Full-process unmanned self-service delivery equipment

Abstract

The invention provides full-process unmanned self-service delivery equipment which comprises a conveying assembly, a transportation assembly, a grabbing assembly, a driving assembly and a pushing assembly, the grabbing assembly is arranged at one end of the conveying assembly and can move between a first position and a second position, the driving assembly is arranged in the grabbing assembly, and the pushing assembly is arranged in the conveying assembly and can push the grabbing assembly to move between the first position and the second position. The driving assembly is used for driving two adjacent goods to be attached to each other so that the two adjacent goods can be attached to each other, the pushing assembly is arranged below the driving assembly and located in the grabbing assembly, and the pushing assembly is used for pushing materials in the goods to be distributed on the edges of the goods. According to the full-process unmanned self-service delivery equipment, it can be guaranteed that the cargoes accurately fall in the designated position area, the adjacent cargoes can be tightly loaded, and the cargo flatness is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying, and in particular to a full-process unmanned self-service delivery device. Background Art

[0002] The unmanned self-service delivery system is a highly automated and intelligent logistics solution that aims to achieve unmanned operation of the entire process from order processing to final delivery by integrating advanced robotics technology, automation equipment and information technology. The unmanned self-service delivery system significantly improves logistics efficiency and reduces costs.

[0003] In the related technology, the following problems exist in the process of unmanned self-service delivery: 1. When the claw is opened, it is easy to scratch the goods, thereby changing the falling posture of the subsequent goods, resulting in the goods not being able to accurately fall into the designated location area. 2. When adjacent goods fall at the same time, the repulsive force (contact force) between them causes the adjacent goods to separate, making it impossible to load adjacent goods tightly. 3. When the goods fall into the carriage, the stress of the goods cannot be released in time at the moment of falling, which easily causes the goods to be uneven and affects the subsequent palletizing. Summary of the invention

[0004] Based on this, it is necessary to provide a full-process unmanned self-service delivery equipment to address the current problems that goods cannot be accurately landed in the designated location area, adjacent goods cannot be loaded tightly, and goods are uneven.

[0005] The above purpose is achieved through the following technical solutions: A full-process unmanned self-service delivery device comprises: a conveying component, the conveying component is used to convey goods; a transport component, the transport component is arranged at one side of the conveying component, the transport component is used to transport goods; a grabbing component, the grabbing component is arranged at one end of the conveying component and the grabbing component is movable between a first position and a second position, in which the grabbing component is located above the conveying component so as to grab a plurality of goods on the conveying component, and in the second position, the grabbing component is located above the transport component so as to transport a plurality of the goods into the transport component; a driving component, the driving component is arranged on the grabbing component, The driving component is used to drive two adjacent goods to fit together so that the two adjacent goods fit together; the pushing component is arranged below the driving component and on the grabbing component, and the pushing component is used to push the materials in the goods to be distributed on the edge of the goods. The full-process unmanned self-service delivery equipment has a first working state and a second working state. In the first working state, the grabbing component is in a first position to grab a plurality of the goods, and the pushing component pushes the materials in the goods to move. In the second working state, the grabbing component is in a second position to release a plurality of the goods, and the driving component drives the plurality of the goods to move.

[0006] Furthermore, the driving assembly includes: a mounting seat, which is arranged at one end of the transport assembly, and the mounting seat is arranged on the grabbing assembly; a first plate, a first driving plate and a second plate, the first plate, the first driving plate and the second plate are arranged in sequence along the length direction of the mounting seat and the first driving plate is arranged in the mounting seat, the first plate is rotatably arranged on one side of the first driving plate and is located on one side of the mounting seat, the second plate is rotatably arranged on the other side of the first driving plate and is located on the other side of the mounting seat, in the first working state, the first plate, the first driving plate and the second plate are all in a horizontal state, in the second working state, the free end of the first plate moves downward, and / or the free end of the second plate moves downward.

[0007] Furthermore, the driving assembly also includes: a second driving plate, the second driving plate is arranged in the mounting seat and is located above the first driving plate, the first driving plate and the second driving plate are spaced apart in the height direction of the mounting seat, and both the first driving plate and the second driving plate are movable relative to the mounting seat in the height direction of the mounting seat; a locking member, the locking member is arranged on the second driving plate and cooperates with the mounting seat, in the first working state, the grabbing assembly grabs the goods, and the goods drive the second driving plate to move upward through the first driving plate, so that when the second driving plate moves to a preset value, the locking member is in a locked state to lock the position of the second driving plate, in the second working state, the grabbing assembly releases the goods and the locking member is in an unlocked state, and the second driving plate drives the first driving plate to move downward, so that the first driving plate drives the goods to move downward.

[0008] Furthermore, the locking member includes: a connecting member, the upper end portion of the connecting member is inserted through the second driving plate and the connecting member is movable relative to the first driving plate along the height direction of the mounting seat, the cross-sectional area of ​​the outer peripheral surface of the upper end portion of the connecting member gradually decreases along the direction adjacent to the first driving plate, the lower end portion of the connecting member is inserted through the first driving plate and is movable relative to the first driving plate along the height direction of the mounting seat; a first locking member and a second locking member, the first locking member and the second locking member are both arranged on the second driving plate and are spaced relative to each other in the width direction of the mounting seat, the upper end portion of the connecting member is located at the first driving plate A plurality of locking grooves are provided on the inner circumferential surface of the mounting seat between the first locking member and the second locking member, and the plurality of locking grooves are arranged at intervals along the height direction of the mounting seat. In the first working state, the cargo drives the lower end of the connecting member to move upward, so that the upper end of the connecting member drives the first locking member and the second locking member to pass through the locking groove so that the locking member is in a locked state. In the second working state, the upper end of the connecting member moves downward, and the first locking member and the second locking member move toward each other, so that the first locking member and the second locking member are separated from the locking groove so that the locking member is in an unlocked state.

[0009] Furthermore, the driving assembly also includes: a connecting plate, which is arranged at the lower end of the connecting member and connected to the connecting member, the connecting plate is arranged between the first driving plate and the second driving plate, and the connecting plate can be moved relative to the second driving plate along the height direction of the mounting seat; a first elastic member, the first elastic member is arranged between the connecting plate and the second driving plate and the two ends of the first elastic member are respectively connected to the connecting plate and the second driving plate, the first elastic member has a first elastic force that drives the connecting plate and the second driving plate away from each other; a second elastic member, the second elastic member is arranged between the second driving plate and the mounting seat and the two ends of the second elastic member are respectively connected to the second driving plate and the mounting seat, the second elastic member has a second elastic force that drives the second driving plate to move downward, and the elastic modulus of the second elastic member is greater than the elastic modulus of the first elastic member.

[0010] Furthermore, a first mating piece is provided on the outer peripheral surface of the mounting seat, and a second mating piece is provided on the first plate and the second plate. When the first driving plate moves downward, the first mating piece and the second mating piece cooperate so that the free ends of the first plate and the second plate both move downward.

[0011] Furthermore, the first mating piece is a thread and is arranged on the outer peripheral surface of the lower end of the mounting seat, the second mating piece is a threaded rod, and the first plate and the second plate are both connected to the first driving plate through the threaded rod, so that when the first driving plate moves along the height direction of the mounting seat, the threaded rod and the thread cooperate to drive the first plate and the second plate to rotate through the threaded rod.

[0012] Furthermore, the pushing assembly includes a plurality of pushing members, which are rotatably disposed below the driving assembly and spaced apart along the circumference of the driving assembly. The pushing members extend from the lower end surface of the driving assembly in a direction away from the driving assembly and are inclined from the inside of the driving assembly toward the outside of the driving assembly. When the grabbing assembly grabs the cargo, the pushing members rotate in a direction adjacent to the driving assembly so as to push the material in the cargo to be distributed on the edge of the cargo.

[0013] Furthermore, the plurality of pushing members include a first pushing member, a second pushing member, a third pushing member and a fourth pushing member, and the first pushing member, the second pushing member, the third pushing member and the fourth pushing member can be rotatably disposed on the lower end surface of the driving component, and the first pushing member, the second pushing member, the third pushing member and the fourth pushing member are equally spaced along the circumference of the driving component.

[0014] Furthermore, the grabbing assembly includes a robotic arm, a first grabbing member and a second grabbing member. The robotic arm is arranged at one end of the conveying assembly and can rotate between the first position and the second position. The first grabbing member and the second grabbing member are both arranged on the robotic arm and the first grabbing member and the second grabbing member are arranged relative to each other at an interval so that the robotic arm drives the first grabbing member and the second grabbing member to rotate. The first grabbing member and the second grabbing member can be opened or closed so as to grab the goods or release the goods. The driving assembly and the pushing assembly are both arranged between the first grabbing member and the second grabbing member.

[0015] The beneficial effects of the present invention are: a driving component is set up to fit multiple goods tightly together, ensuring that the goods will not separate during the falling process, so that the goods can be tightly loaded after being transferred to the transportation component, and can ensure that the goods have an initial velocity when released, and will not change the falling posture of the goods, ensuring that the goods can accurately fall in the designated location area, ensuring the setting of a pushing component, ensuring the flatness of the goods, improving the subsequent palletizing efficiency, and improving the working efficiency of the unmanned self-service delivery equipment throughout the entire process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a driving component of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 3 An exploded diagram of a drive component of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 4 An exploded view of a first board, a first driving board, and a second board of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 5 This is a front view of a driving component of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 6 for Figure 5 Sectional view of AA in the middle; Figure 7 This is a structural schematic diagram of a first driving plate and a pushing member of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the driving component and the grabbing component of the full-process unmanned self-service delivery device in the first working state according to an embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a driving component and a grabbing component of a full-process unmanned self-service delivery device in a second working state according to an embodiment of the present invention; Fig.10This is a schematic diagram of the operation of a driving component of a full-process unmanned self-service delivery device according to an embodiment of the present invention; Fig.11 for Figure 3 A partial enlarged view of B.

[0017] in: 100. Full-process unmanned self-service delivery equipment; 110. Conveying assembly; 120. Transport components; 130, grabbing assembly; 131, mechanical arm; 132, first grabbing member; 133, second grabbing member; 140, driving assembly; 141, mounting seat; 1411, locking groove; 1412, first matching piece; 1413, second matching piece; 142, first plate; 143, first driving plate; 1431, groove; 144, second plate; 145, second driving plate; 1451, slide groove; 146, locking piece; 1461, connecting piece; 1462, first locking piece; 1463, second locking piece; 1464, one-way thorn; 147, first elastic member; 148, second elastic member; 149, connecting plate; 150. Pushing assembly; 151. Pushing member; 1511. First pushing member; 1512. Second pushing member; 1513. Third pushing member; 1514. Fourth pushing member; 160. Goods. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in the present invention, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0020] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] like Figure 1-10 As shown, an embodiment of the present invention proposes a full-process unmanned self-service delivery device 100 including a conveying component 110, a transport component 120, a grabbing component 130, a driving component 140 and a pushing component 150.

[0022] The conveying assembly 110 is used to convey goods 160. Specifically, Figure 1 As shown, the conveying assembly 110 may be any one of a belt conveyor, a roller conveyor or a chain conveyor, and the cargo 160 may be transported in the front-rear direction by the conveying assembly 110 .

[0023] The transport component 120 is disposed on one side of the conveying component 110, and the transport component 120 is used to transport the goods 160. Specifically, Figure 1 As shown, the transport component 120 may be a delivery vehicle and is located on the right side of the transport component 120 . The transport component 120 may transport the cargo 160 to the destination.

[0024] The grabbing assembly 130 is disposed at one end of the transport assembly 120 and can move between a first position and a second position. In the first position, the grabbing assembly 130 is located above the conveying assembly 110 so as to grab a plurality of goods 160 on the conveying assembly 110. In the second position, the grabbing assembly 130 is located above the transport assembly 120 so as to transport the plurality of goods 160 into the transport assembly 120. Specifically, Figure 1 As shown, the grabbing assembly 130 is located at the rear side of the transport assembly 120. In the first position, the grabbing assembly 130 is arranged above the conveying assembly 110 to grab multiple goods 160 on the conveying assembly 110 (the following embodiments all take the grabbing assembly 130 as an example to grab three goods 160 to specifically illustrate the full-process unmanned self-service delivery device 100 of the embodiment of the present invention). In the second position, the grabbing assembly 130 is arranged above the transport assembly 120, and the grabbing assembly 130 places the goods 160 in the transport assembly 120, so that the goods 160 of the conveying assembly 110 can be transferred to the transport assembly 120 through the grabbing assembly 130.

[0025] The driving assembly 140 is disposed on the grabbing assembly 130, and the driving assembly 140 is used to drive two adjacent goods 160 to fit each other. Figure 1 As shown, the driving component 140 is arranged on the grabbing component 130. The driving component 140 can drive multiple goods 160 to fit tightly together to prevent the repulsive force (contact force) between the goods 160 from causing the adjacent goods 160 to separate when the adjacent goods 160 fall at the same time, thereby allowing the adjacent goods 160 to be tightly loaded.

[0026] The pushing assembly 150 is disposed below the driving assembly 140 and on the grabbing assembly 130. The pushing assembly 150 is used to push the materials in the cargo 160 to be distributed on the edge of the cargo 160. Specifically, Figure 4 As shown, the pushing component 150 is arranged below the driving component 140 and in the grabbing component 130. Since the left and right two cargoes 160 among the three cargoes 160 have surfaces other than the surface in contact with the middle cargo 160 that can release stress, it can ensure that the left and right two cargoes 160 are smoothly deformed and release the internal force, while the middle cargo 160 is in a clamped state, so it is difficult to release the stress, especially difficult to release the stress to the left and right. Therefore, the pushing component 150 pushes the material of the cargo 160 in the middle of the three cargoes 160 to move along the inside of the cargo 160 toward the outside of the cargo 160, so that the material in the cargo 160 is distributed on the edge of the cargo 160. When falling into the transport component 120, the middle cargo 160 can be released to its own midpoint position. Therefore, when the cargo 160 falls into the carriage, the stress of the cargo 160 is released in time at the moment of falling, thereby ensuring the flatness of the cargo 160.

[0027] The full-process unmanned self-service delivery device 100 has a first working state and a second working state. In the first working state, the grabbing component 130 is in the first position to grab a plurality of goods 160, and the pushing component 150 pushes the materials in the goods 160 to move. In the second working state, the grabbing component 130 is in the second position to release the plurality of goods 160, and the driving component 140 drives the plurality of goods 160 to move. Specifically, the first working state is the grabbing state. In the first working state, the grabbing component 130 is located above the conveying component 110 to grab a plurality of goods 160, and when the grabbing component 130 grabs the goods 160, the pushing component 150 works to push the materials in the goods 160 in the middle of the plurality of goods 160 to move. In the second working state, the grabbing component 130 is located above the transport component 120, and when the grabbing component 130 releases the goods 160, the driving component 140 works to drive the plurality of goods 160 to move toward the middle goods 160, so that the plurality of goods 160 fit closely together.

[0028] The full-process unmanned self-service delivery device 100 of the embodiment of the present invention is provided with a driving component 140, which can drive multiple goods 160 toward the inside of the goods 160 so that the multiple goods 160 are tightly fitted together, ensuring that the goods 160 will not separate during the falling process, so that the goods 160 can be tightly loaded after being transferred to the transportation component 120. The pushing component 150 is provided to ensure that the materials in the intermediate goods 160 are evenly distributed, so that the stress of the intermediate goods 160 can be released in time at the moment of falling, thereby ensuring the flatness of the goods 160, improving the subsequent palletizing efficiency, and improving the working efficiency of the full-process unmanned self-service delivery device 100.

[0029] In some embodiments, the grabbing assembly 130 includes a robotic arm 131, a first grabbing member 132 and a second grabbing member 133. The robotic arm 131 is disposed at one end of the conveying assembly 110 and the robotic arm 131 can rotate between a first position and a second position. The first grabbing member 132 and the second grabbing member 133 are both disposed on the robotic arm 131 and the first grabbing member 132 and the second grabbing member 133 are spaced apart and arranged relative to each other so that the robotic arm 131 drives the first grabbing member 132 and the second grabbing member 133 to rotate. The first grabbing member 132 and the second grabbing member 133 can be opened or closed so as to grab the cargo 160 or release the cargo 160. The driving assembly 140 and the pushing assembly 150 are both disposed between the first grabbing member 132 and the second grabbing member 133.

[0030] Specifically, Figure 1 As shown, the robot arm 131 is arranged at the rear end of the conveying component 110, and the first grabbing member 132 and the second grabbing member 133 are arranged on the robot arm 131. The robot arm 131 drives the first grabbing member 132 and the second grabbing member 133 to rotate in the first position and the second position. In the first position, the first grabbing member 132 and the second grabbing member 133 are in an open state and are arranged relative to the conveying component 110 in the up and down directions, so that the first grabbing member 132 and the second grabbing member 133 grab multiple goods 160. In the second position, the first grabbing member 132 and the second grabbing member 133 drive the multiple goods 160 to be transported to the top of the transport component 120 and are arranged relative to the transport component 120 in the up and down directions. At this time, the first grabbing member 132 and the second grabbing member 133 are opened, so that the goods 160 are transported into the transport component 120.

[0031] It is worth noting that the first grabbing member 132 and the second grabbing member 133 can be driven to open or close by a cylinder, a hydraulic rod, an electric push rod, etc., and all of them are existing technologies. The full-process unmanned self-service delivery equipment 100 of the embodiment of the present invention will not be described in detail.

[0032] In some embodiments, the drive assembly 140 includes a mounting base 141 , a first plate 142 , a first drive plate 143 , and a second plate 144 .

[0033] The mounting seat 141 is disposed at one end of the conveying assembly 110, and the mounting seat 141 is disposed on the grabbing assembly 130. Specifically, Figure 1-Figure 3 As shown, the mounting seat 141 is disposed on the mechanical arm 131 , and the first grabbing member 132 and the second grabbing member 133 are both rotatably disposed on the left and right sides of the mounting seat 141 .

[0034] The first plate 142, the first driving plate 143 and the second plate 144 are arranged along the length direction of the mounting seat 141 (eg Figure 1 The first plate 142 is rotatably disposed on one side of the first driving plate 143 and is located on one side of the mounting seat 141, and the second plate 144 is rotatably disposed on the other side of the first driving plate 143 and is located on the other side of the mounting seat 141. In a first working state, the first plate 142, the first driving plate 143 and the second plate 144 are all in a horizontal state. In a second working state, the free end of the first plate 142 moves downward, and / or the free end of the second plate 144 moves downward.

[0035] Specifically, Figure 2 and Fig.10 As shown, the first plate 142, the first driving plate 143 and the second plate 144 are all horizontal rectangular plates, and the first plate 142, the first driving plate 143 and the second plate 144 are arranged in sequence along the front and rear directions, the first driving plate 143 is arranged in the mounting seat 141, the first plate 142 is located outside the mounting seat 141 and is rotatably connected to the front side of the first driving plate 143, the second plate 144 is located outside the mounting seat 141 and is rotatably connected to the rear side of the first driving plate 143, when in the first working state, the first plate 142, the first driving plate 143 and the second plate 144 are in the same horizontal plane, and in the second working state, the front end of the first plate 142 moves downward, and / or the rear end of the second plate 144 moves downward, thereby, the front and rear sides of the plurality of goods 160 are squeezed by the first plate 142 and the second plate 144, so that the goods 160 on the front side move backward and the goods 160 on the rear side move forward, so that the plurality of goods 160 are tightly fitted.

[0036] In some embodiments, the drive assembly 140 further includes a second drive plate 145 and a locking member 146 .

[0037] The second driving plate 145 is disposed in the mounting seat 141 and is located above the first driving plate 143. The first driving plate 143 and the second driving plate 145 are arranged in a height direction of the mounting seat 141 (such as Figure 1The first drive plate 143 and the second drive plate 145 are arranged at intervals in the vertical direction of the mounting seat 141, and both of them can move relative to the mounting seat 141 along the height direction of the mounting seat 141. Specifically, as Figure 3 and Figure 6 As shown, the second driving plate 145 is arranged in the mounting seat 141 and above the first driving plate 143. The second driving plate 145 and the first driving plate 143 are arranged opposite to each other in the up and down directions. The second driving plate 145 is a horizontally arranged rectangular plate. The first driving plate 143 and the second driving plate 145 can both move in the up and down directions in the mounting seat 141.

[0038] The locking member 146 is arranged on the second driving plate 145 and cooperates with the mounting seat 141. The locking member 146 has a locked state and an unlocked state. In the first working state, the grabbing assembly 130 grabs the goods 160, and the goods 160 drive the second driving plate 145 to move upward through the first driving plate 143, so that when the second driving plate 145 moves to a preset value, the locking member 146 is in a locked state to lock the position of the second driving plate 145. In the second working state, the grabbing assembly 130 releases the goods 160 and the locking member 146 is in an unlocked state, and the second driving plate 145 drives the first driving plate 143 to move downward, so that the first driving plate 143 drives the goods 160 to move downward. Specifically, as Figure 6 As shown, the locking piece 146 is arranged on the second driving plate 145 and can cooperate with the inner circumferential surface of the mounting seat 141. In the first working state, when the grabbing assembly 130 grabs the cargo 160, the cargo 160 can push up the first driving plate 143 so that the first driving plate 143 moves upward, and the first driving plate 143 drives the second driving plate 145 to move upward. When the second driving plate 145 moves to a preset height, the locking piece 146 will begin to be in a locked state, so that the position of the second driving plate 145 is locked, that is, the second driving plate 145 cannot move. In the second working state, the grabbing assembly 130 releases the cargo 160, the first driving plate 143 and the second driving plate 145 move downward, and the locking piece 146 is in an unlocked state, so that the first driving plate 143 and the second driving plate 145 can move downward.

[0039] In some embodiments, the locking member 146 includes a connecting member 1461 , a first locking member 1462 , and a second locking member 1463 .

[0040] The upper end of the connecting member 1461 is inserted through the second driving plate 145 and the connecting member 1461 is movable relative to the first driving plate 143 along the height direction of the mounting seat 141. The cross-sectional area of ​​the outer peripheral surface of the upper end of the connecting member 1461 gradually decreases in the direction away from the first driving plate 143. The lower end of the connecting member 1461 is inserted through the first driving plate 143 and is movable relative to the first driving plate 143 along the height direction of the mounting seat 141. Specifically, Figure 3 and Figure 6 As shown, the connecting member 1461 is a vertical rod extending in the up-down direction, the upper end portion of the connecting member 1461 is a truncated cone whose cross-sectional area gradually increases from top to bottom, the lower end portion of the connecting member 1461 is a round rod and a flange, the flange is arranged at the lower end of the round rod, the round rod of the connecting member 1461 passes through the first driving plate 143, the flange is arranged below the first driving plate 143 and can be abutted against the first driving plate 143, the upper end portion of the connecting member 1461 is passed through the second driving plate 145, and the connecting member 1461 can move in the up-down direction on the first driving plate 143 and the second driving plate 145.

[0041] The first locking member 1462 and the second locking member 1463 are both disposed on the second driving plate 145 and along the width direction of the mounting seat 141 (eg Figure 1 The upper end of the connecting member 1461 is located between the first locking member 1462 and the second locking member 1463. The inner circumferential surface of the mounting seat 141 is provided with a plurality of locking grooves 1411. The plurality of locking grooves 1411 are arranged at intervals along the height direction of the mounting seat 141. In the first working state, the cargo 160 drives the lower end of the connecting member 1461 to move upward, so that the upper end of the connecting member 1461 drives the first locking member 1462 and the second locking member 1463 to pass through the locking groove 1411 to put the locking member 146 in a locked state. In the second working state, the upper end of the connecting member 1461 moves downward, and the first locking member 1462 and the second locking member 1463 move toward each other, so that the first locking member 1462 and the second locking member 1463 are separated from the locking groove 1411 to put the locking member 146 in an unlocked state.

[0042] Specifically, Figure 3 , Figure 6 , Figure 8 and Fig. 9As shown, the first locking piece 1462 and the second locking piece 1463 can both be horizontal rectangular plates, and the upper end of the second driving plate 145 is provided with a slide groove 1451 extending in the left and right directions, and the first locking piece 1462 and the second locking piece 1463 can be slidably arranged in the slide groove 1451, and the plurality of locking grooves 1411 include a plurality of first locking grooves and a plurality of second locking grooves, and the plurality of first locking grooves are arranged on the left side plate of the mounting seat 141 and are arranged at equal intervals in the up and down directions, and the plurality of second locking grooves are arranged on the right side plate of the mounting seat 141 and are arranged at equal intervals in the up and down directions, and the upper end portion of the connecting piece 1461 is passed through the slide groove 1451, and the upper end portion of the connecting piece 1461 is located between the first locking piece 1462 and the second locking piece 1463, and in the first working state, the lower end portion of the connecting piece 1461 The cargo 160 is pressed against the connecting piece 1461, and the cargo 160 drives the connecting piece 1461 to move upward. The upper end of the connecting piece 1461 drives the first locking piece 1462 and the second locking piece 1463 to move away from each other. The first locking piece 1462 is inserted into the first locking groove, and the second locking piece 1463 is inserted into the second locking groove, so that the locking piece 146 is locked. In the second working state, the grabbing assembly 130 releases the cargo 160. As the middle part of the cargo 160 begins to sink downward, the connecting piece 1461 begins to move downward, and the lower end of the connecting piece 1461 moves downward, the first locking piece 1462 and the second locking piece 1463 begin to approach each other, so that the first locking piece 1462 and the second locking piece 1463 are respectively disengaged from the first locking groove and the second locking groove, thereby making the locking piece 146 unlocked.

[0043] In some embodiments, Fig.11 As shown, the locking member 146 also includes a plurality of one-way spines 1464, and the lower surface of each one-way spine 1464 is a sloped structure, so that the first locking member 1462 and the second locking member 1463 can move upward unimpeded along the sloped structure of the one-way spine 1464, but cannot move downward, and the plurality of one-way spines 1464 are arranged in the mounting seat 141 at intervals along the up and down directions, and two adjacent one-way spines 1464 define a locking groove, and in the locked state, the first locking member 1462 and the second locking member 1463 are both inserted into two adjacent one-way spines 1464.

[0044] In some embodiments, the driving assembly 140 further includes a connecting plate 149 , a first elastic member 147 , and a second elastic member 148 .

[0045] The connecting plate 149 is disposed at the lower end of the connecting member 1461 and connected to the connecting member 1461. The connecting plate 149 is disposed between the first driving plate 143 and the second driving plate 145, and the connecting plate 149 can move relative to the second driving plate 145 along the height direction of the mounting seat 141. Specifically, as Figure 3As shown, the connecting plate 149 is a horizontal plate, and the lower end of the connecting member 1461 passes through the connecting plate 149 and is arranged on the first driving plate 143. The connecting plate 149 is connected to the lower end of the connecting member 1461, so that the connecting plate 149 and the connecting member 1461 form a whole.

[0046] The first elastic member 147 is disposed between the connecting plate 149 and the second driving plate 145, and both ends of the first elastic member 147 are connected to the connecting plate 149 and the second driving plate 145, respectively. The first elastic member 147 has a first elastic force that drives the connecting plate 149 and the second driving plate 145 to move away from each other. Figure 3 As shown, the first elastic member 147 is a spring, and both ends of the first elastic member 147 are arranged between the connecting plate 149 and the second driving plate 145 and are respectively connected to the connecting plate 149 and the second driving plate 145. In the first working state and the second working state, the first elastic member 147 is in a compressed state, and the first elastic member 147 can drive the connecting plate 149 and the second driving plate 145 away from each other. Thus, the first elastic member 147 drives the connecting member 1461 to move in the up and down directions through the connecting plate 149.

[0047] The second elastic member 148 has a second elastic force for driving the second driving plate 145 to move downward, and the elastic modulus of the second elastic member 148 is greater than the elastic modulus of the first elastic member 147. Figure 3 As shown, the second elastic member 148 is a spring. The second elastic member 148 is arranged between the upper part of the second driving plate 145 and the lower part of the mounting seat 141, and the two ends of the second elastic member 148 are respectively connected to the second driving plate 145 and the mounting seat 141. In the first working state and the second working state, the second elastic member 148 is in a compressed state. The second elastic member 148 can drive the second driving plate 145 to move downward. The elastic modulus of the second elastic member 148 is greater than the elastic modulus of the first elastic member 147. Therefore, in the first working state, the first elastic member 147 is compressed first and the second elastic member 148 is not compressed or slightly deformed. The first driving plate 143 moves upward first. When the first driving plate 143 moves to a certain height, the second elastic member 148 begins to compress to make the second driving plate 145 move upward.

[0048] When the cargo 160 falls with an initial velocity of 0 m / s, the falling state of the cargo 160 is easily changed, resulting in a change in the falling posture of the cargo 160, which in turn causes the cargo 160 to fail to accurately fall into the designated position area. Therefore, in the second working state, the first gripping member 132 and the second gripping member 133 release the cargo 160 and the locking member 146 is unlocked, and the elastic force of the first elastic member 147 and the second elastic member 148 can be applied to the first driving plate 143 and then to the cargo 160 through the first driving plate 143. When the cargo 160 falls into the transport component 120, the cargo 160 can fall with a certain initial velocity, so that the cargo 160 will fall in a vertical state to ensure the landing position.

[0049] It should be noted that the first locking member 1462 and the second locking member 1463 may also be driven by an elastic member, for example, a tension spring (not shown in the figure) is provided between the first locking member 1462 and the second locking member 1463 to ensure that there is always an elastic force for mutual movement between the first locking member 1462 and the second locking member 1463. Alternatively, the first locking member 1462 and the second locking member 1463 are both magnetic members, and the magnetic force of the two members makes the two members always close to each other.

[0050] In some embodiments, the outer circumferential surface of the mounting seat 141 is provided with a first matching piece 1412, and the first plate 142 and the second plate 144 are both provided with a second matching piece 1413. When the first driving plate 143 moves downward, the first matching piece 1412 and the second matching piece 1413 cooperate with each other so that the free ends of the first plate 142 and the second plate 144 both move downward. Figure 2 and Figure 3 As shown, a first mating piece 1412 is provided on the front side surface of the mounting seat 141 and the rear side surface of the mounting seat 141, and a second mating piece 1413 is provided between the first plate 142 and the first driving plate 143 and between the second plate 144 and the first driving plate 143. In the second working state, when the first driving plate 143 moves downward, the first mating piece 1412 and the second mating piece 1413 cooperate, so that the front side of the first plate 142 and the rear side of the second plate 144 move downward to drive the multiple cargoes 160 to move toward the middle cargo 160.

[0051] In some embodiments, the first matching piece 1412 is a thread and is disposed on the outer peripheral surface of the lower end of the mounting seat 141, the second matching piece 1413 is a threaded rod, and the first plate 142 and the second plate 144 are both connected to the first driving plate 143 through the threaded rod, so that when the first driving plate 143 moves along the height direction of the mounting seat 141, the threaded rod and the thread cooperate to drive the first plate 142 and the second plate 144 to rotate through the threaded rod. Specifically, as Figure 2-Figure 4As shown, the threads are arranged on the front side surface of the mounting seat 141 and the rear side surface of the mounting seat 141 in the up and down directions, and the number of threaded rods is two, one of which is penetrated on the first plate 142 and the first driving plate 143 and the threaded rod can drive the first plate 142 to rotate, and the other threaded rod is penetrated on the second plate 144 and the first driving plate 143 and the threaded rod can drive the second plate 144 to rotate. In the first working state, the first elastic member 147 and the second elastic member 148 are contracted, and the second matching member 1413 is located at the upper end of the first matching member 1412, and the first plate 142 and the second plate 144 are in a horizontal state under the action of the first matching member 1412 and the second matching member 1413. In the second working state, the first elastic member 147 and the second elastic member 148 are extended, the first driving plate 143 moves downward to drive the second matching member 1413 to move downward, and the first matching member 1412 and the second matching member 1413 cooperate to make the second matching member 1413 rotate, thereby driving the first plate 142 and the second plate 144 to rotate.

[0052] It is worth mentioning that a torsion spring can be arranged between the threaded rod and the first plate 142, the torsion spring is passed through the threaded rod and the two ends of the torsion spring are connected to the first plate 142 and the threaded rod, so that the torsion spring is driven to rotate through the threaded rod, and the torsion spring drives the first plate 142 to rotate, and / or a torsion spring can be arranged between the threaded rod and the second plate 144, the torsion spring is passed through the threaded rod and the two ends of the torsion spring are connected to the second plate 144 and the threaded rod, so that the torsion spring is driven to rotate through the threaded rod, and the torsion spring drives the second plate 144 to rotate.

[0053] In some embodiments, the pushing assembly 150 includes a plurality of pushing members 151, which are all rotatably disposed below the driving assembly 140 and spaced apart along the circumference of the driving assembly 140. The pushing members 151 extend from the lower end surface of the driving assembly 140 in a direction away from the driving assembly 140 and are inclined from the inside of the driving assembly 140 toward the outside of the driving assembly 140. When the grabbing assembly 130 grabs the cargo 160, the pushing members 151 rotate toward the direction adjacent to the driving assembly 140, so as to push the material in the cargo 160 to be distributed at the edge of the cargo 160. Specifically, as Figure 4-Figure 6As shown, each pushing member 151 includes a connecting rod and a pushing rod. The connecting rod is inclined toward the edge of the first driving plate 143. The upper end of the connecting rod is rotatably connected to the lower end of the first driving plate 143. The pushing rod is horizontally arranged at the other end of the connecting rod, so that the connecting rod is rotated to drive the pushing rod to move on the upper surface of the cargo 160 to push the material. The pushing members 151 are arranged at equal intervals along the circumference of the first driving plate 143, which is conducive to the movement of the material from the inside to the outside, so that the middle material in the cargo 160 moves evenly from the inside of the cargo 160 to the outside, avoiding the deformation problem of the cargo 160 caused by internal stress. In addition, multiple pushing members 151 enable the material to be effectively pushed from all directions, thereby improving the working efficiency of the pushing assembly 150.

[0054] It is worth noting that a torsion spring is provided between the pushing member 151 and the first driving plate 143. When the pushing member 151 pushes the material, the pushing member 151 rotates to drive the torsion spring to twist and store force. When the material separates from the pushing member 151, the torsion spring will drive the pushing member 151 to rotate to the initial position.

[0055] In some embodiments, the plurality of pushers 151 include a first pusher 1511, a second pusher 1512, a third pusher 1513 and a fourth pusher 1514, and the first pusher 1511, the second pusher 1512, the third pusher 1513 and the fourth pusher 1514 are all rotatably disposed on the lower end surface of the driving assembly 140, and the first pusher 1511, the second pusher 1512, the third pusher 1513 and the fourth pusher 1514 are equally spaced along the circumference of the driving assembly 140. Specifically, as Figure 7 As shown, since the outer periphery of the cargo 160 is a rectangular parallelepiped with four diagonal corners, the first pushing member 1511, the second pushing member 1512, the third pushing member 1513 and the fourth pushing member 1514 are provided to push the material in the cargo 160 toward its four corners, ensuring that the force is evenly distributed in all directions when pushing the material.

[0056] In some embodiments, a plurality of grooves 1431 are provided on the lower end surface of the first driving plate 143, and the plurality of grooves 1431 are arranged at equal intervals along the circumference of the first driving plate 143. Each groove 1431 is arranged in a one-to-one correspondence with a pushing member 151. One end of the pushing member 151 is arranged in the groove 1431, and the other end of the pushing member 151 extends out of the groove 1431 to push the material. In the first working state, when the grabbing assembly 130 grabs the cargo 160, the pushing member 151 can be rotated into the groove 1431 to prevent the pushing member 151 from interfering with the cargo 160.

[0057] The following is attached according to the instruction manual Figure 1-11 The working process of the full-process unmanned self-service delivery device 100 of the embodiment of the present invention is specifically described as follows: Grasping phase: 1. Before starting to clamp, the first gripping member 132 and the second gripping member 133 are in an open state, ready to clamp the cargo 160 .

[0058] 2. The mechanical arm 131 controls the grabbing assembly 130, the driving assembly 140 and the pushing assembly 150 to move downward as a whole until the pushing member 151 contacts the cargo 160. The pushing member 151 begins to overcome the rotation of the torsion spring and pushes the granular materials in the cargo 160 to the four corners, so that the materials are accumulated at the four corners, while the four sides are in a relatively free state.

[0059] 3. As the grab assembly 130, the driving assembly 140 and the pushing assembly 150 continue to descend, the cargo 160 begins to contact the lower end of the connecting member 1461 and pushes the connecting member 1461 to move upward. Since the second elastic member 148 is relatively elastic, the second elastic member 148 remains substantially unchanged during the upward movement of the connecting member 1461, and the second elastic member 148 continues to descend downward along with the mounting seat 141.

[0060] 4. The lower bottom surface of the connecting member 1461 abuts against the bottom surface of the first driving plate 143. At this time, the upper surface of the cargo 160 abuts against the first driving plate 143, which can drive the connecting member 1461 to move upward to squeeze the first locking member 1462 and the second locking member 1463 away from each other.

[0061] 5. As the mounting seat 141 descends, the first locking member 1462 and the second locking member 1463 are completely inserted into the first locking groove and the second locking groove, respectively (in other words, the first locking member 1462 and the second locking member 1463 can move upward along the first locking groove and the second locking groove, but cannot move downward), thereby preventing the first plate 142 and the second plate 144 from rotating, and the mounting seat 141 continues to descend. At this time, the first elastic member 147 is compressed to the limit, and the first drive plate 143 and the second drive plate 145 no longer move relative to each other. At this time, the second elastic member 148 begins to compress, and the first drive plate 143 and the second drive plate 145 begin to approach each other. At this time, the downward force generated by the accumulation of force of the second elastic member 148 is transferred to the first locking groove and the second locking groove through the first locking member 1462 and the second locking member 1463, that is, the first drive plate 143 does not exert downward pressure on the second drive plate 145.

[0062] 6. After the mounting seat 141 descends to the specified position, the first grabbing member 132 and the second grabbing member 133 are controlled to rotate to Figure 8 State, completing the clamping action.

[0063] Put in stage: 7. Start placing the cargo 160 into the transport assembly 120. In the initial stage of placing the cargo 160, as the first gripping member 132 and the second gripping member 133 are tilted, the cargo 160 will present Fig. 9 state. Since the middle of the cargo 160 is relatively sunken, the connecting member 1461 can easily move downward under the action of the first elastic member 147. As the connecting member 1461 moves downward, the first locking member 1462 and the second locking member 1463 begin to approach each other again, and then the first locking member 1462 and the second locking member 1463 are separated from the cooperation with the first locking groove and the second locking groove. At this time, the force of the second elastic member 148 will act on the second driving plate 145, and until the second driving plate 145 drops to the lowest point relative to the first driving plate 143, the force of the second elastic member 148 will completely act on the first driving plate 143 and the second driving plate 145. The first driving plate 143 and the second driving plate 145 act indirectly on the cargo 160, so that the pressure between the first driving plate 143 and the cargo 160 increases, and the friction between the cargo 160 and the first grabbing member 132 and the second grabbing member 133 increases, which can effectively reduce the further collapse of the middle part of the cargo 160 caused by the further inclination of the first grabbing member 132 and the second grabbing member 133.

[0064] 8. As the first driving plate 143 moves downward, the first plate 142 and the second plate 144 move downward synchronously. The threaded rod engages with the thread in the process of following the first plate 142 and the second plate 144 to move downward, causing the threaded rod to rotate. The torsion spring between the threaded rod and the first plate 142 and the second plate 144 drives the first plate 142 and the second plate 144 to rotate, so that the two first plates 142 and the second plate 144 appear as shown in FIG. Fig.10 The "eight" effect shown in the figure makes the three goods 160 fall in the "eight" state, and then the three clamped goods 160 are in closer contact with each other through the inclination of the first plate 142 and the second plate 144. When the three goods 160 fall onto the transport assembly 120, they can still maintain a state of contact with each other, increase the friction between the goods 160, ensure the stability of subsequent stacking, and also ensure the stability of the goods 160 during the subsequent transportation process.

[0065] 9. Cargo 160 internal deformation space: Figure 8During the clamping process, since the bottom of the goods 160 is always in contact with the conveying component 110, the goods 160 will not appear in the "eight" state. Only when the goods 160 are lowered and there is no support at the bottom, will the goods 160 change. At the same time, the pushing member 151 initially pushes the materials in the goods 160 to the four corners, while the four sides are in a relatively spacious state. When the goods 160 falls to the transport component 120, there is space inside it for deformation, which ensures that the goods 160 are in close contact and can also allow the goods 160 to deform without breaking.

[0066] In summary, through the action of a series of mechanical structures, elastic members and torsion springs, stable clamping and placement of the goods 160 are achieved. During the clamping process, the materials are redistributed inside the goods 160 through the action of the pusher 151 and the connector 1461, thereby ensuring the stability of the goods 160 during the clamping and placement process. During the placement process, through the linkage of the first drive plate 143 and the first plate 142 and the second plate 144, the goods 160 can be in close contact with the transport assembly 120, thereby ensuring the stability of the stacking and the safety during transportation.

[0067] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A full-process unmanned self-service delivery device, characterized in that: include: A conveying assembly (110), wherein the conveying assembly (110) is used to convey goods (160); a transport component (120), the transport component (120) being arranged on one side of the conveying component (110), the transport component (120) being used to transport goods (160); a grabbing assembly (130), the grabbing assembly (130) being arranged at one end of the conveying assembly (110) and being movable between a first position and a second position, wherein in the first position, the grabbing assembly (130) is located above the conveying assembly (110) so as to grab a plurality of goods (160) on the conveying assembly (110), and in the second position, the grabbing assembly (130) is located above the transport assembly (120) so as to transport the plurality of goods (160) into the transport assembly (120); a driving component (140), the driving component (140) being arranged on the grabbing component (130), and the driving component (140) being used to drive two adjacent goods (160) to fit each other; a pushing component (150), the pushing component (150) being arranged below the driving component (140) and on the grabbing component (130), the pushing component (150) being used to push the materials in the goods (160) to be distributed on the edge of the goods (160), the full-process unmanned self-service delivery device having a first working state and a second working state, in the first working state, the grabbing component (130) is in a first position to grab a plurality of the goods (160), the pushing component (150) pushes the materials in the goods (160) to move, in the second working state, the grabbing component (130) is in a second position to release the plurality of the goods (160), the driving component (140) drives the plurality of the goods (160) to move; The driving assembly (140) comprises: A mounting seat (141), the mounting seat (141) being arranged at one end of the transport component (120), and the mounting seat (141) being arranged on the grabbing component (130); A first plate (142), a first drive plate (143) and a second plate (144); the first plate (142), the first drive plate (143) and the second plate (144) are arranged in sequence along the length direction of the mounting seat (141), and the first drive plate (143) is arranged in the mounting seat (141); the first plate (142) is rotatably arranged on one side of the first drive plate (143) and is located on one side of the mounting seat (141); the second plate (144) is rotatably arranged on the other side of the first drive plate (143) and is located on the other side of the mounting seat (141); in the first working state, the first plate (142), the first drive plate (143) and the second plate (144) are all in a horizontal state; in the second working state, the free end of the first plate (142) moves downward, and / or the free end of the second plate (144) moves downward.

2. The full-process unmanned self-service delivery equipment according to claim 1 is characterized in that: The driving assembly (140) further includes: a second driving plate (145), the second driving plate (145) being arranged in the mounting seat (141) and located above the first driving plate (143), the first driving plate (143) and the second driving plate (145) being arranged at intervals along a height direction of the mounting seat (141), and the first driving plate (143) and the second driving plate (145) being movable relative to the mounting seat (141) along the height direction of the mounting seat (141); A locking member (146), wherein the locking member (146) is disposed on the second drive plate (145) and cooperates with the mounting seat (141); in the first working state, the grabbing assembly (130) grabs the cargo (160), and the cargo (160) drives the second drive plate (145) to move upward through the first drive plate (143), so that when the second drive plate (145) moves to a preset value, the locking member (146) is in a locked state to lock the position of the second drive plate (145); in the second working state, the grabbing assembly (130) releases the cargo (160) and the locking member (146) is in an unlocked state, and the second drive plate (145) drives the first drive plate (143) to move downward, so that the first drive plate (143) drives the cargo (160) to move downward.

3. The full-process unmanned self-service delivery equipment according to claim 2 is characterized in that: The locking member (146) comprises: a connecting member (1461), wherein the upper end of the connecting member (1461) is inserted through the second drive plate (145) and the connecting member (1461) is movable relative to the first drive plate (143) along the height direction of the mounting seat (141); the cross-sectional area of ​​the outer peripheral surface of the upper end of the connecting member (1461) gradually decreases in a direction away from the first drive plate (143); and the lower end of the connecting member (1461) is inserted through the first drive plate (143) and is movable relative to the first drive plate (143) along the height direction of the mounting seat (141); A first locking member (1462) and a second locking member (1463), wherein the first locking member (1462) and the second locking member (1463) are both arranged on the second driving plate (145) and are arranged opposite to each other at intervals along the width direction of the mounting seat (141), the upper end portion of the connecting member (1461) is located between the first locking member (1462) and the second locking member (1463), the inner circumferential surface of the mounting seat (141) is provided with a plurality of locking grooves (1411), and the plurality of locking grooves (1411) are arranged at intervals along the height direction of the mounting seat (141), and in the first working state, the cargo (160) drives the The lower end of the connecting member (1461) moves upward so that the upper end of the connecting member (1461) drives the first locking member (1462) and the second locking member (1463) to pass through the locking groove (1411) so that the locking member (146) is in a locked state. In the second working state, the upper end of the connecting member (1461) moves downward, and the first locking member (1462) and the second locking member (1463) move towards each other so that the first locking member (1462) and the second locking member (1463) are separated from the locking groove (1411) so that the locking member (146) is in an unlocked state.

4. The full-process unmanned self-service delivery equipment according to claim 3 is characterized in that: The driving assembly (140) further includes: a connecting plate (149), the connecting plate (149) being arranged at the lower end of the connecting member (1461) and connected to the connecting member (1461), the connecting plate (149) being arranged between the first driving plate (143) and the second driving plate (145), and the connecting plate (149) being movable relative to the second driving plate (145) along a height direction of the mounting seat (141); a first elastic member (147), the first elastic member (147) being arranged between the connecting plate (149) and the second driving plate (145), and the two ends of the first elastic member (147) being respectively connected to the connecting plate (149) and the second driving plate (145), the first elastic member (147) having a first elastic force for driving the connecting plate (149) and the second driving plate (145) to move away from each other; A second elastic member (148), wherein the second elastic member (148) is disposed between the second drive plate (145) and the mounting seat (141), and two ends of the second elastic member (148) are respectively connected to the second drive plate (145) and the mounting seat (141), the second elastic member (148) has a second elastic force for driving the second drive plate (145) to move downward, and the elastic modulus of the second elastic member (148) is greater than the elastic modulus of the first elastic member (147).

5. The full-process unmanned self-service delivery equipment according to claim 2 is characterized in that: The outer peripheral surface of the mounting seat (141) is provided with a first matching piece (1412), and the first plate (142) and the second plate (144) are both provided with a second matching piece (1413); when the first driving plate (143) moves downward, the first matching piece (1412) and the second matching piece (1413) match each other, so that the free ends of the first plate (142) and the second plate (144) both move downward.

6. The full-process unmanned self-service delivery equipment according to claim 5 is characterized in that: The first matching piece (1412) is a thread and is arranged on the outer peripheral surface of the lower end of the mounting seat (141); the second matching piece (1413) is a threaded rod; the first plate (142) and the second plate (144) are both connected to the first driving plate (143) via the threaded rod, so that when the first driving plate (143) moves along the height direction of the mounting seat (141), the threaded rod and the thread cooperate to drive the first plate (142) and the second plate (144) to rotate via the threaded rod.

7. The full-process unmanned self-service delivery equipment according to claim 1 is characterized in that: The pushing assembly (150) comprises a plurality of pushing members (151), and the plurality of pushing members (151) are rotatably disposed below the driving assembly (140) and are spaced apart along the circumference of the driving assembly (140). The pushing members (151) extend from the lower end surface of the driving assembly (140) in a direction away from the driving assembly (140) and are inclined from the inside of the driving assembly (140) toward the outside of the driving assembly (140). When the grabbing assembly (130) grabs the cargo (160), the pushing members (151) rotate in a direction adjacent to the driving assembly (140) so as to push the material in the cargo (160) to be distributed on the edge of the cargo (160).

8. The full-process unmanned self-service delivery equipment according to claim 7 is characterized in that: The plurality of pushing members (151) include a first pushing member (1511), a second pushing member (1512), a third pushing member (1513) and a fourth pushing member (1514); the first pushing member (1511), the second pushing member (1512), the third pushing member (1513) and the fourth pushing member (1514) are all rotatably arranged on the lower end surface of the driving component (140); and the first pushing member (1511), the second pushing member (1512), the third pushing member (1513) and the fourth pushing member (1514) are arranged at equal intervals along the circumference of the driving component (140).

9. The full-process unmanned self-service delivery equipment according to claim 1 is characterized in that: The grabbing assembly (130) comprises a mechanical arm (131), a first grabbing member (132) and a second grabbing member (133); the mechanical arm (131) is arranged at one end of the conveying assembly (110) and the mechanical arm (131) is rotatable between the first position and the second position; the first grabbing member (132) and the second grabbing member (133) are both arranged on the mechanical arm (131) and are arranged relative to each other at a distance, so that the mechanical arm (131) drives the first grabbing member (132) and the second grabbing member (133) to rotate; the first grabbing member (132) and the second grabbing member (133) can be opened or closed so as to grab the goods (160) or release the goods (160); the driving assembly (140) and the pushing assembly (150) are both arranged between the first grabbing member (132) and the second grabbing member (133).

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