑部具有伸出所述基架的伸出位置和缩回所述基架的缩回位置；所述智能储物柜还包括控制装置，所述递送驱动机构和所述支撑部驱动机构均与所述控制装置电连接；所述控制装置设置为按照以下方式控制所述递送组件存放物品：控制所述递送驱动机构驱动所述递送组件移动至所述存取口；在所述递送组件接收到物品的情况下，控制所述递送驱动机构驱动所述递送组件移动至与所述格口对应的第一位置，其中，在所述递送组件位于所述第一位置的情况下，所述支撑部与所述第一支撑件和所述第二支撑件之间的间隔相对应，且所述支撑部的上表面高于所述第一支撑件的上表面和第二支撑件的上表面；控制所述支撑部驱动机构驱动所述支撑部从所述缩回位置移动至所述伸出位置；控制所述递送驱动机构驱动所述递送组件向下移动第一预设距离使所述支撑部的上表面低于所述第一支撑件的上表面和所述第二支撑件的上表面；控制所述支撑部驱动机构驱动所述支撑部从所述伸出位置移动至所述缩回位置。
- 根据权利要求1所述的智能储物柜，还包括存储器，所述存储器与所述控制装置电连接，所述存储器设置为预存所述格口的初始位置，所述控制装置还设置为获取所述格口的初始位置，根据所述格口的所述初始位置计算所述格口对应的所述第一位置，其中，所述第一位置在所述初始位置的上方。
- 根据权利要求2所述的智能储物柜，其中，所述递送组件设置有传感器，所述格口设置有与所述传感器配合的检测件，所述控制装置与所述传感器电连接，所述控制装置还设置为接收所述传感器与所述检测件配合时输出的设定信号以确定所述格口的所述初始位置，以及将所述格口的所述初始位置存储至所述存储器。
- 根据权利要求1所述的智能储物柜，其中，所述递送驱动机构包括竖直驱动机构，所述控制装置与所述竖直驱动机构电连接，所述控制装置设置为控制所述竖直驱动机构驱动所述递送组件沿竖直方向移动；在所述递送组件位于所述第一位置且所述支撑部位于所述伸出位置的情况 下，所述控制装置控制所述竖直驱动机构驱动所述递送组件向下移动所述第一预设距离使所述支撑部的上表面低于所述第一支撑件的上表面和所述第二支撑件的上表面。
- 根据权利要求4所述的智能储物柜，其中，所述递送驱动机构还包括水平驱动机构，所述水平驱动机构与所述控制装置电连接，所述控制装置还设置为控制所述水平驱动机构驱动所述递送组件沿水平方向移动。
- 根据权利要求5所述的智能储物柜，其中，所述控制装置还设置为：在所述递送驱动机构驱动所述递送组件移动的过程中记录所述递送组件的当前位置；所述控制装置还设置为：在控制所述递送驱动机构驱动所述递送组件移动至目标位置的情况下，计算所述递送组件从所述当前位置移动至所述目标位置的水平移动距离和竖直移动距离；控制所述竖直驱动机构驱动所述递送组件沿竖直方向移动所述竖直移动距离并控制所述水平驱动机构驱动所述递送组件沿水平方向移动所述水平移动距离以使所述递送组件移动至所述目标位置，其中，所述目标位置为所述存取口的位置或所述格口对应的第一位置。
- 根据权利要求1-6任一项所述的智能储物柜，其中，所述递送组件还设置有纠偏装置，所述纠偏装置与所述控制装置电连接，所述控制装置还设置为在物品被放置于所述支撑部的情况下，控制所述纠偏装置对放置于所述支撑部的物品进行纠偏，以使所述物品相对于所述支撑部平稳。
- 根据权利要求5所述的智能储物柜，其中，所述递送驱动机构还包括第一支架和第二支架，所述第一支架沿竖直方向延伸，所述第二支架沿水平方向延伸，所述递送组件通过所述水平驱动机构与所述第二支架传动连接，所述控制装置还设置为控制所述水平驱动机构驱动所述递送组件沿所述第二支架水平移动，所述第二支架通过所述竖直驱动机构与所述第一支架传动连接，所述控制装置还设置为控制所述竖直驱动机构驱动所述第二支架沿所述第一支架竖直移动。
- 根据权利要求5所述的智能储物柜，其中，所述递送驱动机构还包括第三支架和第四支架，所述第三支架沿水平方向延伸，所述第四支架沿竖直方向延伸，所述递送组件通过所述竖直驱动机构与所述第四支架传动连接，所述控制装置还设置为控制所述竖直驱动机构驱动所述递送组件沿所述第四支架竖直移动，所述第四支架通过所述水平驱动机构与所述第三支架传动连接，所述控制装置还设置为控制所述水平驱动机构驱动所述第四支架沿所述第三支架水平移动。
- 根据权利要求1至9任意一项所述的智能储物柜，其中，所述控制装置还设置为按照以下方式控制所述递送组件取出物品：控制所述递送驱动机构驱动所述递送组件移动至与所述格口对应的第二位置，其中，在所述递送组件位于所述第二位置的情况下，所述支撑部与所述第一支撑件和所述第二支撑件之间的间隔相对应，且所述支撑部的上表面低于所述第一支撑件的上表面和所述第二支撑件的上表面；控制所述支撑部驱动机构驱动所述支撑部从所述缩回位置移动至所述伸出位置；控制所述递送驱动机构驱动所述递送组件向上移动第二预设距离使所述支撑部的上表面高于所述第一支撑件的上表面和所述第二支撑件的上表面；控制所述支撑部驱动机构驱动所述支撑部从所述伸出位置移动至所述缩回位置；控制所述递送驱动机构驱动所述递送组件移动至所述存取口。
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| US8424983B1 (en) * | 2012-02-10 | 2013-04-23 | Gary Strauss | Motorized upper and lower storage shelves |
| CN104042039A (zh) * | 2014-06-16 | 2014-09-17 | 浙江大学 | 一种基于mcu的智能储物柜 |
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